CN220124808U - Positioning mechanism and surgical robot - Google Patents

Abstract

The embodiment of the utility model provides a positioning mechanism and a surgical robot. Wherein, positioning mechanism includes: the pitching arm is rotationally connected with the mounting arm; the pitching arm comprises a first arm, a second arm and a third arm, wherein the first arm is rotationally connected with the first end of the mounting arm, and the first arm, the second arm and the third arm are sequentially rotationally connected. The adjustment range of the positioning mechanism for the pitch angle is improved, so that the tail end of the pitch arm has larger freedom degree, and the surgical adaptability is improved. In addition, the pitch angle of the tail end instrument such as a surgical instrument is adjusted by the positioning mechanism in the operation preparation process, so that the parallel mechanical arm can be mounted on the positioning mechanism in an initial posture and aligned with the fixed point, and the problem that the movement of the tail end instrument is limited by the movement range of the parallel mechanical arm to influence the operation is avoided.

Description

Positioning mechanism and surgical robot

Technical Field

The utility model relates to the field of medical instruments, in particular to a positioning mechanism and a surgical robot.

Background

Surgical robotic systems typically include an operating end through which an operator interacts with the robotic system and a driven end to which control information of the operator is transferred to manipulate the driven end. The driven end typically includes an associated housing, positioning mechanism, robotic arm, and end instrument. In the case of minimally invasive surgical robotic systems, the positioning mechanism is typically used to pre-position the end instrument adjacent to the patient's wound, and the manipulator is manipulated through the manipulation end to extend the end instrument into the patient through the patient's wound and reach the lesion. In the operation process, the tail end instrument needs to swing by taking the wound as a fixed point, so that the tail end instrument is prevented from pulling the wound.

However, the existing positioning mechanism has a smaller movement range, and is difficult to meet the requirement of the initial posture of the tail end instrument.

Disclosure of Invention

Therefore, an object of the present utility model is to provide a positioning mechanism and a surgical robot using the same, so as to at least solve the problem of small movement range of the positioning mechanism.

An embodiment of a first aspect of the present utility model provides a positioning mechanism comprising: the pitching arm is rotationally connected with the mounting arm; the pitching arm comprises a first arm, a second arm and a third arm, wherein the first arm is rotationally connected with the first end of the mounting arm, and the first arm, the second arm and the third arm are sequentially rotationally connected.

According to the positioning mechanism provided by the embodiment of the aspect, the third arm can independently perform pitching motion, the second arm can drive the third arm to perform pitching motion, the first arm can drive the second arm and the third arm to perform pitching motion around the first end of the mounting arm, the adjustment range of the positioning mechanism for a pitch angle is improved, the tail end of the pitch arm has a larger pitch angle, and the movement range and the flexibility of the positioning mechanism are improved.

In some embodiments, the first arm, the second arm, and the third arm lie in the same plane and are capable of pitching motion in the same plane.

In these embodiments, the first arm, the second arm and the third arm perform pitching motion in the same plane, so that the space occupation rate of the pitching arm can be reduced at the same time of a larger pitching adjustment range. Under the condition that a plurality of positioning mechanisms are installed, the probability of collision of the adjacent positioning mechanisms can be reduced, and the positioning mechanisms are installed at close distances in the circumferential direction and are not easy to interfere. In addition, the first arm, the second arm and the third arm move in the same plane, the movement track is high in prejudgement, accurate control of the positioning mechanism is facilitated, the direction is prejudged and controlled by visual observation, and the safety performance is good.

In some embodiments, the second arm is provided with a relief portion into which at least a portion of the third arm can be rotated to at least partially stack the third arm with the second arm. The pitch range of motion of the third arm is increased, thereby further increasing the pitch range of the tip of the pitch arm. Under the condition that the positioning mechanism is applied to the surgical robot, the rollback travel of the parallel mechanical arm and the tail end instrument is increased to be far away from the fixed point, so that the tail end instrument is convenient to replace, and the safety is improved. On the other hand, when the positioning mechanism is stored, the third arm and the second arm can be at least partially stacked, so that the occupied space is reduced.

In some embodiments, the second arm includes a hollow frame that encloses a hollow relief. The opposite sides of the third arm are conveniently accommodated by the sides of the frame. And the structure is simple, and a certain dead weight can be reduced.

In some embodiments, the relief of the second arm is rotatable to the exterior of the first arm to at least partially stack the first arm with the second arm. Wherein the first arm and the third arm are alternatively rotatable into the relief portion.

In these embodiments, the avoidance portion is configured to accommodate at least a portion of the first arm during pitching movement of the second arm relative to the first arm, thereby increasing the range of pitching movement of the second arm and thus increasing the range of pitching movement of the first arm. Under the condition that the positioning mechanism is applied to the surgical robot, the rollback travel of the parallel mechanical arm and the tail end instrument is increased to be far away from the fixed point, so that the tail end instrument is convenient to replace, and the safety is improved. On the other hand, when the positioning mechanism is stored, the second arm and the first arm can be at least partially stacked, so that the occupied space is reduced. Meanwhile, only one arm can rotate into the avoiding part, so that the adjustment flexibility of the positioning mechanism can be improved.

In some embodiments, the second arm includes a first rod and a second rod connected in series, the first rod being disposed at an angle to the second rod, at least a portion of the third arm being capable of entering an area enclosed by the first rod and the second rod.

In these embodiments, the first and second bars are disposed at an angle, i.e., with an included angle of less than 180 degrees therebetween. The first rod and the second rod can enclose an open avoidance area, so that the third arm can rotate into the avoidance area, and on one hand, the third arm can be moved into the avoidance area during storage, so that the occupied space of the positioning mechanism is reduced; on the other hand, compared with the second arm which is a straight arm, the movement range of the third arm can be increased, and the replacement of the tail end instrument is facilitated.

In some embodiments, the first arm includes a third bar and a fourth bar connected in series, the third bar and the fourth bar being disposed at an angle, at least a portion of the second arm being capable of entering an area enclosed by the third bar and the fourth bar.

In these embodiments, the third and fourth bars are disposed at an angle, i.e., with an included angle of less than 180 degrees therebetween. The third rod and the fourth rod can enclose an open avoidance area, so that at least part of the second arm can rotate into the avoidance area, and on one hand, the second arm can be moved into the avoidance area during storage, so that the occupied space of the positioning mechanism is reduced; on the other hand, compared with the first arm which is a straight arm, the movement range of the second arm can be increased, and the replacement of the tail end instrument is facilitated.

In some embodiments, the third arm includes a fifth lever and a sixth lever connected, the fifth lever and the sixth lever disposed at an angle, the fifth lever rotatably connected to the second arm.

In these embodiments, the fifth rod and the sixth rod are disposed at an angle, that is, an included angle smaller than 180 ° is formed between the fifth rod and the sixth rod, so that the retraction range of the parallel mechanical arm connected to the third arm can be larger than if the third arm is a straight arm.

In some embodiments, a relief is provided in the first lever, and the fifth lever is rotatable into the relief of the first lever. At least part of the fifth rod can be stacked with the first rod, and the movable range of the third arm is increased.

In some embodiments, the avoidance portion is disposed within the second rod, the avoidance portion of the first rod is in communication with the avoidance portion of the second rod, and the fifth rod is rotatable into the avoidance portion of the first rod and into the avoidance portion of the second rod. The movable range of the third arm is improved.

In some embodiments, a relief is provided in the second lever and the sixth lever is rotatable into the relief of the first lever. Further enlarging the movable range of the third arm.

In some embodiments, the angle is 90 degrees. The first rod and the second rod are distributed in an L shape, the third rod and the fourth rod are distributed in an L shape, the fifth rod and the sixth rod are distributed in an L shape, the L-shaped rods have good backspacing stroke, one of the L-shaped rods can be located in the surrounding area of the other rod, and the storage space is reduced.

In some embodiments, the length of the first rod is greater than the length of the second rod. The longer rod is used to connect the first arm, so that the pitching arm has a larger movement radius.

In some embodiments, the length of the third rod is greater than the length of the fourth rod. The longer rod is used to connect the mounting arm, so that the pitching arm has a larger movement radius.

In some embodiments, the length of the first rod is less than the length of the third rod. The second arm is arranged at the second end of the first arm, and the second arm is arranged at the second end of the second arm.

In some embodiments, the length of the second rod is greater than the length of the fourth rod. The movement radius of the pitching arm is enlarged. Moreover, the area surrounded by the first rod and the second rod can be larger, so that the third arm and the parallel mechanical arm can be conveniently accommodated.

In some embodiments, the length of the first arm is equal to the length of the second arm.

In some embodiments, the length of the third arm is less than the length of the second arm. The third arm is conveniently accommodated in the area surrounded by the second arm. And the third arm is shorter and more flexible.

In some embodiments, in the stowed state, the first and second arms are located below the mounting arm, and the first and second arms are less in length in the horizontal direction than the mounting arm; and/or in the stowed condition, the first and second arms can be stacked in a horizontal or vertical orientation or the first arm can wrap around a portion of the second arm. The space required by storage is reduced, and the occupied area is small.

In some embodiments, the end of the third arm remote from the second arm is pitched in a range of-20 ° to 110 ° relative to the horizontal. When the positioning mechanism is applied to the surgical robot, as the third arm has a larger pitch angle adjusting range, the pitch angle of the end instrument can be adjusted by the positioning mechanism before surgery, so that the parallel mechanical arm can keep an initial posture, namely, the parallel mechanical arm is in a zero state, and therefore, the parallel mechanical arm can adjust the end instrument with the largest adjusting stroke, and the end instrument has a larger adjusting range. The parallel mechanical arm is prevented from occupying a larger stroke on the pitch angle, so that the movement of the tail end instrument is limited.

In some embodiments, one of the sixth and fifth bars is provided with a chute, and the other is provided with a slider adapted to the chute. The extending direction of the sliding groove is perpendicular to the extending direction of the axis around which the third arm performs pitching motion. The sixth bar can also be driven to move closer to the stationary point in the direction of extension of the chute after the third arm has been extended to a limit angle with respect to the second arm. After the third arm is retracted to the limit angle relative to the second arm, the sixth rod can be driven to be further away from the fixed point along the extending direction of the sliding groove, and the movement range and flexibility of the positioning mechanism are improved.

In some embodiments, the positioning mechanism further comprises: and a plurality of arm drivers, any one of the first arm, the second arm and the third arm being drivingly connected to one arm driver. The independent driving arm is beneficial to movement, and the control flexibility of the positioning mechanism is improved.

In some embodiments, the axis about which any of the first arm, the second arm, and the third arm are in rotational motion is parallel.

In these embodiments, the plurality of arms are allowed to tilt about parallel axes, facilitating folding of the tilt arms, reducing space and facilitating control. In addition, a plurality of arms are connected in turn, do pitching motion in the same vertical area, and the required motion space is smaller, so that the pitching arms adjacent to the horizontal direction are not easy to collide.

In some embodiments, the first end of the mounting arm is provided with a first rotation mechanism, which is connected to the pitching arm, which is capable of rotating the pitching arm in a horizontal direction around the first end of the mounting arm.

In the embodiments, the pitching arm can perform pitching motion and horizontally rotate, so that the movement range of the pitching arm is improved, the azimuth angle and the pitch angle of the tail end instrument are well adjusted by the positioning mechanism before an operation, and the positioning mechanism can independently complete initial posture positioning of the tail end instrument without depending on the parallel mechanical arm and affecting the movement range of the parallel mechanical arm. In addition, the pitching arm can be rotated to the lower part of the mounting arm, the invasion space is reduced, and the pitching arm can be rotated to the outer side of the mounting arm, so that the movement radius is enlarged.

In some embodiments, the axis about which the pitch arm rotates in the horizontal direction is perpendicular to the axis about which the first arm is in pitch motion. The pitching arm can accurately adjust the gesture in the three-dimensional space, and the moving range of the pitching arm is improved.

In some embodiments, the mounting arm is a telescoping arm that is rotatable in a horizontal direction.

In these embodiments, the positioning mechanism can be made to have a plurality of degrees of freedom in three dimensions by using the mounting arm to translate in a telescopic manner in the horizontal direction and by using the mounting arm to rotate in the horizontal direction, in addition to the pitching motion using the pitching arm. In addition, compare with the bottom of installation arm connection at the third arm, can reduce the occupation space of positioning mechanism's bottom in the horizontal direction, avoid the installation arm to take place to collide with medical staff when rotatory or flexible in the horizontal direction.

In some embodiments, the mounting arm and the pitch arm lie in the same plane. The occupied space of the positioning mechanism is reduced, the storage is convenient, and the positioning mechanism is not easy to collide and interfere with other surrounding positioning mechanisms.

An embodiment of the second aspect of the present utility model provides a surgical robot comprising at least one positioning mechanism according to any of the above technical solutions. The surgical robot provided in this embodiment has the positioning mechanism of any one of the above embodiments, so that the surgical robot has the beneficial effects of any one of the above embodiments, and is not described in detail herein.

In some embodiments, the surgical robot further comprises a frame and a parallel robotic arm for mounting the end instrument, the mounting arm is rotatably coupled to the frame, and the third arm is coupled to the parallel robotic arm. The mounting arm can rotate around the frame, so that the activity degree of freedom of the positioning mechanism is further improved, the initial posture positioning of the tail end instrument is independently finished by utilizing the positioning mechanism before an operation, the parallel mechanical arm is not relied on, the movement range of the parallel mechanical arm is not influenced, and the flexibility is improved.

In some embodiments, the parallel robotic arm is coupled to a sixth rod of the third arm.

In some embodiments, the parallel robotic arm includes a movable platform for connecting the end instrument, a stationary platform connected to the third arm, and a plurality of branches for connecting the movable platform and the stationary platform. The parallel mechanical arm can adjust the gesture of the movable platform in a three-dimensional space according to the expansion and contraction of the plurality of branched chains, so as to adjust the gesture of the terminal instrument.

Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the general inventive concept.

Drawings

The above and other objects and features of the present utility model will become more apparent from the following description of the embodiments thereof, taken in conjunction with the accompanying drawings in which:

FIG. 1 shows a schematic structural view of a positioning mechanism and a base of one embodiment of the present utility model;

FIG. 2 illustrates a schematic view of the relative positions of a positioning mechanism and a patient according to one embodiment of the present utility model;

FIG. 3 shows a schematic structural view of a positioning mechanism according to another embodiment of the present utility model;

FIG. 4 shows another schematic structural view of a positioning mechanism according to another embodiment of the present utility model;

FIG. 5 shows yet another schematic structural view of a positioning mechanism according to another embodiment of the present utility model;

FIG. 6 shows a schematic structural view of a surgical robot according to an embodiment of the present utility model;

FIG. 7 shows another schematic structural view of a surgical robot according to an embodiment of the present utility model;

fig. 8 is a schematic view showing a configuration of a surgical robot according to an embodiment of the present utility model in a housed state.

Fig. 1 to 8 reference numerals illustrate:

10 frames, 11 bases, 111 installation intervals, 112 installation positions, 12 bases, 13 supports, 14 supporting beams, 15 cross beams,

20 positioning mechanism, 21 mounting arm, 211 outer connecting arm, 212 inner connecting arm, 22 first rotating mechanism, 23 first joint, 24 first arm, 241 third rod, 242 fourth rod, 25 second joint, 26 second arm, 261 first rod, 262 second rod, 263 dodging portion, 27 third joint, 28 third arm, 281 fifth rod, 2811 chute, 282 sixth rod,

30 parallel mechanical arms, 31 movable platform, 32 static platform, 33 branched chain,

a 40-end instrument,

50 patients.

Detailed Description

The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, apparatus, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and/or systems described herein will be apparent after an understanding of the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those set forth herein, but may be altered as will be apparent after an understanding of the disclosure of the application, except for operations that must occur in a specific order. Furthermore, descriptions of features known in the art may be omitted for clarity and conciseness.

The features described herein may be embodied in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided to illustrate only some of the many possible ways to implement the methods, devices, and/or systems described herein that will be apparent after an understanding of the present disclosure.

As used herein, the term "and/or" includes any one of the listed items associated as well as any combination of any two or more.

Although terms such as "first," "second," and "third" may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first member, first component, first region, first layer, or first portion referred to in the examples described herein may also be referred to as a second member, second component, second region, second layer, or second portion without departing from the teachings of the examples.

In the description, when an element such as a layer, region or substrate is referred to as being "on" another element, "connected to" or "coupled to" the other element, it can be directly "on" the other element, be directly "connected to" or be "coupled to" the other element, or one or more other elements intervening elements may be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" or "directly coupled to" another element, there may be no other element intervening elements present.

The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. Singular forms also are intended to include plural forms unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" specify the presence of stated features, amounts, operations, components, elements, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, amounts, operations, components, elements, and/or combinations thereof. The term "plurality" represents two and any number of two or more.

The terms "upper", "lower", "top" and "bottom" are defined in terms of orientation in the present utility model, all based on the orientation of the product in normal use.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. Unless explicitly so defined herein, terms such as those defined in a general dictionary should be construed to have meanings consistent with their meanings in the context of the relevant art and the present utility model and should not be interpreted idealized or overly formal.

The present utility model provides a positioning mechanism 20 and surgical robot for assisting a surgeon in performing a surgical procedure. The embodiment of the utility model provides a surgical robot for minimally invasive surgery. It will be appreciated that in other embodiments, the surgical robot may also be used to assist a physician in performing other surgical procedures.

In the case of the surgical robot system applied to the minimally invasive surgery, according to the difference of the surgical operation and the difference of the human body, the wound position of the patient 50 is planned in advance before the specific surgery, and the initial attitude angle of the end instrument is adjusted by the positioning mechanism 20 according to the wound position and the focus position, wherein the attitude angle comprises an azimuth angle and a pitch angle, the azimuth angle refers to the angle between the projection line of the end instrument on the horizontal plane and the geodetic coordinate system, and the pitch angle refers to the angle between the axis of the end instrument and the horizontal plane. Since the end instrument is mounted on the positioning mechanism 20, the pitch angle adjustment range of the positioning mechanism 20 affects the attitude of the end instrument, and thus the range of motion of the end instrument.

The positioning mechanism 20 can only complete the positioning of the initial azimuth angle, and is difficult to complete the positioning of the pitch angle, and the positioning of the pitch angle can only be adjusted by the mechanical arm. In the process of adjusting the azimuth angle, the positioning mechanisms are required to be linked, so that the occupied space is extremely large when the posture of the tail end instrument is adjusted, interference among the positioning mechanisms is easy to cause, and the surgical robot comprising more than 3 positioning mechanisms is difficult to be applied. On the other hand, the surgical robot with the structure avoids the risk of interference by increasing the distance between the positioning mechanisms, and in the surgical mode of a plurality of wounds, the difficulty of preoperative planning is increased, and the adaptability of the operation is reduced.

Based on this, the positioning mechanism 20 and the surgical robot provided by the embodiment of the present utility model will be described with reference to fig. 1 to 8, and the pitch angle adjustment range of the positioning mechanism 20 is improved.

As shown in fig. 1 to 5, an embodiment of an aspect of the present utility model provides a positioning mechanism 20, the positioning mechanism 20 including: a mounting arm 21 and a pitching arm rotatably connected to the mounting arm 21; the pitch arm comprises a first arm 24, a second arm 26 and a third arm 28, the first arm 24 being rotatably connected to the first end of the mounting arm 21, the first arm 24, the second arm 26 and the third arm 28 being in turn rotatably connected.

The positioning mechanism 20 provided in this embodiment of the present utility model has a mounting arm 21 and a pitching arm capable of performing pitching motion, where the pitching arm includes a first arm 24, a second arm 26 and a third arm 28 that are sequentially connected and sequentially rotate, so that the third arm 28 can perform pitching motion independently, and the second arm 26 can also drive the third arm 28 to perform pitching motion, and the first arm 24 can also drive the second arm 26 and the third arm 28 to perform pitching motion around the first end of the mounting arm 21, so that the adjustment range of the positioning mechanism 20 for the pitch angle is improved, the tail end of the pitching arm has a larger pitching angle, and the movement range and flexibility of the positioning mechanism 20 are improved.

Further, since the pitch arm has the three-stage arm body, it is advantageous to bring the pitch arm tip close to the target position by the pitch movement of each arm.

Further, as shown in fig. 1 to 4, a first joint 23 is provided between the first arm 24 and the first end of the mounting arm 21, and the first arm 24 is rotatably connected to the first end of the mounting arm 21 by the first joint 23. A second joint 25 is provided between the first arm 24 and the second arm 26, and the second arm 26 is rotatably connected to the first arm 24 via the second joint 25. A third joint 27 is arranged between the second arm 26 and the third arm 28, and the third arm 28 is rotatably connected with the second arm 26 through the third joint 27. The arrow-headed arc in fig. 1 represents the direction of movement of the joints, wherein the first joint 23 can perform a pitching motion in the direction indicated by the arrow with the arrow-headed arc at the upper right side thereof, and can also perform a reverse motion; the second joint 25 can perform pitching motion along the direction indicated by the arrow with an arrow arc at the upper right side, and can also perform reverse motion; the third joint 27 can perform pitching motion in the direction indicated by the arrow with an arrow arc at the lower left side, and can also perform reverse motion.

In some embodiments, the first arm 24, the second arm 26, and the third arm 28 lie in the same plane and are capable of pitching motion in the same plane. In these embodiments, the first arm 24, the second arm 26, and the third arm 28 will perform pitching motions in the same plane, which can reduce the space occupation of the pitching arms while having a larger pitching adjustment range. In the case where a plurality of positioning mechanisms 20 are installed, the probability of collision of adjacent positioning mechanisms 20 can be reduced, which is advantageous in that a plurality of positioning mechanisms 20 are installed at a close distance in the circumferential direction and are not easily interfered. In addition, the first arm 24, the second arm 26 and the third arm 28 move in the same plane, the movement track can be prejudged, accurate control of the positioning mechanism 20 is facilitated, the direction is prejudged by visual observation, and the safety performance is good.

In some embodiments, as shown in fig. 3-5, the second arm 26 is provided with a relief 263, and at least a portion of the third arm 28 can rotate into the relief 263 to at least partially stack the third arm 28 with the second arm 26. The pitch range of the third arm 28 is increased, thereby further increasing the pitch range of the pitch arm end. In the case where the positioning mechanism 20 is applied to a surgical robot, a dead point, which is far away from the retraction stroke of the parallel mechanical arm 30 and the distal instrument 40, is increased, thereby facilitating replacement of the distal instrument 40 and improving safety. Specifically, fig. 5 illustrates one posture of positioning mechanism 20 with a portion of third arm 28 retracted into relief 263 of second arm 26, facilitating replacement of distal instrument 40. On the other hand, when the positioning mechanism 20 is stored, the third arm 28 and the second arm 26 may be at least partially stacked to reduce the space occupation. For example, the positioning mechanism 20 may be housed by rotating the first arm 24 to extend substantially horizontally below the mounting arm 21, extending the second arm 26 substantially vertically, rotating the third arm 28 in a direction away from the stationary point, retracting the third arm into the escape portion 263, and stacking at least partially with the second arm 26. Of course, the positioning mechanism 20 may be housed in other postures, and is not limited thereto.

In some embodiments, as shown in fig. 3 and 4, the second arm 26 includes a hollow frame that encloses a hollow relief 263. It is convenient to accommodate opposite sides of the third arm 28 through the sides of the frame. And the structure is simple, the dead weight can be reduced to a certain extent, the materials are saved, and the cost is saved. In a specific application, the frame body is formed by enclosing a plurality of frames. The width of the frame is greater than the width of the third arm 28 to accommodate the third arm 28.

In some embodiments, the relief 263 of the second arm 26 can be rotated to the exterior of the first arm 24 to at least partially stack the first arm 24 with the second arm 26. Wherein the first arm 24 and the third arm 28 are alternatively rotated into the relief 263. In these embodiments, the pitch range of motion of the second arm 26 is increased by accommodating at least part of the first arm 24 through the relief 263 during the pitch motion of the second arm 26 relative to the first arm 24. Thereby increasing the range of motion of the pitch arm. In the case where the positioning mechanism 20 is applied to a surgical robot, the retraction stroke of the parallel mechanical arm 30 and the distal instrument 40 is increased to be away from the stationary point, thereby facilitating replacement of the distal instrument 40 and improving safety. On the other hand, when the positioning mechanism 20 is stored, the second arm 26 and the first arm 24 can also be at least partially stacked to reduce the occupied space.

In addition, allowing the first arm 24 and the third arm 28 to be alternately rotated into the dodging portion 263, i.e., only one arm can be rotated into the dodging portion 263 at the same time, can improve the flexibility of adjustment of the positioning mechanism 20.

In some embodiments, as shown in fig. 3 and 4, the second arm 26 includes a first rod 261 and a second rod 262 connected in series, the first rod 261 being disposed at an angle to the second rod 262, and at least a portion of the third arm 28 being capable of entering an area enclosed by the first rod 261 and the second rod 262. In these embodiments, the first rod 261 and the second rod 262 are disposed at an angle, i.e., with an included angle of less than 180 degrees therebetween. The first rod 261 and the second rod 262 can enclose an open avoidance area, so that the third arm 28 can rotate into the avoidance area, on the one hand, the third arm 28 can be moved into the avoidance area during storage, and the occupied space of the positioning mechanism 20 is reduced; on the other hand, the range of motion of the third arm 28 may be increased as compared to a straight arm for the second arm 26, facilitating replacement of the end instrument 40. In a specific application, in the case that the second arm 26 has the avoidance portion 263, the third arm 28 may retract into the area surrounded by the first rod 261 and the second rod 262 during the retraction process, and then continue to move and retract into the avoidance portion 263 of the second arm 26, so as to be at least partially stacked with the second arm 26. The first lever 261 is integrally formed with the second lever 262.

In some embodiments, as shown in fig. 3 and 4, the first arm 24 includes a third bar 241 and a fourth bar 242 connected in series, the third bar 241 and the fourth bar 242 being disposed at an angle, at least a portion of the second arm 26 being capable of entering an area enclosed by the third bar 241 and the fourth bar 242. In these embodiments, the third lever 241 and the fourth lever 242 are disposed at an angle, i.e., have an included angle of less than 180 degrees therebetween. The third rod 241 and the fourth rod 242 can enclose an open avoidance area, so that at least part of the second arm 26 can rotate into the avoidance area, on the one hand, the second arm 26 can be moved into the avoidance area during storage, and the occupied space of the positioning mechanism 20 is reduced; on the other hand, the range of motion of the second arm 26 may be increased as compared to a straight arm for the first arm 24, facilitating replacement of the end instrument 40. In a specific application, in the case that the second arm 26 has the avoidance portion 263, the second arm 26 may retract into the area surrounded by the third rod 241 and the fourth rod 242 during the retraction process, and then continue to move and retract so that the avoidance portion 263 wraps the first arm 24 and is at least partially stacked with the first arm 24. The third lever 241 and the fourth lever 242 are integrally formed.

In some embodiments, as shown in fig. 3 and 4, the third arm 28 includes a fifth lever 281 and a sixth lever 282 coupled, the fifth lever 281 and the sixth lever 282 being angularly disposed, the fifth lever 281 being rotatably coupled to the second arm 26. In these embodiments, the fifth lever 281 and the sixth lever 282 are disposed at an angle, i.e., have an included angle smaller than 180 °, so that the retraction range of the parallel robot arm 30 connected to the third arm 28 can be larger than that of the parallel robot arm 28. In a specific application, the fifth lever 281 and the sixth lever 282 are integrally formed.

In some embodiments, the relief portion 263 is provided within the first lever 261, and the fifth lever 281 is rotatable into the relief portion 263 of the first lever 261. Enabling at least part of the fifth lever 281 to be stacked with the first lever 261, increasing the range of motion of the third arm 28. In particular applications, when it is desired to replace the end instrument 40, the third arm 28 is better moved away from the stationary point, improving the safety of replacing the end instrument 40. When the positioning mechanism 20 needs to be stored, the fifth lever 281 can be stacked in the avoiding portion 263 of the first lever 261, so that the space occupied by the positioning mechanism 20 can be reduced.

In some embodiments, as shown in fig. 3 to 5, the relief portion 263 is provided in the second lever 262, the relief portion 263 of the first lever 261 communicates with the relief portion 263 of the second lever 262, and the fifth lever 281 is rotatable into the relief portion 263 of the first lever 261 and into the relief portion 263 of the second lever 262. The range of motion of the third arm 28 is increased. In a specific application, during the retraction of the third arm 28, the fifth lever 281 may be rotated into the avoidance portion 263 of the first lever 261, and then rotated toward the avoidance portion 263 of the connected second lever 262, so as to increase the movement range of the third arm 28 relative to the second arm 26. In a specific application, the first rod 261 and the second rod 262 are -shaped frames with openings distributed oppositely, the -shaped frames are internally provided with the avoiding portions 263, and the openings of the two -shaped frames are in butt joint communication, so that the two avoiding portions 263 are communicated. The first rod 261 and the second rod 262 may be integrally formed or may be assembled together.

In some embodiments, as shown in fig. 4 and 5, a relief portion 263 is provided within the second rod 262, and the sixth rod 282 is rotatable into the relief portion 263 of the first rod 261. Further increasing the range of motion of the third arm 28.

In some embodiments, as shown in fig. 3 and 4, the angle is 90 degrees. The first rod 261 and the second rod 262 are distributed in an L shape, the third rod 241 and the fourth rod 242 are distributed in an L shape, the fifth rod 281 and the sixth rod 282 are distributed in an L shape, and the L-shaped rods have a good retraction stroke, so that one rod is located in the surrounding area of the other rod, and the storage space is reduced. Of course, in other embodiments, the angle may be other than 90 degrees, but 120 degrees, 150 degrees, 160 degrees, etc. For example, the angle is 60 ° or more and 160 ° or less.

In some embodiments, as shown in fig. 3 and 4, the length of the first rod 261 is greater than the length of the second rod 262. The connection to the first arm 24 by a longer rod gives the pitch arm a larger radius of movement.

In some embodiments, as shown in fig. 3 and 4, the length of the third bar 241 is greater than the length of the fourth bar 242. The longer rod is connected to the mounting arm 21 so that the pitch arm has a larger radius of movement.

In some embodiments, as shown in fig. 3 and 4, the length of the first rod 261 is less than the length of the third rod 241. In the case where the second arm 26 enters the area surrounded by the third lever 241 and the fourth lever 242, the first lever 261 can be made not to protrude beyond the third lever 241 in the extending direction of the third lever 241, and the storage space can be reduced while facilitating storage.

In some embodiments, as shown in fig. 3 and 4, the length of the second rod 262 is greater than the length of the fourth rod 242. The movement radius of the pitching arm is enlarged. Further, the area surrounded by the first lever 261 and the second lever 262 can be made large, thereby facilitating the accommodation of the third arm 28 and the parallel robot arm 30.

In some embodiments, as shown in fig. 3 and 4, the length of the first arm 24 is equal to the length of the second arm 26.

In some embodiments, as shown in fig. 3 and 4, the length of the third arm 28 is less than the length of the second arm 26. Facilitating the reception of the third arm 28 in the area enclosed by the second arm 26. And the third arm 28 is shorter and more flexible.

In some embodiments, in the stowed state, the first and second arms 24, 26 are located below the mounting arm 21, and the first and second arms 24, 26 are smaller in length in the horizontal direction than the mounting arm 21; and/or in the stowed condition, the first and second arms 24, 26 can be stacked in a horizontal or vertical orientation or the first arm 24 can wrap around a portion of the second arm 26. The space required by storage is reduced, and the occupied area is small. In the case where the positioning mechanism 20 is applied to the surgical robot, referring to the posture of the surgical robot in the housed state in fig. 8, which shows one posture of the positioning mechanism 20 in the housed state, the first arm 24 and the second arm 26 are located below the mounting arm 21 and shorter than the mounting arm 21 in the horizontal direction, the first arm 24 and the second arm 26 are overlapped and distributed in the vertical direction, and a part of the third arm 28 is housed in the area surrounded by the second arm 26.

Of course, the positioning mechanism 20 may be housed in another posture, and referring to the positioning mechanism 20 located on the right side in fig. 8, the first arm 24 may be arranged so as not to be located below the mounting arm 21, but so as to vertically overlap the first arm 24 and the second arm 26, and a part of the third arm 28 may be housed in the area surrounded by the second arm 26.

In the case where the plurality of positioning mechanisms 20 are applied to the surgical robot, that is, in the case where the surgical robot has the plurality of positioning mechanisms 20, the respective positioning mechanisms 20 may be housed in the same posture or in different postures in the housed state. The storage posture can be adjusted according to the position or the size of the storage space.

In some embodiments, the pitch range of the end of the third arm 28 remote from the second arm 26 is-20 ° to 110 ° relative to the horizontal. In the case that the positioning mechanism 20 is applied to a surgical robot, since the third arm 28 has a large pitch angle adjustment range, the pitch angle of the end instrument 40 can be adjusted by the positioning mechanism 20 before surgery, so that the parallel mechanical arm 30 can maintain an initial posture, that is, the parallel mechanical arm 30 is in a zero state, and therefore, the parallel mechanical arm 30 can adjust the end instrument 40 with a maximum adjustment stroke, so that the end instrument 40 has a large adjustment range. The problem of the parallel robot arm 30 occupying a large stroke in the pitch angle, thereby limiting the movement of the end instrument 40, is avoided.

In some embodiments, sixth rod 282 is used to connect end instrument 40. As shown in fig. 3 and 4, one of the sixth lever 282 and the fifth lever 281 is provided with a slide groove 2811, and the other is provided with a slider (not shown) that is fitted to the slide groove 2811, and the extending direction of the slide groove 2811 is perpendicular to the extending direction of the axis around which the third arm 28 performs the pitching motion. The sixth rod 282 may also be driven further closer to the stationary point along the extension of the slide 2811 after the third arm 28 has been extended to a limited angle relative to the second arm 26. After the third arm 28 is retracted to a limit angle relative to the second arm 26, the sixth rod 282 can be driven to further move away from the stationary point along the extending direction of the sliding slot 2811, so that the movement range and flexibility of the positioning mechanism 20 are improved.

In some embodiments, positioning mechanism 20 further comprises: a sliding driving part (not shown in the figure) for driving the slider to move along the slide slot 2811 and locking the moving position of the slider. Not only can the relative position of the sixth rod 282 and the fifth rod 281 be locked, but also the relative position of the sixth rod 282 and the fifth rod 281 can be driven and adjusted, so that the movable range of the end instrument 40 is increased, thereby being beneficial to improving the surgical adaptability of the surgical robot using the positioning mechanism 20. In a specific application, the sliding driving part is a motor or an electromagnetic push rod, etc. The position of the slide within the slide 2811 can be adjusted steplessly or in equal steps. The slider driving part is provided inside the sixth lever 282.

In some embodiments, positioning mechanism 20 further comprises: a plurality of arm drivers (not shown), any of the first arm 24, the second arm 26, and the third arm 28 are drivingly connected to one arm driver. The movement of the independent driving arms is facilitated, and the control flexibility of the positioning mechanism 20 is improved. In a specific application, the arm driver is a drive motor.

In some embodiments, the axis about which any of the first arm 24, the second arm 26, and the third arm 28 are in rotational motion is parallel. The plurality of arms do pitching motion around the parallel axes, which is beneficial to folding the pitching arms, reduces the occupied space and is convenient to control. In addition, a plurality of arms are connected in turn, do pitching motion in the same vertical area, and the required motion space is smaller, so that the pitching arms adjacent to the horizontal direction are not easy to collide.

In some embodiments, as shown in fig. 1 to 4, the first end of the mounting arm 21 is provided with a first rotation mechanism 22, the first rotation mechanism 22 is connected to the pitching arm, and the first rotation mechanism 22 can drive the pitching arm to rotate around the first end of the mounting arm 21 in the horizontal direction, so as to further adjust the azimuth angle. In these embodiments, the pitching arm can perform pitching motion and also can horizontally rotate, so that the movement range of the pitching arm is improved, the azimuth angle and the pitch angle of the end instrument 40 are adjusted by using the positioning mechanism 20 before operation, and the positioning mechanism 20 can independently complete the initial posture positioning of the end instrument 40 without depending on the parallel mechanical arm 30 and affecting the movement range of the parallel mechanical arm 30. In addition, the pitching arm can be rotated to the lower part of the mounting arm 21, so that the invasion space is reduced, the pitching arm can be rotated to the outer side of the mounting arm 21, the movement radius is enlarged, and the surgical adaptability is improved. Specifically, referring to fig. 1, the arrow-headed arc above the first rotation mechanism 22 represents one rotation direction of the first rotation mechanism 22, that is, the pitch arm can rotate around the first end of the mounting arm 21 in the direction indicated by the arrow, but may also rotate reversely.

In some embodiments, the axis about which the pitch arm rotates in the horizontal direction is perpendicular to the axis about which the first arm 24 is in pitch motion. The pitching arm can accurately adjust the gesture in the three-dimensional space, and the moving range of the pitching arm is improved.

In some embodiments, as shown in fig. 1-4, the mounting arm 21 is a telescoping arm that is rotatable in a horizontal direction. In addition to the pitching motion using the pitching arm, the positioning mechanism 20 can be horizontally translated by the mounting arm 21, and rotated in the horizontal direction by the mounting arm 21, thereby having a plurality of degrees of freedom in three dimensions. In addition, compared with the mounting arm 21 connected to the bottom of the third arm 28, the occupied space of the bottom of the positioning mechanism 20 in the horizontal direction can be reduced, and collision with medical staff when the mounting arm 21 rotates or expands and contracts in the horizontal direction can be avoided.

In a specific application, as shown in fig. 1 to 4, the mounting arm 21 includes an outer connecting arm 211 and an inner connecting arm 212, the second end of the outer connecting arm 211 is used for being rotatably connected with the frame 10, and the second end of the inner connecting arm 212 can extend into the outer connecting arm 211 at the first end of the outer arm and slide laterally along the outer connecting arm 211, and the first end of the inner connecting arm 212 is connected with the first arm 24 through the first rotating mechanism 22 and the first joint 23. Specifically, referring to fig. 1, the mounting arm 21 is telescopically movable in a direction indicated by a double-headed arrow thereabove. In addition, there are separate driving parts, such as a driving motor driving the mounting arm 21 to perform telescopic movement, and there are separate driving parts driving the mounting arm 21 to perform horizontal rotation. So that the telescopic movement and the horizontal rotation of the mounting arm 21 are not associated with each other, and the control is accurate.

In some embodiments, the mounting arm 21 and the pitch arm lie in the same plane. For example, in the same vertical plane, the occupied space of the positioning mechanism 20 is reduced, the positioning mechanism is convenient to store, and collision interference with other surrounding positioning mechanisms 20 is not easy to happen.

The movement of the positioning mechanism 20 of one particular embodiment is as follows: at the beginning of the positioning movement, the base 11 of the gantry 10 is fixed, the patient 50 is fixed in position, small holes are determined at the epidermis of the patient 50 or the punching movement is completed, the number of small holes being one or more. The third arm 28 at the end of the positioning mechanism 20 is connected with the parallel mechanical arm 30, the parallel mechanical arm 30 is in an initial zero state in the middle of the stroke, the end of the parallel mechanical arm 30 is connected with the end instrument 40 (i.e. the surgical instrument), at this time, the surgical robot performs preliminary positioning on the fixed point O and the straight line OA, and each small hole corresponds to one positioning mechanism 20. Mechanical arm of positioning mechanism 20 is driven by a motor: the mounting arm 21 is driven to rotate in a horizontal direction about the frame 10, the mounting arm 21 is extended and retracted, the pitching arm is rotated in a horizontal direction about the first end of the mounting arm 21, the pitching motion of the first arm 24, the pitching motion of the second arm 26 and the pitching motion of the third arm 28, such that the end instrument 40 is brought into proximity or coincidence with the aperture while the OA meets the initial pitch angle θ and initial azimuth angle Φ.

Through the operation, the positioning mechanism 20 can independently complete positioning movement, can realize positioning in a large range and at a large angle, and the tail end of the mechanism is provided with 3 parallel first joints 23, second joints 25 and third joints 27, so that the occupied area of a pitching arm in a horizontal plane is small, the width of the pitching arm can be equal to that of the first arm 24, each mechanical arm can be close, and the surgical adaptability is improved.

As shown in fig. 6-8, a second aspect of the present utility model provides a surgical robot comprising at least one positioning mechanism 20 as in any of the above embodiments. The surgical robot provided in this embodiment has the positioning mechanism 20 of any one of the above embodiments, and thus has the beneficial effects of any one of the above embodiments, which are not described in detail herein.

In some embodiments, as shown in fig. 4-8, the surgical robot further includes a frame 10 and a parallel robotic arm 30 for mounting an end instrument 40, the mounting arm 21 is rotatably coupled to the frame 10, and the third arm 28 is coupled to the parallel robotic arm 30. The mounting arm 21 can rotate around the frame 10, thereby adjusting the azimuth angle of the positioning mechanism 20, and further improving the freedom of movement of the positioning mechanism 20. As described above, since the positioning mechanism 20 has a large pitch angle adjustment range, the pitch angle of the end of the positioning mechanism 20 can be adjusted by the positioning mechanism 20. Therefore, the positioning mechanism 20 is utilized to independently complete the initial posture positioning of the end instrument 40, and the azimuth angle and the pitch angle are independently adjusted, so that the mutual influence between the azimuth angle and the pitch angle is avoided, and potential safety hazards are avoided. On the other hand, and because the range of motion of the linkage arm 30 is small, if the range of motion of the distal end of the positioning mechanism 20 is small, the positioning mechanism 20 needs to occupy the range of motion of the linkage arm 30 to achieve initial positioning of the distal instrument 40, such as pitch angle, thereby affecting the range of motion of the linkage arm 30. Therefore, according to the scheme of the embodiment, the parallel mechanical arm 30 can be kept in an initial posture, that is, the parallel mechanical arm 30 is in a zero state, and at this time, the parallel mechanical arm 30 has a large movement range. Further, the parallel robot 30 can adjust the end instrument 40 with the maximum adjustment stroke, so that the end instrument 40 has a large adjustment range.

Of course, when the end instrument 40 moves at the fixed point, the positioning mechanism 20 is in the locked state, if the parallel mechanical arm 30 still cannot move the end instrument 40 to the designated point by adjusting the end instrument 40 by the maximum adjustment stroke, the locking condition of the positioning mechanism 20 can be released, and the pitching arm is utilized to perform pitching motion under the telecentrically limited condition to adjust the posture of the end of the pitching arm, so as to readjust the movement range of the parallel mechanical arm 30, thereby enabling the parallel mechanical arm 30 to have a larger movement range.

Note that, the stationary point proposed in this embodiment is a virtual point on the end instrument 40, and the end instrument 40 moves in the conical space with the stationary point as the conical vertex. In the case of the surgical robot being used on the patient 50, the stationary point thereof refers to the skin opening of the patient 50, and the parallel robot arm 30 is aligned with the stationary point through which the parallel robot arm 30 is required to extend along its length, i.e., through which the end instrument 40 passes.

Specifically, referring to fig. 1, the mounting arm 21 is rotatable relative to the frame 10 about the lower left arrow in the arrowed arc, but may be reversely rotatable.

In some embodiments, as shown in fig. 6, 7, and 8, the parallel robot arm 30 is coupled to the sixth rod 282 of the third arm 28.

Further, the parallel mechanical arm 30 may be rotatably connected with the third arm 28, so that the parallel mechanical arm 30 may rotate, thereby increasing flexibility.

In some embodiments, at least a portion of the parallel robotic arm 30 is movable into the relief 263 on the second arm 26 to further increase the range of motion.

In some embodiments, as shown in fig. 2, the parallel robotic arm 30 includes a movable platform 31, a stationary platform 32, and a plurality of branches 33 for connecting the movable platform 31 and the stationary platform 32, the movable platform 31 for connecting the end instrument 40, the stationary platform 32 being connected to the third arm 28. The parallel mechanical arm 30 can adjust the posture of the movable platform 31 in three-dimensional space according to the extension and contraction of the plurality of branched chains 33, thereby adjusting the posture of the end instrument 40. In one embodiment, the parallel robot 30 is a 3UPS configuration.

In some embodiments, the stationary platform 32 is movable into the relief 263 of the first rod 261. In some embodiments, the frame 10 can move the positioning mechanism 20 vertically and/or laterally. Facilitating an expansion of the range of motion of the positioning mechanism 20.

In some embodiments, as shown in fig. 6 and 7, the rack 10 includes a base 12, a support 13, a support beam 14 and a beam 15, a travelling mechanism is disposed on the base 12, the support 13 is disposed on the base 12, the support beam 14 is movably connected with the support 13, the support beam 14 can rotate around a central axis of the support 13 and/or move up and down along the support 13, the beam 15 is rotatably connected with the support beam 14 to rotate around the central axis of the support beam 14, the beam 15 is a telescopic beam, and the positioning mechanism 20 is connected to an end of the beam 15 through the base 11.

Further, as shown in fig. 6 and 7, the rack 10 includes a base 11, and a plurality of mounting sections 111 are provided on the base 11, which are spaced apart in the height direction, each mounting section 111 having at least one mounting position 112 in the horizontal direction. The number of positioning mechanisms 20 is plural, and the second end of the mounting arm 21 of each positioning mechanism 20 is connected at one mounting location 112. Of the two installation sites 112 adjacent in the height direction, the movable radius of the positioning mechanism 20 connected to the higher installation site 112 is larger than the movable radius of the positioning mechanism 20 connected to the lower installation site 112. In the case where the plurality of mounting locations 112 are provided for each mounting section 111, and the positioning mechanism 20 is connected to at least two mounting locations 112 of the plurality of mounting locations 112, a gap is provided between extreme positions where two positioning mechanisms 20 adjacent in the horizontal direction are close to each other. The plurality of positioning mechanisms 20 are closely spaced and non-interfering with one another, increasing surgical applicability. As shown in fig. 6-8, the surgical robot includes four positioning mechanisms 20.

Although embodiments of the present utility model have been described in detail hereinabove, various modifications and variations may be made to the embodiments of the utility model by those skilled in the art without departing from the spirit and scope of the utility model. It will be appreciated that such modifications and variations will be apparent to those skilled in the art that they will fall within the spirit and scope of the embodiments of the utility model as defined in the appended claims.

Claims (21)

1. A positioning mechanism (20), characterized in that the positioning mechanism (20) comprises:

a mounting arm (21) and a pitching arm rotatably connected to the mounting arm (21);

the pitching arm comprises a first arm (24), a second arm (26) and a third arm (28), wherein the first arm (24) is rotationally connected with the first end of the mounting arm (21), and the first arm (24), the second arm (26) and the third arm (28) are sequentially rotationally connected.

2. The positioning mechanism (20) of claim 1 wherein said first arm (24), said second arm (26) and said third arm (28) lie in the same plane and are capable of pitching movement in the same plane;

the second arm (26) is provided with a avoiding portion (263), and at least part of the third arm (28) can rotate into the avoiding portion (263) so that the third arm (28) and the second arm (26) are at least partially stacked.

3. The positioning mechanism (20) of claim 2, wherein the second arm (26) includes a hollow frame that encloses the hollow relief (263).

4. A positioning mechanism (20) according to claim 3, wherein the relief (263) of the second arm (26) is rotatable outside the first arm (24) to at least partially stack the first arm (24) with the second arm (26);

Wherein the first arm (24) and the third arm (28) are alternatively rotatable into the relief (263).

5. The positioning mechanism (20) of any of claims 2 to 4, wherein the second arm (26) comprises a first rod (261) and a second rod (262) connected in sequence, the first rod (261) being disposed at an angle to the second rod (262), at least a portion of the third arm (28) being capable of entering an area enclosed by the first rod (261) and the second rod (262).

6. The positioning mechanism (20) of claim 5, wherein said first arm (24) includes a third rod (241) and a fourth rod (242) connected in series, said third rod (241) and said fourth rod (242) being angularly disposed, at least a portion of said second arm (26) being capable of entering an area enclosed by said third rod (241) and said fourth rod (242).

7. The positioning mechanism (20) of claim 5, wherein said third arm (28) includes a fifth lever (281) and a sixth lever (282) connected, said fifth lever (281) and said sixth lever (282) being angularly disposed, said fifth lever (281) being rotatably connected to said second arm (26).

8. The positioning mechanism (20) of claim 7, wherein the relief portion (263) is provided in the first lever (261), and the fifth lever (281) is rotatable into the relief portion (263) of the first lever (261).

9. The positioning mechanism (20) of claim 8, wherein the relief portion (263) is disposed within the second rod (262), the relief portion (263) of the first rod (261) being in communication with the relief portion (263) of the second rod (262), the fifth rod (281) being rotatable into the relief portion (263) of the first rod (261) and into the relief portion (263) of the second rod (262); and/or

The avoidance portion (263) is provided in the second lever (262), and the sixth lever (282) is rotatable into the avoidance portion (263) of the first lever (261).

10. The positioning mechanism (20) of any one of claims 6 to 9, wherein the angle is 90 degrees.

11. The positioning mechanism (20) of claim 5, wherein,

the length of the first rod (261) is greater than the length of the second rod (262).

12. The positioning mechanism (20) of claim 6, wherein,

the length of the third bar (241) is greater than the length of the fourth bar (242); and/or

The length of the first rod (261) is smaller than the length of the third rod (241); and/or

The second rod (262) has a length greater than the length of the fourth rod (242); and/or

The length of the first arm (24) is equal to the length of the second arm (26).

13. The positioning mechanism (20) of claim 7, wherein a length of the third arm (28) is less than a length of the second arm (26).

14. The positioning mechanism (20) of claim 6, wherein in the stowed state, the first arm (24) and the second arm (26) are located below the mounting arm (21), and the first arm (24) and the second arm (26) are smaller in length in the horizontal direction than the mounting arm (21); and/or

In the stowed state, the first arm (24) and the second arm (26) can be stacked in a horizontal or vertical direction or the first arm (24) can wrap around a portion of the second arm (26).

15. The positioning mechanism (20) of claim 1, wherein an end of the third arm remote from the second arm is pitched in a range of-20 ° to 110 ° relative to horizontal.

16. The positioning mechanism (20) of claim 7, wherein one of the sixth lever (282) and the fifth lever (281) is provided with a runner (2811), the other is provided with a slider adapted to the runner (2811), and an extending direction of the runner (2811) is perpendicular to an extending direction of an axis around which the third arm (28) performs a pitching motion.

17. The positioning mechanism (20) of claim 1, wherein the positioning mechanism (20) further comprises a plurality of arm drivers, any of the first arm (24), the second arm (26), and the third arm (28) being drivingly connected to one of the arm drivers; and/or

The axes about which any two of the first arm (24), the second arm (26) and the third arm (28) are in rotational motion are parallel.

18. The positioning mechanism (20) according to claim 1, wherein a first end of the mounting arm (21) is provided with a first rotation mechanism (22), the first rotation mechanism (22) is connected to the pitching arm, the first rotation mechanism (22) is capable of driving the pitching arm to rotate around the first end of the mounting arm (21) in a horizontal direction, and an axis around which the pitching arm rotates in the horizontal direction is perpendicular to an axis around which the first arm (24) performs pitching motion;

the mounting arm (21) is a telescopic arm which can rotate in the horizontal direction, and/or the mounting arm (21) and the pitching arm are positioned on the same plane.

19. Surgical robot, characterized by comprising at least one positioning mechanism (20) according to any of the previous claims 1 to 18.

20. Surgical robot according to claim 19, characterized in that it further comprises a frame (10) and a parallel robot arm (30) for mounting an end instrument (40), the mounting arm (21) being rotatably connected with the frame (10), the third arm (28) being connected with the parallel robot arm (30).

21. The surgical robot of claim 20, wherein the parallel robotic arm (30) is coupled to a sixth rod (282) of the third arm (28); and/or

The parallel mechanical arm (30) comprises a movable platform (31), a static platform (32) and a plurality of branched chains (33) used for connecting the movable platform (31) and the static platform (32), wherein the movable platform (31) is used for connecting an end instrument (40), and the static platform (32) is connected with the third arm (28).