CN220362578U - Operating component with high flexibility and robot - Google Patents

Abstract

The embodiment of the utility model discloses an operation assembly with high flexibility and a robot. The operation assembly comprises a movable platform, a static platform and N brackets which are connected with the movable platform and the static platform in a rotating way, wherein N is more than or equal to 2, the operation assembly comprises N first connecting pieces and N second connecting pieces, each bracket is connected with the movable platform in a rotating way through one first connecting piece and one second connecting piece, each bracket is connected with one second connecting piece in a rotating way and can rotate around a Z axis, each second connecting piece is connected with one corresponding first connecting piece in a rotating way and can rotate around an X axis relatively, and each corresponding first connecting piece is connected with the movable platform in a rotating way and can rotate around a Y axis relatively, and X, Y, Z shafts are perpendicular to each other. The movable platform and the bracket of the operating assembly can rotate freely relative to each other in the space with three degrees of freedom.

Description

Operating component with high flexibility and robot

Technical Field

The embodiment of the utility model relates to the field of robots, in particular to an operation assembly with high flexibility and a robot.

Background

The master-slave teleoperation robot technology is widely applied to the fields of dangerous space exploration, mass entertainment, industrial production, medical service and the like. In a teleoperation robot system, an operation component is used as interaction equipment between an operator and a robot, information such as pose, speed and the like given by the operator is transmitted to slave equipment, and meanwhile, environmental information such as force/moment and the like received by the slave system can also be transmitted to the operator, so that the operator has an operation presence feel, and the movement of the slave system can be effectively controlled and intervened in time.

The robot manipulator which is widely used at present is a delta parallel operation component. The delta parallel operating assembly generally includes a movable platform, a stationary platform, and three brackets connected between the movable platform and the stationary platform that have three translational degrees of freedom in space to effect position changes and enable force feedback.

However, the conventional movable platform of the operating assembly cannot flexibly rotate relative to the bracket.

Disclosure of Invention

Embodiments of the present utility model provide an operating assembly with a high degree of flexibility in which the movable platform and the support are flexibly rotatable relative to one another.

The embodiment of the utility model provides an operation assembly with high flexibility, which is applied to a robot, and comprises a movable platform, a static platform and N brackets rotationally connected with the movable platform and the static platform, wherein N is more than or equal to 2, the operation assembly comprises N first connecting pieces and N second connecting pieces, each bracket is rotationally connected with the movable platform through one first connecting piece and one second connecting piece, each bracket is rotationally connected with one second connecting piece and can rotate around a Z axis, each second connecting piece is rotationally connected with one corresponding first connecting piece and can rotate around an X axis relatively, each corresponding first connecting piece is rotationally connected with the movable platform and can rotate around a Y axis relatively, and X, Y, Z axes are perpendicular to each other. Through the rotation connection of the first connecting piece and the movable platform, the rotation connection of the second connecting piece and the bracket and the rotation connection of the first connecting piece and the second connecting piece, three degrees of freedom in the two-to-two vertical XYZ space coordinate system can be provided for the movable platform and the bracket, so that the flexibility of the movable platform and the bracket for rotating relative to each other is effectively improved, and the problem that the movable platform cannot flexibly rotate relative to the bracket in the prior art is effectively solved.

In one possible embodiment, the second connecting member is L-shaped and includes a first section and a second section that are vertically connected, the first section being rotatably connected to a corresponding first connecting member, and the second section being rotatably connected to a corresponding bracket. The L-shaped second connecting piece can further reduce interference between the movable platform and the bracket, and improve the rotation flexibility of the movable platform and the bracket.

In one possible solution, the first connecting member includes a ring portion having a first through hole, and a boss protruding from one side of the ring portion, the ring portion is rotatably connected to the movable platform, the first section of the second connecting member has a second through hole, and the boss is inserted into the second through hole and rotatably connected to the first section. The first connecting piece is simple in structure and can effectively avoid interference to the rotation process of the movable platform.

In one possible solution, the movable platform includes a main body portion, and N first connection columns protruding from the main body portion, each of the first connection columns being inserted into the first through hole of the ring portion of a corresponding first connection member and rotatably connected with the first ring portion. The movable platform and the first connecting piece are connected through the first connecting column, so that the structure is simple, and the transmission is stable.

In one possible solution, a bushing assembly is provided between the ring portion of the first connecting member and the corresponding first connecting post, each of the first connecting posts having a first receiving hole recessed from its free end, and a connecting element is inserted into the first receiving hole and abuts against the bushing assembly. The shaft sleeve component can reduce friction and improve mechanical efficiency.

In one possible solution, a bushing assembly is provided between the boss of the first connector and the first section of the second connector, each boss having a second receiving hole recessed from its free end face, a connecting element being inserted into the second receiving hole and abutting against the bushing assembly. The shaft sleeve component can reduce friction and improve mechanical efficiency.

In one possible embodiment, the second section of the second connection element is connected to the respective support by a connection shaft, which comprises a top section, which is connected to the second section in a rotating manner, and a bottom section, which is connected to the support in a fixed manner, and which is connected to the bottom section in a fixed manner. The second connecting piece and the bracket are connected through the connecting shaft, so that the structure is simple, and the transmission is stable.

In one possible solution, the second section of the second connecting piece has a third through hole, the top section is inserted into the third through hole, a sleeve component is arranged between the second section and the top section, the top section has a third receiving hole recessed from the free end surface of the top section, and a connecting element is inserted into the third receiving hole and abuts against the sleeve component. The shaft sleeve component can reduce friction and improve mechanical efficiency.

In one possible solution, the connecting shaft further comprises a support section connected between the top section and the bottom section, the support section being abutted between the bushing assembly and the respective bracket. The support section may improve the connection stability between the second connector and the bracket.

The embodiment of the utility model also provides a robot which comprises the operation assembly. The technical effects that can be achieved by the robot can refer to the technical effects of the operation assembly described above, and are not described in detail herein.

Based on the above scheme, according to the utility model, each bracket is rotatably connected with a second connecting piece and can rotate around the Z axis, each second connecting piece is rotatably connected with a corresponding first connecting piece and can rotate around the X axis relatively, each corresponding first connecting piece is rotatably connected with the movable platform and can rotate around the Y axis relatively, wherein X, Y, Z axes are perpendicular to each other, so that the movable platform and the bracket can rotate freely relative to each other in a space rectangular coordinate system.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

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

Fig. 2 is a perspective view of an operative assembly of the surgical robot of fig. 1.

Fig. 3 is a perspective view of another view of the operating assembly of the surgical robot shown in fig. 1.

Fig. 4 is a schematic perspective view of the movable platform and handle of the operating assembly of fig. 3.

Fig. 5 is an exploded view of the movable platform and handle of the operating assembly of fig. 3.

Fig. 6 is an enlarged view of a portion of the connection between the movable platform and a bracket of the operating assembly of fig. 3.

Fig. 7 is a cross-sectional view of the connection of the movable platform and a bracket shown in fig. 6.

Fig. 8 is an exploded view of the connection of the movable platform and a bracket shown in fig. 6.

Fig. 9 is a schematic perspective view of a bracket of the operating assembly shown in fig. 3, wherein the first linear motor is connected to the bracket.

Fig. 10 is a schematic perspective view of a bracket of the operating assembly of fig. 3, with the first linear motor separated from the bracket.

Fig. 11 is another perspective view of a bracket of the operating assembly of fig. 3, wherein a first linear motor is coupled to the bracket.

Fig. 12 is another perspective view of a bracket of the operating assembly of fig. 3, with the first linear motor separated from the bracket.

Fig. 13 is a schematic perspective view of a stationary platform and a stand of the operating assembly shown in fig. 3.

Fig. 14 is a cross-sectional view of the stationary platform and carriage of fig. 13.

Fig. 15 is an exploded view of the connection of the stationary platform of the operating assembly of fig. 3 to a bracket.

Fig. 16 is a schematic perspective view of a position calibrator between the movable and stationary platforms of the operating assembly of fig. 3.

Fig. 17 is an exploded view of the position calibrator between the movable and stationary platforms of fig. 16.

Fig. 18 is another perspective view of the position calibrator of fig. 16.

Fig. 19 is a cross-sectional view of the position calibrator of fig. 18.

Fig. 20 is a schematic perspective view of the first support member of the position calibrator of fig. 18.

Fig. 21 is a schematic perspective view of a second support member of the position calibrator of fig. 18.

Fig. 22 is a schematic perspective view of an operation assembly of a surgical robot according to a second embodiment of the present utility model.

Fig. 23 is a schematic perspective view of the stationary platform and a bracket of the operating assembly of fig. 22.

Fig. 24 is an exploded view of the connection of the stationary platform to the bracket shown in fig. 23.

Fig. 25 is an enlarged view of a portion of the operational assembly shown in fig. 22.

Fig. 26 is a partial exploded view of the operational assembly of fig. 22.

Reference numerals in the drawings:

100. an operating assembly; 101. a controller; 10. a movable platform; 11. a main body portion; 110a, 110c, 110b, a first connection post; 111. a first receiving hole; 112. a notch; 12. a housing chamber; 13. a first flange; 130. a first connection hole; 14. a first connector; 140. a first through hole; 141. a ring portion; 142. a convex column; 143. a second receiving hole; 144. a sleeve assembly; 145. a first sleeve; 146. a second sleeve; 147. a positioning ring; 148. a first connecting element; 149. a first gasket; 15. a second connector; 151. a first section; 152. a second section; 153. a second through hole; 154. a third through hole; 16. a connecting shaft; 161. a top section; 162. a bottom section; 163. a support section; 164. a third receiving hole; 165. a fourth receiving hole; 17. a second flange; 170. a fourth connection hole; 20. a static platform; l2, central axis of stationary platform 20; 21. a rotating electric machine; l1, a central axis of the rotary electric machine 21; 210. an output shaft; 211. a support column; 212. a first connection section; 213. a second connection section; 214. a third connection section; 215. a fifth through hole; 216. a bearing assembly; 217. a second connecting element; 218. a second gasket; 22. an encoder; 23. a fixing frame; 231. a first fixing plate; 232. a second fixing plate; 240. a clamping groove; 241. a sixth connection hole; 30. a bracket; 31. an upper support; 310. a fourth through hole; 32. a lower support; 33. a first slide bar; 34. a first linear motor; 35. a side support; 350. a lightening hole; 351. a first side plate; 352. a second side plate; 353. a left side plate; 354. a right side plate; 355. a first slide rail; 36. a first grating scale; 37. a first reader; 38. a third connecting member; 381. a first support plate; 382. a second support plate; 383. a rib; 384. a third support plate; 385. a first slider; 386. a rounded portion; 387. a second connection post; 388. a fifth receiving hole; 40. a handle; 400. a button; 41. an upright portion; 410. a fixed block; 412. a second connection hole; 42. a grip portion; 50. a position calibrator; 51. a first support; 510. a first support bar; 511. a first support base; 512. a second support base; 513. a third connection hole; 514. a first reinforcing rib; 515. a first receiving space; 516. a concave space; 517. a first protruding surface; 518. a first concave surface; 52. a second support; 520. a second support bar; 521. a third support base; 522. a fourth support base; 523. a fifth connection hole; 524. an elongated aperture; 525. a second receiving space; 527. a second protruding surface; 528. a second concave surface; 53. an insert; 531. a first section; 532. a second section;

200. A surgical robotic arm; 201. a sensor; 300. an image processing apparatus;

600. an operating assembly; 620. a static platform; 621. a support shaft; 622. a support column; 623. a first connection section; 624. a second connection section; 625. a fifth through hole; 626. a support frame; 627. a base; 628. a second grating scale; 629. a second slide rail; 630. a third connecting member; 631. a second connection post; 632. a bearing assembly; 633. a fifth receiving hole; 634. a second connecting element; 635. a second gasket; 641. a left support; 642. a right support; 643. a second slide bar; 660. a second linear motor; 661. a second readhead; 662. a second slider; 670. a fourth connecting member; 671. a fourth support plate; 672. a fifth support plate; 673. a cushion block; 674. a second reinforcing rib; 680. a third slide rail; 681. a support bar; 682. a third slider; 683. a bearing seat; 684. a ball bearing; 685. and a connecting rod.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; either directly, or indirectly, through intermediaries, may be in communication with each other, or may be in interaction with each other, unless explicitly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances. The technical scheme of the utility model is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

The linear motor herein refers to a motor for driving the components connected thereto to perform linear motion or to perform linear motion with respect to the components connected thereto, and the rotary motor refers to a motor for driving the components connected thereto to perform rotary motion.

Existing operating assemblies typically include a movable platform, a stationary platform, and three brackets connected between the movable platform and the stationary platform. The mobile platform may be driven to feed back mechanical information of the slave device. However, the present inventors have found that existing mobile platforms cannot flexibly rotate relative to the support. Accordingly, there is a need to provide an improved operating assembly in which the movable platform and the support are flexibly rotatable relative to each other.

Referring to fig. 1, a surgical robot of a first embodiment of the present utility model includes an operating assembly 100, a surgical robot arm 200, and an image processing apparatus 300. The operating assembly 100 is for active control of operation by a physician, and includes a controller 101. The surgical robotic arm 200 is configured to respond to a physician's control operation and to control the actuation of surgical instruments, such as, for example, electric knives, forceps, clamps or hooks, to perform minimally invasive surgery on a patient. The surgical robotic arm 200 includes a sensor 201, the sensor 201 for detecting motion of a surgical instrument, and the sensor 201 is coupled to the controller 101 of the operating assembly 100. The image processing apparatus 300 is coupled to an endoscope, and presents a surgical screen peeped by the endoscope in real time for a doctor to view a movement trace of the surgical instrument 201 and a surgical procedure.

During operation, a doctor actively controls the operation assembly 100 and transmits instructions to the operation mechanical arm 200 through the controller 101 so that the operation instrument acts; the sensor 201 of the surgical mechanical arm 200 transmits the motion data of the surgical instrument to the operation assembly 100 through the controller 101, so that the motion feedback of the surgical instrument is performed at the operation assembly 100, and interaction between a doctor and mechanical information of the surgical instrument in the surgical operation process is realized, namely, simulation of actual surgical operation of the surgical instrument by the doctor is realized through the operation assembly 100.

Referring to fig. 2 and 3, the operation assembly 100 of the present embodiment includes a movable platform 10 and a static platform 20 arranged at intervals, and N brackets 30 connecting the movable platform 10 and the static platform 20, where N is the number of brackets, and N is greater than or equal to 2. Preferably, n=3. Also preferably, the N brackets 30 are evenly spaced circumferentially. More preferably, the N brackets 30 are inclined towards the movable platform 10 relative to the central axis of the stationary platform 20, so as to reduce the overall volume of the operating assembly 100, and enable the arms of the doctor to adapt to the movement condition of the movable platform 10 in a smaller space range, thereby more conveniently adjusting the position of the surgical instrument. A handle 40 is fixedly connected to the movable platform 10.

Referring to fig. 4 and 5, a plurality of buttons 400 are provided on the handle 40. The surgeon sends instructions to the surgical robotic arm 200 via the controller 101 by controlling the buttons 400 with the fingers. The functions of the respective buttons 400 may be the same or different.

In this embodiment, the handle 40 includes an upright portion 41 and a grip portion 42 fixedly connected to the upright portion 41. The grip portion 42 extends from the tip of the upright portion 41 at a substantially obtuse angle relative to the upright portion 41. The plurality of buttons 400 are provided on the upright portion 41. The upright portion 41 is provided with a protruding fixing block 410 on a side facing the grip portion 42.

Preferably, the movable platform 10 is substantially annular, and includes a main body 11 extending substantially in a circumferential direction, and a housing cavity 12 surrounded by the main body 11. The upright portion 41 of the handle 40 is received in the receiving chamber 12.

In this embodiment, the top end of the main body 11 has a first flange 13 protruding toward the accommodating cavity 12. The first flange 13 is provided with one or more first connection holes 130. The first connection hole 130 may be a blind hole or a through hole. The fixed block 410 of the handle 40 is provided with one or more second connecting holes 412 corresponding to the one or more first connecting holes 130. The second connection hole 412 may be a blind hole or a through hole. Screws or pins are inserted into the first and second coupling holes 130 and 412 to fixedly couple the movable platform 10 and the handle 40.

It will be appreciated that in other embodiments, the handle may take other configurations. The handle may be fixedly connected to the movable platform 10 by other structures and/or connection means.

Preferably, the main body 11 of the movable platform 10 extends in the circumferential direction by an angle of about 360 ° (N-1)/N. As can be seen from fig. 1 and 5, in the present embodiment, the main body 11 of the movable platform 10 extends at an angle of substantially 360 ° (3-1)/3=240° along the circumferential direction. That is, the main body 11 of the movable platform 10 is configured as a two-thirds ring (i.e., a two-thirds ring extending in the circumferential direction for one full circle). A gap 112 is formed between the circumferentially opposite first and second ends of the body portion 11. The notch 112 communicates with the receiving cavity 12 and is opposite at least one of the buttons 400. The physician can conveniently control the button 400 on the upright 41 at the notch 112 to avoid interference.

In this embodiment, the movable platform 10 further includes N first connection posts protruding from the main body 11 for connection with the corresponding brackets 30. Specifically, the two circumferential ends of the main body 11 and the middle part thereof protrude a first connecting post 110a, 110c, 110b, respectively, each first connecting post 110a, 110c, 110b has a first receiving hole 111 recessed from the free end thereof for connecting the movable platform 10 with the corresponding bracket 30. Preferably, the first connection posts 110a, 110c at both ends in the circumferential direction of the main body 11 protrude toward the notch 112, and the first connection post 110b at the middle part in the circumferential direction of the main body 11 is substantially tangential to the outer circumference of the main body 11.

Referring to fig. 6 to 8, in the present embodiment, the movable platform 10 is rotatably connected to the corresponding bracket 30. Preferably, the movable platform 10 is rotatable relative to the support 30 about an axis X, Y, Z of the spatial Cartesian coordinate system. More preferably, the movable platform 10 is rotatably connected to a corresponding bracket 30 through a first connecting member 14 and a second connecting member 15, wherein the first connecting member 14 is rotatably connected to the movable platform 10, and the first connecting member and the movable platform are rotatable about a Y axis, the second connecting member 15 is rotatably connected to the corresponding bracket 30, and the second connecting member and the first connecting member 14 are rotatable about a Z axis, and the second connecting member 15 are rotatably connected, and the first connecting member 14 and the second connecting member are rotatable about an X axis, and the X, Y, Z axes are perpendicular to each other. The first connecting piece 14 and the second connecting piece 15 of the embodiment are adopted to connect the movable platform 10 and the bracket 30, so that the rotation flexibility of the movable platform 10 and the bracket can be effectively improved, and interference generated in the rotation process of the movable platform 10 and the bracket can be avoided.

Specifically, the first connecting member 14 includes a ring portion 141 having a first through hole 140, and a boss 142 protruding from one side of the ring portion 141, the boss 142 having a second receiving hole 143 recessed from a free end surface thereof.

The first connecting post 110c of the movable platform 10 is inserted into the first through hole 140 of the first connecting member 14 and is rotatably connected with the ring portion 141 of the first connecting member 14. Preferably, a bushing assembly 144 is also disposed between the first connection post 110c and the collar 141 to reduce wear of the first connection post 110c and the collar 141. In this embodiment, the bushing assembly 144 includes oppositely disposed first and second bushings 145, 146, and a locating ring 147 positioned between the first and second bushings 145, 146. A first connecting element 148, such as a screw or pin, is inserted into the first receiving aperture 111 of the first connecting post 110c and preferably abuts the second bushing 146 via a first spacer 149 to connect the first connecting member 14, the bushing assembly 144, and the first connecting post 110c. The connection structure of the first connection posts 110a, 110b and the corresponding first connection members 14 can refer to the first connection post 110c, and will not be described herein.

It will be appreciated that in other embodiments, other arrangements may be used for the connection between the mobile platform 10 and the first connector 14. For example, rolling bearings may be used in place of the sleeve assembly 144. Alternatively, in other embodiments, the first connection post is provided by a first connector and the movable platform provides a first through hole, and the first connection post of the first connector is inserted into the first through hole of the movable platform to be rotatably coupled with the movable platform, for example, by the bushing assembly 144.

The second connecting member 15 is substantially L-shaped and includes a plate-shaped first section 151 and a second section 152 which are substantially vertically connected, wherein the first section 151 has a second through hole 153 at an end remote from the second section 152, and the second section 152 has a third through hole 154 at an end remote from the first section 151. The boss 142 of the first connecting member 14 is inserted into the second through hole 153 of the first section 151 and is rotatably connected with the first section 151. Similarly, a bushing assembly 144 is also provided between the first section 151 and the boss 142, and a first connecting element 148, such as a screw or pin, is inserted into the second receiving bore 143 of the boss 142 and preferably abuts the second bushing 146 via a first spacer 149 to connect the first connecting member 14, the bushing assembly 144, and the second connecting member 15.

Similarly, in other embodiments, the first connecting member 14 and the second connecting member 15 may be connected by other structures. For example, rolling bearings may be used in place of the sleeve assembly 144. Alternatively, in other embodiments, the stud is provided by a second connector and the first connector provides a second through hole, and the stud of the second connector is inserted into the second through hole of the first connector to be rotatably coupled with the first connector, such as by bushing assembly 144.

Preferably, the second section 152 of the second connecting member 15 is connected to the bracket 30 via the connecting shaft 16. Specifically, the connecting shaft 16 includes a hollow cylindrical top section 161 and a bottom section 162, and a support section 163 connected between the top section 161 and the bottom section 162. The outer diameter of the support section 163 is greater than the outer diameters of the top section 161 and the bottom section 162. The outer diameters of the top section 161 and the bottom section 162 may or may not be equal, preferably the outer diameter of the top section 161 is smaller than the outer diameter of the bottom section 162. The top section 161 has a third receiving hole 164 recessed from its top end. The bottom section 162 has a fourth receiving hole 165 recessed from its bottom end.

The top section 161 of the connecting shaft 16 is inserted into the third through hole 154 of the second section 152 of the second connecting member 15 and is rotatably connected to the second section 152. Similarly, a bushing assembly 144 is also provided between the second section 152 and the top section 161, and a first connecting element 148, such as a screw or pin, is inserted into a third receiving bore 164 of the top section 161 and preferably abuts the second bushing 146 via a first spacer 149 to connect the second connector 15, bushing assembly 144, and connecting shaft 16.

The bracket 30 has a fourth through hole 310. The bottom section 162 of the connecting shaft 16 is inserted into the fourth through-hole 310 of the bracket 30 and is fixedly connected (e.g., a tight fit) to the bracket 30. Similarly, a first connecting element 148, such as a screw or pin, is inserted into a fourth receiving aperture 165 of the bottom section 162 and preferably abuts the bottom section 162 and the bracket 30 via a first spacer 149 to connect the bracket 30 and the connecting shaft 16.

Preferably, the top and bottom ends of the supporting section 163 of the connecting shaft 16 respectively abut against the corresponding first shaft sleeve 145 of the top section 161 and the bracket 30, so as to improve the connection stability between the second connecting member 15 and the bracket 30.

Referring to fig. 2, 3, and 9 and 10, in the present embodiment, the bracket 30 includes an upper support 31, a lower support 32, and a first slide bar 33 connected between the upper support 31 and the lower support 32. Preferably, the upper support 31 and the lower support 32 have a plate shape. The fourth through hole 310 is formed in the upper supporter 31.

The first slide bar 33 is sleeved with a first linear motor 34. The first slide bar 33 is preferably a screw. The first linear motor 34 is used for driving the first sliding rod 33 to move along a straight line relative to the first linear motor 34. The upper and lower supports 31 and 32 are effective to prevent the first slide bar 33 from moving such that the first linear motor 34 is disengaged from the first slide bar 33. It will be appreciated that in other embodiments, the lower support 32 may be omitted.

Referring to fig. 9 to 12, the bracket 30 preferably further includes a side support 35 fixedly coupled between the upper support 31 and the lower support 32 for fixing (e.g., by bonding) the first grating scale 36. The side support 35 is opposite to the first slide bar 33. The first linear motor 34 is also fixedly connected with a first readhead 37 opposite to the first grating scale 36. Thus, when the first slide bar 33 moves linearly with respect to the first linear motor 34, the upper and lower supports 31 and 32 connected to the first slide bar 33, the side supports 35 fixedly connected to the upper and lower supports 31 and 32, and the first grating scale 36 fixedly connected to the side supports 35 also move with respect to the first linear motor 34 along with the first slide bar 33. Because the first reading head 37 is fixedly connected with the first linear motor 34, the first grating scale 36 and the first reading head 37 generate relative motion, so that the first reading head 37 can record the moving distance of the first grating scale 36, that is, the moving distance of the first sliding rod 33 relative to the first linear motor 34.

Preferably, the side support 35 is integrally elongated and hollow, and includes a plurality of weight-reducing holes 350 arranged at intervals along the length direction of the side support 35. The design of the plurality of weight-reducing holes 350 helps to reduce the weight of the bracket 30 so that the bracket 30 can move more smoothly relative to the first linear motor 34. More preferably, the circumferential profile of the wall of the lightening hole 350 is substantially elliptical, wherein the major axis direction of the ellipse coincides with the length direction of the side support 35.

It is also preferable that the side support 35 includes a first side plate 351 and a second side plate 352 vertically connected to the first side plate 351, wherein the first side plate 351 is consistent with the second side plate 352 in the length direction. The weight reducing hole 350 is formed at the first side plate 351. The upper support member 31 and the lower support member 32 are respectively fixedly connected to two ends of the first side plate 351 (for example, by screws), and the first linear motor 34 is arranged at intervals on one side of the first side plate 351 facing the first slide bar 33. The first grating scale 36 is fixed to the second side plate 352. The first reading heads 37 are arranged at intervals on one side of the second side plate 352 for fixing the first grating scale 36. That is, the first linear motor 34 and the first reader 37 are distributed on different sides of the side support 35. It will be appreciated that in other embodiments, the side support may take other configurations such that the first linear motor 34 and the first reader head 37 are distributed on the same side of the side support.

Preferably, the thickness of the first side plate 351 is greater than the thickness of the second side plate 352 to increase the overall strength of the first side plate 351. It is also preferable that the side support 35 is an integral piece to increase the overall strength of the side support 35.

More preferably, the first side plate 351 is substantially perpendicular to the middle of the second side plate 352, i.e., the cross section of the side support 35 is substantially T-shaped, so that the second side plate 352 is divided into a left side plate 353 and a right side plate 354 in the width direction by the first side plate 351. Preferably, the upper support 31 and the lower support 32 are fixedly connected to the first side plate 351 and also abut against a side of the right side plate 354 facing the first side plate 351, so as to improve the connection strength between the upper support 31 and the lower support 32 and the side support 35. The first grating scale 36 is fixed to the side of the left side plate 353 facing away from the first side plate 351 and may be selectively fixed to the side of the right side plate 354 facing away from the first side plate 351 at the same time according to the width thereof.

It will be appreciated that in other embodiments, the side supports may take other configurations, for example, a side support may be provided that is generally L-shaped in cross section, including a first side plate and a second side plate that are perpendicularly connected to one another. In this case, the upper and lower supports 31 and 32 may be fixedly connected to a first side plate of the side support and abutted against a second side plate, the first linear motor 34 may be disposed at one side of the first side plate, and the first grating scale 36 may be fixed at one side of the second side plate facing or facing away from the first side plate.

Preferably, the first linear motor 34 and the first reading head 37 are fixedly connected by a third connecting piece 38. Specifically, the third connecting member 38 includes a first support plate 381 fixedly connected to the first linear motor 34 (e.g., by a screw), and a second support plate 382 fixedly connected to the first reading head 37 (e.g., by a screw), wherein the first support plate 381 is perpendicularly connected to the second support plate 382. More preferably, the third connecting member 38 further includes a rib 383 connected between the first support plate 381 and the second support plate 382, the rib 383 being vertically connected to both the first support plate 381 and the second support plate 382, preferably to the middle portions of both the first support plate 381 and the second support plate 382, to further enhance the support strength of the third connecting member 38 and prevent deformation.

It is also preferable that the third connecting member 38 further includes a third support plate 384 vertically connected with the first support plate 381 for fixedly connecting with one or more first sliders 385. The third support plate 384 and the second support plate 382 are located on opposite sides of the first support plate 381, respectively. Preferably, the third connecting member 38 is a one-piece member to increase the overall strength of the third connecting member 38. The first side plate 351 is fixedly connected with a first sliding rail 355, and the length direction of the first sliding rail 355 is consistent with the length direction of the first side plate 351. The one or more first slides 385 are slidably coupled to the first slide rail 355.

Thus, when the first linear motor 34 drives the first slide bar 33 to move linearly with respect to the first linear motor 34, the upper and lower supports 31 and 32 connected to the first slide bar 33, the side supports 35 fixedly connected to the upper and lower supports 31 and 32, and the first grating scale 36 and the first slide rail 355 fixedly connected to the side supports 35 also move with respect to the first linear motor 34 along with the first slide bar 33. Since the first reading head 37, the first linear motor 34, and the first slide 385 are fixedly connected by the third connection 38, the first slide rail 355 slides with respect to the first slide 385. By the cooperation of the first slide rail 355 and the first slider 385, the stability of the movement of the bracket 30 relative to the first linear motor 34 is effectively improved.

Preferably, the first support plate 381 of the third connecting member 38 is substantially square, and has a protruding rounded portion 386 at a corner thereof remote from the second support plate 382 and the third support plate 384, and a second connecting post 387 perpendicular to the rounded portion 386 is provided at a middle portion of the rounded portion 386 for connection with the stationary platform 20.

Specifically, referring to fig. 2 to 3, and fig. 13 to 15, three rotating electric machines 21 distributed in the circumferential direction are fixedly connected to the stationary platform 20. The output shaft 210 of the rotating motor 21 is fixedly connected with a support column 211. The support column 211 includes a first connection section 212 sleeved on the output shaft 210 and fixedly connected with the output shaft 210, a second connection section 213 for connecting with the third connection member 38, and a third connection section 214 connected between the first connection section 212 and the second connection section 213.

The first connection section 212 is preferably hollow cylindrical. The second connecting section 213 is preferably semicircular and has a fifth through hole 215 in its middle. The second connection post 387 of the third connection member 38 is inserted into the fifth through hole 215 and is rotatably connected to the second connection section 213. Preferably, a bearing assembly 216 is disposed between the second connecting post 387 and the second connecting section 213. The second connecting post 387 has a fifth receiving hole 388 recessed from its free end. A second connection element 217, such as a screw or pin, is inserted into the fifth receiving aperture 388 of the second connection post 387 and preferably abuts the bearing assembly 216 via the second spacer 218.

The third connection section 214 preferably protrudes from the first connection section 212 and the second connection section 213 for fixedly connecting the encoder 22 (e.g. by means of screws). The encoder 22 is electrically connected to the first linear motor 34. When the output shaft 210 of the rotary motor 21 rotates, the support column 211 fixedly connected with the output shaft 210 rotates, the bracket 30 rotationally connected with the support column 211 through the third connecting piece 38 rotates relative to the stationary platform 20, and the encoder 22 records the rotation angle of the third connecting piece 38 relative to the stationary platform 20, and therefore, the rotation angle of the first slide rod 33 relative to the stationary platform 20.

Preferably, in this embodiment, the central axis L1 of the rotating electric machine 21 is offset by an angle α that is not a right angle with respect to the central axis L2 of the stationary platform 20, preferably an acute angle, more preferably in the range of 30 ° to 35 °, and most preferably α=30°. Compared to placing the rotating motor such that its central axis is perpendicular to the central axis of the stationary platform, the present embodiment is more conducive to collapsing the respective brackets 30 toward the handle 40, so that the doctor's arm can adapt to the movement of the movable platform 10 in a smaller spatial range, thereby more conveniently adjusting the position of the surgical instrument.

In this embodiment, the stationary platform 20 is generally configured as a hollow hexagonal body having a planar top surface, and three spaced sides thereof respectively have a fixing frame 23 protruding outwardly and inclined with respect to the top surface thereof for fixing the rotary electric machine 21. In this embodiment, the fixing frame 23 includes a first fixing plate 231 inclined with respect to the top surface of the stationary platform 20, and a second fixing plate 232 vertically connected to the first fixing plate 231. Each rotating electric machine 21 abuts against the second fixing plate 232 and is fixedly connected with the first fixing plate 231 (e.g., by screws). By designing the offset angle of the first fixing plate 231 with respect to the central axis L2 of the stationary platform 20, or the offset angle of the first fixing plate 231 with respect to the top surface of the stationary platform (equal to the offset angle of the central axis L1 of the rotary electric machine 21 with respect to the central axis L2 of the stationary platform 20), the aforementioned offset angle α of the central axis L1 of the rotary electric machine 21 with respect to the central axis L2 of the stationary platform 20 is achieved, and the rotary electric machine 21 is convenient to install. In this embodiment, one side wall of the stationary platform 20 has a slot 240 for connecting with other auxiliary accessories (e.g. a mounting rack) to stand on the bottom surface.

Referring to fig. 3, and 16, in order to avoid accumulated position errors of the movable platform 10 after using the operating assembly 100 a plurality of times, it is preferable that the operating assembly 100 further includes a position calibrator 50 positioned between the movable platform 10 and the stationary platform 20 for calibrating an initial position of the movable platform 10.

Specifically, the position calibrator 50 includes a first support 51 connected to the movable platform 10, and a second support 52 connected to the stationary platform 20, and the first support 51 is detachably connected to the second support 52. Preferably, the first support 51 is in plug-in engagement with the second support 52.

Referring to fig. 17 to 19, in the present embodiment, the first support member 51 includes a first support rod 510 having a longitudinal shape, and a first support seat 511 and a second support seat 512 connected to opposite first and second ends of the first support rod 510. The first support base 511 is used for being connected with the movable platform 10. The second support base 512 is configured to be connected to the second support 52.

Specifically, the first support base 511 has a plate shape and has one or more third connection holes 513. The third connection hole 513 may be a blind hole or a through hole. Correspondingly, the movable platform 10 is provided with one or more fourth connecting holes 170. The fourth connection hole 170 may be a blind hole or a through hole. Screws or pins or the like are inserted into the third and fourth connection holes 513 and 170 to connect the first support 51 and the movable platform 10.

Preferably, the top end of the main body 11 of the movable platform 10 has a second flange 17 protruding toward the housing cavity 12. The fourth connection hole 170 is formed in the second flange 17. Accordingly, the first support base 511 is offset relative to the second support base 512. In this embodiment, the first support base 511 extends vertically on a first side of the first support rod 510, and the second support base 512 extends vertically on a second side of the first support rod 510 opposite to the first side, i.e. the first support base 511, the first support rod 510, and the second support base 512 form a substantially Z-shaped structure. It is also preferable that the first supporting member 51 further includes a first reinforcing rib 514 connected to a side of the first supporting seat 511 facing the second supporting seat 512 and a side of the second supporting seat 512 facing the first supporting seat 511, so as to enhance the overall strength of the first supporting member 51.

In this embodiment, the second support base 512 is substantially block-shaped, and has a first receiving space 515 therein for being in plug-fit with the second support 52. Preferably, the first receiving space 515 is configured as a through hole penetrating the second support base 512 to increase the depth of the first receiving space 515, thereby improving the coupling stability of the first support 51 and the second support 52. Further, the first reinforcing rib 514 has a recess space 516 toward the bottom side of the first receiving space 515, and the recess space 516 communicates with the first receiving space 515 to provide a more sufficient escape space for the second supporting member 52.

In this embodiment, the second support member 52 includes a second support rod 520 having an elongated shape, and a third support seat 521 and a fourth support seat 522 connected to opposite first and second ends of the second support rod 520. The third support 521 is configured to be connected to the stationary platform 20. The fourth support 522 is configured to be connected to the first support 51.

Specifically, the third supporting seat 521 has a plate shape and has one or more fifth connection holes 523. The fifth connection hole 523 may be a blind hole or a through hole. Correspondingly, the stationary platform 20 is provided with one or more sixth connecting holes 241. The sixth connection hole 241 may be a blind hole or a through hole. Screws or pins or the like are inserted into the fifth and sixth connection holes 523 and 241 to connect the second support 52 and the stationary platform 20.

Preferably, the second support rod 520 has an elongated hole 524 extending through its thickness. The number of elongated apertures 524 may be one or more. In the case of the plurality of elongated holes 524, the plurality of elongated holes 524 are equally spaced along the length direction of the second support bar 520.

In this embodiment, the fourth support seat 522 is substantially block-shaped. The fourth support base 522 and the third support base 521 extend perpendicularly to the second support rod 520 at the same side of the second support rod 520. The fourth support 522 is provided with a second receiving space 525, which may or may not extend through the fourth support 522, for receiving the insert 53.

In this embodiment, the insert 53 includes a first section 531 received in the second receiving space 525 and connected to the fourth support base 522, and a second section 532 protruding from the top surface of the fourth support base 522. The second section 532 is releasably inserted into the first receiving space 515 of the first supporter 51, thereby connecting the first supporter 51 and the second supporter 52. Preferably, the insert 53 is configured as a screw, wherein the shaft of the screw forms the first section 531 and is screwed to the fourth support base 522, and the nut of the screw forms the second section 532 and is in a plug-in engagement with the second support base 512. The insert 53 is provided by screws, and is convenient to assemble and disassemble.

Referring to fig. 18 to 21, preferably, a surface portion of the second support base 512 facing the fourth support base 522 is recessed to form a first step configuration. The first step configuration includes a first protruding face 517 and a first recessed face 518. Accordingly, a surface portion of the fourth support block 522 facing the second support block 512 is recessed to form a second stepped configuration. The second step configuration includes a second protruding face 527 and a second recessed face 528. When the first support 51 and the second support 52 are connected, the first protruding surface 517 of the second support seat 512 is engaged with the second recessed surface 528 of the fourth support seat 522, and the first recessed surface 518 of the second support seat 512 is engaged with the second protruding surface 527 of the fourth support seat 522, so that the second section 532 of the guide insert 53 is inserted into the first receiving space 515 of the first support 51, which is convenient to operate.

It will be appreciated that in other embodiments, the position calibrator 50 may take other configurations. For example, the insert 53 may be formed as a single piece with the second support 52 without fixedly inserting the insert 53 into the second support 52. Alternatively, it is also possible to connect the insert on the first support and to form a receiving space on the second support for receiving the insert.

The operation principle of the operation assembly 100 of the present embodiment is briefly described as follows: the doctor controls the button 400 on the handle 40 by fingers to transmit instructions to the surgical mechanical arm 200 through the controller 101 so that the surgical instrument acts; the sensor 201 of the surgical mechanical arm 200 transmits the motion data of the surgical instrument to the rotary motor 21 and the first linear motor 34 through the controller 101, controls the rotation angle of the bracket 30 (and thus the first linear motor 34) relative to the static platform 20 through the encoder 22, controls the moving distance of the first sliding rod 33 driven by the first linear motor 34 through the first reader 37, and further enables the movable platform 10 and the handle 40 fixedly connected with the movable platform to simulate the motion of the surgical instrument, so that interaction of mechanical information of a doctor and the surgical instrument in the surgical operation process is realized, namely, simulation of actual surgical operation of the surgical instrument by the doctor is realized through the operation assembly 100. It is noted that the motion of the surgical instrument is preferably amplified equally at the handle 40, although it may be not.

The operation assembly 100 of the present embodiment has 6 driving amounts, which are three rotating motors 21 for driving the three supports 30 to rotate relative to the stationary platform 20, and three first linear motors 34 for driving the three supports 30 to move, wherein the first linear motors 34 are rotationally connected with a corresponding rotating motor 21, and one ends of the three supports 30 are also rotationally connected with the movable platform 10. Therefore, the operating assembly of the present embodiment can achieve 6 degrees of freedom, and can achieve both force feedback and attitude control, with simple wiring. Furthermore, force feedback errors can be effectively avoided by utilizing sliding rod transmission.

Referring to fig. 22, the operation assembly 600 of the second embodiment of the present utility model is substantially the same as the operation assembly 100 of the first embodiment of the present utility model, and includes the movable platform 10, the bracket 30, the handle 40 (not shown), and the position calibrator 50 (not shown) of the operation assembly 100, and the movable platform 10 and the bracket 30 are also connected by the first connecting member 14 and the second connecting member 15, which are the same and will not be described herein. The operation assembly 600 of the second embodiment of the present utility model is different from the operation assembly 100 of the first embodiment of the present utility model mainly in that the aforementioned rotating electric machine 21 disposed on the stationary platform 20 is no longer used to drive the rotation of the bracket 30 in this embodiment, but the second linear electric machine 660 is used to drive the rotation of the bracket 30.

Specifically, referring to fig. 22 to 24, the stationary platform 620 of the present embodiment is substantially hexagonal and includes three first sides spaced apart from each other and three second sides spaced apart from each other, wherein the three first sides have a protruding support shaft 621. A support column 622 is rotatably connected to the support shaft 621. The support post 622 includes a first connection section 623 rotatably sleeved on the support shaft 621, and a second connection section 624 connected to the first connection section 623 for connection to a third connection member 630.

The second connecting section 624 is preferably semicircular and has a fifth through hole 625 in its middle. The second connection post 631 of the third connection member 630 is inserted into the fifth through hole 625 and is rotatably coupled to the second connection section 624. Preferably, a bearing assembly 632 is disposed between the second connecting column 631 and the second connecting section 624. The second connection post 631 has a fifth receiving hole 633 recessed from a free end thereof. A second connection member 634, such as a screw or pin, is inserted into the fifth receiving aperture 633 of the second connection post 631 and preferably abuts the bearing assembly 632 via a second washer 635.

The first connecting section 623 is hollow, cuboid and preferably protrudes from the second connecting section 624 for fixedly connecting the encoder 22 (e.g. by means of screws). The encoder 22 is electrically connected to the first linear motor 34. When the bracket 30 rotatably connected to the support post 622 via the third connection member 630 is rotated relative to the stationary platform 620 under the driving of the second linear motor 660, the encoder 22 will record the rotation angle of the third connection member 630 relative to the stationary platform 620, and thus will also record the rotation angle of the first slide bar 33 relative to the stationary platform 620.

The three spaced second sides of the stationary platform 620 are each secured (e.g., by screws) to a base 627 by respective support brackets 626, and the base 627 can be placed on the floor.

In this embodiment, the base 627 is substantially triangular, and has three corners fixedly connected to the support frame 626 (e.g. by screws), and each corner is provided with a left support 641 and a right support 642. In this embodiment, the left support 641 and the right support 642 are plate-shaped and are perpendicular to the adjacent two sides of the base 627. Each side of the base 627 is provided with a second slide bar 643 connected between the left and right supporting parts 641 and 642 at intervals.

Referring to fig. 22 and fig. 25-26, a second linear motor 660 is sleeved on each second sliding rod 643. The second slide bar 643 is preferably a screw rod such that the second linear motor 660 can move linearly along the second slide bar 643, wherein the left and right supporters 641 and 642 can effectively prevent the second linear motor 660 from moving out of the second slide bar 643.

In this embodiment, a second grating scale 628 is also fixedly attached (e.g., glued) to each side of the base 627. The second linear motor 660 is fixedly connected with a second readhead 661 opposite to the second grating scale 628. Thus, when the second linear motor 660 moves linearly along the second slide bar 643, the second reading head 661 fixedly connected to the second linear motor 660 also moves along with the second linear motor 660. Because the second grating scale 628 is fixedly connected with the base 627, the second readhead 661 and the second grating scale 628 generate relative motion, so that the second readhead 661 can record the moving distance of itself, and further record the moving distance of the second linear motor 660 relative to the second slide rod 643.

Preferably, the second linear motor 660 is fixedly connected with the second reading head 661 through the fourth connecting piece 670. Specifically, the fourth connecting member 670 includes a fourth support plate 671. The second linear motor 660 and the second reading head 661 are fixedly connected to the bottom surface of the fourth support plate 671 (e.g. by screws). Preferably, the fourth coupling member 670 further includes a fifth support plate 672 fixedly coupled to one side of the fourth support plate 671 for fixedly coupling one or more second sliders 662. In this embodiment, the second linear motor 660, the second reading head 661, and the second slider 662 are all fixed to the bottom surface of the fourth supporting member 670. A second sliding rail 629 is fixedly connected to the base 627, and the length direction of the second sliding rail 629 is consistent with the length direction of each side face of the base 627. The one or more second slider 662 is slidably coupled to the second slide 629.

Thus, when the second linear motor 660 moves linearly relative to the second slide bar 643, the second reading head 661 fixedly connected to the second linear motor 660 via the fourth connecting piece 670 and the second slider 662 also move together with the second linear motor 660 relative to the second slide bar 643. Since the second slide rail 629 is fixedly coupled to the base 627, the second slider 662 will slide relative to the second slide rail 629. By the cooperation of the second slider 662 and the second sliding rail 629, the stability of the movement of the second linear motor 660 relative to the second sliding bar 643 is effectively improved.

In this embodiment, a third longitudinal sliding rail 680 is fixedly connected to a top surface of the fifth supporting plate 672, which is far away from the second sliding block 662. The length direction of the third sliding rail 680 is perpendicular to the length direction of the corresponding second sliding rail 629. Preferably, the third sliding rail 680 is fixedly connected to the fifth supporting plate 672 by a supporting bar 681 (e.g., by a screw). Preferably, the three third sliding rails 680 are different in height from the base 627, which can be achieved by providing a cushion block 673 on the fifth supporting plate 672, wherein the cushion block 673 is fixedly connected with the supporting bar 681. In other words, the heights of the pads 673 corresponding to the three third sliding rails 680 are different, so that the heights of the three third sliding rails 680 from the base 627 are different. Preferably, the spacer 673 is coupled to the fourth support plate 671 through the second reinforcing rib 674 to improve the strength of the fourth coupling member 670. More preferably, the fourth connecting member 670 is a one-piece member, such as by injection molding.

One or more third sliders 682 are slidably connected to the third sliding rail 680. A bearing seat 683 is fixedly connected to the one or more third sliders 682, and a rotatable ball bearing 684 is disposed in the bearing seat 683, and the ball bearing 684 is connected to a connecting rod 685. The connecting rod 685 is slidably connected to the first sliding rod 33 to ensure that the first sliding rod 33 can be driven by the first linear motor 34 to move along a straight line, and is preferably sleeved outside the first sliding rod 33. In other words, in the present embodiment, the bracket 30 is no longer provided with the lower support 32.

Therefore, when the second linear motor 660 moves linearly relative to the second slide bar 643, the fourth connecting piece 670 fixedly connected to the second linear motor 660 and the third sliding rail 680 fixedly connected to the fourth connecting piece 670 will also move along with the second linear motor 660 relative to the second slide bar 643, and in this process, the connecting rod 685 will be driven by the second linear motor 660 to move along the second sliding rail 629, and automatically move along the third sliding rail 680, so as to drive the bracket 30 to rotate relative to the stationary platform 620.

The operation principle of the operation assembly 600 of the present embodiment is briefly described as follows: the doctor controls the button 400 on the handle 40 by fingers to transmit instructions to the surgical mechanical arm 200 through the controller 101 so that the surgical instrument acts; the sensor 201 of the surgical mechanical arm 200 transmits the motion data of the surgical instrument to the first linear motor 34 and the second linear motor 660 through the controller 101, controls the rotation angle of the bracket 30 (thus also controlling the first linear motor 34) relative to the static platform 620 by means of the encoder 22, controls the moving distance of the first sliding rod 33 driven by the first linear motor 34 by means of the first reader 37, controls the moving distance of the second linear motor 660 by means of the second reader 661, and further enables the movable platform 10 and the handle 40 fixedly connected with the movable platform to simulate the motion of the surgical instrument, thereby realizing interaction of the doctor with the mechanical information of the surgical instrument in the surgical operation process, namely realizing simulation of the actual surgical operation of the surgical instrument by the doctor through the operation assembly 600. It is noted that the motion of the surgical instrument is preferably amplified equally at the handle 40, although it may be not.

Similar to the operation assembly 100 of the first embodiment, the operation assembly 600 of the present embodiment has a total of 5 driving amounts, which are three second linear motors 660 for driving the three supports 30 to rotate relative to the stationary platform 20, and three first linear motors 34 for driving the three supports 30 to move, and the first linear motors 34 are rotatably connected to the stationary platform, and one ends of the three supports 30 are also rotatably connected to the movable platform 10, respectively. Therefore, the operating assembly of the present embodiment can achieve 6 degrees of freedom, and can achieve both force feedback and attitude control, with simple wiring. Furthermore, force feedback errors can be effectively avoided by utilizing sliding rod transmission.

It will be appreciated that the operating assembly of the present utility model is not limited to application to surgical robots in the medical field, but may also be used in other fields, such as robots in the exploration of hazardous spaces, mass entertainment, industrial production, etc.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be a direct contact between the first feature and the second feature, or an indirect contact between the first feature and the second feature through an intervening medium.

Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is at a lower level than the second feature.

In the description of the present specification, reference to the description of the terms "one embodiment," "some embodiments," "examples," "particular examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims (10)

1. The operation assembly is characterized by comprising a movable platform, a static platform and N brackets which are rotatably connected with the movable platform and the static platform, wherein N is more than or equal to 2, the operation assembly comprises N first connecting pieces and N second connecting pieces, each bracket is rotatably connected with the movable platform through one first connecting piece and one second connecting piece, each bracket is rotatably connected with one second connecting piece and can rotate around a Z axis, each second connecting piece is rotatably connected with one corresponding first connecting piece and can rotate around an X axis relatively, each corresponding first connecting piece is rotatably connected with the movable platform and can rotate around a Y axis, and X, Y, Z axes are perpendicular to each other.

2. The operating assembly of claim 1, wherein the second connector is L-shaped and includes a first section and a second section that are vertically connected, the first section being rotatably connected to a corresponding first connector, and the second section being rotatably connected to a corresponding bracket.

3. The operating assembly of claim 2 wherein the first connector includes a ring having a first through hole, the ring being rotatably coupled to the movable platform, and a post projecting from one side of the ring, the first section of the second connector having a second through hole, the post being inserted into the second through hole and rotatably coupled to the first section.

4. An operating assembly according to claim 3, wherein the movable platform comprises a main body portion, and N first connection posts projecting from the main body portion, each of the first connection posts being inserted into the first through hole of the ring portion of a corresponding one of the first connection members and being rotatably connected to the ring portion.

5. The operating assembly according to claim 4, wherein a bushing assembly is provided between the ring portion of the first connector and the corresponding first connecting post, each of the first connecting posts having a first receiving hole recessed from a free end thereof, and a connecting member is inserted into the first receiving hole and abuts against the bushing assembly.

6. An operating assembly according to claim 3, wherein a sleeve assembly is provided between the boss of the first connector and the first section of the second connector, each boss having a second receiving aperture recessed from its free end face, a connecting element being inserted into the second receiving aperture and abutting against the sleeve assembly.

7. The operating assembly of claim 2, wherein the second section of the second connector is connected to the corresponding bracket by a connecting shaft including a top section rotatably connected to the second section and a bottom section fixedly connected to the bracket, the top section being fixedly connected to the bottom section.

8. The operating assembly according to claim 7, wherein the second section of the second connecting member has a third through hole, the top section is inserted into the third through hole, a boss member is provided between the second section and the top section, the top section has a third receiving hole recessed from a free end surface thereof, and a connecting member is inserted into the third receiving hole and abuts against the boss member.

9. The operating assembly of claim 8, wherein the connecting shaft further comprises a support section connected between the top section and the bottom section, the support section abutting between the bushing assembly and the respective bracket.

10. A robot, characterized in that it comprises an operating assembly according to any one of claims 1 to 9.