CN220588348U

CN220588348U - Mechanical arm and medical equipment

Info

Publication number: CN220588348U
Application number: CN202321810426.4U
Authority: CN
Inventors: 刘海; 梁振猷; 雷子健
Original assignee: Nuclear Medical Robotics Shenzhen Co ltd
Current assignee: Nuclear Medical Robotics Shenzhen Co ltd
Priority date: 2023-07-10
Filing date: 2023-07-10
Publication date: 2024-03-15
Anticipated expiration: 2033-07-10

Abstract

The utility model relates to a mechanical arm and medical equipment, medical equipment include base, operation hand reaches the mechanical arm, the stiff end of mechanical arm with the base connection, the operation hand is located the operation end of mechanical arm. The mechanical arm comprises a first module, wherein the first module comprises a first control unit, at least two first driving joints and at least two first movable arms; the first driving joints are connected with two adjacent first movable arms so as to enable all the first movable arms to be connected in series in sequence, and the first driving joints are used for driving the first movable arms to rotate; all the first driving joints are electrically connected with the first control unit.

Description

Mechanical arm and medical equipment

Technical Field

The application relates to the technical field of medical equipment, in particular to a mechanical arm and medical equipment.

Background

In the medical industry, one or more manipulators can be arranged at the tail end of the mechanical arm, and the manipulators can be operation equipment, treatment equipment, rehabilitation equipment or the like, so that the manipulator is driven to move through the mechanical arm, and corresponding operation on a patient or corresponding operation on the patient by auxiliary medical staff is realized.

In order to obtain more freedom of movement, the mechanical arm is usually provided with a plurality of movable arms and corresponding driving joints, which results in an extremely complex internal control structure and also in higher equipment costs.

Disclosure of Invention

In view of the above, it is necessary to provide a robot arm and a medical device.

A robotic arm, comprising:

a first module comprising a first control unit, at least two first drive joints and at least two first movable arms;

the first driving joints are connected with two adjacent first movable arms so as to enable all the first movable arms to be connected in series in sequence, and the first driving joints are used for driving the first movable arms to rotate;

all the first driving joints are electrically connected with the first control unit.

In one embodiment, the first modules are at least two, and adjacent first modules are connected through the first driving joints, so that all the first movable arms are connected in series in sequence; all the first control units are electrically connected.

In one embodiment, the mechanical arm further includes a first bus, and the first bus is electrically connected with the first control units, and enables all the first control units to be connected in series in sequence. All the first control units can be connected in series through the first bus, and the first bus can realize communication among the first control units.

In one embodiment, the first bus includes a first branching line, at least one first branching line is provided on the first branching line, and opposite ends of each first branching line are respectively electrically connected to two adjacent first control units.

In one embodiment, at least one of the first driving joints is provided with a wire passing through hole, and a part of the first branching wire is arranged through the wire passing through hole so as to connect two adjacent first control units in series; or a clearance between the first driving joint and the first movable arm is set, and a part of the first branching line is arranged in the clearance between the first driving joint and the first movable arm in a penetrating way so as to connect two adjacent first control units in series.

In one embodiment, opposite ends of the first branching line are detachably connected with the corresponding first control unit respectively. Such arrangement facilitates disassembly and assembly of the first branch line with the first control unit.

In one embodiment, the first module further includes a first control line, where the first control line is provided with a plurality of first control lines and corresponds to the first driving joints one by one, and opposite ends of the first control line are respectively and electrically connected with the first driving joints and the first control unit in a detachable manner. Such arrangement facilitates the disassembly and assembly of the first control line and the first control unit.

In one embodiment, each of the first driving joints includes a first rotor and a first stator capable of driving the first rotor to rotate;

one of the first rotor and the first stator is detachably connected with one of two adjacent first movable arms; or/and, the other of the first rotor and the first stator is detachably connected with the other of the adjacent two first movable arms.

In one embodiment, the mechanical arm has a fixed end and an operating end; the first module is provided with at least three, the first module positioned at the fixed end is a base module and is used for being connected with a base, the base module comprises at least three first movable arms, the first module positioned at the operating end is an operating module and is used for being connected with an operator, one first module positioned between the base module and the operating module is a heightening module, and the rotation axes of any two adjacent first movable arms are not parallel;

the elevation module includes at least two of the first movable arms, at least one of the first movable arms in the elevation module having a length that is greater than a length of any of the first movable arms in the base module.

In one embodiment, the mechanical arm further comprises a second module, the second module comprises a second control unit, a second driving joint and a second movable arm, the second driving joint is electrically connected with the second control unit and is used for driving the second movable arm to rotate, and the second control unit is electrically connected with the first control unit; the second module is arranged at one end of the mechanical arm through the second driving joint, or the second module is arranged between two adjacent first modules through the second driving joint, or the second module is arranged at the other end of the mechanical arm.

The present application also relates to a medical device comprising:

a base;

an operator;

the mechanical arm according to any one of the embodiments, wherein the fixed end of the mechanical arm is connected with the base, and the manipulator is disposed at the operation end of the mechanical arm.

Above-mentioned arm and medical equipment, each first drive joint of its first module all with first control unit electric connection, compare in traditional scheme every driving motor need set up the scheme of a control unit alone, the arm of this application has reduced the quantity of control unit, has reduced equipment cost on the one hand, and control is simpler, and on the other hand also makes the internal wiring of arm simpler.

Drawings

In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is an application scenario diagram of a mechanical arm according to an embodiment of the present utility model.

Fig. 2 is a schematic view of another application scenario of a mechanical arm according to an embodiment of the present utility model.

Fig. 3 is a further application scenario diagram of a mechanical arm according to an embodiment of the present utility model.

Fig. 4 is a side view of a robotic arm according to one embodiment of the utility model.

Fig. 5 is a structural perspective view of a mechanical arm according to an embodiment of the present utility model.

Fig. 6 is a perspective view of still another structure of a mechanical arm according to an embodiment of the present utility model.

Fig. 7 is an enlarged partial schematic view of the mechanical arm provided in the embodiment shown in fig. 6.

Fig. 8 is a perspective view of still another structure of a mechanical arm according to an embodiment of the present utility model.

Fig. 9 is an exploded view of a first section and a second section of a joint of a mechanical arm according to an embodiment of the present utility model.

Reference numerals:

10. a mechanical arm; 11. a fixed end; 12. an operation end; 100. a base; 200. a first module; 210. a first control unit; 220. a first drive joint; 221. a wire passing through hole; 230. a first movable arm; 231. a first section; 232. a second section; 240. a first control line; 250. a flange; 251. a butt joint hole; 2511. a first hole portion; 2522. a second hole portion; 260. a fixing member; 300. a first bus.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

Referring to fig. 1, 2, and 3, in some embodiments, the present application provides a robotic arm 10 that may be used in a variety of medical settings.

As shown in fig. 1, an operation end of the mechanical arm 10 is mounted with an orthopedic operation device so that the mechanical arm 10 is used for an orthopedic operation.

As shown in FIG. 2, the robotic arm 10 is provided with a plurality of laparoscopic surgical devices and cooperates with the laparoscopic surgical device to form a set of laparoscopic surgical systems, for example, the laparoscopic surgical devices are telecentric, the pose is adjusted after positioning, single-hole or multi-hole laparoscopic surgery is performed, and the endoscope is assisted to be held, or other medical devices requiring multi-angle adjustment of medical instruments are used.

As shown in fig. 3, the manipulator end of the manipulator arm 10 may also be equipped with an oral manipulator device for use in oral related surgery.

Referring to fig. 4, 5, 6 and 7, the mechanical arm 10 includes a first module 200, and the first module 200 includes a first control unit 210, at least two first driving joints 220 and at least two first movable arms 230. Wherein: the first driving joint 220 may be a driving motor, and the first control unit 210 may be a control circuit board. The first driving joint 220 connects two adjacent first movable arms 230, so that all the first movable arms 230 are connected in series in sequence, and the first driving joint 220 is used for driving the first movable arms 230 to rotate; all the first driving joints 220 are electrically connected to the first control unit 210.

The first movable arm 230 may be a rod-shaped member extending in the longitudinal direction, or may be a cylindrical member extending in the longitudinal direction to transmit movement.

As shown in fig. 7, the first module 200 further includes a first control line 240, where the first control line 240 is provided with a plurality of first driving joints 220 and corresponds to each other, and opposite ends of the first control line 240 are detachably and electrically connected to the first driving joints 220 and the first control unit 210, respectively. Such an arrangement facilitates the removal and installation of the first control line 240 from the first control unit 210.

Wherein the number of first driving joints 220 in one of the first modules 200 may be odd or even. For example, when the number of the first driving joints 220 in one first module 200 is two, the two first driving joints 220 share one first control unit 210, and the first driving joints 220 drive the corresponding first movable arms 230 to rotate. For another example, when the number of the first driving joints 220 in one of the first modules 200 is three, the three first driving joints 220 share one first control unit 210, and when the number of the first movable arms 230 is three, the first driving joints 220 drive the corresponding first movable arms 230 to rotate, and when the number of the first movable arms 230 is two, two first driving joints 220 respectively drive the corresponding first movable arms to rotate, and the other first driving joints 220 are located at the end of the first module 200 and are used for driving the manipulator or other modules mounted at the end.

Specifically, in some embodiments, at least two first modules 200 are provided, and adjacent first modules 200 are connected by the first driving joint 220, so that all the first movable arms 230 are serially connected in sequence; all the first control units 210 are electrically connected.

For example, in the embodiment shown in fig. 5, the robot arm 10 has 5 sets of first modules 200, and one set of first modules 200 includes one first control unit 210, two first drive joints 220, and two first movable arms 230, i.e., the robot arm 10 has 10 first drive joints 220 and 5 first control units 210. Compared with the conventional scheme in which each driving motor needs to be provided with a control board separately, the number of the first control units 210 is reduced by half, so that the wiring inside the mechanical arm 10 is simpler and the manufacturing cost is reduced.

Referring to fig. 7, in some embodiments, the mechanical arm 10 further includes a first bus 300, and the first bus 300 is electrically connected to the first control units 210, and connects all the first control units 210 in series.

All the first control units 210 may be connected in series through the first bus 300, and the first bus 300 may implement communication between the first control units 210 to perform coordinated control.

Specifically, in some embodiments, the first bus 300 includes first branches, at least one first branch is provided, and opposite ends of each first branch are respectively electrically connected to two adjacent first control units 210. Opposite ends of the first branching line are detachably connected to the corresponding first control unit 210, respectively. Such an arrangement facilitates removal and installation of the first branch line from the first control unit 210.

More specifically, as shown in fig. 7, in some embodiments, at least one of the first driving joints 220 is provided with a wire passing hole 221, and a portion of the first wire is passed through the wire passing hole 221 to connect two adjacent first control units 210 in series.

As shown in fig. 7, the first driving joint 220 is a substantially cylindrical driving motor, and the middle portion of the first driving joint 220 is a hollow structure, so as to form a wire passing through hole 221 through which the first wire passes.

In other embodiments, a clearance is provided between the first driving joint 220 and the first movable arm 230, and a portion of the first branching line is disposed through the clearance to connect two adjacent first control units 210 in series. In other words, the first split line may also be a line running from the aperture between the first drive joint 220 and the first movable arm 230.

In some embodiments, each of the first driving joints 220 includes a first rotor and a first stator capable of driving the first rotor to rotate. Wherein:

one of the first rotor and the first stator is detachably connected with one of the adjacent two first movable arms 230. Of course, it is also possible to: the other of the first rotor and the first stator is detachably connected with the other of the adjacent two first movable arms 230. So set up, be convenient for carry out the free dismouting combination of first movable arm 230, form modularized design, satisfy the operation requirement of different scenes.

For example, in one embodiment, two adjacent first movable arms 230 are connected by a first drive joint 220, the first drive joint 220 having a first stator and a first rotor, wherein the first stator is fixed to one first movable arm 230 and the first rotor is detachably connected to the other first movable arm 230.

As another example, in another embodiment, two adjacent first movable arms 230 are connected by a first drive joint 220 having a first stator and a first rotor, wherein the first stator is detachably connected to one first movable arm 230 and the first rotor is detachably connected to the other first movable arm 230.

As another example, in another embodiment, two adjacent first movable arms 230 are connected by a first drive joint 220 having a first stator and a first rotor, wherein the first stator is detachably connected to one first movable arm 230 and the first rotor is fixed to the other first movable arm 230.

In some embodiments, the robotic arm 10 has a fixed end 11 and an operating end 12; the first modules 200 are at least three, the first modules 200 at the fixed end 11 are base modules and are used for being connected with the base 100, the base modules comprise at least three first movable arms 230, the first modules 200 at the operating end 12 are operating modules and are used for being connected with an operator, one first module 200 between the base modules and the operating modules is a heightening module, and the rotation axes of any two adjacent first movable arms 230 are not parallel; the elevation module includes at least two of the first movable arms 230, at least one of the first movable arms 230 in the elevation module having a length that is greater than a length of any of the first movable arms 230 in the base module.

In practical applications, the fixed end 11 of the mechanical arm 10 may be fixed on the base 100 or the base of the workbench, and the operating end 12 of the mechanical arm 10 is generally located at a higher position than the base 100 or the base, which results in a larger height difference between the fixed end 11 and the operating end 12 of the mechanical arm 10, and the height difference results in a smaller working space of the operating end 12. The height difference between the fixed end 11 and the operating end 12 of the mechanical arm 10 can be better adapted by the arrangement of the height adjusting module, so that the working space of the operating end 12 is increased, and different types of operation can be conveniently performed.

In some embodiments, the mechanical arm 10 further includes a second module, where the second module includes a second control unit, a second driving joint, and a second movable arm, where the second driving joint is electrically connected to the second control unit and is used to drive the second movable arm to rotate, and the second control unit is electrically connected to the first control unit 210. Wherein:

the second module is disposed at one end of the mechanical arm 10 through the second driving joint to serve as a fixed end 11 of the mechanical arm 10, and the first module is disposed at the second movable arm.

Of course, it is also possible to: the second module is disposed between two adjacent first modules 200 through the second driving joint, so as to connect the two adjacent first modules 200, thereby forming the mechanical arm 10 meeting the requirements of different degrees of freedom of movement.

In addition, it may be: the second module is disposed at the other end of the mechanical arm 10, and is used as an operation end 12 of the mechanical arm 10, and an operator is disposed on a second movable arm of the second module to perform an operation.

Referring to fig. 8 and 9, in some embodiments, two adjacent first movable arms 230 are a first joint arm 231 and a second joint arm 232, respectively. As shown in fig. 9, in some embodiments, the first driving joint 220 includes a first stator and a first rotor, the first stator is fixedly disposed or detachably disposed on the first joint arm 231, the first rotor is movably disposed on the first joint arm 231 and can rotate relative to the first rotor, the first rotor is provided with a flange 250, the flange 250 is provided with a docking hole 251, the second joint arm 232 is provided with a fixing member 260, and the second joint arm 232 is clamped with the docking hole 251 by the fixing member 260 so as to be fixed with the first joint arm 231. In operation, the first rotor rotates relative to the first stator, and the first rotor is fixed to the second arm 232 by the flange 250 and the fixing member 260, so as to realize the relative rotation of the first arm 231 and the second arm 232.

Specifically, as shown in fig. 9, in some embodiments, the number of the docking holes 251 and the number of the fixing members 260 may be plural, and the plurality of docking holes 251 are distributed at equal intervals along the circumferential direction of the flange 250, and the docking holes 251 are in one-to-one correspondence with the fixing members 260.

More specifically, as shown in fig. 9, in some embodiments, the docking hole 251 includes a first hole portion 2511 and a second hole portion 2522 that communicates with the first hole portion 2511, the fixing element 260 is a bolt, and the first hole portion 2511 is capable of passing through the fixing element 260 so that the fixing element 260 is clamped to a surface of the second hole portion 2522 opposite to the second section 232. Wherein the cross-sectional profile of the first bore portion 2511 is greater than or equal to the cross-sectional profile of the bolt head and the cross-sectional profile of the second bore portion 2522 is less than the cross-sectional profile of the bolt head to capture the bolt.

In some embodiments, the mechanical arm 10 further includes a decorative sleeve (not shown) that is disposed on an outer circumferential surface of the joint between the first joint arm 231 and the second joint arm 232, for example, an outer circumferential surface of the joint between the first joint arm 231 and the second joint arm 232, and surrounds the joint between the first joint arm 231 and the second joint arm 232, but the decorative sleeve does not contact the first joint arm 231, so as not to interfere with the relative movement of the first joint arm 231 and the second joint arm 232. The decorative cover can be made of flexible materials, such as a silica gel cover and the like.

The application also relates to medical equipment, which comprises a base 100, an operation hand and the mechanical arm 10, wherein the fixed end 11 of the mechanical arm 10 is connected with the base 100, and the operation hand is arranged at the operation end 12 of the mechanical arm 10.

As shown in fig. 1 and 2, the base 100 may be fixedly mounted to an operating table to support the robot arm 10; as shown in fig. 3, the base 100 may also be placed directly on the ground near the operating table to support the robotic arm 10.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

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; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly 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.

Claims

1. A robotic arm, comprising:

2. The mechanical arm according to claim 1, wherein at least two first modules are provided, and adjacent first modules are connected through the first driving joint, so that all the first movable arms are connected in series in sequence; all the first control units are electrically connected.

3. The mechanical arm according to claim 2, further comprising a first bus electrically connected to the first control unit and connecting all of the first control units in series.

4. The mechanical arm according to claim 3, wherein the first bus comprises first branching lines, at least one first branching line is arranged on the first branching lines, and two opposite ends of each first branching line are respectively and electrically connected with two adjacent first control units.

5. The mechanical arm according to claim 4, wherein at least one of the first driving joints is provided with a wire passing through hole, and a part of the first branching wire is arranged through the wire passing through hole so as to connect two adjacent first control units in series;

or a clearance between the first driving joint and the first movable arm is set, and a part of the first branching line is arranged in the clearance between the first driving joint and the first movable arm in a penetrating way so as to connect two adjacent first control units in series.

6. The mechanical arm according to claim 4, wherein opposite ends of the first branching line are detachably connected to the corresponding first control units, respectively;

or/and, the first module further comprises a first control line, the first control line is provided with a plurality of first drive joints and corresponds to the first drive joints one by one, and two opposite ends of the first control line are respectively and electrically connected with the first drive joints and the first control unit in a detachable mode.

7. The robotic arm of claim 2, wherein each of the first drive joints comprises a first rotor and a first stator, the first stator being capable of driving the first rotor to rotate;

8. The mechanical arm of any of claims 2-7, wherein the mechanical arm has a fixed end and an operating end; the first module is provided with at least three, the first module positioned at the fixed end is a base module and is used for being connected with a base, the base module comprises at least three first movable arms, the first module positioned at the operating end is an operating module and is used for being connected with an operator, one first module positioned between the base module and the operating module is a heightening module, and the rotation axes of any two adjacent first movable arms are not parallel;

9. The mechanical arm according to any one of claims 2-7, further comprising a second module, the second module comprising a second control unit, a second driving joint and a second movable arm, the second driving joint being electrically connected to the second control unit and configured to drive the second movable arm to rotate, the second control unit being electrically connected to the first control unit;

the second module is arranged at one end of the mechanical arm through the second driving joint, or the second module is arranged between two adjacent first modules through the second driving joint, or the second module is arranged at the other end of the mechanical arm.

10. A medical device, comprising:

a base;

an operator;

the mechanical arm according to any one of claims 1-9, wherein a fixed end of the mechanical arm is connected to the base, and the manipulator is provided at an operation end of the mechanical arm.