CN221033852U - Transmission device and surgical robot - Google Patents

Abstract

The application provides a transmission device and a surgical robot, wherein the surgical robot is provided with the transmission device; the transmission device provided by the application comprises a master arm, a slave arm, a rotating piece, a driving piece and a transmission assembly; the first end of the slave arm is rotatably arranged on the master arm, and the rotating piece is rotatably arranged at the second end of the slave arm; the driving piece is positioned on the main arm and is in transmission connection with the rotating piece through the transmission component; the transmission assembly comprises a transmission piece and a rotating shaft, the rotating shaft is rotatably arranged between the master arm and the slave arm, a first end of the rotating shaft is arranged on one side of the master arm, and a second end of the rotating shaft is arranged on one side of the slave arm; the driving piece is connected with the first end transmission of axis of rotation, and the first end transmission of driving piece is connected with the second end transmission of axis of rotation, and the second end transmission of driving piece is connected with the rotation. The transmission device provided by the application can reduce the load of the power piece and prolong the service life of the power piece.

Description

Transmission device and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a transmission device and a surgical robot.

Background

With the development of robot technology, minimally invasive surgical robots are increasingly widely used, and the difficulty of minimally invasive surgery can be reduced.

The surgical robot is provided with a master arm and a slave arm, wherein the slave arm is rotatably arranged on the master arm, and meanwhile, a driving piece is often arranged on the slave arm and is used for driving other functional pieces arranged on the slave arm.

However, the driving member is disposed on the slave arm, which increases the mass of the slave arm, so that the power member for driving the slave arm to rotate needs to bear a larger load, which affects the service life of the power member.

Disclosure of utility model

In view of the above, the present application provides a transmission device and a surgical robot having the transmission device; the transmission device provided by the application can reduce the load of the power piece and prolong the service life of the power piece.

In order to achieve the above object, the present application provides the following technical solutions:

The first aspect of the application provides a transmission device comprising a master arm, a slave arm, a rotating member, a driving member and a transmission assembly; the first end of the slave arm is rotatably arranged on the master arm, and the rotating piece is rotatably arranged at the second end of the slave arm; the driving piece is positioned on the main arm and is in transmission connection with the rotating piece through the transmission component;

The transmission assembly comprises a transmission piece and a rotating shaft, the rotating shaft is rotatably arranged between the master arm and the slave arm, a first end of the rotating shaft is arranged on one side of the master arm, and a second end of the rotating shaft is arranged on one side of the slave arm; the driving piece is connected with the first end transmission of axis of rotation, and the first end transmission of driving piece is connected with the second end transmission of axis of rotation, and the second end transmission of driving piece is connected with the rotation.

In the transmission device provided by the application, the driving piece is arranged on the main arm, the transmission assembly comprises the transmission piece and the rotating shaft, and the driving piece can be in transmission connection with the rotating piece through the transmission assembly by mutually matching the transmission piece and the rotating shaft. Compared with the scheme of arranging the driving piece on the slave arm in the prior art, the application moves the driving piece back to the master arm, thereby reducing the overall quality of the slave arm; therefore, when the power piece drives the slave arm to rotate relative to the main arm, the whole mass of the slave arm is reduced, so that the load born by the power piece can be reduced, and the service life of the power piece is prolonged.

In one possible implementation, the transmission member includes a first pulley, a second pulley, and a first drive belt; the first belt pulley is fixedly arranged on the rotating piece, and the rotation center line of the first belt pulley is overlapped with the rotation center line of the rotating piece; the second belt pulley is fixedly arranged at the second end of the rotating shaft, and the rotation center line of the second belt pulley and the rotation center line of the rotating shaft are overlapped; and two ends of the first driving belt are respectively connected to the first belt wheel and the second belt wheel in a driving way along the extending direction of the first driving belt.

Thus, through the mutual matching of the first belt pulley, the second belt pulley and the first transmission belt, when the rotating shaft rotates, the rotating piece is conveniently driven to rotate relative to the slave arm.

In one possible implementation, the rotation center line of the rotation shaft and the rotation center line of the rotation member relative to the slave arm are disposed perpendicular to each other; the first transmission belt is a half-cross transmission belt.

Thus, when the first belt is a semi-crossed belt, the first belt pulley and the second belt pulley are facilitated to form a belt pulley transmission structure through the first belt.

In one possible implementation, the transmission further comprises a guide fixedly mounted on the slave arm and disposed proximate to the rotating member; the guide piece is provided with a through groove which penetrates through the guide piece along the direction from the first end to the second end of the arm; the first transmission belt passes through the through groove.

Thus, the guide piece can play a role in guiding the first driving belt, and the reliability of driving connection between the first driving belt and the first belt wheel is ensured.

In one possible implementation, the drive member includes a drive motor and a second drive belt; the driving motor is fixedly arranged on the main arm, the driving motor and the rotating shaft are respectively positioned at two ends of the main arm along the extending direction of the main arm, and the driving motor is arranged close to the rotating end of the main arm; the driving motor is in transmission connection with the first end of the rotating shaft through a second transmission belt.

Thus, the driving piece is convenient to indirectly drive the rotating shaft to rotate through the mutual matching of the driving motor and the second transmission belt.

In one possible implementation, the driving member further includes a third pulley fixedly mounted on the rotating shaft and a fourth pulley fixedly mounted on a motor shaft of the driving motor; and two ends of the second driving belt are respectively connected to the third belt wheel and the fourth belt wheel in a driving way along the extending direction of the second driving belt.

Therefore, the third belt pulley and the fourth belt pulley are convenient to form a belt pulley transmission structure, and the transmission structure is simple and reliable.

In one possible implementation, the main arm is provided with a first accommodation cavity inside, and at least part of the driving element is positioned in the first accommodation cavity; and/or, a second accommodating cavity is arranged in the slave arm, and at least part of the transmission assembly is positioned in the second accommodating cavity.

Thus, the first accommodating cavity is convenient for the installation of the driving piece; the existence of the second accommodating cavity is convenient for the installation of the transmission assembly.

In one possible implementation, the transmission further includes a mount on which the master arm is rotatably disposed away from an end of the slave arm.

Thus, the installation seat is convenient for the installation of the main arm and can provide support for the rotation of the main arm.

In one possible implementation, the device further comprises a turntable and a connecting rod; the turntable is rotatably arranged on the mounting seat, and the rotation center lines of the turntable and the rotating shaft are parallel;

the first end of the connecting rod is rotationally connected with the turntable and has a distance from the rotation center of the turntable; the second end of the link is rotatably connected to the slave arm and spaced from the first end of the slave arm.

Thus, the turntable and the connecting rod are matched with each other, and when the turntable rotates, the slave arm is conveniently driven to rotate relative to the master arm.

A second aspect of the application provides a surgical robot comprising a transmission in any of the above implementations.

The surgical robot provided by the application is provided with the transmission device, so that the load of a power piece in the surgical robot can be reduced, and the service life of the power piece can be prolonged.

The construction of the present application, together with other objects and advantages thereof, will be best understood from the following description of the specific embodiments when read in connection with the accompanying drawings.

Drawings

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

FIG. 1 is a right side view of a transmission provided in an embodiment of the present application;

FIG. 2 is a perspective view of a transmission device according to an embodiment of the present application;

FIG. 3 is a left side view of a transmission provided by an embodiment of the present application;

FIG. 4 is a view of the arm of FIG. 3 with portions broken away;

FIG. 5 is a perspective assembly view of a portion of the parts at the rotor;

Fig. 6 is a right side view of fig. 5.

Reference numerals illustrate:

100-main arm; 110-a first receiving chamber;

200-slave arms; 210-a second receiving chamber;

300-rotating member; 400-driving member;

410-driving a motor; 420-a second belt;

430-a third pulley; 440-fourth pulley;

500-a transmission assembly; 510-a transmission member;

511-a first pulley; 512-a second pulley;

513-a first belt; 520-rotating shaft;

600-guides; 610-through groove;

700-mounting seats; 800-a turntable;

900-connecting rod; 1000-power piece.

Detailed Description

Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like; and with the development of robot technology, the minimally invasive surgery robot technology has been developed, and the minimally invasive surgery robot can reduce the difficulty of minimally invasive surgery. The base of the minimally invasive surgery robot is provided with a rotating arm, and various end effector devices are arranged on the rotating arm, for example, the end effector devices can be surgical instruments, and the end effector devices can be driven to move through rotation of the rotating arm, so that the end effector devices can be moved to the designated positions.

In the prior art, the rotating arm comprises a main arm and a slave arm, the power piece can drive the slave arm to rotate on the main arm, meanwhile, the slave arm is often provided with a driving piece, the driving piece can be used for driving other functional pieces arranged on the slave arm, for example, the driving piece can drive the functional pieces to rotate relative to the slave arm; thus, the end effector mounted on the functional element can also perform a corresponding movement.

However, the driving member is disposed on the slave arm, which increases the mass of the slave arm, so that the power member for driving the slave arm to rotate needs to bear a larger load during the working process, thereby shortening the service life of the power member.

Based on the above-mentioned problems, an embodiment of the present application provides a transmission device, including a master arm, a slave arm, a rotating member, a driving member, and a transmission assembly; the driving piece is located on the main arm, and the rotation piece rotates to be set up on the slave arm to, the driving piece can be connected with the rotation piece transmission through transmission subassembly. Therefore, compared with the prior art that the driving piece is arranged on the slave arm, the driving piece is moved back to the master arm, and the quality of the slave arm can be reduced.

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

The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

The structure of the transmission device according to the embodiment of the present application will be described in detail with reference to fig. 1 to 6.

As shown in fig. 1 to 4, the transmission device provided by the present application includes a master arm 100, a slave arm 200, a rotating member 300, a driving member 400, and a transmission assembly 500; wherein a first end of the slave arm 200 is rotatably provided on the master arm 100 and the rotator 300 is rotatably provided on a second end of the slave arm 200, such that the slave arm 200 can rotate relative to the master arm 100 and the rotator 300 can rotate relative to the slave arm 200. In addition, the driving member 400 is disposed on the main arm 100, the driving member 400 is in driving connection with the rotating member 300 through the driving assembly 500, and the driving member 400 can provide driving force for the rotation of the rotating member 300.

As shown in fig. 4, the transmission assembly 500 includes a transmission member 510 and a rotation shaft 520, the rotation shaft 520 is rotatably provided between the master arm 100 and the slave arm 200, a first end of the rotation shaft 520 is provided at one side of the master arm 100, and a second end of the rotation shaft 520 is provided at one side of the slave arm 200; when the first end of the rotation shaft 520 on the side of the master arm 100 rotates, the second end of the rotation shaft 520 on the side of the slave arm 200 also rotates. The driving member 400 is in driving connection with the first end of the rotation shaft 520, the first end of the driving member 510 is in driving connection with the second end of the rotation shaft 520, and the second end of the driving member 510 is in driving connection with the rotation member 300. Thus, when the driving member 400 drives the first end of the rotation shaft 520 to rotate, the second end of the rotation shaft 520 also rotates together; meanwhile, the second end of the rotation shaft 520 can transmit power to the rotation member 300 through the transmission member 510, and the rotation shaft 520 can drive the rotation member 300 to rotate through the transmission member 510; thus, the driving member 400 can provide driving force for the rotation of the rotation member 300 through the transmission assembly 500. Specifically, the rotation center line of the rotation shaft 520 and the rotation center line of the first end of the slave arm 200 with respect to the master arm 100 may be disposed to coincide with each other.

Thus, the driving device provided by the application is characterized in that the driving piece 400 is arranged on the main arm 100, the driving assembly 500 comprises the driving piece 510 and the rotating shaft 520, and the driving piece 400 can be in driving connection with the rotating piece 300 through the driving assembly 500 by the mutual matching of the driving piece 510 and the rotating shaft 520. Compared with the prior art that the driving member 400 is arranged on the slave arm 200, the application moves the driving member 400 back to the master arm 100, thereby reducing the overall mass of the slave arm 200; therefore, when the power member 1000 drives the slave arm 200 to rotate relative to the master arm 100, the transmission device provided by the application can reduce the load applied to the power member 1000 and prolong the service life of the power member 1000 because the overall mass of the slave arm 200 is reduced.

It should be noted that, the rotation center line of the slave arm 200 with respect to the master arm 100 and the rotation center line of the rotator 300 with respect to the slave arm 200 may be disposed perpendicular to each other, or may be disposed parallel to each other. In addition, when both ends of the rotation shaft 520 are located at the master arm 100 side and the slave arm 200 side, respectively, the rotation shaft 520 may be rotatably mounted on the master arm 100, or the rotation shaft 520 may be rotatably mounted on the slave arm 200.

In the embodiment of the present application, as shown in fig. 4, the transmission 510 includes a first pulley 511, a second pulley 512, and a first transmission belt 513; wherein the first pulley 511 is fixedly installed on the rotating member 300, and the rotation center lines of the first pulley 511 and the rotating member 300 coincide, so that when the first pulley 511 rotates, the rotating member 300 also rotates together; the second pulley 512 is fixedly mounted to the second end of the rotary shaft 520, and the rotation center lines of the second pulley 512 and the rotary shaft 520 coincide, so that the second pulley 512 rotates together when the rotary shaft 520 rotates. In addition, along the extending direction of the first driving belt 513, both ends of the first driving belt 513 are respectively connected to the first pulley 511 and the second pulley 512 in a driving manner, so that when the second pulley 512 rotates, the second pulley 512 can drive the first pulley 511 to rotate through the first driving belt 513. So configured, by the cooperation of the first pulley 511, the second pulley 512, and the first transmission belt 513, when the rotation shaft 520 rotates, the rotation member 300 is facilitated to be rotated with respect to the slave arm 200.

As shown in fig. 5, the rotating member 300 is shown to have a structure in which the rotating member 300 can be used to mount the end effector such that the end effector on the rotating member 300 can be rotated when the driving member 400 rotates the rotating member 300 through the transmission assembly 500.

Specifically, as shown in fig. 4, the rotation center line of the rotation shaft 520 and the rotation center line of the rotation member 300 with respect to the slave arm 200 are disposed perpendicular to each other, and thus, the rotation center lines of the first pulley 511 and the second pulley 512 are also disposed perpendicular to each other; when the rotation center lines of the first pulley 511 and the second pulley 512 are perpendicular to each other, the first transmission belt 513 is a half-cross transmission belt. So configured, when the first belt 513 is a semi-crossed belt, the first and second pulleys 511, 512 are facilitated to form a pulley transmission structure by the first belt 513. Or in another embodiment, the rotation center line of the rotation shaft 520 and the rotation center line of the rotation member 300 with respect to the slave arm 200 may be disposed in parallel with each other, and the rotation center lines of the first pulley 511 and the second pulley 512 may be also parallel with each other.

Further, as shown in fig. 4 to 6, the transmission device further includes a guide 600, and the guide 600 is fixedly installed on the slave arm 200 and disposed adjacent to the rotation member 300; as shown in fig. 6, the guide 600 is provided with a through groove 610, and the through groove 610 penetrates the guide 600 in a direction from the first end to the second end of the arm 200; and, the first belt 513 passes through the through groove 610. When the first belt 513 is a half-cross belt, the first belt 513 between the first belt wheel 511 and the second belt wheel 512 may twist, and when the twisted first belt 513 abuts against the groove wall of the through groove 610 in the through groove 610, the groove wall can limit the twisting of the first belt 513 and return to the first belt 513. So configured, the guide 600 can function to guide the first belt 513, ensuring the reliability of the driving connection between the first belt 513 and the first pulley 511.

In one embodiment, the guide 600 may be a guide block, in which a through groove 610 is formed, and the guide 600 may be fixedly mounted on the slave arm 200 by a screw; in addition, the rotating member 300 may be rotatably coupled to the guide member 600.

In the embodiment of the present application, as shown in fig. 1 and 2, the driving member 400 includes a driving motor 410 and a second belt 420; the driving motor 410 is fixedly installed on the main arm 100, the driving motor 410 and the rotating shaft 520 are respectively positioned at two ends of the main arm 100 along the extending direction of the main arm 100, and the driving motor 410 is arranged close to the rotating end of the main arm 100, and the rotating end of the main arm 100 can rotate; the driving motor 410 is drivingly connected to a first end of the rotating shaft 520 through a second belt 420. Thus, the driving motor 410 can drive the first end of the rotating shaft 520 to rotate through the second driving belt 420, and then can drive the second end of the rotating shaft 520 to rotate, and the rotating shaft 520 can drive the rotating member 300 to rotate through the driving member 510. So configured, the driving member 400 is convenient to indirectly drive the rotation shaft 520 to rotate through the mutual cooperation of the driving motor 410 and the second transmission belt 420. In addition, when the main arm 100 rotates around the rotation center line of the rotation end, the driving motor 410 approaches the rotation end of the main arm 100, and the driving force required to drive the main arm 100 to rotate can be reduced.

Further, as shown in fig. 1, the driving member 400 includes a third pulley 430 and a fourth pulley 440, the third pulley 430 is fixedly mounted on the rotation shaft 520, and the fourth pulley 440 is fixedly mounted on the motor shaft of the driving motor 410; along the extending direction of the second belt 420, two ends of the second belt 420 are respectively connected to the third pulley 430 and the fourth pulley 440 in a driving manner. The presence of the third pulley 430 and the fourth pulley 440 thus facilitates the formation of a pulley transmission structure, which makes the transmission structure simple and reliable. Specifically, the rotation center line of the third pulley 430 coincides with the rotation center line of the rotation shaft 520, and the rotation center line of the fourth pulley 440 coincides with the rotation center line of the motor shaft of the driving motor 410.

In the embodiment of the present application, as shown in fig. 1, a first accommodating cavity 110 is provided in the main arm 100, and at least part of the driving member 400 is located in the first accommodating cavity 110; and/or, as shown in fig. 4, a second receiving cavity 210 is provided from the inside of the arm 200, and at least a portion of the transmission assembly 500 is located in the second receiving cavity 210. So configured, the presence of the first receiving cavity 110 facilitates installation of the driver 400; the presence of the second receiving cavity 210 facilitates installation of the transmission assembly 500.

Specifically, the master arm 100 and the slave arm 200 may be thin-walled shells, and the thin-walled shells are enclosed to form a containing cavity; the driving motor 410 body of the driving member 400 may be installed at the outer side of the main arm 100, and the motor shaft of the driving motor 410 extends into the first receiving chamber 110; the transmission assembly 500 may be entirely located in the second receiving chamber 210.

In an embodiment of the present application, as shown in fig. 3, the transmission device further includes a mounting seat 700, and an end of the master arm 100 remote from the slave arm 200 is rotatably disposed on the mounting seat 700. Thus, the rotation end of the master arm 100 is rotatably provided on the mount 700, the master arm 100 can be rotated on the mount 700, the slave arm 200 can be rotated on the master arm 100, and the rotator 300 can be rotated on the slave arm 200. When the master arm 100 rotates on the mount 700, the master arm 100 can drive the slave arm 200 and the rotator 300 to move together. So configured, the presence of the mount 700 facilitates installation of the main arm 100 and can provide support for rotation of the main arm 100.

Further, as shown in fig. 2 and 3, the transmission device further includes a turntable 800 and a link 900; the turntable 800 is rotatably arranged on the mounting seat 700, and the rotation center lines of the turntable 800 and the rotation shaft 520 are parallel; the first end of the connecting rod 900 is rotatably connected with the turntable 800 and has a distance from the rotation center of the turntable 800; the second end of the link 900 is rotatably coupled to the slave arm 200 and spaced from the first end of the slave arm 200. Thus, when the dial 800 rotates, the dial 800 can move the slave arm 200 through the link 900, so that the slave arm 200 rotates on the master arm 100. So configured, the cooperation of the turntable 800 and the linkage 900 facilitates the rotation of the slave arm 200 relative to the master arm 100 when the turntable 800 rotates.

In addition, the mounting seat 700 may be provided with a plurality of power members 1000, and the power members 1000 may be power motors, wherein one power member can be in transmission connection with the main arm 100, and the other power motor can be in transmission connection with the turntable 800; the power member 1000 can provide driving force for the rotation of the master arm 100 and the slave arm 200.

On the basis of the embodiment, the application also provides a surgical robot which comprises the transmission device in any embodiment. Specifically, the surgical robot includes a doctor console (master hand), a patient surgical platform (slave hand), and a display device, and a doctor operates on the doctor console, so that the patient surgical platform can be remotely controlled, and minimally invasive surgery can be performed on a patient using surgical instruments on the patient surgical platform. In particular, the patient operating platform includes a base on which a transmission is disposed, and on which a rotating member 300 of the transmission can be used to mount an end effector, which can be a variety of surgical instruments.

In the description of the present application, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, indirectly connected through an intermediary, or may be in communication with each other between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

The application should not be construed as limited to the particular orientations and configurations or operations of the device or element in question. In the description of the present application, the meaning of "a plurality" is two or more, unless specifically stated otherwise.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application 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 application.

Claims (10)

1. The transmission device is characterized by comprising a master arm, a slave arm, a rotating piece, a driving piece and a transmission assembly; the first end of the slave arm is rotatably arranged on the master arm, and the rotating piece is rotatably arranged on the second end of the slave arm; the driving piece is positioned on the main arm and is in transmission connection with the rotating piece through the transmission component;

The transmission assembly comprises a transmission piece and a rotating shaft, the rotating shaft is rotatably arranged between the master arm and the slave arm, a first end of the rotating shaft is arranged on one side of the master arm, and a second end of the rotating shaft is arranged on one side of the slave arm; the driving piece is in transmission connection with the first end of the rotating shaft, the first end of the transmission piece is in transmission connection with the second end of the rotating shaft, and the second end of the transmission piece is in transmission connection with the rotating piece.

2. The transmission of claim 1, wherein the transmission member comprises a first pulley, a second pulley, and a first drive belt; the first belt pulley is fixedly arranged on the rotating piece, and the rotation center line of the first belt pulley is overlapped with the rotation center line of the rotating piece; the second belt wheel is fixedly arranged at the second end of the rotating shaft, and the rotation center lines of the second belt wheel and the rotating shaft are overlapped; and two ends of the first driving belt are respectively connected to the first belt wheel and the second belt wheel in a driving way along the extending direction of the first driving belt.

3. The transmission according to claim 2, wherein a rotation center line of the rotation shaft and a rotation center line of the rotation member with respect to the slave arm are disposed perpendicular to each other; the first transmission belt is a half-cross transmission belt.

4. The transmission of claim 2, further comprising a guide fixedly mounted on the slave arm and disposed adjacent the rotating member; the guide piece is provided with a through groove, and the through groove penetrates through the guide piece along the direction from the first end to the second end of the arm; the first transmission belt passes through the through groove.

5. The transmission of any one of claims 1-4, wherein the drive member includes a drive motor and a second drive belt; the driving motor is fixedly arranged on the main arm, the driving motor and the rotating shaft are respectively positioned at two ends of the main arm along the extending direction of the main arm, and the driving motor is arranged close to the rotating end of the main arm; the driving motor is in transmission connection with the first end of the rotating shaft through the second transmission belt.

6. The transmission of claim 5, wherein the drive member further comprises a third pulley fixedly mounted on the rotating shaft and a fourth pulley fixedly mounted on a motor shaft of the drive motor; and two ends of the second driving belt are respectively connected to the third belt pulley and the fourth belt pulley in a driving way along the extending direction of the second driving belt.

7. The transmission according to any one of claims 1 to 4, wherein a first housing cavity is provided in the interior of the main arm, at least part of the driving member being located in the first housing cavity; and/or a second accommodating cavity is formed in the slave arm, and at least part of the transmission assembly is positioned in the second accommodating cavity.

8. The transmission of any one of claims 1-4, further comprising a mount on which an end of the master arm remote from the slave arm is rotatably disposed.

9. The transmission of claim 8, further comprising a turntable and a link; the turntable is rotatably arranged on the mounting seat, and the rotation center lines of the turntable and the rotating shaft are parallel;

The first end of the connecting rod is rotationally connected with the turntable and is spaced from the rotation center of the turntable; the second end of the connecting rod is rotatably connected with the slave arm and is spaced from the first end of the slave arm.

10. A surgical robot comprising a transmission according to any one of claims 1-9.