WO2018000871A1

WO2018000871A1 - Robotic arm and robot for orthopedics

Info

Publication number: WO2018000871A1
Application number: PCT/CN2017/078725
Authority: WO
Inventors: 何超; 袁帅; 陈奇韬
Original assignee: 微创（上海）医疗机器人有限公司
Priority date: 2016-06-29
Filing date: 2017-03-30
Publication date: 2018-01-04
Also published as: CN106175935B; CN106175935A

Abstract

Provided are a robotic arm and a robot for orthopedics, the robotic arm comprises a position adjusting member (100) having three degrees of freedom and a posture adjusting member (200) having at least two degrees of freedom connected to the position adjusting member (100). The position adjusting member (100) comprises a base member (1), a shoulder member (2), a large arm member (3) and a small arm member (5) connected in turn. The posture regulating member (200) comprises a wrist unit (6) and an instrument mounting seat member (7) connected in turn, and the small arm member (5) is connected to the wrist member (6). The position regulating member (100) and the posture regulating member (200) together constitute a series robot arm having at least five degrees of freedom. Each of the degrees of freedom may be adjusted according to the actual needs so as to meet the demand for the position and posture during an operation. Structures among each parts are compact, small and exquisite, taking up a small space, with light weight, and enhancing the flexibility of the robotic arm and ease of operation.

Description

Robotic arm and orthopedic robot

Technical field

The invention relates to the technical field of medical instruments, in particular to a mechanical arm and an orthopedic robot.

Background technique

With the development of robotics and medical science, medical robots for various purposes are becoming more and more widely used in the medical field. At present, medical robots have made extensive application and significant progress in brain neurosurgery, cardiac repair, gallbladder removal surgery, artificial joint replacement, and urological surgery. Compared with the manual operation of the doctor, the robot has great advantages in some aspects, because the positioning of the robot is more accurate, the support is stable and powerful, and the fatigue caused by the surgeon's long-term surgery can be avoided, and the surgeon can occur during the operation. The arm vibrates, thereby improving the accuracy, stability and safety of the procedure.

Orthopedic surgery often requires precise cutting, grinding, fixing, etc. This type of operation has high requirements for accuracy, stability, freedom, and operation. Currently, general orthopedic microtrauma surgery is widely performed. Reduce surgical trauma, reduce blood loss, and shorten postoperative recovery time. However, in order to reduce the trauma, X-ray irradiation is repeated during the operation, and the long-time, large-dose radiation causes damage to the surgeon and the patient. Especially in spinal surgery. The anatomy of the human spine is complex, and the surrounding nerves, blood vessels, muscles and other important tissues, including the typical vertebral screw internal fixation surgery, puts high demands on the accuracy and stability of the surgeon's operation. In traditional spinal surgery, doctors usually only use their own and assistant observations to determine whether the surgical instrument is placed in the correct position, and during the operation, the doctor and his assistant need to be highly concentrated to ensure the operation of the surgical instrument. The location is in the correct range. Spinal surgery has a relatively long time, and long-term operation is easy for the doctor to feel fatigue, which greatly increases the risk of surgery.

Designed and developed by MAKO Surgical Corporation, the Makoplasty series of orthopaedic robots combine navigation, computer 3D computing and precision robotic arm positioning to enable more accurate positioning and bone surface removal in hip surgery. The arrangement of joint degrees of freedom has strong operability, stability and safety in specific orthopedic surgery, but its large structure itself also limits its application and promotion in other orthopedic operations.

A spinal surgery robot called Renaissance developed by Mazor of Israel has been developed in the United States. The FDA is allowed to enter clinical applications. The robot is mainly used for pedicle screw placement in spinal surgery, which has the advantages of high accuracy of nail placement, shortening recovery time, reducing the number of C-arm fluoroscopy, and reducing radiation damage to doctors and patients. However, the device needs to be directly rigidly fixed to the spine, which is easy to cause trauma to other parts of the spine; its structure adopts a parallel structure design, which makes the working space of the device smaller and less flexible; and the device cannot actively perform surgical operations, and can only be passively realized. The positioning function of the nail in spinal surgery cannot be used for other common operations such as osteotomy and orthopedics, and has a single function and poor versatility.

At present, some domestic research institutes have carried out certain research and development on orthopedic surgery robot technology and products. The spinal micro-trauma surgery robot developed by the Third Military Medical University Xinqiao Hospital and the Shenyang Institute of Automation of the Chinese Academy of Sciences can achieve a more precise positioning of the surgery and reduce radiation damage to the doctor. However, the robot system is directly transformed from the industrial robot arm product, and its structure also continues the shortcomings of the industrial robot structure, which is bulky and bulky, thus negligible for its flexibility, motion stability, and workspace planning. The effect of the surgical instrument clamping at the end of the robot also has similar problems.

Therefore, the orthopedic micro-trauma surgery orthopedic robot, especially the mechanical arm, needs further research and development in terms of configuration rationality and precision improvement.

Summary of the invention

The object of the present invention is to provide a mechanical arm and an orthopaedic robot, which solves the problems of cumbersome structure, low precision, poor flexibility and low versatility of the mechanical arm of the orthopedic micro-trauma surgery orthopedic robot.

In order to solve the above technical problem, the present invention provides a mechanical arm including: a position adjusting member having three degrees of freedom and an attitude adjusting member having at least two degrees of freedom connected to the position adjusting member; ,

The position adjusting member includes a base member, a shoulder member, a boom member, and an arm member that are sequentially connected; the posture adjusting member includes a wrist member and an instrument mount member that are sequentially connected, the arm member and the arm member Wrist parts are connected.

Optionally, in the robot arm, the shoulder member is rotatably coupled to the base member to form a first horizontal rotation joint; the shoulder member is rotatably coupled to the boom member to form a first Vertically swinging the joint; the boom member is rotatably coupled to the arm member to form a second vertical swing joint.

Optionally, in the robot arm, the rotation axis of the first horizontal joint is perpendicular to the rotation axis of the first vertical swing joint, and the rotation axis of the first vertical swing joint and the second vertical swing The axes of rotation of the joints are parallel to each other.

Optionally, in the mechanical arm, the position adjusting component further comprises an elbow component, and the armrest component is connected to the boom component through the elbow component.

Optionally, in the robot arm, the shoulder member is rotatably coupled to the base member to form a first horizontal rotation joint; the shoulder member is rotatably coupled to the boom member to form a first The swing joint is vertically slid; the boom member is fixedly coupled to one end of the elbow member, and the other end of the elbow member is rotatably coupled to the arm member to form a second horizontal joint.

Optionally, in the robot arm, the rotation axis of the first horizontal rotation joint is perpendicular to the rotation axis of the first vertical swing joint, and the rotation axis of the first horizontal rotation joint and the second horizontal rotation joint The axes of rotation are parallel to each other.

Optionally, in the robot arm, the shoulder member is rotatably coupled to the base member to form a first horizontal rotation joint; the shoulder member is rotatably coupled to the boom member to form a first Vertically swinging the joint; the boom member is rotatably coupled to the elbow member to form a second vertical swing joint; the elbow member is rotatably coupled to the arm member to form a second horizontal joint; wherein, the first The vertical oscillating joint and the second vertical oscillating joint together form a vertical oscillating joint.

Optionally, in the robot arm, the rotation axis of the first horizontal joint is perpendicular to the rotation axis of the vertical swing joint, and the rotation axis of the first horizontal joint is opposite to the rotation axis of the second horizontal joint parallel.

Optionally, in the robot arm, the boom component comprises: a boom main skeleton and a boom sub-frame, the shoulder component, the boom main skeleton, the elbow component and the The connecting points of the connection points of the boom sub-frames are connected in parallel to form a parallelogram.

Optionally, in the robot arm, the boom main skeleton and the boom sub-frame are both connecting rods, and the boom main skeleton and the boom sub-frame are parallel to each other.

Optionally, in the robot arm, the boom component comprises: a main boom main frame and a flexible transmission structure, the boom main skeleton is a connecting rod, and the flexible transmission structure comprises a first flexible transmission joint component. a second flexible transmission joint component, and sleeved and respectively fixed to the first flexible transmission a flexible transmission transmission member on the second flexible transmission joint member, the first flexible transmission joint member being fixedly coupled to the shoulder member, the second flexible transmission joint member being fixed to the elbow member connection.

Optionally, in the robot arm, the boom component comprises: a main boom main frame, a first power device, a first angle detecting device, a second power device and a second angle detecting device, and the first power device Driving the first vertical swing joint to rotate, the first angle detecting device measures the rotation angle, and feeds back to the second angle detecting device, and the second power device drives the second vertical swing joint according to the rotation angle obtained by the second angle detecting device Rotate the same angle in the opposite direction.

Optionally, in the mechanical arm, the posture adjusting component has 2 degrees of freedom, and the arm component is rotatably coupled with the wrist component to form a first rotating joint; the wrist component and the instrument mounting seat The components are rotationally coupled to form a second rotational joint.

Optionally, in the robot arm, the posture adjustment component has 3 degrees of freedom, the instrument mount component has a surgical instrument interface for connecting with a surgical instrument, the arm component and the wrist The components are rotationally coupled to form a first rotational joint; the wrist component is rotatably coupled to the instrument mount component to form a second rotational joint; the surgical instrument interface is rotationally coupled to the surgical instrument to form a third rotational joint.

Optionally, in the robot arm, an axis of the first rotating joint, an axis of the second rotating joint, and an axis of the third rotating joint intersect at a point.

Optionally, in the robot arm, an axis of the first rotating joint and an axis of the second rotating joint intersect at a point, an axis of the second rotating joint and an axis of the third rotating joint Go to another point.

Optionally, in the robot arm, an axis of the first rotating joint and an axis of the second rotating joint are perpendicular to each other, and an axis of the second rotating joint and an axis of the third rotating joint are mutually vertical.

Optionally, in the robot arm, an axis of the first rotating joint and an axis of the second rotating joint are perpendicular to each other and intersect, an axis of the second rotating joint and a third rotating joint The axes intersect, the axis of the first rotating joint and the axis of the third rotating joint are not coplanar.

The present invention also provides an orthopedic robot comprising: the robotic arm as described above.

In the robot arm and the orthopedic robot provided by the present invention, the mechanical arm includes a position adjusting member having three degrees of freedom and an attitude adjusting member having at least two degrees of freedom connected to the position adjusting member; The position adjusting member includes a base member, a shoulder member, a boom member, and an arm member that are sequentially connected; the posture adjusting member includes a wrist member and an instrument mount member that are sequentially connected, and the arm member and the large arm member The arm parts are connected. The position adjusting component and the attitude adjusting component together constitute a series mechanical arm of at least five degrees of freedom, and the respective degrees of freedom are adjusted according to actual needs to meet the requirements for position and posture during the operation, and the structures between the components are compact and small, occupying a small space. The light weight enhances the flexibility and ease of operation of the arm.

On the other hand, since the adjustment position adjusting member and the posture adjusting member have different configurations, respectively, the versatility and applicability of the robot arm are enhanced.

On the other hand, the posture adjusting member can be designed as a configuration in which the extension lines of the three joints are at one point, thereby replacing the operation precision with the accuracy of the robot arm itself, and improving the accuracy and stability of the operation.

DRAWINGS

1 is a schematic view showing the arrangement of degrees of freedom of a position adjusting member in the first embodiment of the present invention;

1-1 is a schematic diagram of a three-dimensional configuration of a position adjusting member in the first embodiment of the present invention;

Figure 2 is a schematic diagram of a three-dimensional configuration of an attitude adjusting member of the present invention;

Figure 3 is a schematic view showing a three-dimensional configuration of another posture adjusting member of the present invention;

Figure 4 is a schematic view showing a three-dimensional configuration of another posture adjusting member of the present invention;

Figure 5 is a schematic view showing the arrangement of degrees of freedom of the position adjusting member in the second embodiment of the present invention;

5-1 is a schematic diagram of a three-dimensional configuration of a position adjusting member in Embodiment 2 of the present invention;

Figure 6 is a front elevational view of the robot arm in the third embodiment of the present invention;

Figure 7 is a schematic view showing the arrangement of degrees of freedom of the robot arm in the third embodiment of the present invention;

Figure 8 is a schematic view showing the three-dimensional configuration of the robot arm in the third embodiment of the present invention;

Figure 9 is a schematic view showing a positional adjustment member having a parallelogram structure in the third embodiment of the present invention;

Figure 10 is another schematic diagram of the position adjusting member having a parallelogram structure in the third embodiment of the present invention;

Figure 10-1 is a right side view of Figure 10;

Figure 11 is a schematic view showing the position adjustment member of the third embodiment of the present invention having a non-parallelogram structure;

Figure 11-1 is a right side view of Figure 11.

1 and 1-1: a first horizontal rotation joint R11; a first vertical swing joint R12; a second vertical swing joint R13;

5 and 5-1: a first horizontal rotation joint R21; a first vertical swing joint R22; a second horizontal joint joint R23;

Figure 7-8: a first horizontal rotation joint R31; a first vertical swing joint R32; a second vertical swing joint R32'; a second horizontal joint joint R33;

Figure 1 - 11-1: first rotating joint R4; second rotating joint R5; base member 1; shoulder member 2; boom member 3; elbow member 4; arm member 5; wrist member 6; Instrument mount component 7; surgical instrument interface 7-1; flexible transmission transmission component 8; first flexible transmission joint component 9; second flexible transmission joint component 10; boom main skeleton 11; boom sub-frame 12; -1, 2-2, 4-1,4-2; position adjusting member 100; posture adjusting member 200.

detailed description

The mechanical arm and the orthopedic robot proposed by the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will be apparent from the description and appended claims. It should be noted that the drawings are in a very simplified form and all use non-precise proportions, and are only for convenience and clarity to assist the purpose of the embodiments of the present invention.

Embodiment 1

The mechanical arm includes: a position adjusting member and an attitude adjusting member connected to the position adjusting member; referring to FIG. 1 and FIG. 1-1, the position adjusting member 100 includes a base member 1 and a shoulder member which are sequentially connected 2. The boom member 3 and the arm member 5; referring to FIG. 2 to FIG. 4, the posture adjusting member 200 includes a wrist member 6 and an instrument mount member 7, which are sequentially connected, and the arm member 5 and the wrist The part 6 is rotatably connected. In the present embodiment, the position adjusting member 100 and the posture adjusting member 200 jointly constitute a five-degree-of-freedom series robot, and each degree of freedom is adjusted according to actual needs to meet the position and posture requirements during surgery.

The five degrees of freedom in the configuration of the robot arm in this embodiment include three degrees of freedom of the position adjusting member 100 and two degrees of freedom of the posture adjusting member 200. In this embodiment, the horizontal installation of the mechanical arm is taken as an example, and of course, it may be installed in other manners, and the name of the component in the manual does not limit the component. Systematic interpretation. As shown in FIG. 1 , the three degrees of freedom of the position adjusting member 100 in the present embodiment are respectively: a first horizontal rotating joint R11 formed by rotationally connecting the shoulder member 2 and the base member 1; A first vertical swing joint R12 formed by rotatively connecting the member 2 with the boom member 3; a second vertical swing joint R13 formed by pivotally connecting the boom member 3 and the arm member 5. Preferably, the rotation axis of the first horizontal rotation joint R11 and the rotation axis of the first vertical swing joint R12 are perpendicular to each other, and the rotation axis of the first vertical swing joint R12 and the rotation axis of the second vertical swing joint R13 are parallel to each other. .

Referring to FIG. 2, the two degrees of freedom of the posture adjusting component 200 are respectively rotatably connected to the wrist component 5 to form a first rotating joint R4; the wrist component 6 and the instrument mounting component 7 is rotationally coupled to form a second rotational joint R5. Wherein, the axis of the first rotating joint R4 intersects the axis of the second rotating joint R5 at a point, preferably the axis of R4 and the axis of R5 are perpendicular to each other. The instrument mount component 7 has a surgical instrument interface for connection with a surgical instrument (for the specific structure of the surgical instrument interface 7-1, please refer to the structure in FIGS. 6 and 7 in the following third embodiment), the surgical instrument interface 7- 1 can be rotatably coupled to the surgical instrument through the third rotational joint R6 such that the mechanical arm adds another degree of freedom to six degrees of freedom, more preferably the rotational axis of the second rotational joint R5 and the third rotational joint R6 The axis of rotation intersects at a point, most preferably the axes of rotation of the two joints intersect perpendicularly; the surgical instrument interface 7-1 can also be fixedly coupled to the surgical instrument, ie without the third rotational joint R6, the robotic arm is still five degrees of freedom . In this embodiment, the posture adjusting component 200 can be configured according to actual needs, and the following three examples are used to understand the configuration of the posture adjusting component. In the three examples, the spatial right-angled right-hand coordinate system is introduced as a reference. To distinguish the orientation of the space between the degrees of the robot arm. Wherein, the posture adjusting component 200 of the mechanical arm has three degrees of freedom, that is, the surgical instrument interface 7-1 can be rotatably connected with the surgical instrument through the third rotating joint R6.

Example 1:

Referring to FIG. 2, as shown, the axial direction of the arm member 5 is parallel to the Y-axis in the space rectangular coordinate system, and the axis of the first rotational joint R4 formed by the rotational connection of the wrist member 6 and the arm member 5 is parallel to the space. The Y-axis is arranged in the Cartesian coordinate system, and the axis of the second rotational joint R5 formed by rotational connection with the instrument mount component 7 and the wrist component 6 intersects at a point, preferably the two axes are also perpendicular to each other; the instrument mount component 7 forms a surgical instrument The axis of the third rotating joint R6 and the second rotating joint The axes of R5 intersect at a point, preferably the two axes are also perpendicular to each other and the axis of the first rotational joint R4, the axis of the second rotational joint R5 and the axis of the third rotational joint R6 intersect at one point. The advantage of the three-axis intersection is that the position joint and the joint joint can be decoupled, that is, the posture joint does not affect the position and posture of the position joint during the movement; the instrument mount component 7 is equipped with the surgical instrument during the surgical application, and the three-axis The intersection of the first rotation joint and/or the second rotation joint can be avoided to provide adjustment precision and stability.

Example 2:

Referring to FIG. 3, as shown, the axis of the first rotational joint R4, R4 formed by the rotational connection of the wrist member 6 and the arm member 5 is arranged in parallel with the X-axis, and the instrument mount member 7 and the wrist member 6 are arranged. The axis of the second rotational joint R5, R4 formed by the rotational connection intersects the axis of R5 at a point, preferably the two axes are also perpendicular to each other; the axis of the third rotational joint R6 formed by the instrument mount component 7 and the surgical instrument and the second rotational joint The axes of R5 intersect at one point, preferably the two axes are also perpendicular to each other; and the axis of the first rotational joint, the axis of the second rotational joint, and the axis of the third rotational joint R6 also intersect at one point.

Example 3:

Referring to FIG. 4, the attitude adjusting member 200 of this configuration is a modification of the configuration of the posture adjusting member 200 provided in the example 1 shown in FIG. 2. Specifically, the axis of the first rotating joint R4 formed by the rotational connection of the wrist member 6 and the arm member 5 is arranged in parallel with the Y-axis, and the second rotating joint R5 formed by the rotational connection of the instrument mounting member 7 and the wrist member 6 is formed. The axis of R4 intersects the axis of R5 at a point, preferably perpendicular and intersects. The axis of the third rotational joint R6 formed by the surgical instrument interface 7-1 (not shown) and the surgical instrument intersects the axis of R5, the axis of R4 It is not coplanar with the axis of R6; preferably the axis of the third rotational joint R6 formed by the surgical instrument interface 7-1 and the surgical instrument is perpendicular and intersects the axis of R5. The axis of the third rotational joint R6 formed by the surgical instrument interface 7-1 and the surgical instrument is translated by a distance in the X-axis direction with respect to the axis of R4, the axis (ie, the axis of the first rotational joint R4, the second rotation) The axis of the joint R5 and the axis of the third rotating joint R6 do not intersect at one point. In this configuration, the axis of the first rotating joint R4 and the axis of the second rotating joint R5 intersect at one point, and the axis of the second rotating joint R5 and the axis of the third rotating joint R6 intersect at another point. In the application, the position adjustment component and the various components of the attitude adjustment component 200 can be controlled by the related algorithm of the high degree of freedom fixed point principle to ensure the loading of the orthopedic robot. The instrument has a function similar to the position of the intersection of the three-axis intersection on the one-point configuration.

Embodiment 2

The difference between the second embodiment and the first embodiment is that the specific configuration of the position adjusting member 100 is different. As shown in FIGS. 5 and 5-1, the position adjusting member 100 in this embodiment further includes an elbow member 4 that is fixedly coupled to one end of the elbow member 4, the elbow member The other end of 4 is rotatably coupled to the arm member 5. Wherein, the three degrees of freedom of the position adjusting member 100 are respectively a first horizontal rotating joint R21 formed by the rotatably connecting the shoulder member 2 and the base member 1; the shoulder member 2 and the boom The member 3 is rotationally coupled to form a first vertical swing joint R22; the boom member 3 is fixedly coupled to one end of the elbow member 4, and the other end of the elbow member 4 is rotatably coupled to the arm member 5. A second horizontal rotation joint R23 is formed. Preferably, the rotation axis of the first horizontal rotation joint R21 and the rotation axis of the first vertical swing joint R22 are perpendicular to each other, and the rotation axis of the first horizontal rotation joint R21 and the rotation axis of the second horizontal rotation joint R23 are parallel to each other. For the configuration of the posture adjusting component 200 in this embodiment, refer to the content of the first embodiment, and no further description is made here.

Embodiment 3

Another embodiment shown in Figures 6-10-1. Compared with the second embodiment, in the position adjusting member 100 in the embodiment, the shoulder member 2, the boom member 3, and the elbow member 4 constitute a parallelogram-like structure to better ensure the position adjusting member 100. Stability and adjustment accuracy. The so-called "parallelogram-like structure" means that the configuration of the above-mentioned components can achieve the same or similar effect of the parallelogram mechanism. Specifically, the boom member 3 is rotatably coupled to one end of the elbow member 4, and the other end of the elbow member 4 is rotatably coupled to the arm member 5. The three degrees of freedom of the position adjusting member 100 are respectively a first horizontal rotating joint R31 formed by the rotatably connecting the shoulder member 2 and the base member 1; the shoulder member 2 and the boom a first vertical swing joint R32 formed by rotationally connecting the member 3; a second vertical swing joint R32' formed by the pivotal connection of the boom member 3 and the elbow member 4; the elbow member 4 and the arm member 5 Rotating the second horizontal rotation joint R33 formed. When the shoulder member 2, the boom member 3, and the elbow member 4 constitute a parallelogram-like structure, the first vertical swing joint R32 and the second vertical swing joint R32' together constitute a vertical swing joint (ie, R32 and R32' collectively serves as a freedom for the position adjustment member 100 degree). Preferably, the rotation axis of the first horizontal rotation joint R31 is perpendicular to the rotation axis of the vertical swing joint, and the rotation axis of the first horizontal rotation joint R31 is parallel to the rotation axis of the second horizontal rotation joint R33.

Preferably, the parallelogram-like structure in this embodiment has the following structure:

Structure 1: Referring to FIG. 10 and FIG. 10-1, the boom member 3 includes a boom main skeleton 11 and a boom sub-frame 12. One end of the boom sub-frame 12 is rotatably coupled to the shoulder member 2 via a shaft structure 2-2, and the other end is rotatably coupled to the elbow member 4 via a shaft structure 4-2; one end of the main boom main frame 11 passes through the shaft The structure 2-1 is rotatably coupled to the shoulder member 2, and the other end is rotatably coupled to the elbow member 4 via a hinge structure 4-1, the boom main skeleton 11, the boom sub-frame 12 and the The connecting members of the shoulder member 2 and the elbow member 4 are sequentially connected to each other to form a parallelogram, wherein the boom main skeleton 11 and the boom sub-frame 12 are connecting rods. Preferably, the boom main frame 11 and the boom sub-frame 12 are parallel to each other, and the boom sub-frame 12 and the boom main frame 11 and the shoulder member 2 and the elbow member 4 form a parallelogram structure. . It will be understood by those skilled in the art that the boom sub-frame 12, the boom main frame 11, the shoulder member 2 and the elbow member 4 form a parallelogram structure as a preferred embodiment. As long as the connection points of the boom main skeleton 11, the boom sub-frame 12, the shoulder member 2, and the elbow member 4 are sequentially connected to form a parallelogram, the same function as described above can be achieved.

Structure 2: Please refer to FIG. 9. The difference between structure 2 and structure 1 lies in the structure of the boom sub-frame 12. The boom main frame 11 is still a connecting rod, and the boom sub-frame 12 is replaced by a connecting rod to a flexible transmission. The flexible transmission structure includes a first flexible transmission joint component 9, a second flexible transmission joint component 10, and a sleeve and is respectively fixed to the first flexible transmission joint component 9, the second flexible transmission joint component 10 The upper flexible transmission joint member 9 is fixedly coupled to the shoulder member 2, and the second flexible transmission joint member 10 is fixedly coupled to the elbow member 4.

Specifically, the first flexible transmission joint component 9 is sleeved on the rotating shaft structure 2-1 and fixedly connected with the shoulder component 2; the second flexible transmission joint component 10 is sleeved on the rotating shaft 4 -1, and fixedly connected with the elbow member 4; one end of the main boom main frame 11 is rotatably connected to the shoulder member 2 through the shaft structure 2-1, and the other end is passed through the shaft structure 4-1 and the elbow member 4 The connection is rotated to ensure that the main frame 11 of the boom can move relative to the shoulder member 2 and the elbow member 4 during the movement. Preferably, the axis of rotation of the shoulder member 2 and the elbow member 4 (ie, the axis of R31 and the axis of R33) are parallel to each other and perpendicular to the horizontal plane, ensuring that the arm member 5 is always level, facilitating the surgical procedure The operation of the doctor. Of course, the axis of rotation of the shoulder member 2 and the elbow member 4 (ie the axis of R31 and the axis of R33) may also not be perpendicular to the horizontal plane, only the shoulder member 2 and the elbow member 4 The axis of rotation (i.e., the axis of R31 and the axis of R33) may be parallel to each other.

The parallelogram-like structure may also be other specific structures, and as long as the same effect of the parallelogram structure can be achieved, it is also within the scope of the present invention. For example, the boom member 3 shown in FIG. 11 and FIG. 11-1, the boom member 3 includes a connecting rod, one end of the connecting rod is rotatably connected to the shoulder member 2 through the rotating shaft structure 2-1, and One end is rotatably coupled to the elbow member 4 via the spindle structure 4-1. Under this configuration, the axis of rotation of the shoulder member 2 and the elbow member 4 may be parallel to each other by motor control. Preferably, the axis of rotation of the shoulder member 2 is perpendicular to a horizontal plane. The motor control may adopt the following control mode, but is not limited to the control mode, and any control mode similar to the control mode principle may be used. The boom component includes: a main boom main frame, a first power device, a first angle detecting device, a second power device and a second angle detecting device. Preferably, the main frame of the boom is a connecting rod, and the first power device Driving the first vertical swing joint to rotate, the first angle detecting device measures the rotation angle, and feeds back to the second angle detecting device, and the second power device drives the second vertical swing joint according to the rotation angle obtained by the second angle detecting device Rotate the same angle in the opposite direction. Specifically, a power device and an angle detecting device are respectively disposed at the shoulder member 2 and the elbow member 4, and the first power device at the shoulder member 2 drives the boom member 3 to swing. The first angle detecting means at the shoulder member 2 measures the rotation angle and feeds back to the second angle detecting means at the elbow part 4, and the second angle detecting means at the elbow part 4 obtains a feedback deflection angle signal Thereafter, the second power unit is rotated by the same angle in the opposite direction, thereby ensuring that the axis of R31 and the axis of R33 are parallel to each other. For example, when the first angle detecting means at the shoulder member 2 measures a clockwise angle, the second power unit at the elbow member 4 is rotated by the same angle in the counterclockwise direction according to the feedback signal.

In the specific embodiment of the position adjusting member and the posture adjusting member provided by the present invention, more orthopaedic robot configurations can be obtained by different combinations, and these configurations are also the orthopaedic robot configurations that the present invention can relate to.

In summary, in the robot arm and the orthopedic robot provided by the present invention, the robot arm includes 3 a degree of freedom position adjusting member and an attitude adjusting member having at least two degrees of freedom connected to the position adjusting member; wherein the position adjusting member includes a base member, a shoulder member, a boom member and The arm member; the posture adjusting member includes a wrist member and an instrument mount member that are sequentially connected, and the arm member is coupled to the wrist member. The position adjusting component and the attitude adjusting component together constitute a series mechanical arm of at least five degrees of freedom, and the respective degrees of freedom are adjusted according to actual needs to meet the requirements for position and posture during the operation, and the structures between the components are compact and small, occupying a small space. The light weight enhances the flexibility and ease of operation of the arm.

On the other hand, the posture adjusting member can be designed as a configuration in which the extension lines of the three joints are at one point, thereby replacing the operation precision with the accuracy of the robot arm itself, and improving the accuracy and stability of the operation. The various embodiments in the present specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the various embodiments may be referred to each other.

The above description is only for the description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes and modifications made by those skilled in the art in light of the above disclosure are all within the scope of the appended claims.

Claims

A mechanical arm, comprising: a position adjusting member having three degrees of freedom; and an attitude adjusting member having at least two degrees of freedom connected to the position adjusting member; wherein

The position adjusting member includes a base member, a shoulder member, a boom member, and an arm member that are sequentially connected; the posture adjusting member includes a wrist member and an instrument mount member that are sequentially connected, the arm member and the arm member Wrist parts are connected.
The robot arm according to claim 1, wherein said shoulder member is rotatably coupled to said base member to form a first horizontal rotation joint; said shoulder member being rotatably coupled to said boom member to form a first vertical swing joint; the boom member is rotatably coupled to the arm member to form a second vertical swing joint.
The robot arm according to claim 2, wherein an axis of rotation of said first horizontal joint is perpendicular to an axis of rotation of said first vertical swing joint, and an axis of rotation of said first vertical swing joint and said second vertical The axes of rotation of the straight oscillating joints are parallel to each other.
The robot arm according to claim 1, wherein said position adjusting member further comprises an elbow member connected to said boom member through said elbow member.
The robot arm according to claim 4, wherein said shoulder member is rotatably coupled to said base member to form a first horizontal rotation joint; said shoulder member being rotatably coupled to said boom member to form a first vertical swing joint; the boom member is fixedly coupled to one end of the elbow member, and the other end of the elbow member is rotatably coupled to the arm member to form a second horizontal joint.
The robot arm according to claim 5, wherein the rotation axis of the first horizontal rotation joint is perpendicular to the rotation axis of the first vertical swing joint, and the rotation axis of the first horizontal rotation joint and the second horizontal rotation The axes of rotation of the joints are parallel to each other.
The robot arm according to claim 4, wherein said shoulder member is rotatably coupled to said base member to form a first horizontal rotation joint; said shoulder member being rotatably coupled to said boom member to form a first vertical swing joint; the boom member is rotatably coupled to the elbow member to form a second vertical swing joint; the elbow member is rotatably coupled to the arm member to form a second horizontal joint; The first vertical swing joint and the second vertical swing joint together form a vertical swing Section.
The robot arm according to claim 7, wherein a rotation axis of said first horizontal rotation joint is perpendicular to a rotation axis of the vertical swing joint, and a rotation axis of the first horizontal rotation joint and a rotation of the second horizontal rotation joint The axes are parallel.
The robot arm according to claim 8, wherein said boom member comprises: a boom main skeleton and a boom sub-frame, said shoulder member, said boom main skeleton, said elbow member and The connecting points of the connection points of the boom sub-frames are sequentially connected to form a parallelogram.
The robot arm according to claim 9, wherein the boom main skeleton and the boom sub-frame are both connecting rods, and the boom main skeleton and the boom sub-frame are parallel to each other.
The robot arm according to claim 7, wherein said boom member comprises: a main boom main frame and a flexible transmission structure, said main boom main frame being a connecting rod, said flexible transmission structure comprising a first flexible transmission a joint member, a second flexible transmission joint member, and a flexible transmission transmission member that is sleeved and respectively fixed to the first flexible transmission joint member and the second flexible transmission joint member, the first flexible transmission joint member and The shoulder member is fixedly coupled and the second flexible transmission joint member is fixedly coupled to the elbow member.
The robot arm according to claim 7, wherein said boom member comprises: a main boom main frame, a first power unit, a first angle detecting device, a second power device and a second angle detecting device, first The power device drives the first vertical swing joint to rotate, the first angle detecting device measures the rotation angle, and feeds back to the second angle detecting device, and the second power device drives the second vertical according to the rotation angle obtained by the second angle detecting device. The swing joint rotates in the opposite direction at the same angle.
The robot arm according to claim 1, wherein said posture adjusting member has two degrees of freedom, said arm member being rotatably coupled to said wrist member to form a first rotating joint; said wrist member and instrument The mount member is rotatably coupled to form a second rotational joint.
The robotic arm of claim 1 wherein said attitude adjustment member has three degrees of freedom, said instrument mount component having a surgical instrument interface for attachment to a surgical instrument, said arm member The wrist member is rotationally coupled to form a first rotational joint; the wrist member is rotatably coupled to the instrument mount component to form a second rotational joint; the surgical instrument interface is rotationally coupled to the surgical instrument to form a third rotational joint.
The robot arm according to claim 14, wherein the axis of the first rotating joint The line, the axis of the second rotating joint, and the axis of the third rotating joint intersect at a point.
The robot arm according to claim 14, wherein an axis of said first rotational joint and an axis of said second rotational joint intersect at a point, an axis of said second rotational joint and said third rotational joint The axis is at another point.
The robot arm according to claim 15, wherein an axis of said first rotational joint and an axis of said second rotational joint are perpendicular to each other, an axis of said second rotational joint and said third rotational joint The axes are perpendicular to each other.
The robot arm according to claim 16, wherein an axis of said first rotational joint and an axis of said second rotational joint are perpendicular to each other and intersect, an axis of said second rotational joint and said third rotation The axes of the joints intersect, the axis of the first rotating joint and the axis of the third rotating joint are not coplanar.
An orthopaedic robot comprising the robotic arm of any of claims 1-18.