WO2023160486A1 - End articulated arm, robotic arm, and medical cart - Google Patents

Abstract

The present application relates to an end articulated arm, a robotic arm, and a medical cart. A plurality of mounting structures (1200) are at least arranged on a first articulated arm section (1300); the plurality of mounting structures (1200) arranged on the first articulated arm section (1300) are distributed around a first central axis (1100) in a circumferential direction; a plurality of operating instruments on the plurality of mounting structures (1200) are kept parallel to each other along the axial direction of the first central axis (1100), and approach each other along a radial direction of the first central axis (1100).

Description

End Articulated Arms, Robotic Arms and Medical Carts

related application

This application claims the priority of the Chinese patent application filed on February 22, 2022, with application number 202210164856.7, entitled "Terminal Articulated Arm, Robotic Arm, and Medical Trolley", which is hereby incorporated by reference in its entirety.

technical field

The present application relates to the technical field of medical devices, in particular to a terminal articulated arm, a mechanical arm and a medical trolley.

Background technique

Surgical robots can perform complex surgical operations through minimally invasive methods. Surgical robots usually include main control equipment, operating equipment, and various operating instruments installed on the operating equipment for surgery. Send a control command, and the operating device can control the movement of the operating instrument according to the control command, so as to perform a surgical operation on the patient. For example, an existing single-hole surgical robot usually includes an endoscope and three surgical instruments, and the endoscope and surgical instruments cooperate with each other to complete the operation. However, in most operations, only one endoscope and two surgical instruments are needed to complete the entire operation. The other surgical instrument is not only used less frequently, but also takes up space, which reduces the flexibility of the surgical robot. Not conducive to surgery.

Contents of the invention

According to various embodiments of the present application, the present application provides a terminal articulated arm, a mechanical arm and a medical trolley.

The application provides a terminal articulated arm, the terminal articulated arm comprising:

a first articulated arm section having a first central axis; and

A plurality of installation structures, the plurality of installation structures are arranged at least on the first articulated arm section, and the plurality of installation structures arranged on the first articulated arm section are circumferentially around the first central axis distribution, the installation structure is configured for detachable installation of the operation instrument, so that at least part of the plurality of the operation instruments on the plurality of the installation structures are kept parallel to each other along the axial direction of the first central axis, And at least partially converge with each other along the radial direction of the first central axis.

The application provides a mechanical arm, which includes:

a suspension articulated arm; and

The terminal articulated arm is rotatably assembled on the suspension articulated arm along the first arc track with the first central axis as a rotation reference.

The application provides a medical trolley, which includes:

trolley body;

The mechanical arm is arranged on the trolley body.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below, and other features, objects, and advantages of the application will become apparent from the specification, drawings, and claims.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the traditional technology. Obviously, the accompanying drawings in the following description are only the present invention For the embodiment of the application, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to Open figures for additional figures.

FIG. 1 is a schematic structural view of a terminal articulated arm provided in some embodiments of the present application;

Fig. 2 is a schematic diagram of the connection structure of the first connecting part and the second connecting part in the terminal articulated arm shown in Fig. 1;

Fig. 3 is a schematic structural diagram of a terminal articulated arm provided in other embodiments of the present application;

Fig. 4 is a schematic structural view of the terminal articulated arm provided in some other embodiments of the present application;

Fig. 5 is a schematic structural diagram of the release state of the clip in the terminal articulated arm as shown in Fig. 3 or Fig. 4;

Fig. 6 is a schematic structural diagram of the pressing state of the clamping member in the terminal articulated arm as shown in Fig. 3 or Fig. 4;

Fig. 7 is a schematic diagram of the connection structure of the first connection part and the second connection part in the terminal articulated arm as shown in Fig. 3 or Fig. 4;

Fig. 8 is a three-dimensional schematic diagram 1 of the layout structure of the terminal articulated arm and four operating instruments provided in some embodiments of the present application;

Fig. 9 is a three-dimensional schematic diagram 2 of the layout structure of the terminal articulated arm and four operating instruments provided in some embodiments of the present application;

Fig. 10 is a schematic perspective view of the layout structure of the terminal articulated arm and three operating instruments provided in some embodiments of the present application;

Fig. 11 is a schematic plan view of the layout structure of four operating instruments as shown in Fig. 8 or Fig. 9;

Fig. 12 is a schematic plan view of the layout structure of the three operating instruments shown in Fig. 10;

Fig. 13 is a schematic diagram of the working state structure of the terminal articulated arm with four operating instruments provided in some embodiments of the present application;

Fig. 14 is a schematic diagram of the working state structure of the terminal articulated arm with three operating instruments provided in some embodiments of the present application;

Fig. 15 is a schematic perspective view of the assembly structure of the terminal articulated arm, the suspension articulated arm and the beam provided in some embodiments of the present application;

Fig. 16 is a schematic perspective view of the three-dimensional structure of the medical trolley provided in some embodiments of the present application;

Fig. 17 is a schematic structural diagram of a surgical robot provided in some embodiments of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

1 to 15, an embodiment of the present application provides a terminal articulated arm 1000, the terminal articulated arm 1000 includes a first articulated arm segment 1300 and a plurality of installation structures 1200, the first articulated arm The section 1300 has a first central axis, and a plurality of installation structures 1200 are arranged at least on the first articulated arm section 1300, and the plurality of installation structures 1200 arranged on the first articulated arm section 1300 surround The first central axis is distributed circumferentially, and the installation structure 1200 is configured to detachably install the operation instruments, so that at least part of the plurality of operation instruments on the plurality of installation structures 1200 is along the first The axial directions of one central axis are kept parallel to each other, and at least part of them converge with each other along the radial direction of the first central axis.

It should be noted that the structural form of the operating instrument will have structural differences according to different types. Therefore, according to the specific structural form of different operating instruments, at least part or the whole of the operating instrument can be aligned along the axial direction of the first central axis. keep parallel to each other, and at least a part or the whole of the operating instruments converge with each other along the radial direction of the first central axis at the same time, as long as it can ensure that multiple operating instruments can be integrated on the single-hole puncture device after they converge with each other. Those skilled in the art can select a suitable assembly form according to requirements, which is not limited here.

The first articulated arm section 1300 can adopt any structural form, and the structural form of the first articulated arm section 1300 can be an independent integral structure or a split structure composed of multiple parts, etc. In one embodiment, the At least a part of the first articulated arm section 1300 is a curved structure, and the construction of the curved structure can make the first articulated arm section 1300 build a structural form around the first central axis, for example, the first joint At least a part of the arm section 1300 is a circular arc structure, or at least a part of the first articulated arm section 1300 is a circular structure, or at least a part of the first articulated arm section 1300 is an elliptical arc structure , or at least a part of the first articulated arm section 1300 is an elliptical ring structure, or at least a part of the first articulated arm section 1300 is an umbrella structure, or at least a part of the first articulated arm section 1300 It is a square ring structure, and the ring structure, elliptical arc structure, ellipse ring structure, umbrella structure and square ring structure are all curved structures. In addition, the first articulated arm section 1300 can also be other As for the structural shape, as long as it can ensure that a plurality of operating instruments are assembled on the installation structure 1200, they can be assembled as a whole. Those skilled in the art can choose the appropriate structural shape of the first articulated arm section 1300 according to their needs, and there is no limitation here. .

The number of the installation structures 1200 can be determined according to the number of operating instruments 7000 that need to be installed. For example, if an operating instrument 7000 is installed on one installation structure 1200, when the maximum number of operating instruments 7000 required for surgery is determined, the installation structure 1200 The number can be consistent with the maximum number of operating instruments 7000. In the actual operation process, the number of operating instruments 7000 actually used can be less than the number of installation structures 1200, and the operating instruments 7000 can be installed or removed arbitrarily according to needs to meet the actual operation requirements. Demand, because one more operating instrument 7000 brings not only difficulties in the layout of puncture devices, but also brings difficulties in the layout of surgical instruments, the design and installation of sterile barriers, increases the inconvenience of operation, and limits the flexibility of surgery, so The installation structure 1200 not installed with the operating instruments 7000 can be used as a reserved installation position, saving occupied space, reducing the actual number of operating instruments 7000, and improving the flexibility of the surgical robot.

For example, the number of mounting structures 1200 can be set to four. In most operations, only two surgical instruments and one laparoscope can be used to complete the surgical operation. If other surgical instruments are needed, one of the surgical instruments can be replaced. , when performing surgery with complex and auxiliary surgical instruments, one surgical instrument can be installed to form a surgical operation combination of a laparoscope and three surgical instruments. Therefore, when no operating instrument 7000 is installed in a certain installation structure 1200 , the corresponding position of the installation structure 1200 can save space, so that the surgical robot has more operable space and improves the flexibility of the surgical robot.

At least a part of the first articulated arm section 1300 is an arc-shaped structure, and the arc-shaped structure of the first articulated arm section 1300 has a first arc trajectory, and the first arc trajectory has a first center Axis 1100 (shown in FIG. 16 ), wherein, the first articulated arm section 1300 can form an arc-shaped structure in some sections or structures, or all sections or structures can be arc-shaped structures. Personnel can be set according to requirements, and there is no limitation here. Based on the first pass The arc-shaped structure of the articulated arm section 1300, the mounting structure 1200 can be installed on the arc-shaped structure of the first articulated arm section 1300, so when there are multiple mounting structures 1200, for example three, four, five At the same time, multiple installation structures 1200 can be arranged in a circular arc shape in the circumferential direction on the arc-shaped structure, so that after the operating instrument 7000 is arranged on the installation structure 1200, it also forms a circular arc-shaped layout in the circumferential direction. When the connection positions of the multiple operating instruments 7000 and the installation structure 1200 are on the outside of the operating instruments 7000, a space may be reserved at the relatively central positions of the multiple operating instruments 7000.

Not only that, the arc-shaped structure of the first articulated arm section 1300 can also form a first arc-shaped trajectory with the first central axis 1100, which allows the first articulated arm section 1300 to move along the first arc-shaped trajectory. Rotation, the rotational motion is fixed-axis rotation based on the first central axis 1100, and the rotation of the first articulated arm segment 1300 will drive the plurality of operating instruments 7000 arranged on it to also be fixed-axis based on the first central axis 1100 Rotate to adjust the actual position of each operating instrument 7000 to improve the flexibility of movement.

The arc-shaped structure of the first articulated arm section 1300 can be set to a reasonable length according to the layout requirements of the operating instrument 7000, or the first articulated arm section 1300 can be connected or detached with auxiliary sections according to requirements. The length of the articulated arm 1000 can be adaptively adjusted to meet the installation of the operating instrument 7000. For example, in one embodiment, the terminal articulated arm 1000 can also include a second articulated arm section 1400, and the second articulated arm section 1400 is connected to the The first articulated arm section 1300 is detachably connected, at least a part of the second articulated arm section 1400 is an arc-shaped structure, and the arc-shaped structure of the second articulated arm section 1400 is consistent with the first articulated arm section 1400. The virtual extension lines of a circular arc track coincide, and at least one installation structure 1200 is provided on the first articulated arm section 1300 and the second articulated arm section 1400 .

Therefore, when the first articulated arm section 1300 cannot meet the arrangement requirements of the operating instrument 7000, the second articulated arm section 1400 can be connected to the first articulated arm section 1300, and the second articulated arm section 1400 can be used to The mounting structure 1200 on the upper part cooperates with the operating instrument 7000, so that the operating instrument 7000 on the first articulated arm section 1300 and the second articulated arm section 1400 can be used together, when the first articulated arm section 1300 itself can already meet the operating requirements When installing the instrument 7000, the second articulated arm section 1400 can be disassembled relative to the first articulated arm section 1300, and only the first articulated arm section 1300 is used to install the required operating instrument 7000. Those skilled in the art can according to The installation and disassembly between the first articulated arm section 1300 and the second articulated arm section 1400 can be selected according to requirements, and a plurality of the installation structures 1200 can be arranged along the circular arc of the first articulated arm section 1300 structure distribution, or distribute multiple installation structures 1200 along the arc-shaped structure of the second articulated arm section 1400 , or distribute multiple installation structures 1200 along the first articulated arm section 1300 The arc-shaped structure of the articulated arm section 1400 and the arc-shaped structure distribution of the second articulated arm section 1400 are not limited here.

The number of installation structures 1200 on the first articulated arm section 1300 and the second articulated arm section 1400 can be set according to requirements, and the installation structure 1200 can be used as a reserved installation position for the user to choose to install the operating instrument 7000, see Figure 8 to As shown in FIG. 12 , for example, in one embodiment, three installation structures 1200 are provided on the first articulated arm section 1300 , and one installation structure 1200 is provided on the second articulated arm section 1400 , wherein, the plane where the first articulated arm section 1300 and the second articulated arm section 1400 are located has an intersection point with the first central axis 1100 , and any The connection between the installation structure 1200 and the intersection point forms a first virtual connection line 1500, and the connection between the installation structure 1200 on the second articulated arm section 1400 and the intersection point forms a second virtual connection line 1600, the first virtual connection 1500 and the second virtual connection 1600 The included angle is greater than 45°, for example, the first articulated arm segment 1300 has a first virtual connection line 1500 formed by multiple installation structures 1200 and intersection points, which is different from the first virtual connection line 1500 and the second virtual connection line The included angle of 1600 may be 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85°, 90°, 95°, 100°, etc., which are not limited here.

For example, when the angle between the first virtual connection 1500 and the second virtual connection 1600 is greater than 45°, that is, the angle between the first virtual connection 1500 closest to the second virtual connection 1600 angle is at least 45°, the angle between two first virtual lines 1500 adjacent to the second virtual line 1600 is at least 90°, if the second articulated arm section 1400 is relative to the first articulated arm section After 1300 is disassembled, the space occupied by the second articulated arm section 1400 together with the operating instrument 7000 thereon can be saved, which can at least leave a 90° space on the terminal articulated arm 1000, that is, at least 1 The /4 spatial structure can effectively improve the operable range of surgery, as shown in Figure 13 and Figure 14, especially on the side facing the target object without any interference, greatly increasing the operating range and adjustment angle of the surgery.

The assembly method and relative assembly position between the first articulated arm section 1300 and the second articulated arm section 1400 can be set arbitrarily according to requirements, for example, the assembly between the first articulated arm section 1300 and the second articulated arm section 1400 Any detachable connection methods such as plug-in connection, screw connection, snap-fit connection, and adhesive connection can be used, and the connection position between the first articulated arm section 1300 and the second articulated arm section 1400 only needs to ensure that both The arc-shaped structure can be along the first arc track and its virtual extension line, and the quick disassembly form is used to facilitate the quick installation and disassembly of the instrument, which is safe and effective. For example, in one of the embodiments, the first joint arm area At least one first connection part 1310 and at least one second connection part 1410 may be provided on the section 1300 and the second articulated arm section 1400 respectively, and the second connection part 1410 and the first connection part 1310 may be detachable ground connection, thereby realizing the detachable connection between the first articulated arm section 1300 and the second articulated arm section 1400 . According to the setting of different installation positions between the first articulated arm section 1300 and the second articulated arm section 1400, the first connecting part 1310 and the second connecting part 1410 can be respectively arranged on the first articulated arm section 1300 and the second articulated arm section 1300. Different positions of the two articulated arm sections 1400, when the first connecting part 1310 and the second connecting part 1410 are connected, the connection between different positions of the first articulated arm section 1300 and the second articulated arm section 1400 can be realized .

The number of the first connecting part 1310 and the second connecting part 1410 can be selected according to requirements, and the first connecting part 1310 and the second connecting part 1410 can be located on the same side of the first articulated arm section 1300 or the second articulated arm section 1400 position or different positions, for example, in one of the embodiments, there may be one or more first connecting parts 1310 and second connecting parts 1410, but one or more of the first connecting parts 1310 are all located at the first joint One end of the arm section 1300, one or more second connecting parts 1410 are located at one end of the second articulated arm section 1400, one end of the second articulated arm section 1400 passes through the second connecting part 1410 and the first connecting part 1310 are connected to one end of the first articulated arm section 1300, as shown in Fig. One end is connected to the first articulated arm section 1300, and the other end can be used to set the installation structure 1200 to install the operating instrument 7000, and then the first articulated arm section 1300 and the second articulated arm section 1400 can form an incomplete circular structure. Or continue to refer to FIG. 4, the first connecting part 1310 and the second connecting part 1410 can be multiple, if set to two, the two first connecting parts 1310 can be respectively located in the first articulated arm section 1300, the two second connecting parts 1410 can be respectively located at the two ends of the second articulated arm segment 1400, the The two ends of the second articulated arm section 1400 are connected to the two ends of the first articulated arm section 1300 through the second connecting part 1410 and the first connecting part 1310, and the second articulated arm section 1400 and the first articulated arm section 1300 form a circular structure, at this time, the installation structure 1200 can be arranged at the central position of the second articulated arm section 1400 to realize the installation of the operating instrument 7000 .

In one of the embodiments, when the first connecting part 1310 and the second connecting part 1410 are connected in a plug-in manner, the first connecting part 1310 and the second connecting part 1410 can be respectively provided with matching pluggable structures, such as the The first connection part 1310 is an interface, and the second connection part 1410 is a joint, and the joint is plugged with the interface, and the joint and the interface can adopt an interference fit to ensure the stability of the plug connection. In addition, when the joint and the interface are plugged and assembled, in order to ensure the connection stability of the joint and the interface, auxiliary connection methods such as screw connection, snap connection, and adhesive connection can also be used at the same time. For example, in one of the implementations In an example, the interface and the joint are screwed and fixed by the screw 1420, and then the screw 1420 is used to strengthen the plug-in connection between the joint and the interface, or the interface and the joint are clamped and fixed by the clip 1430, using The clamping piece 1430 strengthens the plug connection of the joint and the interface.

The threaded connection of the threaded member 1420 can adopt various structural forms, as shown in Figure 1 and Figure 2, for example, in one of the embodiments, at least one threaded hole is opened on the interface and the joint, and the threaded The piece 1420 is passed through the threaded holes of the interface and the joint, and the interface and the joint are fixed through the threaded connection between the threaded piece 1420 and the threaded holes of the interface and the joint.

The buckle connection of the clip 1430 can also adopt various structural forms, for example, as shown in Fig. Open a notch, the side wall of the notch is provided with at least one pair of through holes, and at least one pair of clips 1431 are movably assembled in each pair of the through holes, and the inner ends of the clips 1431 are located at the sides of the notch. Inside, the outer end of the clip 1431 is located outside the joint, and at least one elastic member 1432 is connected between the inner ends of each pair of clips 1431, and the outer end of the clip 1431 passes through the elastic member. The elastic force exerted by 1432 is elastically engaged with the engaging position.

Comparing Fig. 5 and Fig. 6, it can be seen that when a force is applied to the outer ends of one or more pairs of clips 1431, one or more pairs of clips 1431 will approach each other and overcome the elastic force of elastic member 1432, and clips 1430 It is in a pressed state, so that the outer end of the clip 1431 is kept substantially flush with the outer surface of the connector, and the substantially flush is a state where the connector can be inserted into the interface, and the clip 1430 will not abut the mutual contact between the connector and the interface. Mating interference. When the connector and the interface are inserted into each other, the force applied to the outer ends of one or more pairs of clips 1431 can be canceled, and one or more pairs of clips 1431 will be separated from each other under the elastic force of the elastic part 1432, The clamping part 1430 is in a released state, so that the outer end of the clamping part 1431 protrudes from the outer surface of the joint and is clamped on the clamping position in the interface. The clamping position can be a groove structure, a convex structure, etc., as long as it can It only needs to satisfy the clamping connection of the clamping part 1431, so that the protrusion of the clamping part 1431 interferes with the separation of the butt joint and the interface, and then realizes the locking of the butt joint and the interface.

Those skilled in the art can set the actual structural forms of the installation structure 1200 and the operating instrument 7000 according to the surgical requirements and the mutual assembly requirements with the installation structure 1200, which is not limited here. For example, in one of the embodiments, the operating instrument 7000 can be It includes an instrument arm 7100, a power device 7200, and an instrument body 7300. The instrument arm 7100 is configured to be connected to the installation structure 1200, so that the instrument arm 7100 serves as the installation basis for structures such as the instrument body 7300. The power device 7200 and power device 7200 can be set on the instrument arm 7100, so The power device 7200 is drivingly connected to the instrument body 7300, and the power device 7200 can be activated to control the instrument body 7300. For example, the power device 7200 can be a power box used in the medical field, and the instrument body 7300 can include At least one of a speculum and a surgical instrument.

In one of the embodiments, the terminal articulated arm 1000 may include a piercing device 8000 whose axis coincides with the first central axis 1100, the piercing device 8000 has at least one axial mounting hole 8100, For example, the axial mounting holes 8100 can be three or four or more according to the number of instrument bodies 7300. The above-mentioned axial installation holes 8100 are used to build a plurality of instrument bodies 7300 together and form a bundled state by using a piercing device 8000 .

Continuing to refer to FIG. 15 , the present application also provides a mechanical arm, which includes a suspension articulated arm 3000 and the terminal articulated arm 1000 . The terminal articulated arm 1000 is centered on the first central axis 1100 Rotation reference, rotate and assemble on the suspension articulated arm 3000 along the first arc track, the movable assembly and fixed axis rotation of the terminal articulated arm 1000 relative to the suspension articulated arm 3000 can drive the terminal articulated arm 1000 The operating instruments 7000 on the top form a synchronous rotation, so that one or more operating instruments 7000 can also perform fixed-axis rotation with the first central axis 1100 as the rotation reference, which can be achieved through the terminal articulated arm 1000 relative to the suspension articulated arm 3000 Fixed-axis rotation adjusts the angle and position of one or more operating instruments 7000 instead of directly driving one or more operating instruments 7000 to move, which can not only improve the flexibility of surgery, but also ensure the coordination between multiple operating instruments 7000 Synchronization, reducing the risk of surgery.

The movable assembly of the terminal articulated arm 1000 relative to the suspension articulated arm 3000 can be directly assembled or indirectly assembled through other components. For example, in one of the embodiments, the mechanical arm can include a first suspension assembly 2000, the first suspension assembly 2000 is set on the suspension articulated arm 3000, and the terminal articulated arm 1000 is slidably fitted on the first suspension assembly 2000 along the first arc track. Those skilled in the art can adopt suitable Assembly structure.

The first suspension assembly 2000 can adopt any structural form or components, and at the same time, a corresponding matching structure can also be provided on the end articulated arm 1000 to assemble with the first suspension assembly 2000. For example, in one of the embodiments, the mechanical arm It may include a first guide rail 2100 and a first driving device. The first guide rail 2100 is arranged on the terminal articulated arm 1000. The first guide rail 2100 has a circular arc consistent with the arc-shaped structure, so that the first guide rail 2100 is coincident with the first arc track, and the guiding effect along the first arc track can be realized. In the assembly between the first suspension assembly 2000 and the first guide rail 2100 track, the first suspension assembly 2000 A first guide groove 2200 may be provided, and the first guide rail 2100 and the first guide groove 2200 may be slidably guided and assembled so that the terminal articulated arm 1000 moves relative to the first suspension assembly along the first arc track. The effect of 2000 fixed axis rotation, during this process, the first driving device is arranged on the terminal articulated arm 1000, the first driving device is drivingly connected with the first guide rail 2100, and the first driving device is used as a driving source The movement of the terminal articulated arm 1000 relative to the first suspension assembly 2000 is controlled by driving.

The suspension articulated arm 3000 can adopt any structural form, for example, the suspension articulated arm 3000 can be a block structure, a column structure, a platform structure, and an arc structure, etc., as long as the movable assembly of the terminal articulated arm 1000 is satisfied, For example, in one of the embodiments, at least a part of the suspension articulated arm 3000 may be an arc-shaped structure, and the arc-shaped structure of the suspension articulated arm 3000 has a second arc trajectory, and the second arc The trajectory has a second central axis 3100, the first central axis 1100 and the second central axis 3100 are perpendicular to each other and intersect to form a virtual reference point 3200, the suspension articulated arm 3000 can be the same as the terminal articulated arm 1000, and the second The circular arc trajectory and the second central axis 3100 realize fixed-axis rotation, and also drive the operating instrument 7000 on the terminal articulated arm 1000 to form synchronous rotation.

Since the first central axis 1100 and the second central axis 3100 are perpendicular to each other and intersect to form a virtual reference point 3200, the fixed-axis rotation of the terminal articulated arm 1000 and the suspension articulated arm 3000 will ensure that one or more operating instruments 7000 The fixed-axis rotation can be performed with the first central axis 1100 as the rotation reference, and the fixed-axis rotation can be performed with the second central axis 3100 as the rotation reference. No matter how the one or more operating instruments 7000 rotate with the fixed axis, A "fixed point" can be constructed at the position of the virtual reference point 3200. The virtual reference point 3200 can be the wound position of the target object. Therefore, the terminal articulated arm 1000 and the suspension articulated arm 3000 drive one or more operating instruments 7000 to When fixed-axis rotation is performed under different rotation references, not only can the adjustment of the position and angle of the operating instrument 7000 in two-dimensional angles be completed, but also the precise alignment of the "fixed point" can be guaranteed no matter how the operating instrument 7000 rotates , that is, the wound position of the target object, to ensure the accuracy, stability and safety of the operation.

In addition, the operating instrument 7000 can also move at other angles or positions through other control structures to further improve the flexibility of surgery. For example, in one embodiment, the mechanical arm can include a beam 5000, and the suspension The articulated arm 3000 is rotatably assembled on the crossbeam 5000 along the second circular arc track with the second central axis 3100 as a rotation reference, and the crossbeam 5000 is used as an assembly basis. Moreover, the crossbeam 5000 can expand and contract along the first straight track. For example, the crossbeam 5000 can adopt a telescopic rod structure, including a fixed section and a telescopic section of the crossbeam 5000. The section expands and contracts along the first linear trajectory, thereby achieving the overall expansion and contraction effect of the beam 5000, wherein the first linear trajectory can be perpendicular to the second central axis 3100, so that the first linear trajectory, the second center The axis 3100 and the first central axis 1100 construct a three-dimensional movement space, and the expansion and contraction of the beam 5000 can adjust the lateral position of the virtual reference point 3200 .

The movable assembly of the suspension articulated arm 3000 relative to the beam 5000 can be assembled directly or indirectly through other components. For example, in one embodiment, the mechanical arm can include a second suspension assembly 4000, and the second suspension assembly 4000 is set On the beam 5000 , the suspension articulated arm 3000 is slidably assembled on the second suspension assembly 4000 along the second arc track, and those skilled in the art can adopt a suitable assembly structure according to requirements.

The second suspension assembly 4000 can adopt any structural form or components, and at the same time, a corresponding matching structure can also be set on the suspension joint arm 3000 to assemble with the second suspension assembly 4000. For example, in one of the embodiments, the mechanical The arm includes a second guide rail 4100 and a second driving device. The second guide rail 4100 is arranged on the suspension joint arm 3000. The second guide rail 4100 has a circular arc consistent with the circular arc structure, so that the second guide rail 4100 The rail 4100 coincides with the second circular arc trajectory, and the guiding effect along the second circular arc trajectory can be realized. In the assembly between the second suspension assembly 4000 and the second guide rail 4100 trace, the second suspension assembly 4000 can be provided with a second guide groove 4200, and the second guide rail 4100 and the second guide groove 4200 can be slidably guided and assembled, so that the suspension joint arm 3000 can move relative to the second suspension arm 3000 along the second arc track. The hanging assembly 4000 is rotated at a fixed axis. During this process, the second driving device is arranged on the suspension articulated arm 3000, and the second driving device is drivingly connected with the second guide rail 4100. The second driving device As a driving source, the movement of the suspension articulated arm 3000 relative to the second suspension assembly 4000 is controlled.

Both the first driving device and the second driving device can adopt any device form, such as various transmission mechanisms and power mechanisms, etc. In one embodiment, the first driving device can be a transmission belt mechanism or a transmission wire mechanism, so The second driving device can also be a transmission belt mechanism or a transmission wire mechanism.

When a transmission belt mechanism is used, in one embodiment, the transmission belt mechanism may include a pulley and a transmission belt, and the two ends of the transmission belt are connected to the two ends of the terminal articulated arm 1000 or the suspension articulated arm 3000, The pulley is driven and connected to the transmission belt. The pulley can use various types of motors as a power source. The motor drives the pulley to rotate, and the pulley will drive the transmission belt to move. Driven by the pulley, the transmission belt will meet the end joint arm 1000 or the suspension The pulling force is applied to the corresponding end of the suspension articulated arm 3000 , so that the end articulated arm 1000 or the suspension articulated arm 3000 can slide along the first circular arc track or the second circular arc track to realize respective fixed axis rotation.

When a transmission wire mechanism is used, in one embodiment, the transmission wire mechanism may include a wire wheel and at least two transmission wires, at least one end of the transmission wire is connected to the end articulated arm 1000 or the suspension One end of the suspension articulated arm 3000 is connected, at least one end of another transmission wire is connected with the other end of the terminal articulated arm 1000 or the suspension articulated arm 3000, and the wire wheel is connected with the other end of the transmission wire Drive connection, the wire wheel can use various types of motors as the power source, the motor drives the wire wheel to rotate, and the wire wheel winds or releases one end of the transmission wire. The total length of the articulated arm 1000 or the suspension articulated arm 3000 will not change, and the wound transmission wire will exert a pulling force on the corresponding end of the end articulated arm 1000 or the suspension articulated arm 3000, so that the end articulated arm 1000 or the suspension articulated arm 3000 can follow the first arc track or the second circular arc track sliding to realize the respective fixed axis rotation.

Further, in one of the embodiments, the second suspension assembly 4000 can also be mounted on the crossbeam 5000 in fixed axis rotation, and the rotation central axis of the second suspension assembly 4000 is aligned with the second central axis. 3100 is vertical, or, the rotation central axis of the second suspension assembly 4000 is perpendicular to the first linear trajectory and the second central axis 3100, and the fixed-axis rotation of the second suspension assembly 4000 can be in the lateral direction The rotation of the mechanical arm is controlled to further adjust the angle of the operating instrument 7000 in the lateral direction.

In one of the embodiments, the mechanical arm may further include a column 6000, and the column 6000 can expand and contract along the second straight track. section, the telescopic section of the column 6000 expands and contracts along the second straight line relative to the fixed section of the column 6000, and then realizes the overall telescopic effect of the column 6000, and the beam 5000 is arranged on the column 6000, wherein the second straight line The trajectory is perpendicular to the second central axis 3100, or the second linear trajectory is perpendicular to both the first linear trajectory and the second central axis 3100, so that the expansion and contraction of the column 6000 can affect the Adjust the vertical position. The crossbeam 5000 can also be mounted on the column 6000 in fixed axis rotation with the third central axis as the rotation reference, the third central axis is perpendicular to the second central axis 3100, or the rotation center of the crossbeam 5000 The axis is perpendicular to the first linear trajectory and the second central axis 3100, and the fixed-axis rotation of the beam 5000 relative to the column 6000 can adjust the lateral position of the virtual reference point 3200 in space, improving the flexibility of surgery.

Referring to Fig. 16, the present application also provides a medical trolley, the medical trolley includes a trolley body 0011 and the mechanical arm, the mechanical arm is arranged on the trolley body 0011, and the trolley body 0011 is used as the assembly basis, and can integrate mobile functions, and then carry out the transportation of the whole mechanical arm through the trolley body 0011. Since the specific structure, functional principles and technical effects of the mechanical arm are all described in detail above, we will not repeat them here. For the technical content, you can refer to the previous records.

The present application also provides an operating device 0001, which includes a lying platform 0012 and the medical trolley, as shown in Figure 13 and Figure 14, the lying platform 0012 can be used for patients to lie down Keeping in the static state required for the operation, the medical trolley can be moved to a suitable position near the lying table 0012 to perform surgery on the patient through its moving function.

As shown in FIG. 16, the present application also provides a surgical robot, which includes the operating device 0001, the main control device 0002, and the visualization device 0003. The operating device 0001 can perform surgical operations, such as punching, positioning, The main control device 0002 is connected with the data connection with the operation device 0001, and the user can control the operation device 0001 to move through the main control device 0002, and implement various For surgical operations, the visualization device 0003 can be used for image display, equipped with an image platform or an energy platform. The visualization device 0003 is connected to the operation device 0001 in data, and the image information of the operation can be obtained through the operation device 0001 for reference by the user. Precise control operation.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims (18)

1. A terminal articulated arm, characterized in that the terminal articulated arm comprises:

   a first articulated arm section having a first central axis; and

   A plurality of installation structures, the plurality of installation structures are arranged at least on the first articulated arm section, and the plurality of installation structures arranged on the first articulated arm section are circumferentially around the first central axis distribution, the installation structure is configured for detachable installation of the operation instrument, so that at least part of the plurality of the operation instruments on the plurality of the installation structures are kept parallel to each other along the axial direction of the first central axis, And at least partially converge with each other along the radial direction of the first central axis.
2. The terminal articulated arm of claim 1, wherein at least a portion of the first articulated arm section is of curved configuration.
3. The terminal articulated arm according to claim 2, wherein the curved structure is an arc-shaped structure, the arc-shaped structure of the first articulated arm section has a first arc track, and the first A circular arc trajectory forms said first central axis.
4. The terminal articulated arm according to claim 3, wherein the terminal articulated arm comprises:

   A second articulated arm section, the second articulated arm section is detachably connected to the first articulated arm section, at least a part of the second articulated arm section has an arc-shaped structure, and the second articulated arm section is in an arc-shaped structure. The arc-shaped structure of the articulated arm section coincides with the virtual extension line of the first arc track, and the installation structure is provided on both the first articulated arm section and the second articulated arm section.
5. The terminal articulated arm according to claim 4, wherein a plurality of said mounting structures are along the arc-shaped structure of the first articulated arm section and the arc-shaped structure of the second articulated arm section At least one of them is distributed; three installation structures are provided on the first articulated arm section, and one installation structure is provided on the second articulated arm section; wherein, the first articulated arm section The plane in which the segment and the second articulated arm section are located has an intersection point with the first central axis, and the connection between any of the installation structures on the first articulated arm section and the intersection point forms a first A virtual connection line, the connection between the installation structure on the second articulated arm section and the intersection point forms a second virtual connection line, and the clip between the first virtual connection line and the second virtual connection line The angle is greater than 45°.
6. The terminal articulated arm according to claim 4, wherein at least one first connecting portion and at least one second connecting portion are respectively provided on the first articulated arm section and the second articulated arm section, The second connecting portion is detachably connected to the first connecting portion.
7. The terminal articulated arm according to claim 6, wherein the first connection part is located at one end of the first articulated arm section, and the second connection part is located at one end of the second articulated arm section , one end of the second articulated arm section is connected to one end of the first articulated arm section through the second connecting portion and the first connecting portion.
8. The terminal articulated arm according to claim 6, wherein the two first connecting parts are respectively located at both ends of the first articulated arm section, and the two second connecting parts are respectively located at the first articulated arm section. Two ends of the two articulated arm sections, the two ends of the second articulated arm section are connected to the two ends of the first articulated arm section through the second connection part and the first connection part, and the two ends of the first articulated arm section are connected. The second articulated arm section and the first articulated arm section form a circular structure.
9. The terminal articulated arm according to claim 6, wherein the first connecting part is an interface, and the The second connection part is a joint, and the joint is plugged and assembled with the interface; at least one threaded hole is opened on the interface and the joint, and the threaded member is passed through the thread of the interface and the joint hole to fix the interface and the connector.
10. The terminal articulated arm according to claim 9, wherein a locking position is provided in the interface, a notch is opened on the joint, and at least a pair of through holes are opened on the side wall of the notch, and each pair At least one pair of clips is movably installed in the through hole, the inner end of the clips is located inside the notch, the outer end of the clips is located outside the joint, and each pair of clips At least one elastic piece is connected between the inner ends, and the outer end of the locking piece is elastically engaged with the locking position through the elastic force exerted by the elastic piece.
11. A kind of mechanical arm, it is characterized in that, described mechanical arm comprises:

    a suspension articulated arm; and

    The terminal articulated arm according to any one of claims 1-10, wherein the terminal articulated arm takes the first central axis as a rotation reference, and is rotatably assembled on the suspension articulated arm along a first arc track .
12. The robotic arm according to claim 11, wherein the robotic arm comprises:

    The first suspension assembly is arranged on the suspension articulated arm, and the terminal articulated arm is slidably assembled on the first suspension assembly along the first arc track; the mechanical arm includes:

    The first guide rail is arranged on the terminal articulated arm, the first suspension component is provided with a first guide groove, and the first guide rail and the first guide groove are slidingly guided and assembled; and

    A first driving device is arranged on the terminal articulated arm, and the first driving device is drivingly connected to the first guide rail.
13. The mechanical arm according to claim 11, wherein at least a part of the suspension articulated arm is an arc-shaped structure, the arc-shaped structure of the suspension articulated arm has a second arc trajectory, and the first The two arc tracks have a second central axis, and the first central axis and the second central axis are perpendicular to each other and intersect to form a virtual reference point.
14. The robotic arm according to claim 13, wherein the robotic arm comprises:

    A crossbeam, the suspension articulated arm takes the second central axis as a rotation reference, and is rotatably assembled on the crossbeam along the second circular arc trajectory; The first linear trajectory is perpendicular to the second central axis.
15. The robotic arm according to claim 14, wherein the robotic arm comprises:

    The second suspension assembly is arranged on the beam, and the suspension joint arm is slidably assembled on the second suspension assembly along the second circular arc track; the mechanical arm also includes:

    The second guide rail is arranged on the suspension articulated arm, the second suspension component is provided with a second guide groove, and the second guide rail and the second guide groove are slidingly guided and assembled; and

    The second driving device is arranged on the suspension articulated arm, and the second driving device is drivingly connected with the second guide rail.
16. The mechanical arm according to claim 15, characterized in that, the second suspension assembly is rotatably mounted on the beam, and the rotation central axis of the second suspension assembly is perpendicular to the second central axis .
17. The robotic arm according to claim 14, wherein the robotic arm comprises:

    An upright column, the upright column can expand and contract along the second linear trajectory, the crossbeam is arranged on the upright column, the second straightline trajectory is perpendicular to the second central axis; the crossbeam takes the third central axis as the reference of rotation The fixed axis is rotatably mounted on the column, and the third central axis is perpendicular to the second central axis.
18. A medical trolley, characterized in that the medical trolley comprises:

    trolley body;

    The mechanical arm according to any one of claims 11-17, the mechanical arm is arranged on the trolley body.