WO2024032745A1 - Structure de bras robotique et son procédé de commande, et robot chirurgical et son procédé de commande - Google Patents

Structure de bras robotique et son procédé de commande, et robot chirurgical et son procédé de commande Download PDF

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Publication number
WO2024032745A1
WO2024032745A1 PCT/CN2023/112423 CN2023112423W WO2024032745A1 WO 2024032745 A1 WO2024032745 A1 WO 2024032745A1 CN 2023112423 W CN2023112423 W CN 2023112423W WO 2024032745 A1 WO2024032745 A1 WO 2024032745A1
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WO
WIPO (PCT)
Prior art keywords
joint
axis
robotic arm
adjustment mechanism
position adjustment
Prior art date
Application number
PCT/CN2023/112423
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English (en)
Chinese (zh)
Inventor
史文勇
Original Assignee
科弛医疗科技(北京)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202210957979.6A external-priority patent/CN115024825B/zh
Priority claimed from CN202210957985.1A external-priority patent/CN115024826B/zh
Application filed by 科弛医疗科技(北京)有限公司 filed Critical 科弛医疗科技(北京)有限公司
Publication of WO2024032745A1 publication Critical patent/WO2024032745A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery

Definitions

  • the present disclosure relates to a robotic arm structure and a control method thereof, a surgical robot and a control method thereof.
  • endoscopic surgical robots it is usually necessary to use multiple robotic arms of the surgical robot to operate simultaneously.
  • the working ends of multiple robotic arms are connected to endoscopes, scalpels, and hemostatic forceps surgical instruments, and these surgical instruments are used to cooperate with each other. to complete the surgery.
  • the present disclosure provides a robotic arm structure, which includes a robotic arm and a first position adjustment mechanism connected to the robotic arm; the robotic arm includes a lower part and an upper part.
  • the lower part includes a connecting end and a working end opposite to each other.
  • the working end is connected to a surgical instrument for performing surgical operations on tissue, and the working point is located on the surgical instrument.
  • the upper part includes an upper end connected to the first position adjustment mechanism and a working end.
  • the upper part is configured to drive the lower part to move in a three-dimensional space and independently adjust the position of the lower part in a horizontal plane parallel to the ground and in a direction perpendicular to the horizontal plane;
  • the first position adjustment mechanism is configured to drive the entire robotic arm to move in a three-dimensional space and independently adjust the position of the entire robotic arm in the horizontal plane and in directions perpendicular to the horizontal plane; and,
  • the upper part cooperates with the first position adjustment mechanism to maintain the position of the working point unchanged during the movement of the lower part and the entire mechanical arm.
  • the lower end of the upper part includes a first joint, the first joint has a first rotation axis extending along the first direction, and the first joint can rotate around the first rotation axis; A joint moves to drive the movement of the lower part.
  • the distance from the working point to the first rotation axis is constant.
  • the upper end of the upper part includes a second position adjustment mechanism, and the second position adjustment mechanism is connected to the first position adjustment mechanism and the first joint; the second position adjustment mechanism The mechanism cooperates with the first position adjustment mechanism to drive the first joint to move on a spherical surface with the working point as the center of the sphere to drive the The lower part moves in three-dimensional space.
  • the first joint rotates around the first rotation axis to drive the lower part to swing, and the swing direction of the lower part is consistent with the direction of the first rotation axis of the first joint through the The vertical line at the working point is vertical.
  • the connecting end of the lower part includes a second joint, and the second joint is connected to the first joint through a first transmission component, and can be connected to the surgical instrument through the transmission mechanism, and It has a second rotation axis extending along the second direction; the second joint can rotate around the second rotation axis, and the straight line where the orthographic projection of the second rotation axis on the horizontal plane is aligned with the first rotation axis on the The straight line where the orthographic projection on the horizontal plane is located intersects; the working point is located on the straight line where the second rotating axis is located, and the second joint rotates around the second rotating axis to drive the surgical instrument perpendicular to the second rotating axis. Swing in the direction of the axis of rotation.
  • the extending direction of the first rotating shaft intersects or does not intersect with the extending direction of the second rotating shaft; and, the extending direction of the first rotating shaft does not intersect with the extending direction of the second rotating shaft.
  • the extension direction is vertical or not.
  • the second position adjustment mechanism includes a third joint and a fourth joint.
  • a third joint is connected to the first joint and has a third rotation axis; the third joint can rotate around the third rotation axis to drive the first joint and the lower part to rotate along the third rotation axis;
  • fourth The joint is connected to the third joint and is located on a side of the third joint away from the first joint, and has a first axis extending in a third direction perpendicular to the ground; the third direction is connected to the first joint.
  • the fourth joint can make linear motion along the first axis to drive the third joint, the first joint and the lower part to move in the third direction.
  • the first joint is connected to the third joint through a second transmission component
  • the third joint is connected to the fourth joint through a third transmission component.
  • the second position adjustment mechanism includes: a fifth joint and a sixth joint.
  • the fifth joint is connected to the first joint and has a second axis extending in a third direction perpendicular to the ground; the third direction intersects both the first direction and the second direction, and the fifth joint
  • the joint can make linear motion along the second axis to drive the first joint and the lower part to move in the third direction;
  • the sixth joint is connected to the fifth joint and is located away from the fifth joint.
  • One side of the first joint has a fourth rotation axis; the sixth joint can rotate around the fourth rotation axis to drive the fifth joint, the first joint and the lower part to rotate along the fourth rotation axis.
  • the first joint is connected to the fifth joint through a fourth transmission component
  • the fifth joint is connected to the sixth joint through a fifth transmission component.
  • the first position adjustment mechanism includes a seventh joint.
  • the seventh joint is connected to the upper end of the upper part of the robot arm and is configured to move in a fourth direction.
  • the robotic arm is driven to move along the fourth direction, which is perpendicular to the third direction.
  • the first position adjustment mechanism further includes an eighth joint, the eighth joint is connected to the seventh joint, and is connected to the lower part through the seventh joint, and has a fifth joint.
  • Rotating axis; the eighth joint is configured to rotate around the fifth rotating axis to drive the seventh joint and the mechanical arm to rotate around the fifth rotating axis; the extension direction of the fifth rotating axis is consistent with the fourth rotating axis.
  • the direction is vertical.
  • the mechanical arm structure provided by the present disclosure includes a sliding link, the seventh joint is connected to the eighth joint through the sliding link, and the sliding link has a slide rail extending along the fourth direction, The seventh joint is configured to move along the slide rail.
  • the lower part further includes: a ninth joint, a tenth joint, and an eleventh joint.
  • the ninth joint is connected to the second joint through a first connecting rod and has a first parallel axis;
  • the tenth joint is connected to the ninth joint through a second connecting rod and has a second parallel axis;
  • the eleventh joint It is connected to the tenth joint through a third connecting rod and has a third parallel axis.
  • the eleventh joint is connected to the surgical instrument through a fourth connecting rod; during the movement of the robotic arm, the The first parallel axis, the second parallel axis and the third parallel axis are parallel to each other, and the center of the ninth joint, the center of the tenth joint, the center of the eleventh joint and the working point are The four vertices of a parallelogram are respectively constituted, the second link, the third link, the line connecting the center of the eleventh joint and the working point, and the center of the ninth joint and all The connecting lines of the working points are respectively used as the four sides of the parallelogram; the second rotating axis is the first swing axis, the ninth joint, the tenth joint, the eleventh joint, the second The connecting rod and the third connecting rod move to drive the surgical instrument to swing around a second swing axis that intersects the first swing axis at the working point.
  • the second swing axis is perpendicular to the first swing axis.
  • the first link and the four sides of the parallelogram are located on the same working surface, and the working surface is perpendicular to the second swing axis.
  • the present disclosure also provides a surgical robot, which includes any one of the robotic arm structures provided by the embodiments of the present disclosure.
  • the surgical robot provided by the present disclosure includes a plurality of the robotic arm structures and a suspension mechanism.
  • the suspension mechanism includes a fixed plate, and the first position adjustment mechanism of each of the multiple robotic arm structures is connected to the fixed plate. , and arranged around the edge of the fixed plate.
  • the eighth joint of each of the plurality of robotic arm structures is connected to the fixed plate and arranged around the edge of the fixed plate, and each of the plurality of robotic arm structures
  • the sliding link extends in a plane parallel to the surface of the fixed plate in a direction away from the center of the fixed plate; the extending direction of the fifth rotation axis of the eighth joint of each of the plurality of robotic arm structures is consistent with The surface of the fixed disk is vertical.
  • the surgical robot provided by the present disclosure further includes a control system configured to calculate the coordinates of the first joint, and control the first position adjustment mechanism and the second position adjustment mechanism to adjust the The position of the first joint is such that the first joint moves on a spherical surface with the working point as the center of the sphere, and the position of the working point is kept fixed.
  • the present disclosure also provides a method for controlling a robotic arm structure.
  • the robotic arm structure includes a robotic arm and a first position adjustment mechanism connected to the robotic arm.
  • the robotic arm includes a lower part and an upper part.
  • the lower part includes two parts that are opposite to each other.
  • the connecting end and the working end, the working end is configured to be connectable to a surgical instrument for performing surgical operations on tissue, and the working point is located on the surgical instrument;
  • the upper part includes an upper end connected to the first position adjustment mechanism and a lower end connected to the connecting end of the lower part;
  • the control method of the robotic arm structure includes: driving the lower part through the upper part in a three-dimensional space Move, and independently adjust the position of the lower part in a horizontal plane parallel to the ground and in a direction perpendicular to the horizontal plane; and cooperate with the upper part through the first position adjustment mechanism to drive the entire mechanical arm Move in a three-dimensional space, and independently adjust the position of the entire robotic arm in the horizontal plane and in the direction perpendicular to the horizontal plane, wherein the first position adjustment mechanism cooperates with the upper part to adjust the position of the entire robotic arm in the direction perpendicular to the horizontal plane.
  • the position of the working point remains unchanged.
  • the lower end of the upper part of the robot arm structure includes a first joint, the first joint has a first rotation axis extending along the first direction; the upper end of the upper part It includes a second position adjustment mechanism connected to the first position adjustment mechanism and the first joint;
  • the control method of the mechanical arm structure includes: driving the first joint around the first rotation axis Rotate to drive the lower part to move; and drive the first joint to translate by controlling the movement of the second position adjustment mechanism to cooperate with the movement of the first position adjustment mechanism to drive the lower part to move, wherein,
  • the second position adjustment mechanism cooperates with the first position adjustment mechanism to control the distance between the working point and the first rotation axis to be kept constant during the movement of the lower part and the entire mechanical arm.
  • the control method of the robot arm structure provided by the present disclosure, by controlling the movement of the second position adjustment mechanism to cooperate with the movement of the first position adjustment mechanism to control the movement of the lower part and the entire robot arm.
  • the first joint moves on a spherical surface with the working point as the center of the sphere to drive the lower part to move in three-dimensional space.
  • the vertical line of the first rotating axis passes through the working point, and the first joint is controlled to rotate around the first rotating axis to drive the lower part to swing, so The swing direction of the lower part is perpendicular to the vertical line of the first rotation axis of the first joint.
  • the connecting end of the lower part includes a second joint, and the second joint is connected to the first joint through a first transmission component, and can be connected to the first joint through a transmission mechanism.
  • the surgical instruments are connected and have a second rotation axis extending along the second direction;
  • the control method includes: controlling the second joint to rotate around the second rotation axis to drive the surgical instruments perpendicular to the second rotation axis. swing in the direction, wherein the straight line of the orthographic projection of the second rotating axis on the horizontal plane intersects the straight line of the orthographic projection of the first rotating shaft on the horizontal plane, and the working point is located on the third On the straight line where the two rotating axes are located.
  • the extending direction of the first rotating shaft intersects or does not intersect the extending direction of the second rotating shaft; and, the extending direction of the first rotating shaft intersects with the extending direction of the second rotating shaft.
  • the extending direction of the second rotating axis is vertical or not vertical.
  • the second position adjustment mechanism includes: a third joint and a fourth joint; the third joint is connected to the first joint and has a third rotation axis; The fourth joint is connected to the third joint and is located on the side of the third joint away from the first joint. It has a first axis extending in a third direction perpendicular to the ground, and the third direction is connected to the first axis.
  • control method includes: driving the third joint to rotate around the third axis to drive the first joint and the lower part along the third axis Rotate; and drive the fourth joint to make linear motion along the first axis to drive the third joint, the The first joint and the lower part move in the third direction.
  • the second position adjustment mechanism includes a fifth joint and a sixth joint; the fifth joint is connected to the first joint and has a direction perpendicular to the ground. a second axis extending in a third direction that intersects both the first direction and the second direction; the sixth joint is connected to the fifth joint and is located away from the fifth joint.
  • the control method of the mechanical arm structure includes: driving the fifth joint to make linear motion along the second axis to drive the first joint and the lower part in The third direction moves; and driving the sixth joint to rotate around the fourth axis of rotation to drive the fifth joint, the first joint and the lower part to rotate along the fourth axis of rotation.
  • the first position adjustment mechanism includes a seventh joint, and the seventh joint is connected to the upper end of the upper part of the robotic arm; the control of the robotic arm structure The method includes: driving the seventh joint to move in a fourth direction to drive the robotic arm to move in the fourth direction, wherein the fourth direction is perpendicular to the third direction.
  • the first position adjustment mechanism further includes an eighth joint, the eighth joint is connected to the seventh joint, and the seventh joint is connected to the The lower part is connected and has a fifth rotation axis;
  • the control method of the robot arm structure includes: driving the eighth joint to rotate around the fifth rotation axis to drive the seventh joint and the robot arm around the fifth rotation axis Rotation, wherein the extension direction of the fifth rotation axis is perpendicular to the fourth direction.
  • the lower part further includes: a ninth joint, a tenth joint, and an eleventh joint; the ninth joint is connected to the second joint through a first connecting rod. connected and having a first parallel axis; the tenth joint is connected to the ninth joint via a second connecting rod and has a second parallel axis; the eleventh joint is connected to the tenth joint via a third connecting rod Jointly connected and having a third parallel axis, the eleventh joint is connected to the surgical instrument through a fourth connecting rod; in the process of driving the movement of the robotic arm, the first parallel axis, the second parallel axis
  • the parallel axis and the third parallel axis are parallel to each other, and the center of the ninth joint, the center of the tenth joint, the center of the eleventh joint and the working point respectively form four vertices of a parallelogram,
  • the second connecting rod, the third connecting rod, the first connecting line between the center of the eleventh joint and the working point
  • the lines are respectively used as the four sides of the parallelogram; the second rotating axis is the first swing axis, and the control method of the mechanical arm structure also includes: driving the ninth joint, the tenth joint, the tenth A joint, the second link and the third link move to drive the surgical instrument to swing around a second swing axis that intersects the first swing axis at the working point.
  • the second swing axis is perpendicular to the first swing axis.
  • the first link and the four sides of the parallelogram are located on the same working surface, and the working surface is perpendicular to the second swing axis.
  • the present disclosure also provides a control method for a surgical robot.
  • the surgical robot includes a plurality of robotic arm structures in any of the control methods for a robotic arm structure provided by embodiments of the present disclosure. At least one of the plurality of robotic arm structures is work
  • the working robot arm is a working robot arm, and the working end of the working robot arm is connected to the surgical instrument;
  • the control method of the surgical robot includes: driving at least one of the mechanical arm structural movements to prevent the working robot arm from interacting with other
  • the robot arm structures collide with each other and keep the position of the working point of the working robot arm unchanged.
  • the surgical robot further includes a suspension mechanism, the suspension mechanism includes a fixed plate, and the first position adjustment mechanism of each of the plurality of robotic arm structures is connected to the first position adjustment mechanism of the surgical robot.
  • the fixed disks are connected and arranged around the edges of the fixed disks; the control method of the surgical robot includes: driving the fixed disks to rotate to drive the plurality of robotic arm structures to rotate.
  • the surgical robot further includes a control system, including a first joint at the lower end of the upper part, the first joint having a first rotation axis extending along the first direction;
  • the upper end of the upper part includes a second position adjustment mechanism.
  • the second position adjustment mechanism is connected with the first position adjustment mechanism and the first joint.
  • the control method includes: driving the first joint around the first joint.
  • the rotating shaft rotates to drive the lower part to move, and the movement of the second position adjustment mechanism is controlled to cooperate with the movement of the first position adjustment mechanism to drive the first joint to translate to drive the lower part to move, wherein,
  • the second position adjustment mechanism cooperates with the first position adjustment mechanism to control the situation of keeping the distance from the working point to the first rotating axis constant during the movement of the lower part and the entire mechanical arm.
  • control system is signally connected to the first position adjustment mechanism and the second position adjustment mechanism;
  • control method of the surgical robot includes: calculating the coordinates of the first joint through the control system; and driving the first position adjustment mechanism and the second position adjustment mechanism to adjust the position of the first joint according to the calculation results of the control system, so that the first joint moves with the working point as the center of the sphere. moves on the spherical surface while keeping the position of the working point fixed.
  • Figure 1 is a schematic structural diagram of a robotic arm structure provided by an embodiment of the present disclosure.
  • FIG. 2 is a schematic structural diagram of another labeling method of the robot arm structure shown in FIG. 1 .
  • Figure 3 is a schematic diagram of the positional relationship between the robotic arm structure shown in Figure 1 and the target tissue during operation.
  • FIG. 4 is a schematic structural diagram of another robotic arm structure provided by an embodiment of the present disclosure.
  • FIG. 5 is a schematic structural diagram of a robotic arm structure provided by an embodiment of the present disclosure.
  • 6A-6B are schematic diagrams of a mechanical arm structure achieving displacement in the horizontal direction according to an embodiment of the present disclosure.
  • FIGS. 7A-7B are schematic diagrams of a mechanical arm structure achieving displacement in the vertical direction according to an embodiment of the present disclosure.
  • Figure 8 is a schematic structural diagram of a surgical robot provided by an embodiment of the present disclosure.
  • FIG. 9 is a schematic diagram showing the structure of a robotic arm of the surgical robot shown in FIG. 8 .
  • At least one embodiment of the present disclosure provides a robotic arm structure, which includes a robotic arm and a first position adjustment mechanism connected to the robotic arm; the robotic arm includes a lower part and an upper part.
  • the lower part includes a connecting end and a working end opposite to each other.
  • the working end is connected to a surgical instrument for performing surgical operations on tissue, and the working point is located on the surgical instrument.
  • the upper part includes an upper end connected to the first position adjustment mechanism and a working end.
  • the upper part is configured to drive the lower part to move in a three-dimensional space and independently adjust the position of the lower part in a horizontal plane parallel to the ground and in a direction perpendicular to the horizontal plane;
  • the first position adjustment mechanism is configured to drive the entire robotic arm to move in a three-dimensional space and independently adjust the position of the entire robotic arm in the horizontal plane and in directions perpendicular to the horizontal plane; and,
  • the upper part cooperates with the first position adjustment mechanism to maintain the position of the working point unchanged during the movement of the lower part and the entire mechanical arm.
  • At least one embodiment of the present disclosure provides a surgical robot, which includes any robotic arm structure provided by the embodiments of the present disclosure.
  • At least one embodiment of the present disclosure provides a method for controlling a robotic arm structure.
  • the robotic arm structure includes a robotic arm and a first position adjustment mechanism connected to the robotic arm; the robotic arm includes a lower part and an upper part; the lower part It includes a connecting end and a working end that are opposite to each other.
  • the working end is configured to be connectable to a surgical instrument for performing surgical operations on tissue, and the working point is located on the surgical instrument; the upper part includes a link with the first position adjustment mechanism.
  • the control method of the mechanical arm structure includes: driving the lower part through the upper part Move in three-dimensional space, and independently adjust the position of the lower part in a horizontal plane parallel to the ground and in a direction perpendicular to the horizontal plane; and the first position adjustment mechanism cooperates with the upper part to drive the entire
  • the robotic arm moves in a three-dimensional space and independently adjusts the position of the entire robotic arm in the horizontal plane and in directions perpendicular to the horizontal plane, wherein the first position adjustment mechanism cooperates with the upper part In order to keep the position of the working point unchanged during the movement of the lower part and the entire robotic arm.
  • At least one embodiment of the present disclosure also provides a control method for a surgical robot.
  • the surgical robot includes any one of multiple robotic arm structures provided by the embodiments of the present disclosure.
  • At least one working robotic arm in the multiple robotic arm structures is A working robot arm, the working end of the working robot arm is connected to the surgical instrument;
  • the control method of the surgical robot includes: driving at least one of the robot arm structures to move to prevent the working robot arm from interacting with other robot arm structures. collide with each other and keep the position of the working point of the working robot arm unchanged.
  • FIG. 1 is a schematic structural diagram of a robotic arm structure provided by an embodiment of the present disclosure
  • FIG. 5 is a schematic structural diagram of a robotic arm structure provided by an embodiment of the present disclosure.
  • the robot arm structure 10 includes a robot arm 1 and a first position adjustment mechanism 01 connected to the robot arm 1 .
  • the robotic arm 1 includes an upper part 110 and a lower part 120 .
  • the lower part 120 includes a connecting end and a working end that are opposite to each other.
  • the working end is connected to the surgical instrument 2 for performing surgical operations on the target tissue, and the working point RC is located on the surgical operating instrument;
  • the upper part 110 includes an upper end connected to the first position adjustment mechanism 01 and a lower end connected to the connecting end of the lower part 120 .
  • the upper part 110 is configured to drive the lower part 120 to move in a three-dimensional space and independently adjust the position of the lower part 120 in a horizontal plane parallel to the ground and in a vertical direction perpendicular to the horizontal plane; the first position adjustment mechanism 01 cooperates with the upper part 110 to drive the entire
  • the robotic arm 1 moves in a three-dimensional space and independently adjusts the position of the entire robotic arm 1 in the horizontal plane and the vertical direction; and, the first position adjustment mechanism 01 cooperates with the upper part 110 to move the lower part 120 and the entire robotic arm 1 During the process, the position of the operating point RC remains unchanged.
  • the robotic arm structure 10 provided by the embodiment of the present disclosure can be used to connect with the surgical instrument 2 to use the surgical instrument 2 to perform surgical operations on the target tissue.
  • the robotic arm structure 10 controls the movement of the working end 20 of the surgical instrument 2 to operate on the surgical target. (lesion).
  • the surgical instrument 2 can be used to perform endoscopic surgery.
  • FIG. 3 is a schematic diagram of the positional relationship between the robotic arm structure shown in FIG. 1 and the target tissue during operation.
  • the surgical instrument 2 needs to penetrate the surface tissue TS of the surgical target.
  • surgical targets such as human body, animal body, etc.
  • the surgical instrument 2 penetrates the surface tissue TS of the human body and enters cavities such as the chest cavity and abdominal cavity to perform surgical operations on the surgical target (lesion) in the cavity.
  • the rod of the surgical instrument 2 may come into contact with the auxiliary hole wall, that is, the surface tissue. If the position of the working point RC only changes slightly, for example, the working point RC always remains at In the auxiliary hole, it will not collide with the auxiliary hole wall, that is, the surface tissue, and will not cause additional damage to the surface tissue, nor will it repeatedly rub against the auxiliary hole wall because the auxiliary hole wall, that is, the surface tissue, changes its position in the direction perpendicular to the ground. .
  • the upper part 110 can be used as a driving component to drive the movement of the lower part 120 to realize independent adjustment in the horizontal plane parallel to the ground and in the vertical direction.
  • the position of the lower part 120 , and the position of the entire robotic arm 1 can be independently adjusted in the horizontal plane and the vertical direction (for example, the third direction D3 in FIG.
  • the position adjustment of part of the robotic arm or the entire robotic arm is coupled in the horizontal plane and the vertical direction, and independent adjustment in the two dimensions cannot be achieved, so it is relatively limited, and this method
  • the position adjustment of the lower part 120 and the entire robot arm 1 in the horizontal plane and the vertical direction is uncoupled, that is, the lower part 120 is independently adjusted in the horizontal plane and the vertical direction. , and the position of the entire robotic arm 1. In this way, during the use of the robotic arm structure 10, the working end of the robotic arm structure is connected to the surgical instrument.
  • the mutual interaction between the upper part 110 and the first position adjustment mechanism 01 can be achieved.
  • the lower part of the robot arm is located on the side of the upper part of the robot arm close to the ground, and the lower end of the upper part is located on the side of the upper end of the upper part close to the ground.
  • the "upper” and “lower” here are relative to the bottom surface as a reference object.
  • the surgical instrument 2 is a scalpel, an endoscope, a hemostatic forceps, etc.
  • a scalpel includes a cutting knife, an ultrasonic scalpel, etc.
  • the types of surgical instruments are not limited to the types listed above, and those skilled in the art can choose according to needs.
  • the lower end of the upper part 110 includes a first joint 9
  • the first joint 9 has a first rotation axis 24 extending along the first direction D1
  • the first joint 9 is configured to be able to rotate around the first rotation axis. 24 rotation; the first joint 9 moves to drive the movement of the lower part 120.
  • the distance from the working point RC to the first rotating axis 24 is constant to ensure that the working point RC is maintained during the surgical operation.
  • the position does not change, that is, the posture of the surgical instrument remains unchanged.
  • the upper end of the upper part 110 includes a second position adjustment mechanism 02.
  • the second position adjustment mechanism 02 is connected to the first position adjustment mechanism 01 and the first joint 9.
  • the first joint 9 rotates around the first rotation axis 24.
  • the lower part 120 is driven to move, and the second position adjustment mechanism 02 cooperates with the first position adjustment mechanism 01 to drive the first joint 9 to translate to drive the lower part 120 to move, and the second position adjustment mechanism 02 and the first position adjustment mechanism 01 It is coordinated to control that the distance from the working point RC to the first rotating axis 24 is constant during the movement of the lower part 120 and the entire robotic arm 1 .
  • the first joint 9 moves on a spherical surface with the working point RC as the center of the sphere to drive the lower part 120 to move in the three-dimensional space.
  • a surgical robot using the robotic arm structure 10 also includes a control system.
  • the control system is connected with the first position adjustment mechanism 01 and the second position adjustment mechanism 02 with signals (for example, electrical connection or wireless signal connection).
  • the control system can be used during surgery through the control system.
  • the coordinates of the first joint 9 are calculated, and the first position adjustment mechanism 01 and the second position adjustment mechanism 02 are controlled according to the calculation results to adjust the position of the first joint 9 on the horizontal plane and in the vertical direction perpendicular to the horizontal plane.
  • the first joint 9 moves on the spherical surface with the working point RC as the center of the sphere to drive the lower part 120 to move in the three-dimensional space, while keeping the position of the working point RC fixed.
  • the robot arm 1 The range of the motion trajectory of the first joint 9 may not be an entire spherical surface, for example, it may be a part of a complete spherical surface, which can prevent collisions with other robotic arms within the required range and meet work requirements.
  • the first joint 9 rotates around the first rotating axis 24 to drive the lower part 120 to swing.
  • the swing direction of the lower part 120 is perpendicular to the vertical line of the first rotating axis 24 of the first joint 9 passing through the working point RC, that is, the first joint 9 rotates around the first rotating axis 24 to drive the lower part 120 to swing.
  • the rotation of the rotating shaft 24 can drive the lower part 120 of the robotic arm 1 to pitch in the swing direction.
  • the working point RC is located on the straight line of the second rotating axis 27.
  • the second joint 10a rotates around the second rotating axis 27 to drive the surgical instrument 2 to swing around the second rotating axis 27, thereby realizing the surgical instrument 2 swinging in a direction perpendicular to the second rotating axis 27. Swing to achieve movement of the working end 20 of the surgical instrument 2 in a direction perpendicular to the second rotating axis 27 .
  • the control system is connected with a signal (such as an electrical connection or a wireless signal connection) with the second joint 10a to independently drive the rotation of the second joint 10a.
  • control system is connected to each joint signal (such as an electrical connection or a wireless signal connection), the rotation or translation of each joint can be independently controlled through the control system, and the first drive structure and the second drive can be independently driven through the control system. movement of institutions.
  • the rotation or translation of each joint and the movement of each component of the first driving structure and the second driving mechanism can also be driven manually.
  • the connecting end of the lower part 120 includes a second joint 10a.
  • the second joint 10a is connected to the first joint 9 through the first transmission component 25, and can be connected to the surgical instrument 2 through the transmission mechanism 40, and has an edge along the
  • the second rotation axis 27 extends in the second direction D2, and the second joint 10a can rotate around the second rotation axis 27.
  • the straight line where the orthographic projection of the second rotating axis 27 on the above-mentioned horizontal plane is located is the same as the orthographic projection of the first rotating axis 24 on the horizontal plane.
  • the straight lines intersect, that is, the extending direction of the first rotating shaft 24 intersects the extending direction of the second rotating shaft 27 .
  • the extending direction of the first rotating shaft 24 intersects with the extending direction of the second rotating shaft 27 , for example, they intersect in the same plane; or the extending directions of the first rotating shaft 24 do not intersect, for example, they do not intersect in different planes; and, the extension direction of the first rotating shaft 24
  • the direction is perpendicular or not perpendicular to the extending direction of the second rotating shaft 27 .
  • the second position adjustment mechanism 02 includes a third joint 8 and a fourth joint 7 .
  • the third joint 8 is connected to the first joint 9 and has a third rotating axis 08.
  • the third joint 8 can rotate around the third rotating axis 08 to drive the first joint 9 and the lower part 120 to rotate along the third rotating axis 08;
  • the fourth joint 7 is connected to the third rotating axis 08.
  • the three joints 8 are connected and located on the side of the third joint 8 away from the first joint 9, and have a first axis extending along a third direction D3 perpendicular to the ground.
  • the third direction D3 is both connected with the first direction D1 and the second direction D2. Intersecting, the fourth joint 7 can make linear motion along the first axis to drive the third joint 8, the first joint 9 and the lower part 120 to move in the third direction D3.
  • the first joint 9 and the lower part 120 can move within the space of an unclosed cylindrical ring.
  • the high edge of the cylinder where the cylindrical ring is located is perpendicular to the vertical direction of the ground. direction, the vertical direction is, for example, the third direction D3 shown in Figure 1 .
  • the adjustments of the positions of the first joint 9 and the lower part 120 in the vertical direction and on the horizontal plane around the third rotation axis 08 and parallel to the ground are independent of each other, thus avoiding the need for adjustment between these two positions.
  • position adjustments in directions must occur at the same time (that is, the meaning of the above "coupling").
  • the first joint 9 is connected to the third joint 8 through the second transmission component 23, and the second transmission component 23 plays a transmission role between the first joint 9 and the third joint 8;
  • the third joint 8 It is connected to the fourth joint 7 through the third transmission component 22 , and the third transmission component 22 plays a transmission role between the third joint 8 and the fourth joint 7 .
  • the second transmission component 23 and the third transmission component 22 are both connecting rods.
  • the first position adjustment mechanism 01 includes a seventh joint 6 , and the seventh joint 6 is connected to the upper end of the upper part 110 of the robotic arm 1 .
  • the seventh joint 6 is connected to the second position adjustment mechanism 02 , for example.
  • the seventh joint 6 is connected to the fourth joint 7 and is configured to move along the fourth direction D4 to drive the robotic arm 1 to move along the fourth direction D4.
  • the fourth direction D4 is perpendicular to the third direction D3, that is, the fourth direction D4 is the direction parallel to the ground.
  • the robot arm structure 10 also includes a sliding link 21.
  • the seventh joint 6 is connected to the eighth joint 5 through the sliding link 21.
  • the sliding link 21 has a slide rail extending along the fourth direction D4.
  • the seventh joint 6 is configured to move along the slide rail to reliably realize the movement of the seventh joint 6 in the fourth direction D4.
  • the first position adjustment mechanism 01 further includes an eighth joint 5 , which is connected to the seventh joint 6 , is connected to the lower part 120 through the seventh joint 6 , has a fifth rotating axis 51 , and is configured to be able to surround
  • the fifth rotating shaft 51 rotates to drive the seventh joint 6 and the robotic arm 1 to rotate around the fifth rotating shaft 51; the extending direction of the fifth rotating shaft 51 is perpendicular to the fourth direction D4.
  • the fifth rotation axis 51 also extends along the third direction D3.
  • the eighth joint 5 and the seventh joint 6 cooperate to adjust the position of the entire robotic arm 1 on the horizontal plane, so that the entire robotic arm 1 moves from position 1 to position 2 on the horizontal plane;
  • the movement cooperation between the fourth joint 7 and the first joint 9 can adjust the position of the robotic arm 1 or the lower part 120 in the vertical direction, so that the entire robotic arm 1 moves from position 3 to the vertical position. Move straight up to position 4.
  • the eighth joint 5 and the seventh joint 6, as well as the fourth joint 7, the third joint 8, and the first joint 9 structurally cooperate with each other, functionally support each other, and work in conjunction with each other, for example, performing the above respective movements at the same time,
  • the position of the lower part 120 in the horizontal plane and the vertical direction can also be adjusted. In this way, the position change of the robot arm shown in FIGS. 6A-6B on the horizontal plane can be the same as the position change of the robot arm shown in FIGS. 7A-7B in the vertical direction Z.
  • the position changes occur at the same time, and through the cooperation of the movements of the above-mentioned multiple joints and the transmission components connecting the multiple joints (such as the above-mentioned multiple links), the position change trend of the working point RC caused by the movement of one of them can be compensated. It is possible to adjust the position of the first joint 9 and the lower part 120 in the three-dimensional space to prevent collision of the robotic arm while maintaining the position of the working point RC of the surgical instrument 2 connected to the working end of the lower part 120 unchanged. Moreover, the position adjustment of the robotic arm 1 on the horizontal plane can be realized independently from the position adjustment in the vertical direction. The adjustment will not be restricted by the adjustment coupling in multiple directions, and can prevent multiple errors more flexibly and reliably during the operation.
  • the position adjustment of the robotic arm 1 on the horizontal plane is independent of the position adjustment in the vertical direction. It can adjust the position of the robotic arm 1 in real time, efficiently and accurately during the operation, thereby reliably preventing collisions between multiple robotic arms. And it is very important that the position of the working point RC remains unchanged.
  • the direction Z in FIGS. 6A-6B and 7A-7B is the same as the above-mentioned third direction D3, the direction X and the direction Y are perpendicular to the direction Z, and the plane where the direction X and the direction Y are located is the above-mentioned horizontal plane.
  • the position coordinates of the eighth joint 5 and the seventh joint 6, as well as the fourth joint 7, the third joint 8, and the first joint 9 can be calculated by the control system during the surgical operation, so that the control system can calculate the position coordinates according to the calculation.
  • result control Control the movements of the eighth joint 5 and the seventh joint 6, as well as the fourth joint 7, the third joint 8, and the first joint 9 to control the position on the horizontal plane and in the vertical direction perpendicular to the horizontal plane to achieve the first
  • the joint 9 moves on the spherical surface with the working point RC as the center of the sphere to drive the lower part 120 to move in the three-dimensional space, keeping the position of the working point RC fixed.
  • the lower part 120 further includes: a ninth joint 11 , a tenth joint 12 and an eleventh joint 13 .
  • the ninth joint 11 is connected to the second joint 10a through the first connecting rod 26 and has a first parallel axis 28; the tenth joint 12 is connected to the ninth joint 11 through the second connecting rod 29 and has a second parallel axis 30;
  • the eleventh joint 13 is connected to the tenth joint 12 through the third connecting rod 31 and has a third parallel axis 32.
  • the eleventh joint 13 is connected to the surgical instrument 2 through the fourth connecting rod 33; during the movement of the robotic arm 1 , the first parallel axis 28 , the second parallel axis 30 and the third parallel axis 32 are parallel to each other, and the center of the ninth joint 11 , the center of the tenth joint 12 and the center of the eleventh joint 13 are parallel to the working point RC respectively.
  • the connecting lines 38 serve as the four sides of the parallelogram respectively.
  • the second rotating axis 27 is the first swing axis.
  • the working point RC is located on the straight line of the first swing axis 270.
  • the second joint 10a rotates around the first swing axis 270 to drive the surgical instrument 2 in a direction perpendicular to the first swing axis 270.
  • the first swing axis 270 swings in the direction, so that the surgical instrument 2 swings in the direction perpendicular to the second rotation axis 27 , so that the working end 20 of the surgical instrument 2 moves in the direction perpendicular to the first swing axis 270 .
  • the ninth joint 11 , the tenth joint 12 , the eleventh joint 13 , the second link 29 and the third link 31 move to drive the surgical instrument 2 around the second swing axis that intersects the first swing axis 270 at the working point RC. 37 swing.
  • the lower part 120 further includes a twelfth joint 14 .
  • the twelfth joint 14 is connected to the surgical instrument 2 and has a sliding axis.
  • the sliding axis is consistent with the extension direction of the rod part 34 .
  • the rod part 34 It is consistent with the overall extension direction of the surgical instrument 2 .
  • the twelfth joint 14 is configured to drive the surgical instrument 2 to make linear motion along the sliding axis to adjust the position of the surgical instrument 2.
  • the position of the surgical instrument 2 is adjusted before surgery.
  • the position of the working point RC needs to be kept constant. Change.
  • the twelfth joint 14 is a slider guide rail mechanism, and the surgical instrument 2 can move linearly along the sliding axis under the limiting guide of the slider.
  • the twelfth joint 14 is connected to the eleventh joint 13, and the eleventh joint 13 is connected to the twelfth joint 14 through the fourth connecting rod 33, so that the eleventh joint 13 is connected to the surgical instrument 2.
  • the twelfth joint 14 and the surgical instrument 2 can move correspondingly driven by the movement of the eleventh joint 13, so that during the operation, the posture of the surgical instrument 2 remains unchanged while maintaining the position of the working point RC. That is, while maintaining the When the position of the working point RC remains unchanged, the surgical instrument 2 swings around the second swing axis 37 that intersects the first swing axis 270 at the working point RC.
  • control system can be connected to the second joint 10a via a signal, so that the control system can drive the second joint 10a to move according to the calculation result of the position coordinates of the working end 20 of the surgical instrument 2;
  • the tenth joint 12, the eleventh joint 13, the second link 29 and the third link 31 are connected by signals to control the The system drives the ninth joint 11, the tenth joint 12, the eleventh joint 13, the second link 29 and the third link 31 to move according to the calculation result of the position coordinate of the working end 20 of the surgical instrument 2, so that the The working end 20 reaches the target position.
  • the position of the robotic arm can also be adjusted manually.
  • control system When the position of the robotic arm is manually intervened, the control system will calculate the position coordinates of the working end 20, the position coordinates of each joint, etc. in real time, thereby controlling the movement of each joint and the transmission rod in real time, without causing interference to the manual intervention. Make corrections to maintain operating point RC.
  • the movement of other joints and connecting rods can also be controlled through the control system.
  • first swing axis 270 is perpendicular to the second swing axis 37, so that the working end 20 of the surgical instrument 2 can reach various positions in the directions of the first swing axis 270 and the second swing axis 37, and it is convenient for the control system to control Calculation of position.
  • the center of the ninth joint is the midpoint of the rotation axis (ie, the first parallel axis) of the ninth joint. Similarly, the same is true for the centers of other joints.
  • the first connecting rod 26 and the four sides of the parallelogram are located on the same working surface A, and the working surface A is perpendicular to the second swing axis 37 .
  • the ninth joint 11 , the tenth joint 12 , the eleventh joint 13 , the second link 29 and the third link 31 move so that the parallelogram is coplanar with the second swing axis 37 and perpendicular to the second swing axis.
  • the direction of the shaft 37 swings, thereby driving the working end 20 of the surgical instrument 2 to swing in a direction perpendicular to the second swing axis 37 .
  • FIG. 4 is a schematic structural diagram of another robotic arm structure provided by an embodiment of the present disclosure.
  • the embodiment shown in FIG. 4 has the following differences from the embodiment shown in FIG. 1 .
  • the second position adjustment mechanism 02 includes a fifth joint 80.
  • the fifth joint 80 is connected to the first joint 9 and has a second axis extending along a third direction D3 perpendicular to the ground.
  • the third direction D3 is connected with the first joint 9.
  • the first direction D1 and the second direction D2 both intersect, and the fifth joint 80 can make linear motion along the second axis to drive the first joint 9 and the lower part 120 to move in the third direction D3; the sixth joint 70 and the fifth joint 80 Connected and located on the side of the fifth joint 80 away from the first joint 9, it has a fourth rotation axis, for example, the fourth rotation axis extends along the vertical third direction D3; the sixth joint 70 can rotate around the fourth rotation axis to drive the fifth joint. 80.
  • the overall structure formed by the first joint 9 and the lower part 120 rotates along the fourth axis of rotation.
  • the movements of the first joint 9 and the lower part 120 within the spatial range of an unclosed cylindrical ring through the fifth joint 80 and the sixth joint 70.
  • the high edge of the cylinder where the cylindrical ring is located is vertical.
  • the vertical direction is, for example, the third direction D3 shown in FIG. 4 .
  • the adjustments of the positions of the first joint 9 and the lower part 120 in the vertical direction and on the horizontal plane around the third rotation axis 08 and parallel to the ground are independent of each other, thus avoiding the need for adjustment between these two positions.
  • position adjustments in directions must occur at the same time (that is, the meaning of the above "coupling").
  • the first joint 9 is connected to the fifth joint 80 through the fourth transmission component 230 , and the fourth transmission component 230 plays a transmission role between the first joint 9 and the fifth joint 80 ;
  • the fifth joint 80 is through the fifth transmission component 220 Connected to the sixth joint 70 , the fifth transmission component 220 plays a transmission role between the fifth joint 80 and the sixth joint 70 .
  • FIG. 4 Other unmentioned structural features, control methods, and technical effects of the embodiment shown in FIG. 4 are the same as those of the embodiment shown in FIG. 1 . Please refer to the description of FIG. 1 and will not be repeated here.
  • FIG. 8 is a schematic structural diagram of a surgical robot provided by an embodiment of the present disclosure.
  • FIG. 9 is a schematic diagram showing the structure of a robotic arm of the surgical robot shown in FIG. 8 .
  • an embodiment of the present disclosure also provides a surgical robot 1000.
  • the surgical robot 1000 includes any one of the robotic arm structures 10 provided by the embodiments of the present disclosure.
  • surgical robot 1000 includes multiple robotic arm structures.
  • the surgical robot 1000 includes four robotic arm structures, namely a first robotic arm structure 200 , a second robotic arm structure 300 , a third robotic arm structure 400 , and a fourth robotic arm structure 500 . .
  • each robotic arm structure of the surgical robot 1000 is the robotic arm structure described above regarding the embodiments of the robotic arm structure.
  • the surgical robot 1000 used in the embodiment of the present disclosure it is possible to achieve mutual independence on the horizontal plane parallel to the ground and the vertical direction perpendicular to the horizontal plane through the mutual cooperation between the upper part 110 and the first position adjustment mechanism 01 Adjust the lower part 120 and the entire robotic arm 1 to adjust the position of the robotic arm to more flexibly and quickly prevent multiple robotic arms from avoiding each other in the three-dimensional space when multiple robotic arms are used for surgical operations.
  • the collision of a robotic arm causes damage to the surface tissue TS of the surgical target being operated on; on the other hand, by independently adjusting the positions of the lower part 120 and the entire robotic arm 1 in the horizontal plane and the vertical direction, the maintenance is reliably achieved
  • the position of the working point RC remains unchanged, thereby preventing the movement of the working point RC from causing damage to the surface tissue TS of the surgical target being operated on.
  • the surgical robot 1000 also includes a suspension mechanism 103.
  • Multiple robotic arm structures 10 are connected to the suspension mechanism 103 to be suspended on the suspension mechanism 103, so as to be integrated on a robot base.
  • the suspension mechanism 103 is a horizontal beam substantially parallel to the ground.
  • the surgical robot 1000 also includes a robot base 100, a lifting column 101, a main rotation joint 102, and a horizontal telescopic beam 104 connected to the suspension mechanism 103.
  • Multiple robotic arm structures 10 and horizontal telescopic beams 104 are connected to the suspension mechanism 103.
  • the position of the suspension mechanism 103 is fixed, and the horizontal telescopic beam 104 can telescope along the direction in which the suspension mechanism 103 extends to adjust the multiple arms connected to the horizontal telescopic beam 104.
  • the position of the entire robotic arm structure 10 in the telescopic direction is used to adjust the multiple robotic arms to appropriate positions as a whole during the preparation stage before surgery.
  • the suspension mechanism 103 is connected to the main rotary joint 102.
  • the main rotary joint 102 is configured to rotate around a rotation axis perpendicular to the ground to drive the suspension mechanism 103 and the entire structure connected to the suspension mechanism 103 to rotate around the rotation axis perpendicular to the ground.
  • the suspension mechanism 103 includes a fixed plate 105.
  • the first position adjustment mechanism 01 of each of the plurality of robot arm structures 10 is connected to the fixed plate 105 and arranged around the edge of the fixed plate 105, thereby facilitating the adjustment of the multiple robot arm structures.
  • the fixed plate 105 of each robot arm structure is fixed on the horizontal telescopic beam 104.
  • the eighth joint 5 of each of the multiple robotic arm structures 10 is connected to the fixed plate 105 and arranged around the edge of the fixed plate 105 , and the sliding connection of each of the multiple robotic arms is
  • the rod 21 extends in a plane parallel to the surface of the fixed plate 105 in a direction away from the center of the fixed plate 105;
  • the disk surface is vertical.
  • the surgical robot 1000 further includes a central rotating joint 106 with a main rotating axis perpendicular to the surface of the fixed plate 105 .
  • the central rotating joint 106 passes through the center of the fixed plate 105 and passes through the surface of the fixed plate 105 , and is configured In order to rotate along the main rotating axis to drive the fixed plate 105 to rotate, for example, the main rotating axis extends in a direction perpendicular to the ground; the surface of the fixed plate 105 is substantially parallel to the ground, and the extending direction of the main rotating axis is perpendicular to the surface of the fixed plate 105 .
  • At least one embodiment of the present disclosure also provides a control method for the robotic arm structure 10.
  • the control method includes: driving the lower part 120 through the upper part 110 to move in a three-dimensional space, and in a horizontal plane parallel to the ground and vertically.
  • the position of the lower part 120 is independently adjusted in the direction of the horizontal plane; and the first position adjustment mechanism 01 cooperates with the upper part 110 to drive the entire robotic arm 1 to move in the three-dimensional space, and in the horizontal plane and the direction perpendicular to the horizontal plane respectively.
  • the position of the entire robotic arm 1 is independently adjusted, in which the first position adjustment mechanism 01 cooperates with the upper part 110 to maintain the position of the working point RC unchanged during the movement of the lower part 120 and the entire robotic arm 1 .
  • the control method of the robot arm structure 10 includes: driving the first joint 9 to rotate around the first rotation axis 24 to drive the lower part 120 to move; and controlling the movement of the second position adjustment mechanism 02 to interact with the first position adjustment mechanism 01
  • the movement of the first joint 9 is coordinated to drive the translation of the first joint 9 to drive the lower part 120 to move.
  • the second position adjustment mechanism 02 cooperates with the first position adjustment mechanism 01 to control the movement of the lower part 120 and the entire robotic arm 1.
  • the distance from the working point RC to the first rotation axis 24 is constant.
  • the movement of the second position adjustment mechanism 02 to cooperate with the movement of the first position adjustment mechanism 01, it is controlled that during the movement of the lower part 120 and the entire robotic arm 1, the first joint 9 moves with the working point RC as the center of the sphere. to move on the spherical surface to drive the lower part 120 to move in the three-dimensional space.
  • the vertical line of the first rotating axis 24 passes through the working point RC, and the first joint 9 is controlled to rotate around the first rotating axis 24 to drive the lower part 120 to swing.
  • the swing direction of the lower part 120 is perpendicular to the vertical line of the first rotating axis 24 of the first joint 9 .
  • control method of the robotic arm structure 10 includes: controlling the second joint 10a to rotate around the second rotation axis 27 to drive the surgical instrument 2 to swing in a direction perpendicular to the second rotation axis 27, wherein the second rotation axis 27 is at the right angle of the horizontal plane.
  • the straight line where the projection is located intersects the straight line where the orthographic projection of the first rotating axis 24 on the horizontal plane is located, and the working point RC is located on the straight line where the second rotating axis 27 is located.
  • the extension direction of the first rotating shaft 24 intersects or does not intersect the extending direction of the second rotating shaft 27; and, the extending direction of the first rotating shaft 24 is perpendicular to the extending direction of the second rotating shaft 27. Or not vertical.
  • the control method of the robot arm structure 10 includes: driving the third joint 8 to rotate around the third rotation axis 08 to drive the first joint 9 and the lower part 120 to rotate along the third rotation axis 08 ; and driving the fourth joint 7 Make a linear motion along the first axis to drive the third joint 8, the first joint 9 and the lower part 120 to move in the third direction D3.
  • the second position adjustment mechanism 02 includes a fifth joint 80 connected to the first joint 9 and having a second joint extending along a third direction D3 perpendicular to the ground.
  • the axis, the third direction D3 intersects both the first direction D1 and the second direction D2.
  • the difference between the control method of the robotic arm structure 10 and the previous embodiment is that the control method of the robotic arm structure 10 includes: driving the fifth joint 80 to make a linear motion along the second axis to drive the first The joint 9 and the lower part 120 move in the third direction D3; and the sixth joint 70 is driven to rotate around the fourth axis of rotation to drive the fifth joint 80, the first joint 9 and the lower part 120 to rotate along the fourth axis of rotation.
  • control method of the robotic arm structure 10 also includes: driving the seventh joint 6 to move along the fourth direction D4 to drive the robotic arm 1 to move along the fourth direction D4; the fourth direction D4 and the third direction D3 vertical.
  • the control method of the robot arm structure 10 includes: driving the eighth joint 5 to rotate around the fifth rotation axis 51 to drive the seventh joint 6 and the robot arm 1 to rotate around the fifth rotation axis 51 , where the fifth rotation axis
  • the extension direction of 51 is perpendicular to the fourth direction D4.
  • the fifth rotation axis 51 also extends along the third direction D3. So, as shown in Figure 6A-6B As shown, the eighth joint 5 and the seventh joint 6 cooperate to adjust the position of the entire robotic arm 1 on the horizontal plane; and, as shown in Figures 7A-7B, the movements of the fourth joint 7 and the first joint 9 cooperate to adjust the position of the entire robotic arm 1 on the horizontal plane.
  • the position of the robot arm 1 or the lower part 120 in the vertical direction is adjusted.
  • the eighth joint 5 and the seventh joint 6, as well as the fourth joint 7, the third joint 8, and the first joint 9 structurally cooperate with each other, functionally support each other, and work in conjunction with each other, for example, performing the above respective movements at the same time,
  • the position of the lower part 120 in the horizontal plane and the vertical direction can also be adjusted. In this way, the position change of the robot arm shown in FIGS. 6A-6B on the horizontal plane can be the same as the position change of the robot arm shown in FIGS. 7A-7B in the vertical direction Z.
  • the position changes occur at the same time, and through the cooperation of the movements of the above-mentioned multiple joints and the transmission components connecting the multiple joints (such as the above-mentioned multiple links), the position change trend of the working point RC caused by the movement of one of them can be compensated. It is possible to adjust the position of the first joint 9 and the lower part 120 in the three-dimensional space to prevent collision of the robotic arm while maintaining the position of the working point RC of the surgical instrument 2 connected to the working end of the lower part 120 unchanged. Moreover, the position adjustment of the robotic arm 1 on the horizontal plane can be realized independently from the position adjustment in the vertical direction. The adjustment will not be restricted by the adjustment coupling in multiple directions, and can prevent multiple errors more flexibly and reliably during the operation.
  • the position adjustment of the robotic arm 1 on the horizontal plane is independent of the position adjustment in the vertical direction. It can adjust the position of the robotic arm 1 in real time, efficiently and accurately during the operation, thereby reliably preventing collisions between multiple robotic arms. And it is very important that the position of the working point RC remains unchanged.
  • the direction Z in FIGS. 6A-6B and 7A-7B is the same as the above-mentioned third direction D3, the direction X and the direction Y are perpendicular to the direction Z, and the plane where the direction X and the direction Y are located is the above-mentioned horizontal plane.
  • the first parallel axis 28 , the second parallel axis 30 and the third parallel axis 32 are parallel to each other, and the center of the ninth joint 11 , the center of the tenth joint 12 , the center of the eleventh joint
  • the center of 13 and the working point RC respectively form the four vertices of the parallelogram, the second link 29, the third link 31, the first connection line between the center of the eleventh joint 13 and the working point RC, and the ninth joint 11
  • the second connecting line between the center of and the working point RC is regarded as the four sides of the parallelogram respectively.
  • the second rotating axis 27 is the first swing axis 270
  • the control method also includes: driving the ninth joint 11 , the tenth joint 12 , the eleventh joint 13 , the second link 29 and the third link 31 to move to drive the surgical instrument 2 Swing about the second swing axis 37 intersecting the first swing axis 270 at the operating point RC.
  • the second swing axis 37 is perpendicular to the first swing axis 270 .
  • the lower part 120 further includes a twelfth joint 14 .
  • the twelfth joint 14 is connected to the surgical instrument 2 and has a sliding axis.
  • the sliding axis is consistent with the extension direction of the rod part 34 .
  • the rod part 34 It is consistent with the overall extension direction of the surgical instrument 2 .
  • the control method of the robotic arm structure 10 also includes: driving the surgical instrument 2 to make linear motion along the sliding axis through the twelfth joint 14 to adjust the position of the surgical instrument 2, for example, adjusting the position of the surgical instrument 2 before surgery, during the operation.
  • the position of the working point RC needs to be kept unchanged.
  • the twelfth joint 14 is a slider guide mechanism, and the surgical instrument 2 can move linearly along the sliding axis under the limiting guide of the slider.
  • the twelfth joint 14 is connected to the eleventh joint 13, and the eleventh joint 13 is connected to the twelfth joint 14 through the fourth connecting rod 33, so that the eleventh joint 13 is connected to the surgical instrument 2.
  • the twelfth joint 14 and the surgical instrument 2 can move correspondingly driven by the movement of the eleventh joint 13, so that during the operation, the posture of the surgical instrument 2 remains unchanged while maintaining the position of the working point RC. That is, while maintaining the When the position of the working point RC remains unchanged, the surgical instrument 2 rotates around the first swing axis 270 The second oscillation axis 37 intersecting the operating point RC oscillates.
  • the first connecting rod 26 and the four sides of the parallelogram are located on the same working surface A, and the working surface A is perpendicular to the second swing axis.
  • At least one embodiment of the present disclosure also provides a method for controlling a surgical robot 1000.
  • the surgical robot 1000 includes multiple robotic arm structures 10 provided by any embodiment of the present disclosure.
  • At least one working robotic arm in the multiple robotic arm structures 10 is The working robot arm, for example, is the robot arm 1 shown in FIG. 1 , or the robot arm shown in FIG. 3 that is connected to a surgical instrument 2 that penetrates the surface tissue TS of the surgical target.
  • the working end of the working robot arm is connected to the surgical instrument;
  • the control method of the surgical robot 1000 includes: driving at least one robot arm structure 10 to move to prevent the working robot arm and other robot arm structures 10 from colliding with each other, and maintaining the working point RC of the working robot arm. The position remains unchanged.
  • the suspension mechanism 103 includes a fixed plate 105 , and the first position adjustment mechanism 01 of each of the plurality of robotic arm structures 10 is connected to the fixed plate 105 and surrounds the fixed plate 105
  • the edge arrangement; the control method of the surgical robot 1000 includes: driving the fixed plate 105 to rotate to drive the plurality of robotic arm structures 10 to rotate.
  • the surgical robot 1000 also includes a control system, and the control system is signally connected to the first position adjustment mechanism 01 and the second position adjustment mechanism 02; the control method of the surgical robot 1000 includes: calculating the coordinates of the first joint 9 through the control system; And drive the first position adjustment mechanism 01 and the second position adjustment mechanism 02 to adjust the position of the first joint 9 according to the calculation results of the control system, so that the first joint 9 moves on the spherical surface with the working point RC as the center of the sphere, and maintains The position of the working point RC is fixed.
  • control system is respectively connected with the first position adjustment mechanism 01 and the second position adjustment mechanism 02 with signals such as electrical connections or wireless signal connections.
  • the control system can calculate the coordinates of the first joint 9 during the surgical operation, so as to calculate the coordinates of the first joint 9 according to the control system.
  • the calculation results control the first position adjustment mechanism 01 and the second position adjustment mechanism 02 to adjust the position of the first joint 9 on the horizontal plane and in the vertical direction perpendicular to the horizontal plane, so as to achieve the position of the first joint 9 with the working point RC as the ball.
  • the center moves on the spherical surface to drive the lower part 120 to move in the three-dimensional space, keeping the position of the working point RC fixed.
  • control method of the surgical robot 1000 For other specific contents of the control method of the surgical robot 1000, reference may be made to the description of the embodiments of the surgical robot 1000, such as the description of the embodiment shown in Figures 8-9, and the control of each joint and each joint through the control system. The description of the motion of connecting rods and other structures will not be repeated here.

Abstract

L'invention concerne une structure de bras robotique (10) et son procédé de commande, et un robot chirurgical (1000) et son procédé de commande. La structure de bras robotique (10) comprend un bras robotique (1) et un premier mécanisme de réglage de position (01) relié au bras robotique (1), le bras robotique (1) comprenant une partie inférieure (120) et une partie supérieure (110) ; la partie inférieure (120) comprend une extrémité de raccordement et une extrémité de fonctionnement opposées l'une à l'autre, l'extrémité de fonctionnement étant reliée à un instrument chirurgical (2) utilisé pour effectuer une manipulation chirurgicale sur un tissu, et un point de fonctionnement (RC) étant situé sur l'instrument chirurgical (2) ; la partie supérieure (110) comprend une extrémité supérieure reliée au premier mécanisme de réglage de position (01) et une extrémité inférieure reliée à l'extrémité de raccordement de la partie inférieure (120), et la partie supérieure (110) est conçue pour entraîner la partie inférieure (120) à se déplacer dans un espace tridimensionnel et régler indépendamment la position de la partie inférieure (120) dans un plan horizontal parallèle au sol et dans une direction perpendiculaire au plan horizontal ; le premier mécanisme de réglage de position (01) est configuré pour entraîner un bras robotique dans son ensemble (1) à se déplacer dans l'espace tridimensionnel et pour régler indépendamment la position de l'ensemble du bras robotique (1) dans le plan horizontal et dans la direction perpendiculaire au plan horizontal ; et la partie supérieure (110) coopère avec le premier mécanisme de réglage de position (01) pour maintenir la position du point de fonctionnement (RC) inchangée pendant le mouvement de la partie inférieure (120) et de l'ensemble du bras robotique (1).
PCT/CN2023/112423 2022-08-11 2023-08-11 Structure de bras robotique et son procédé de commande, et robot chirurgical et son procédé de commande WO2024032745A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202210957985.1 2022-08-11
CN202210957979.6 2022-08-11
CN202210957979.6A CN115024825B (zh) 2022-08-11 2022-08-11 机械臂结构以及手术机器人
CN202210957985.1A CN115024826B (zh) 2022-08-11 2022-08-11 机械臂结构的控制方法以及手术机器人的控制方法

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WO2024032745A1 true WO2024032745A1 (fr) 2024-02-15

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