CN212186673U - Surgical Manipulator and Surgical Robot - Google Patents

Abstract

The utility model provides a surgical robotic arm, comprising a preoperative positioning assembly, an executing assembly, and a telecentric control assembly disposed between the preoperative positioning assembly and the executing assembly, and the executing assembly includes an executing rod and a telecentric control assembly. A surgical instrument arranged at one end of the execution rod relatively far from the telecentric control assembly; a sensor is provided on the telecentric control assembly; the sensor is disposed between the execution rod and the telecentric control assembly, and is used for To detect the environmental force and/or environmental moment that the surgical instrument is subjected to. In the surgical robotic arm provided by the present invention, the sensor is arranged between the execution rod and the telecentric control assembly, which can facilitate the installation of the sensor and enable the sensor to realize the environmental force and/or environment on the surgical instrument. Accurate measurement of torque.

Description

Surgical Manipulator and Surgical Robot

technical field

The utility model relates to the technical field of medical instruments, in particular to a surgical mechanical arm and a surgical robot.

Background technique

The birth of minimally invasive surgery has largely overcome the defects of traditional surgery, such as large incision, large blood loss, many complications and high surgical risks. Due to the rapid development in recent years, minimally invasive surgery is gradually gaining the favor of medical staff and patients, and has become an emerging field of medical research and clinical applications.

Using surgical robots to assist doctors in minimally invasive surgery can make surgical operations more sensitive and precise. Taking the da Vinci surgical robot as an example, the da Vinci surgical robot can magnify the doctor's field of vision ten times, while effectively filtering out the doctor's hand tremor, which has a wide range of clinical applications in the field of minimally invasive surgery.

A surgical robotic arm suitable for a surgical robot needs to drive a surgical instrument to perform a surgical operation, and when the surgical instrument is used, it needs to reach the patient's body by extending into a tiny wound opened on the surface of the skin. This requires the surgical instrument to perform the surgical operation with the tiny wound opened on the skin surface as a fixed point in a stable and non-vibrating state. However, the current surgical robotic arms suitable for surgical robots cannot fully meet the use requirements in clinical performance, especially the lack of mechanical detection of the surgical operation performed by the surgical instrument, and the doctor cannot obtain the diseased tissue under the surgical operation. The mechanical feedback of surgical instruments and the lack of mechanical information reduce the accuracy of doctors during surgical operations.

Utility model content

In view of this, it is necessary to provide an improved surgical robotic arm and a surgical robot, which can realize the detection of mechanical feedback of surgical instruments acting on human tissue, improve the ability of doctors to interact with human tissue, and improve the ability of doctors to interact with human tissue. Precision during surgery.

The utility model provides a surgical robotic arm, comprising a preoperative positioning assembly, an executing assembly, and a telecentric control assembly disposed between the preoperative positioning assembly and the executing assembly, and the executing assembly includes an executing rod and a telecentric control assembly. a surgical instrument disposed at one end of the execution rod relatively far away from the telecentric control assembly;

The telecentric control assembly is provided with a sensor; the sensor is disposed between the execution rod and the telecentric control assembly, and is used for detecting the environmental force and/or the environmental moment received by the surgical instrument.

Further, the telecentric control assembly is also provided with a rotary drive member, and the rotary drive member is connected to one end of the execution rod relatively close to the telecentric control assembly and can drive the execution rod and the operation. The implement rotates synchronously along the axial direction of the execution rod.

The telecentric control assembly includes a static platform and a first moving platform connected to the static platform and capable of moving relative to the static platform; the static platform is connected to the preoperative positioning assembly, and the first moving platform connected to the executive rod;

The sensor is installed in the first movable platform or in a device opposite to the front end of the first movable platform in the surgical robotic arm.

Further, the rotary driving member is mounted on the first moving platform, the sensor is mounted on the rotary driving member, and the rotary driving member can drive the sensor, the execution rod and the surgical instrument All rotate synchronously along the axial direction of the executive rod.

Further, the surgical manipulator further includes a control driver for driving the surgical instrument to move, the execution rod is mounted on the control driver, and the control driver is mounted on the sensor; the The rotation driving member can drive the sensor, the control driving member, the execution rod and the surgical instrument to rotate synchronously along the axial direction of the execution rod;

The sensor obtains the environmental force and/or the environmental torque of the surgical instrument by detecting the overall force state of the execution rod and the control driver.

Further, the surgical robotic arm further includes an installation platform connected to the rotational driving member, the control driving member is connected to the sensor, and the sensor is installed on the installation platform; the rotational driving member is driven by The installation platform rotates to drive the sensor, the control driver, the execution rod and the surgical instrument to rotate synchronously along the axial direction of the execution rod.

Further, a plurality of first telescopic elements are arranged between the first movable platform and the static platform, and both ends of each of the first telescopic elements are rotatably connected to the static platform and the first telescopic element, respectively. A moving platform; the rotational connection points between the first telescopic element and the first moving platform are spaced apart from each other; and the rotational connection points between the first telescopic element and the static platform are also mutually interval setting.

Further, the first telescopic element and the rotation connection points of the first moving platform are paired in pairs in a close manner, and the two rotation connection points of each group of the same pair are connected to the first moving platform. A first included angle is formed correspondingly between the centers of the , and the magnitudes of the first included angles are equal.

Further, the rotation connection points between the first telescopic element and the static platform are paired in pairs in a nearby manner, and the two rotation connection points of the same pair in each group are connected to the center of the static platform. A second included angle is formed correspondingly between them, and the magnitudes of the second included angles are equal.

Further, the number of the control driving members is at least three; wherein, two of the control driving members are used for controlling the surgical instrument to swing in two different directions, and the remaining one control driving member is used for The surgical instrument is controlled to open and close.

In the surgical robotic arm provided by the present invention, the sensor is arranged between the execution rod and the telecentric control assembly, which can facilitate the installation of the sensor and enable the sensor to realize the environmental force and/or environment on the surgical instrument. Accurate measurement of torque.

The utility model further provides a surgical robot, comprising a surgical mechanical arm, wherein the surgical mechanical arm is the surgical mechanical arm described in any one of the above.

The surgical robot provided by the utility model can realize the detection of the mechanical feedback of the surgical instrument acting on the human tissue by using the above-mentioned surgical mechanical arm, and provide the feedback of the mechanical data for the surgical operation of the doctor, thereby increasing the relationship between the doctor and the human tissue. Information interaction, the surgical robot provided by the utility model has wide application prospects.

Description of drawings

FIG. 1 is a schematic structural diagram of a surgical robotic arm in a first embodiment of the present invention.

FIG. 2 is a schematic structural diagram of the telecentric control assembly shown in FIG. 1 .

FIG. 3 is a schematic structural diagram of a block diagram of some components in the surgical robotic arm shown in FIG. 1 .

FIG. 4 is a schematic structural diagram of the telecentric control assembly shown in FIG. 1 from a top view.

100. Surgical robotic arm; 10. Preoperative positioning assembly; 20. Telecentric control assembly; 30. Execution assembly; 11. Moving arm; 12. Telescopic arm; 21. Static platform; 22. The first moving platform; 23, 24. Rotational connection point; 31. Execution rod; 32. Surgical instrument; 41. Rotation driver; 42. Sensor; 43. Control driver; 50. Mounting platform; 241, Hook hinge joint; , cylinder liner.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

It should be noted that when a component is referred to as being "mounted on" another component, it can be directly mounted on the other component or there may also be an intervening component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a co-existing centered component. When a component is said to be "fixed" to another component, it may be directly fixed to the other component or there may also be an intervening component.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Please refer to FIG. 1 , which is a schematic structural diagram of a surgical robotic arm 100 in a first embodiment of the present invention.

The utility model provides a surgical mechanical arm 100, which is used in a Da Vinci surgical robot. In this embodiment, the surgical robotic arm 100 is used to assist a doctor to perform complex surgical operations through a minimally invasive method. It can be understood that, in other embodiments, the surgical robotic arm 100 may also be applied to other medical instruments to assist doctors in performing surgical operations.

The da Vinci surgical robot generally includes an operating component (not shown), a surgical robotic arm 100 and an image processing device (not shown). The operating component is used for the doctor to perform active control operations, and the operating component is coupled with the surgical robotic arm 100 and can connect the doctor The active control operation is transmitted to the surgical robotic arm 100; the surgical robotic arm 100 can respond to the doctor's control operation on the operating component, and correspondingly perform the follow-up surgical action to perform minimally invasive surgery on the patient, the movement trajectory of the surgical robotic arm 100 and the operation. The process can be transmitted to the image processing device through the endoscope; the image processing device can present the picture of the endoscope peeping in real time, and can also enlarge the picture of the endoscope peeping, so that the doctor's surgical field of vision is clearer.

The operation component usually includes a main controller (not shown) and a foot pedal controller (not shown). The main controller is coupled to the surgical robotic arm 100 and moves synchronously with the surgical robotic arm 100. The doctor controls the surgical machine through the main controller. The arm 100 is positioned, and the operating state of the surgical robotic arm 100 is turned on and off through the foot pedal controller. The main controller can not only filter out the micro-vibration of the doctor's hand, but also reduce the moving distance of the doctor's hand year-on-year. In conjunction with the enlarged endoscope screen in the image processing equipment, it can greatly improve the doctor's eye-hand coordination, thereby ensuring surgery. Accuracy.

The image processing device is coupled to the endoscope, can present the picture of the endoscope peeping in real time, and can magnify the picture of the endoscope peeping when necessary, and the magnification can be adjusted according to different surgical requirements. It is understandable that after adjusting the magnification of the endoscope, the doctor can synchronously adjust the multiplier of the doctor's hand movement distance in the main controller when it is reduced year-on-year, so that the magnification of the endoscope is the same as that of the main controller when it is reduced year-on-year. It is suitable to maximize the degree of coordination between the doctor's eye and hand and improve the accuracy of the operation.

The endoscope at least has an illumination function and an image acquisition function. The endoscope can be a three-dimensional lens, so as to be basically consistent with the picture when the human eye is looking directly; at the same time, the picture captured by the endoscope using the three-dimensional lens has high definition and can be used for subsequent enlargement processing by the image processing equipment.

The surgical robotic arm 100 provided by the present invention includes a preoperative positioning assembly 10, a telecentric manipulation assembly 20 and an execution assembly 30. The telecentric manipulation assembly 20 is arranged between the preoperative positioning assembly 10 and the executing assembly 30; The position assembly 10 is used to move the execution assembly 30 approximately to a position close to the lesion; the telecentric manipulation assembly 20 is used to control the execution assembly 30 to move within a small range; the execution assembly 30 is used to perform surgical operations.

Specifically, the preoperative positioning assembly 10 can drive the execution assembly 30 to perform a wide range of position adjustment. The preoperative positioning assembly 10 includes at least one moving arm 11 and/or at least one telescopic arm 12. The moving arm 11 has two degrees of freedom and can drive the execution assembly 30 to translate and rotate; the telescopic arm 12 has one degree of freedom and can drive The actuator 30 translates.

The telecentric control assembly 20 can drive the actuator assembly 30 to perform fine position adjustment with the telecentric fixed point as the swing center. Generally, the telecentric manipulation assembly 20 has multiple degrees of freedom at the same time, and can drive the execution assembly 30 to perform flexible surgical operations.

The execution assembly 30 includes a surgical instrument 32, and the surgical instrument 32 is located at the end of the execution assembly 30. The surgical instrument 32 can perform micro-movements through its own swing, rotation, etc., to perform a surgical operation. The surgical instrument 32 may be an electric knife, forceps, clips or hooks, or other surgical instruments, which will not be described in detail here. The surgical instrument 32 is usually detachably mounted on the end of the execution assembly 30 , and can be replaced with different surgical instruments 32 to complete different surgical operations according to different surgical needs, or according to the needs of different surgical stages of the same operation.

A surgical robotic arm suitable for a surgical robot needs to drive a surgical instrument to perform a surgical operation, and the surgical instrument needs to reach the patient's body through a tiny wound opened on the skin surface when in use. This requires the surgical instrument to perform the surgical operation with the tiny wound opened on the skin surface as a fixed point in a stable and non-vibrating state. However, the current surgical robotic arms suitable for surgical robots cannot fully meet the use requirements in clinical performance, especially the lack of mechanical detection of the surgical operation performed by the surgical instrument, and the doctor cannot obtain the diseased tissue under the surgical operation. The mechanical feedback of surgical instruments and the lack of mechanical information reduce the accuracy of doctors during surgical operations.

The surgical manipulator 100 provided by the present invention avoids the entanglement of the steel belt in the surgical manipulator by setting the execution assembly 30 that rotates synchronously as a whole, and can realize accurate measurement of the mechanical information on the surgical instrument 32 .

Specifically, the execution assembly 30 includes an execution rod 31 , the interior of which is hollow and connected to the surgical instrument 32 ; The surgical robotic arm 100 further includes a rotational driving member 41, which is arranged on the telecentric control assembly 20; the rotational driving member 41 is connected to the execution rod 31 and can drive the execution rod 31 and the surgical instrument 32 to move along the execution rod 32 in the form of integral motion. The axial direction of the rod 31 rotates synchronously.

The surgical robotic arm 100 further includes a sensor 42 , which is connected to the execution rod 31 and is used to detect the environmental force and/or environmental torque on the surgical instrument 32 .

It should be noted that the connection between the sensor 42 and the execution rod 31 can be either direct contact between the two, that is, the execution rod 31 directly contacts the measuring surface of the sensor 42; The indirect contact between the rods 31 , that is, the actuator rod 31 is connected to the intermediate transition element, which in turn directly contacts the measuring surface of the sensor 42 , so that the actuator rod 31 is connected to the sensor 42 .

It also needs to be explained that the environmental force and/or environmental moment on the surgical instrument 32 referred to herein is the force and/or moment acting on the surgical instrument 32 by the external environment. For example, when the surgical instrument 32 is clamped, the tissue provides The reaction force, etc;

In this embodiment, the sensor 42 is a six-axis force and torque sensor, and at this time, the sensor 42 can simultaneously sense the environmental force and/or environmental torque on the surgical instrument 32 on its own measurement surface. It can be understood that the sensor 42 can be selected as a force sensor when only the environmental force received by the surgical instrument 32 needs to be measured; when only the environmental torque received by the surgical instrument 32 needs to be measured, the sensor 42 can be selected as a torque sensor.

Due to the synchronous rotation of the execution rod 31 and the surgical instrument 32, the connecting cable (not shown) inside the execution rod 31 will move in an integral manner, which avoids the disadvantage that a reliable mechanical sensor cannot be realized due to the entanglement of the connecting cable in the traditional structure. , so that the sensor 42 can accurately measure the environmental force and/or the environmental moment experienced by the surgical instrument 32 .

Please also refer to FIG. 2 , which is a schematic structural diagram of the telecentric control assembly 20 shown in FIG. 1 . The telecentric control assembly 20 includes a static platform 21 , a first moving platform 22 and a plurality of first telescopic elements 23 disposed between the static platform 21 and the first moving platform 22 . The static platform 21 is relatively far from the side of the first moving platform 22 . It is fixedly connected to the preoperative positioning assembly 10 , the side of the first movable platform 22 that is relatively far away from the static platform 21 is fixedly connected to the execution assembly 30 , and both ends of each first telescopic element 23 are rotatably connected to the static platform 21 and the first telescopic element 23 respectively. The movable platform 22; the execution assembly 30 has a preset telecentric fixed point, and the coordinated expansion and contraction between the plurality of first telescopic elements 23 can control the movement of the first movable platform 22 relative to the static platform 21 and drive the execution assembly 30 to expand, contract and swing, The swing center of the actuator 30 is the telecentric fixed point, and the telescopic path of the actuator 30 passes through the telecentric fixed point.

In this way, the preoperative positioning assembly 10 only needs to undertake the function of roughly moving the execution assembly 30 , while the telecentric manipulation assembly 20 realizes precise control of the execution assembly 30 . Therefore, the number of positioning units in the preoperative positioning assembly 10 can be correspondingly reduced, thereby reducing the accumulation of errors and response time of multiple positioning units, so as to improve the accuracy of surgery.

Secondly, the plurality of first telescopic elements 23 in the telecentric control assembly 20 are arranged in parallel rather than in series, so the errors of the plurality of first telescopic elements 23 not only do not accumulate and transmit, but may also cancel each other out. In addition, since each of the first telescopic elements 23 is driven independently, the response durations of the plurality of first telescopic elements 23 will not be transmitted cumulatively. Therefore, the precise control of the actuator assembly 30 through the telecentric control assembly 20 can reduce the displacement error during the operation and shorten the response time.

On the other hand, due to the improvement of the control accuracy of the actuator 30 by the telecentric control assembly 20, under the condition of the same accuracy as the existing Da Vinci surgical robot, the actuator 30 can carry a larger load, so it can complete more complex tasks surgery. In addition, during the surgical operation, the actuator 30 can swing with the telecentric fixed point as the swing center, so it is only necessary to open a tiny wound on the surface of the patient's skin for the actuator 30 to pass through. Small, quick recovery after surgery.

The first telescopic element 23 is preferably an electric cylinder. Preferably, in order to make the surgical robotic arm 100 miniaturized, the electric cylinder is a small electric cylinder, as long as it can drive the load movement in the operation.

The sensor 42 in this embodiment is installed on the first movable platform 22 or in a device in the surgical robotic arm 100 that is relatively located at the front end of the first movable platform 22.

It should be noted that the sensor 42 is installed in a device in the surgical robotic arm 100 that is relatively located at the front end of the first moving platform 22 , which means that the installation position of the sensor 42 is located at a position of the first moving platform 22 that is relatively far from the preoperative positioning assembly 10 . The side, ie the sensor 42 , can be mounted on the rod body of the actuator rod 31 or directly on the surgical instrument 32 .

At this time, relative to the surgical instrument 32 , the sensor 42 will not be disturbed by the orbiting of the first telescopic element 23 when the first telescopic element 23 is stretched, and the measurement accuracy is greatly improved.

Please also refer to FIG. 3 . FIG. 3 is a schematic block diagram of some components of the surgical robotic arm 100 shown in FIG. 1 . The rotary driving member 41 is installed on the first moving platform 22 , and the sensor 42 is installed on the rotary driving member 41 . At this time, the rotary driving member 41 can drive the sensor 42 , the execution rod 31 and the surgical instrument 32 along the axial direction of the execution rod 31 relative to the first. A moving platform 22 rotates synchronously.

The rotation driver 41 and the sensor 42 are selectively installed on the first moving platform 22, which can provide great convenience for the installation of the rotation driver 41 and the sensor 42. Compared with the sensor 42 installed in the surgical robotic arm 100, it is relatively located in the first The solution of the device at the front end of the moving platform 22 greatly reduces the installation accuracy.

Further, the surgical robotic arm 100 further includes a control driver 43 for driving the surgical instrument 32 to move, and the control driver 43 is used to control the surgical instrument 32 to swing or bite; at this time, the execution rod 31 is mounted on the control driver 43 , the control driver 43 is installed on the sensor 42; when the rotation driver 41 drives the execution rod 31 and the surgical instrument 32 to rotate synchronously along the axial direction of the execution rod 31, the control driver 43 will synchronize with the driving execution rod 31 and the surgical instrument 32 make a turn.

At this time, the sensor 42 detects the environmental force and/or environmental moment received by the surgical instrument 32 by detecting the overall mechanical state formed by the actuator rod 31 and the control driver 43 .

In this way, the synchronous rotation of the control driver 43 and the sensor 42 will greatly benefit the installation requirements of the sensor 42. The sensor 42 does not need to be accurately positioned, and only needs to ensure the coupling between the sensor 42 and the control driver 43 on the measurement surface. , compared with the coupling between the sensor 42 and the actuator rod 31 , the precision requirement for assembly is greatly reduced.

Further, the surgical robotic arm 100 further includes an installation platform 50, the control driver 43 is connected to the sensor 42, and the sensor is fixedly installed on the installation platform 50; at this time, the rotation driver 41 is connected to the installation platform 50 and can drive the installation platform 50 to rotate, As a result, the installation sensor 42 , the control driver 43 , the execution rod 31 and the surgical instrument 32 are driven to rotate synchronously along the axial direction of the execution rod 31 in an integral motion manner.

At this time, the installation platform 50 will provide great convenience in the installation of the sensor 42, which is beneficial to the improvement of the convenience during installation.

Further, the rotational driving member 41 and the installation platform 50 are respectively located on two sides of the first moving platform 22 . At this time, the rotating driving member 41 and the installation platform 50 can be separately arranged on two sides of the first moving platform 22, which is beneficial to maintain the center of gravity of the first moving platform 22 during the movement process, and greatly improves the movement stability.

Of course, in other embodiments, the rotational driving member 41 and the installation platform 50 may also be located on the same side of the first moving platform 22, that is, the installation platform 50 is installed on the rotational driving member 41, and the rotational driving member 41 is then installed on the first moving platform 22. on a moving platform 22.

Further, the first moving platform 22 is provided with an avoidance hole (not shown in the figure), the rotating drive member 41 is a motor, and the motor shaft of the rotating drive member 41 extends into the inside of the avoidance hole and is connected to the installation platform 50, thereby realizing the rotating drive member. 41 Rotational drive of the mounting platform 50.

Further, the number of control driving members 43 is at least three, and two of the three control driving members 43 are used to control the deflection (swing) of the surgical instrument 32 in two different directions staggered, that is, the two control The driving member 43 is a control element for the swinging motion of the surgical instrument 32 ; one of the three control driving members 43 is used to control the surgical instrument 32 to open and close.

Further, the three control driving members 43 are arranged in the form of an equilateral triangle, that is, an equilateral triangle is formed between each center of the three control driving members 43, and the axial direction of the execution rod 31 passes through the equilateral triangle. The center of an equilateral triangle.

At this time, the three control drivers 43 will be arranged with the axial direction of the actuator rod 31 as the center, and the positional distribution design among the three can maintain the dynamic balance performance during the movement.

In order to improve the stability of the surgical robotic arm 100, in an embodiment of the present invention, the plurality of rotational connection points 24 between each of the first telescopic elements 23 and the first moving platform 22 are arranged in a circle, and each of the first telescopic elements 23 and the rotational connection point 24 between the static platform 21 are arranged in a circle; the circular diameter formed by the rotational connection point 24 on the static platform 21 is surrounded by the rotational connection point 24 on the first moving platform 22 Set the diameter of the circle formed by 1 to 2 times.

In this way, the first movable platform 22 has less vibration during the movement relative to the static platform 21 , and the total amount of errors between the first telescopic elements 23 can compensate each other, thereby improving the stability of the surgical robotic arm 100 .

It can be understood that the cross-sections of the static platform 21 and the first moving platform 22 in the radial direction can be circular, polygonal, or other irregular shapes, as long as the multiple rotations of the first telescopic elements 23 are satisfied. The connection point 24 may be arranged on the static platform 21 and the first moving platform 22 in a circle.

In order to further improve the stability of the surgical robotic arm 100 , in an embodiment of the present invention, the circular diameter formed by the rotating connection points 24 on the static platform 21 is the diameter of a circle located on the first moving platform 22 . 1.7 times the diameter of the circle formed by the connection point 24.

In this way, the first moving platform 22 has minimal vibration during the movement relative to the static platform 21, and at the same time, the space volume occupied by the first moving platform 22 and the static platform 21 can be relatively compressed. Has the most balanced combination.

In order to realize the rotational connection between the first telescopic element 23 and the first movable platform 22 and the static platform 21, in one embodiment of the present invention, both ends of the first telescopic element 23 are respectively provided with spherical joints and Hooker joints. Hinged joint 241; the first telescopic element 23 is connected to one of the static platform 21 and the first moving platform 22 through a ball joint, and is connected to the other of the static platform 21 and the first moving platform 22 through a Hooke hinge joint 241. one.

In this way, the two ends of the first telescopic element 23 can be respectively connected with the first movable platform 22 and the static platform 21 in rotation, and the connection performance of the first telescopic element 23 is better. The operating principle is as follows: the ball joint has three degrees of freedom, the Hooke joint 241 has two degrees of freedom, and the ball joint and the Hooke joint 241 are respectively arranged at both ends of the first telescopic element 23, so that the first The moving platform 22 can realize six degrees of freedom of movement.

In order to take into account the cost on the basis of realizing the rotational connection between the first telescopic element 23 and the first movable platform 22 and the static platform 21 , in an embodiment of the present invention, the surgical robotic arm 100 further includes a cylinder liner 242 . 242 is sleeved and rotatably connected to the first telescopic element 23; the end of the cylinder liner 242 that is relatively far away from the first telescopic element 23 and the end of the first telescopic element 23 that is relatively far away from the cylinder liner 242 are respectively provided with Hooke hinge joints 241 One of the cylinder liner 242 and the first telescopic element 23 is connected to the first moving platform 22 through the corresponding Hook hinge joint 241; A g hinge joint 241 is connected to the static platform 21 .

In this way, the first telescopic element 23 can realize the power transmission between the first moving platform 22 and the static platform 21 through the Hooker hinge joint 241 with low manufacturing difficulty and low cost, and it is not necessary to set up a ball joint that is expensive and easily damaged. head, has a better cost-effective advantage. The operating principle is as follows: the Hooke hinge joints 241 at both ends of the first telescopic element 23 have two degrees of freedom, and the cylinder liner 242 has one degree of freedom, which is more capable of realizing the telescopic movement of the first telescopic element 23 in the axial direction, so that the The first moving platform 22 can realize the movement of six degrees of freedom.

It can be understood that in other embodiments, other joints can also be used to realize the connection between the first telescopic element 23 and the first moving platform 22 and the static platform 21, as long as the first moving platform 22 can have a certain The degree of freedom is only required to be able to drive the execution assembly 30 to complete the surgical operation.

In order to improve the movement stability of the surgical robotic arm 100 , in an embodiment of the present invention, the number of the first telescopic elements 23 is six, and each rotational connection point between the first telescopic element 23 and the first moving platform 22 24 are spaced apart from each other; and the rotational connection points 24 between the first telescopic element 23 and the static platform 21 are also spaced apart from each other.

In this way, by adopting the distribution form of the spaced rotational connection points 24 , the vibration interference between the first telescopic elements 23 is reduced, and the motion stability of the surgical robotic arm 100 can be further improved. In addition, when the six first telescopic elements 23 drive the first moving platform 22 to move, not only can the first moving platform 22 move in all directions, but also the redundant kinematics analysis will not slow down the calculation speed.

It can be understood that, in other embodiments, the number of the first telescopic elements 23 can also be three, four, five, or even more, as long as the first moving platform 22 can drive the execution assembly 30 to complete the surgical operation That's it.

Please also refer to FIG. 4 . FIG. 4 is a schematic structural diagram of the telecentric control assembly 20 shown in FIG. 1 from a top view. In order to further improve the motion stability of the surgical robotic arm 100 and facilitate the realization of kinematics analysis, in an embodiment of the present invention, the rotation connection points 24 between the first telescopic element 23 and the first moving platform 22 are In the nearest way, they are paired in pairs; and each group of the same pair of two rotational connection points 24 and the center of the first moving platform 22 respectively form a first included angle α, and each first included angle α are equal in size.

There are six rotational connection points 24 between the first telescopic element 23 and the first moving platform 22, which are respectively marked as M ₁ to M ₆ ; these six rotational connection points 24 are combined in a nearby manner, that is, the two closest The rotating connection points 24 are paired to form three pairs of M ₁ and M ₂ , M ₃ and M ₄ , and M ₅ and M ₆ . Each pairing relationship, that is, every two rotational connection points 24 forms a first included angle α with the center of the first moving platform 22 , and the angles of the three first included angles α are equal.

At this time, the first telescopic elements 23 will be symmetrically distributed on the first moving platform 22 , which is beneficial to improve the movement stability of the surgical robotic arm 100 .

Preferably, the angle range of the first included angle α is 15° to 60°. At this time, the included angle range between the first telescopic element 23 and each rotational connection point 24 of the first moving platform 22 is within a preferable range, which is not only conducive to ensuring the stability of motion, but also can pass a relatively suitable angle range. It is convenient to realize the motion analysis of the telescopic amount of each first telescopic element 23 .

In order to further improve the movement stability of the surgical robotic arm 100, the rotation connection points 24 between the first telescopic element 23 and the static platform 21 are paired in pairs in a close manner; the two rotation connection points 24 of the same pair are A second included angle β is formed between the centers of the static platforms 21 correspondingly, and the magnitudes of the second included angles β are equal.

There are six rotational connection points 24 between the first telescopic element 23 and the static platform 21, which are marked as S ₁ to S ₆ respectively; these six rotational connection points 24 are combined in a nearby manner, that is, the two closest rotational connections A pair of points 24 is matched to form three sets of pairing relationships of S ₁ and S ₂ , S ₃ and S ₄ , and S ₅ and S ₆ . Each pairing relationship, that is, every two rotational connection points 24 forms a second included angle β with the center of the static platform 21 , and the angles of the three second included angles β are equal.

At this time, the first telescopic elements 23 will be symmetrically distributed on the static platform 21, which is beneficial to the improvement of the movement stability of the surgical robotic arm 100.

Preferably, the angle range of the second included angle β is 60° to 105°.

At this time, the included angle range between the first telescopic element 23 and each rotational connection point 24 of the static platform 21 is within a preferred range, which is not only conducive to ensuring the stability of motion, but also facilitates the realization of a relatively suitable angle range. Analyze the telescopic motion of each first telescopic element 23 .

Preferably, the paired manner of each rotational connection point 24 of the first telescopic element 23 on the static platform 21 is staggered from the paired manner of each rotational connection point 24 of the corresponding first telescopic element 23 on the first moving platform 22, That is, the same pair of rotational connection points 24 of the first telescopic element 23 on the static platform 21 are not paired with the corresponding two rotational connection points 24 of the first telescopic element 23 on the first moving platform 22 .

The present invention also provides a surgical robot, including the above-mentioned surgical mechanical arm 100 . The surgical robot provided by the present invention can detect the mechanical feedback of the surgical instrument 32 acting on the human tissue by using the above-mentioned surgical mechanical arm 100, and provide feedback of the mechanical data for the doctor's surgical operation, thereby increasing the relationship between the doctor and the human body. The information interaction of the organization, the surgical robot provided by the utility model has a wide application prospect.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

Those of ordinary skill in the art should realize that the above embodiments are only used to illustrate the present invention, but not to limit the present invention. Appropriate changes and changes of the invention all fall within the scope of protection of the present invention.

Claims (10)

1. A surgical robotic arm (100), characterized in that it comprises a preoperative setting assembly (10), an executing assembly (30), and a preoperative setting assembly (10) and the executing assembly (30) A telecentric manipulation assembly (20) between ), the execution assembly (30) includes an execution rod (31) and a surgical instrument disposed at one end of the execution rod (31) relatively far away from the telecentric manipulation assembly (20) (32); A sensor (42) is provided on the telecentric control assembly (20); the sensor (42) is disposed between the execution rod (31) and the telecentric control assembly (20), and is used to detect the Environmental forces and/or environmental moments to which the surgical instrument (32) is subjected. 2 . The surgical robotic arm ( 100 ) according to claim 1 , wherein the telecentric control assembly ( 20 ) is further provided with a rotary driving member ( 41 ), and the rotary driving member ( 41 ) is connected to the One end of the execution rod (31) relatively close to the telecentric control assembly (20) and capable of driving the execution rod (31) and the surgical instrument (32) along the axial direction of the execution rod (31) synchronous rotation; The telecentric control assembly (20) includes a static platform (21) and a first moving platform (22) connected to the static platform (21) and capable of moving relative to the static platform (21); the static platform (21) 21) is connected to the preoperative positioning assembly (10), and the first moving platform (22) is connected to the execution rod (31); The sensor (42) is installed in the first moving platform (22) or a device in the surgical robotic arm (100) relatively located at the front end of the first moving platform (22). 3. The surgical robotic arm (100) according to claim 2, characterized in that, the rotational driving member (41) is mounted on the first moving platform (22), and the sensor (42) is mounted on the first moving platform (22) On the rotational driving member (41), the rotational driving member (41) can drive the sensor (42), the execution rod (31) and the surgical instrument (32) to all move along the execution rod (31) The axis rotates synchronously. 4. The surgical robotic arm (100) according to claim 3, wherein the surgical robotic arm (100) further comprises a control driving member (43) for driving the surgical instrument (32) to move, wherein the The actuator rod (31) is mounted on the control driver (43), and the control driver (43) is mounted on the sensor (42); the rotation driver (41) can drive the sensor (41). 42), the control driver (43), the execution rod (31) and the surgical instrument (32) rotate synchronously along the axial direction of the execution rod (31); The sensor (42) obtains the environmental force and/or the environmental torque of the surgical instrument (32) by detecting the overall force state of the execution rod (31) and the control driver (43). 5. The surgical manipulator (100) according to claim 4, characterized in that, the surgical manipulator (100) further comprises a mounting platform (50) connected to the rotation driving member (41), the control The driving member (43) is connected to the sensor (42), and the sensor (42) is mounted on the installation platform (50); the rotation driving member (41) drives the installation platform (50) to rotate, to drive the sensor (42), the control driver (43), the execution rod (31) and the surgical instrument (32) to rotate synchronously along the axial direction of the execution rod (31). 6. The surgical robotic arm (100) according to claim 2, wherein a plurality of first telescopic elements (23) are arranged between the first moving platform (22) and the static platform (21) , both ends of each of the first telescopic elements (23) are respectively rotatably connected to the static platform (21) and the first moving platform (22); the first telescopic element (23) is connected to the The rotational connection points (24) between the first moving platforms (22) are spaced apart from each other; and the rotational connection points (24) between the first telescopic element (23) and the static platform (21) They are also spaced apart from each other. 7. The surgical robotic arm (100) according to claim 6, characterized in that, between the first telescopic element (23) and each rotational connection point (24) of the first moving platform (22) The nearest method is paired in pairs, and a first included angle α is formed correspondingly between the two rotating connection points (24) of the same pair in each group and the center of the first moving platform (22). An included angle α is equal in size. 8. The surgical robotic arm (100) according to claim 7, characterized in that, between the first telescopic element (23) and each rotational connection point (24) between the static platform (21) The nearest way is paired in pairs, and a second angle β is formed between the two rotating connection points (24) of the same pair in each group and the center of the static platform (21). The angles β are equal in size. 9. The surgical robotic arm (100) according to claim 4, characterized in that, the number of the control driving parts (43) is at least three; wherein, two of the control driving parts (43) are used to control The surgical instrument (32) swings in two different directions staggered, and the remaining one control driver (43) is used to control the surgical instrument (32) to open and close. 10. A surgical robot, comprising a surgical robotic arm, wherein the surgical robotic arm is the surgical robotic arm (100) according to any one of claims 1 to 9.

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