CN-121971176-A - Mechanical arm and medical trolley

Abstract

The application relates to a mechanical arm and a medical trolley. The device comprises a first arc-shaped joint, a second arc-shaped joint and a virtual motion center, wherein the first arc-shaped joint is provided with a first arc track, the first arc-shaped joint is provided with a first central axis perpendicular to the plane where the first arc-shaped track is located, the first arc-shaped joint comprises a first arc-shaped arm and a second arc-shaped arm, the second arc-shaped arm is movably connected with the first arc-shaped arm along the first arc-shaped track, the second arc-shaped joint is provided with a second central axis perpendicular to the plane where the second arc-shaped track is located, the second central axis intersects with the first central axis at the virtual motion center, and the second arc-shaped joint is movably connected with the second arc-shaped arm along the second arc-shaped track. The motion center can be ensured to be unchanged, the stability of the motion center control can be improved, and the error of the motion center control can be reduced.

Inventors

• Request for anonymity
• Request for anonymity
• Request for anonymity

Assignees

• 上海微创医疗机器人（集团）股份有限公司

Dates

Publication Date

20260505

Application Date

20260408

Claims (20)

1. 1. A robotic arm, comprising: The first arc-shaped joint comprises a first arc-shaped arm and a second arc-shaped arm, wherein the second arc-shaped arm is movably connected with the first arc-shaped arm along the first arc-shaped track, and the second arc-shaped arm is linked with the first arc-shaped arm under the condition that the first arc-shaped arm moves along the first arc-shaped track; The second arc-shaped joint is provided with a second arc-shaped track, the second arc-shaped joint is provided with a second central axis perpendicular to the plane where the second arc-shaped track is located, the second central axis intersects with the first central axis at a virtual movement center, and the second arc-shaped joint is movably connected with the second arc-shaped arm along the second arc-shaped track.
2. 2. The robotic arm of claim 1, further comprising a suspension rotational joint having an axis of rotation, the first arcuate arm being movably coupled to the suspension rotational joint along the first arcuate path; The first central axis intersects the rotational axis at the virtual center of motion, and the second central axis intersects the rotational axis at the virtual center of motion.
3. 3. The robotic arm of claim 2, wherein the second arcuate arm is coupled to the first arcuate arm with the first arcuate arm rotating relative to the suspension rotational joint along the first arcuate path and the direction of movement of the second arcuate arm is the same as the direction of movement of the first arcuate arm.
4. 4. The robotic arm of claim 2, further comprising a first slide assembly, a portion of the first slide assembly being coupled to the first arcuate arm and another portion of the first slide assembly being coupled to the second arcuate arm along the first arcuate path; And/or the number of the groups of groups, The mechanical arm further comprises a second sliding component, along the first arc track, a part of the second sliding component is connected with the first arc arm, and the other part of the second sliding component is connected with the suspension rotary joint.
5. 5. The robotic arm of claim 4, wherein the first slide assembly comprises: A first guide rail connected to one of the first arc arm and the second arc arm along the first arc track; The first sliding block is connected with the other one of the first arc-shaped arm and the second arc-shaped arm, and the first sliding block is in sliding connection with the first guide rail.
6. 6. The robotic arm of claim 4, wherein the second slide assembly comprises: the second guide rail is connected with the first arc-shaped arm along the first arc-shaped track; the second sliding block is connected with the suspension rotary joint and is in sliding connection with the second guide rail.
7. 7. The robotic arm of any one of claims 2-6, further comprising a first drive assembly having an output coupled to a first arcuate joint, the first drive assembly configured to drive the first arcuate joint along the first arcuate trajectory relative to the suspended rotational joint.
8. 8. The robotic arm of claim 7, wherein the first drive assembly comprises: the first driving piece is arranged on the suspension rotary joint; the first transmission piece is connected with the output end of the first driving piece, the first transmission piece is connected with the first arc-shaped arm and the second arc-shaped arm, and the first transmission piece drives the first arc-shaped arm and the second arc-shaped arm to link along the first arc track.
9. 9. The mechanical arm of claim 8, wherein the first transmission member comprises: the first driving wheel is connected with the output end of the first driving piece; the flexible piece is wound on the first driving wheel, the flexible piece is connected with one end, far away from the second arc-shaped joint, of the first arc-shaped arm, and the flexible piece drives the second arc-shaped arm to move relative to the first arc-shaped arm under the condition that the flexible piece drives the first arc-shaped arm to move relative to the suspension joint.
10. 10. The mechanical arm of claim 9, wherein the first transmission member further comprises a driven wheel rotatably disposed at a first end of the second arcuate arm, and wherein the flexible member is disposed around the first driving wheel and the driven wheel.
11. 11. The mechanical arm of claim 10, wherein a first reversing wheel is disposed at an end of the first arc arm adjacent to the second arc joint, and the flexible member comprises: One end of the first sub-flexible piece is connected with one end of the first arc-shaped arm far away from the second arc-shaped joint, and the other end of the first sub-flexible piece is wound on the first driving wheel; The first reversing wheel is arranged on the first driving wheel, the second reversing wheel is arranged on the second reversing wheel, one end of the second reversing wheel is arranged on the first driving wheel in a winding mode, and the winding direction of the second reversing wheel is opposite to the winding direction of the first reversing wheel.
12. 12. The mechanical arm of claim 11, wherein the flexible member further comprises a third sub-flexible member, one end of the third sub-flexible member is connected to one end of the first arc-shaped arm away from the second arc-shaped joint, the other end of the third sub-flexible member is wound around the driven wheel, and a winding direction of the third sub-flexible member is opposite to the second sub-flexible member.
13. 13. The mechanical arm according to claim 11, wherein the rotating shaft sleeve of the driven wheel is provided with a torsion member, one end of the torsion member is in transmission connection with the driven wheel, and the other end of the torsion member is connected with the second arc-shaped arm.
14. 14. The robotic arm of claim 9, wherein the flexible member further comprises: The first driving wheel is arranged on the first side of the first arc-shaped arm, and the first driving wheel is arranged on the second side of the first arc-shaped arm.
15. 15. The mechanical arm of claim 14, wherein the first arcuate arm is rotatably provided with a second reversing wheel, and wherein the flexible member further comprises: One end of the fifth sub-flexible piece is connected with the suspension rotary joint, and the other end of the fifth sub-flexible piece bypasses one end of the first arc-shaped arm far away from the second arc-shaped joint and the second reversing wheel and is connected with one end of the second arc-shaped arm close to the second arc-shaped joint; The one end of the sixth sub-flexible piece is connected with the suspension rotary joint, and the other end of the sixth sub-flexible piece bypasses one end of the first arc-shaped arm, which is close to the second arc-shaped joint, and the second reversing wheel, and is connected with one end of the second arc-shaped arm, which is far away from the second arc-shaped joint.
16. 16. The mechanical arm according to any one of claims 1 to 6, further comprising a telescopic joint provided to one of the first arc-shaped joint and the second arc-shaped joint, wherein a telescopic direction of the telescopic joint coincides with the second central axis; the telescopic joint is provided with a stamping card, and the stamping card is positioned on the second central axis.
17. 17. The robotic arm of claim 16, wherein the telescopic joint comprises: the telescopic direction of the telescopic main body is consistent with the second central axis; the connecting piece, the connecting piece with flexible main part is connected, just the extending direction of connecting piece with flexible direction of flexible main part is crossing, stab the card connect in the connecting piece is kept away from flexible main part's one end.
18. 18. The robotic arm of claim 17, wherein the telescoping body comprises: the linear guide rail is connected with one of the first arc-shaped joint and the second arc-shaped joint, and the extending direction of the linear guide rail is consistent with the second central axis; The telescopic base is in sliding connection with the linear guide rail, and the connecting piece is connected with the telescopic base; The second driving assembly is arranged on the telescopic base and used for driving the telescopic base to move along the linear guide rail.
19. 19. The robotic arm of claim 17, wherein the telescopic joint further comprises: The handle is sleeved on the periphery of the connecting piece, The sensor is arranged on the connecting piece and is connected with the handle.
20. 20. The mechanical arm of claim 16, wherein the telescopic joint is disposed on the second arcuate arm, and the telescopic joint is disposed at an end of the second arcuate arm remote from the second arcuate joint.

Description

Mechanical arm and medical trolley Technical Field The application relates to the technical field of medical equipment, in particular to a mechanical arm and a medical trolley. Background With the development of medical technology, a surgical robot may perform a complicated surgical operation in a minimally invasive manner, and the surgical robot may include a master control end, a slave control end, and a surgical instrument mounted to the slave control end. The doctor can send out control commands to the slave control end at the master control end, and the slave control end controls the surgical instruments to move according to the control commands, so that the surgical operation is performed on the patient. In the related art, the slave control end generally includes a robot arm having a plurality of moving parts connected in sequence, and one moving part at the distal end is connected to a power box, which is connected to a surgical instrument. Two adjacent moving parts are constructed to form a joint. The positions and the postures of the remote surgical instruments are adjusted through the joint linkage, so that the surgical instruments always keep moving around a movement center, and the movement center is an incision area of the body surface of a patient. However, in the related art, the joint linkage adjusts the pose of the surgical instrument, the linkage coordination is complex, the control stability of the movement center is poor, and the control error is larger. Disclosure of Invention Based on the above, the embodiment of the application provides the mechanical arm and the medical trolley, which can ensure that the movement center is unchanged in the process of linkage movement or independent movement of each joint of the mechanical arm, can improve the stability of movement center control and reduce the error of movement center control. In one aspect, an embodiment of the present application provides a mechanical arm, including: The first arc-shaped joint comprises a first arc-shaped arm and a second arc-shaped arm, wherein the second arc-shaped arm is movably connected with the first arc-shaped arm along the first arc-shaped track, and the second arc-shaped arm is linked with the first arc-shaped arm under the condition that the first arc-shaped arm moves along the first arc-shaped track; The second arc-shaped joint is provided with a second arc-shaped track, the second arc-shaped joint is provided with a second central axis perpendicular to the plane where the second arc-shaped track is located, the second central axis intersects with the first central axis at a virtual movement center, and the second arc-shaped joint is movably connected with the second arc-shaped arm along the second arc-shaped track. In one implementation, either one of the first arcuate track and the second arcuate track is a circular arc track. In one implementation, the robotic arm further includes a suspension revolute joint having a rotational axis, the first arcuate arm being movably connected to the suspension revolute joint along a first arcuate trajectory; the first central axis intersects the rotation axis at a virtual center of motion, and the second central axis intersects the rotation axis at a virtual center of motion. In one implementation, the second arc arm is linked with the first arc arm and the movement direction of the second arc arm is the same as the movement direction of the first arc arm under the condition that the first arc arm rotates relative to the suspension rotation joint along the first arc track. In one implementation, the mechanical arm further includes a first sliding component, a portion of which is connected to the first arc-shaped arm along a first arc-shaped trajectory, and another portion of which is connected to the second arc-shaped arm. In one implementation, a first slide assembly includes: The first guide rail is connected with one of the first arc-shaped arm and the second arc-shaped arm along the first arc-shaped track; and the first sliding block is connected with the other one of the first arc-shaped arm and the second arc-shaped arm and is in sliding connection with the first guide rail. In one implementation, the first rail is fixedly connected with the first arc-shaped arm; Along first arc orbit, the second arc arm has first end and second end, and first end and first slider fixed connection, second end and second arc joint connection. In one implementation, the first rail is connected to the second arcuate arm, and the first slider is located at an end of the first arcuate arm near the second arcuate joint along the first arcuate path. In one implementation, the robotic arm further includes a second slide assembly, a portion of which is coupled to the first arcuate arm along a first arcuate path, and another portion of which is coupled to the suspension rotational joint. In one implementation, the second slide assembly includes: the second guide rail is connected with