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CN-121987347-A - Mechanical arm for surgical robot and surgical robot

CN121987347ACN 121987347 ACN121987347 ACN 121987347ACN-121987347-A

Abstract

The invention discloses a mechanical arm for a surgical robot and the surgical robot, wherein the mechanical arm comprises a base, a first connecting arm, a moving arm, a first rotating joint, a second connecting arm, a second rotating joint, a telecentric control assembly and an end effector which are sequentially connected, the moving arm can move along the length direction of the first connecting arm, one end of the second connecting arm is rotatably connected with the moving arm through the first rotating joint, the other end of the second connecting arm is rotatably connected with the telecentric control assembly through the second rotating joint, the end effector is arranged at the end part of the telecentric control assembly, and the surgical robot comprises the mechanical arm. The mechanical arm and the operation robot realize deflection of the end effector through rotation of the two rotation centers, the movement of the mechanical arm is more flexible, a larger movement range is provided, and the operation instrument can be ensured to normally move to an initial position.

Inventors

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

Assignees

  • 诺孚泰智能科技(成都)有限公司

Dates

Publication Date
20260508
Application Date
20241031

Claims (12)

  1. 1. The mechanical arm for the surgical robot is characterized by comprising a base, a first connecting arm, a moving arm, a first rotating joint, a second connecting arm, a second rotating joint, a telecentric control assembly and an end effector which are connected in sequence; the movable arm can move along the length direction of the first connecting arm, one end of the second connecting arm is rotatably connected with the movable arm through a first rotating joint, the other end of the second connecting arm is rotatably connected with the telecentric control assembly through a second rotating joint, and the end effector is arranged at the end part of the telecentric control assembly.
  2. 2. The mechanical arm for a surgical robot according to claim 1, further comprising a third rotational joint and a third connecting arm, one end of the third connecting arm being rotatably connected to the moving arm through the third rotational joint, and the other end of the third connecting arm being rotatably connected to the second connecting arm through the first rotational joint.
  3. 3. The mechanical arm for a surgical robot according to claim 2, wherein the third rotational joint is directly connected to the third connecting arm, the third connecting arm is directly connected to the first rotational joint, the first rotational joint is directly connected to the second connecting arm, the second connecting arm is directly connected to the second rotational joint, and the second rotational joint is directly connected to the telecentric manipulation assembly.
  4. 4. The mechanical arm for a surgical robot according to claim 2, wherein an angle between the rotational axis of the third rotational joint and the rotational axis of the first rotational joint is 90 degrees.
  5. 5. The mechanical arm for a surgical robot according to claim 1, wherein an angle is formed between a longitudinal direction and a vertical direction of the first connecting arm.
  6. 6. The mechanical arm for a surgical robot according to any one of claims 1 to 5, wherein the telecentric manipulation assembly has a first end at which the end effector is disposed and a second end at which the end effector is remote from the telecentric manipulation assembly, and wherein the connection point of the second rotational joint to the telecentric manipulation assembly is located between the first end and the second end.
  7. 7. The mechanical arm for a surgical robot according to any one of claims 1 to 5, wherein the telecentric manipulation assembly comprises a stationary platform, a movable platform and a plurality of telescopic elements arranged between the stationary platform and the movable platform, wherein one side of the movable platform, which is relatively far away from the stationary platform, is fixedly connected to an end effector, and two ends of each telescopic element are respectively and rotatably connected to end surfaces of the stationary platform and the movable platform; And the connection point of the second rotating joint and the telecentric control assembly is positioned on the static platform.
  8. 8. The mechanical arm for a surgical robot according to claim 7, wherein the connection point of the second rotational joint and the telecentric manipulation assembly is located at a side surface of the stationary platform, the side surface of the stationary platform being a surface located in a circumferential direction of the stationary platform between two end surfaces of the stationary platform.
  9. 9. The robotic arm for a surgical robot of claim 8, wherein the connection point of the second revolute joint to the telecentric handle assembly is disposed laterally of the stationary platform between the connection points of the two telescoping elements to the stationary platform.
  10. 10. The robotic arm for a surgical robot of claim 9, wherein the connection point of the second revolute joint to the telecentric handle assembly is disposed at an intermediate position between the connection points of the two telescoping elements to the stationary platform, laterally of the stationary platform.
  11. 11. The robotic arm for a surgical robot of claim 10, wherein an electrical box is provided on an end of the telecentric manipulator assembly remote from the end effector.
  12. 12. Surgical robot, characterized by comprising a robotic arm for a surgical robot according to any of claims 1-11.

Description

Mechanical arm for surgical robot and surgical robot Technical Field The invention relates to the technical field of medical instruments, in particular to a mechanical arm for a surgical robot and the surgical robot. Background The prior surgical robot needs to determine the initial position of the surgical instrument before performing surgery, namely, after the surgical instrument passes through an RCM point (the RCM point is a fixed point in the surgical process, the surgical instrument can only make cone motion around the point or stretch along the point) and enters a human body, the surgical instrument needs to swing so that the surgical instrument can be acquired by an endoscope lens, and the initial position of the surgical instrument is determined at the moment. It is necessary to ensure that the instrument shaft of the surgical instrument moves around the RCM site during this procedure, which would otherwise cause injury to the patient. As shown in fig. 1, in the prior art surgical robot, in this embodiment, the base 11 is connected to the end effector through a first connecting arm 21, a moving arm 22, a second connecting arm 23, a telescopic arm 24, a rotating joint 25, and a telecentric control assembly 26 in sequence. In the process of determining the initial position of the surgical robot, besides the swing of the end effector driven by the rotary joint 25, in order to ensure that the instrument rod of the surgical instrument moves around the RCM point, the telescopic arm 24 is required to be telescopic and the moving arm 22 is required to slide. The disadvantage of this solution is that the surgical instrument may not be able to move to its initial position due to the limited extension and retraction range of the extension and retraction arm 24. Disclosure of Invention In order to solve the defects in the prior art, the invention provides the mechanical arm for the surgical robot and the surgical robot, the action tail ends of the mechanical arm and the surgical robot realize deflection of the end effector through rotation of two rotation centers, the movement of the mechanical arm is more flexible, the mechanical arm has a larger movement range, and the surgical instrument can be ensured to normally move to an initial position. In order to achieve the above purpose, the invention adopts the following technical scheme: In one aspect, the invention provides a mechanical arm for a surgical robot, comprising a base, a first connecting arm, a moving arm, a first rotating joint, a second connecting arm, a second rotating joint, a telecentric control assembly and an end effector which are sequentially connected; the movable arm can move along the length direction of the first connecting arm, one end of the second connecting arm is rotatably connected with the movable arm through a first rotating joint, the other end of the second connecting arm is rotatably connected with the telecentric control assembly through a second rotating joint, and the end effector is arranged at the end part of the telecentric control assembly. In the invention, the movement of the end effector is realized by the joint action of the movement of the moving arm in the length direction of the first connecting arm, the rotation of the second connecting arm on the moving arm through the first rotating joint and the rotation of the telecentric control assembly on the second connecting arm through the second rotating joint, after the end effector enters a human body through the RCM point, the end effector needs to swing to enter an initial position, and the deflection of the end effector is realized through the rotation of the second connecting arm and the telecentric control assembly. In a further technical scheme, the device further comprises a third rotating joint and a third connecting arm, one end of the third connecting arm is rotatably connected with the moving arm through the third rotating joint, and the other end of the third connecting arm is rotatably connected with the second connecting arm through the first rotating joint. By providing a third rotational joint and a third connecting arm, the flexibility of movement of the end effector is further increased. In a further technical scheme, a connection mode that the first rotating joint and the second rotating joint are directly connected without a third-party connecting piece is defined as direct connection, the third rotating joint is directly connected with a third connecting arm, the third connecting arm is directly connected with a first rotating joint, the first rotating joint is directly connected with a second connecting arm, the second connecting arm is directly connected with a second rotating joint, and the second rotating joint is directly connected with a telecentric control assembly. The third rotary joint is directly connected with the telecentric control assembly, so that the structure is compact. In a further technical scheme, the included angle betwee