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CN-121987356-A - Surgical mechanical arm with multiple degrees of freedom

CN121987356ACN 121987356 ACN121987356 ACN 121987356ACN-121987356-A

Abstract

The invention relates to the technical field of medical equipment, in particular to a surgical mechanical arm with multiple degrees of freedom, which comprises a main control console, wherein a base is fixedly arranged on the top surface of the main control console, a support column is fixedly arranged on the top surface of the base, the top end of the support column is rotationally connected with a first mechanical arm through a bearing, the top end of the first mechanical arm is hinged with a second mechanical arm, the top end of the second mechanical arm is fixedly provided with a telescopic arm, the operating end of the telescopic arm is fixedly provided with an adjusting execution assembly, the flexible adjusting arm consisting of a universal joint serial annular support in the adjusting execution assembly effectively improves the capacity of adjusting the spatial freedom degree of an actuator, and further breaks through the limitation of the movement of the traditional rigid surgical instrument in a narrow cavity, so that the mechanical arm can bypass a complex anatomical structure, stably reach a hidden operation area in a flexible track, and provide a wider operation visual field and depth touch capability for complex minimally invasive surgery by matching with an endoscope.

Inventors

  • LI LIFENG
  • CHEN XIAONI
  • HU XIAOYI
  • XING XIAOTAO
  • HOU XIAORU
  • CUI JIANGTAO

Assignees

  • 西安交通大学口腔医院

Dates

Publication Date
20260508
Application Date
20260324

Claims (8)

  1. 1. The surgical mechanical arm with the multiple degrees of freedom comprises a main control table (1) and is characterized in that a base (2) is fixedly arranged on the top surface of the main control table (1), a support column (3) is fixedly arranged on the top surface of the base (2), a first mechanical arm (4) is rotatably connected to the top end of the support column (3) through a bearing, a second mechanical arm (5) is hinged to the top end of the first mechanical arm (4), a telescopic arm (6) is fixedly arranged on the top end of the second mechanical arm (5), a high-precision encoder and a force feedback sensor are integrated in a joint cavity connected with the telescopic arm and the telescopic arm, and an adjusting execution assembly (7) is fixedly arranged at the operating end of the telescopic arm (6); The adjusting execution assembly (7) comprises a hollow tube (71), one end of the hollow tube (71) is fixedly connected with the operation end of the telescopic arm (6), the other end of the hollow tube (71) is fixedly connected with a flexible adjusting arm (72), an actuator (73) is installed at the operation end of the flexible adjusting arm (72), and an endoscope (74) is fixedly installed on the outer wall of the actuator (73).
  2. 2. The surgical mechanical arm with multiple degrees of freedom according to claim 1, wherein the flexible adjusting arm (72) comprises a plurality of groups of annular brackets (721), universal joints (722) and driving transmission cables (723), one sides of the left and right ends, corresponding to the annular brackets (721), are fixedly connected with the hollow tube (71) and the actuator (73) through bolts respectively, every two groups of adjacent annular brackets (721) are rotatably connected through the universal joints (722), two groups of driving transmission cables (723) are arranged in a group, and each driving transmission cable (723) penetrates through each group of annular brackets (721).
  3. 3. The surgical mechanical arm with multiple degrees of freedom according to claim 2, wherein four return springs (724) are fixedly installed between every two adjacent groups of annular brackets (721), and each return spring (724) is coaxially sleeved outside a corresponding driving cable (723) respectively.
  4. 4. A surgical robot arm with multiple degrees of freedom according to claim 1, wherein the hollow tube (71) has two sets of driving components (75) fixedly mounted in the inner cavity thereof, the two sets of driving components (75) each comprise a driving belt (751), the driving belts (751) are located in the inner cavity of the hollow tube (71), and the two sets of driving components (75) are connected with the two sets of driving cables (723) respectively through the driving belts (751).
  5. 5. The surgical mechanical arm with multiple degrees of freedom according to claim 4, wherein the two groups of driving components (75) further comprise driving motors (752), the driving motors (752) are fixedly installed in the inner cavity of the hollow tube (71), the output ends of the driving motors (752) are fixedly connected with rotating shafts (753), the outer walls of the rotating shafts (753) are fixedly sleeved with power wheels, the surfaces of the power wheels are provided with a plurality of friction protrusions, the driving belts (751) are wound on the surfaces of the power wheels, and two free ends of the driving belts (751) are respectively sleeved with two driving cables (723) in the same group.
  6. 6. The surgical mechanical arm with multiple degrees of freedom according to claim 1, wherein a protective assembly (76) is installed between the hollow tube (71) and the actuator (73), the protective assembly (76) comprises a protective folding cover (761), and the protective folding cover (761) is wrapped outside the flexible adjusting arm (72).
  7. 7. The surgical mechanical arm with multiple degrees of freedom according to claim 6, wherein positioning rings (762) for locking the protective folding cover (761) are fixedly arranged at two ends of the protective folding cover (761), rotating rings (763) are sleeved on outer walls of the hollow tube (71) and the actuator (73) in a rotating mode, and the positioning rings (762) are movably abutted with the rotating rings (763).
  8. 8. The surgical mechanical arm with multiple degrees of freedom according to claim 7, wherein the locking buckle (764) and the locking tongue (765) are symmetrically and fixedly installed on the side walls of the positioning ring (762) and the rotating ring (763), and the positioning ring (762) is in one-to-one corresponding locking connection with the locking buckle (764) and the locking tongue (765) on the rotating ring (763).

Description

Surgical mechanical arm with multiple degrees of freedom Technical Field The invention relates to the technical field of medical equipment, in particular to a surgical mechanical arm with multiple degrees of freedom. Background The surgical mechanical arm is medical equipment assisted by a computer, and improves the operation precision by filtering shake of hands of doctors, and can realize fine dissection in a complex narrow space, thereby remarkably reducing wounds and accelerating postoperative rehabilitation of patients. At present, most of clinically used surgical instruments adopt a rigid connecting rod structure, pose adjustment is realized by means of fixed rotation of a mechanical joint, a transmission system of the surgical instruments is exposed or lacks flexible motion envelope, and obstacle avoidance capacity in a narrow space mainly depends on swing of an integral arm support; However, when the mechanical arm is used for treating a complex path or a deep operation area due to the fact that the connecting rod structure of the mechanical arm lacks flexibility of curvature change, the tail end of the operation instrument is difficult to achieve the obstacle-surrounding effect, an operation blind area can be formed, if the body posture is adjusted in a large range to transfer the target point position, secondary damage can be caused to fragile tissues of a patient, and operation risks are improved. Disclosure of Invention The invention aims to provide a surgical mechanical arm with multiple degrees of freedom, which solves the problems in the prior art. The surgical mechanical arm with the multiple degrees of freedom comprises a main control platform, wherein a base is fixedly arranged on the top surface of the main control platform, a support column is fixedly arranged on the top surface of the base, the top end of the support column is rotationally connected with a first mechanical arm through a bearing, the top end of the first mechanical arm is hinged with a second mechanical arm, the top end of the second mechanical arm is fixedly provided with a telescopic arm, a high-precision encoder and a force feedback sensor are integrated in a joint cavity connected with the telescopic arm, and an adjusting execution assembly is fixedly arranged at the operation end of the telescopic arm; The adjusting and executing assembly comprises a hollow tube, one end of the hollow tube is fixedly connected with the operating end of the telescopic arm, the other end of the hollow tube is fixedly connected with a flexible adjusting arm, an actuator is installed at the operating end of the flexible adjusting arm, and an endoscope is fixedly installed on the outer wall of the actuator. As a further scheme of the invention, the flexible adjusting arm comprises a plurality of groups of annular brackets, universal joints and driving transmission cables, one sides of the left end and the right end, corresponding to the annular brackets, are respectively and fixedly connected with the hollow pipe and the actuator through bolts, every two groups of adjacent annular brackets are respectively and rotatably connected through the universal joints, two groups of driving transmission cables are arranged in a group, and each driving transmission cable penetrates through each group of annular brackets. As a still further scheme of the invention, four return springs are fixedly arranged between every two groups of adjacent annular brackets, and each return spring is coaxially sleeved outside a corresponding driving transmission cable respectively. As a still further proposal of the invention, the inner cavity of the hollow tube is fixedly provided with two groups of driving components, the two groups of driving components comprise driving belts, the driving belts are positioned in the inner cavity of the hollow tube, and the two groups of driving components are respectively connected with the two groups of driving cables through the driving belts. As a still further scheme of the invention, the two groups of driving assemblies further comprise driving motors, the driving motors are fixedly arranged in the inner cavities of the hollow tubes, the output ends of the driving motors are fixedly connected with rotating shafts, the outer walls of the rotating shafts are fixedly sleeved with power wheels, the surfaces of the power wheels are provided with a plurality of friction protrusions, the driving belts are wound on the surfaces of the power wheels, and the two free ends of the driving belts are respectively sleeved with two driving transmission ropes in the same group. As a still further aspect of the present invention, a protection assembly is installed between the hollow tube and the actuator, the protection assembly includes a protection folding cover, and the protection folding cover is wrapped outside the flexible adjusting arm. As a still further scheme of the invention, the two ends of the protective folding cover are fixedl