CN109009449B - Operation arm and slave operation device - Google Patents

Abstract

The present invention relates to an operation arm and a slave operation device, the operation arm comprising: the driving mechanism is provided with a shell, the shell is provided with a first main body, the first main body is provided with a mounting surface used for being connected with the power mechanism, a second main body extends on the mounting surface, so that the free end of the second main body protrudes out of the mounting surface, and a notch used for accommodating the power mechanism is formed between the free end of the second main body and the first main body; the connecting rod is arranged in the area of the second body near the free end, so that the connecting rods of the plurality of operating arms extend into the body through one incision.

Description

Operation arm and slave operation device

Technical Field

The invention relates to the field of minimally invasive surgery, in particular to an operating arm and slave operating equipment applying the same.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, and a doctor controls the slave operation device to perform corresponding surgery operation through operating the main operation table. The slave operation device generally includes a mechanical arm and an operation arm disposed on the mechanical arm, the mechanical arm is used to adjust a position of the operation arm, and the operation arm is used to extend into a body and perform an operation. At present, only one operation arm is usually arranged on a mechanical arm of a slave operation device, when a surgical robot performs a surgery, a plurality of operation arms enter a human body from a plurality of incisions on the human body respectively, and the surgery wound is still relatively large.

Disclosure of Invention

Accordingly, there is a need for an operation arm with less surgical trauma, a slave operation device using the operation arm, and a surgical robot.

To achieve the above object, the present invention provides an operation arm comprising:

the driving mechanism is provided with a shell, the shell is provided with a first main body, the first main body is provided with a mounting surface used for being connected with the power mechanism, a second main body extends on the mounting surface, so that the free end of the second main body protrudes out of the mounting surface, and a notch used for accommodating the power mechanism is formed between the free end of the second main body and the first main body;

and the connecting rod is arranged in the area of the second main body close to the free end, so that the connecting rods of the plurality of operating arms extend into the body through one incision.

The second body extends along one edge of the mounting surface to form the housing into an L-shape.

Preferably, the second body extends from a middle region of the mounting surface such that the housing forms a T-shape.

Preferably, the two notches formed by the first main body and the second main body are used for connecting the power mechanism.

Preferably, a connecting disc for connecting the power mechanism is arranged on the mounting surface.

Preferably, the connecting rod is tangent to a side of the second body in an extending direction thereof.

Preferably, the link is a substantially rigid link.

Preferably, the connecting rod is arranged on the bottom surface of the second main body, and the bottom surface of the second main body is a surface facing the human body during operation.

Preferably, the mounting surface is parallel to the link, and the notch is located in the direction of the side surface of the second body.

Preferably, the mounting surface is parallel to the connecting rod, and the notch is located in the direction of the surface of the second body opposite to the bottom surface.

Preferably, the mounting surface is perpendicular to the link.

Preferably, the second body has a first side face and a second side face which are adjacent to each other, and both the first side face and the second side face are used for abutting against the first side face or the second side face of the adjacent operating arm, or the second side face and the first side face or the second side face of the adjacent operating arm are used for being arranged close to each other and spaced apart from each other, so that the operating arms are distributed around a central shaft.

To achieve the above object, the present invention also provides a slave operation apparatus comprising:

the above-mentioned operating arm;

and at least part of the power mechanism is accommodated in the notch and is connected with the operating arm through the mounting surface.

Preferably, the power mechanism has a plurality of power parts for connecting the operating arms, the operating arms are multiple, each operating arm is arranged on the power part corresponding to the operating arm, and the connecting rods of the operating arms are arranged adjacently to extend into the body from one incision.

Preferably, the second bodies of the plurality of operating arms are adjacently disposed.

Preferably, the power mechanism includes:

the side surface of the body is provided with an installation groove, the installation groove penetrates through the bottom surface of the body so that the operation arm can translate into the installation groove from the side surface, and the far end of the operation arm is positioned outside the installation groove;

the power part is arranged on the body and is used for connecting the operating arm, and part of the power part is contained in the gap.

Preferably, a plurality of the power parts are slidably disposed on the body.

When the operation arm is installed, the operation arm is firstly positioned in the installation groove from the opening translation of the side surface of the body of the installation groove, and at the moment, the installation groove penetrates through the bottom surface of the body, so that the operation arm can not be blocked by the bottom surface when the operation arm is translated to the installation groove. After translating to the mounting groove, the operating arm is connected with the power part. The slave operation equipment with the power mechanism enables the operation arm to be installed more simply and quickly.

Drawings

FIG. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;

FIG. 2 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 3 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 4 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 5 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 6 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 7 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 8 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 9 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 10 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 11 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 12 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 13 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 14 is an exploded view of a portion of one embodiment of the slave operation device of the present invention;

fig. 15 is a schematic structural view of an embodiment of the power mechanism shown in fig. 14;

FIG. 16 is an exploded view of a portion of one embodiment of the slave operation device of the present invention;

fig. 17 is a schematic structural view of an embodiment of the power mechanism shown in fig. 16;

FIG. 18 is an exploded view of a portion of one embodiment of the slave operation device of the present invention;

fig. 19 is a schematic structural view of an embodiment of the power mechanism shown in fig. 18;

fig. 20 is a schematic structural view of a power mechanism according to an embodiment of the invention;

FIG. 21 is a partial schematic structural diagram of a slave operation device according to an embodiment of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

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

Fig. 1 to 3 are schematic structural diagrams of an embodiment of a surgical robot according to the present invention, and partial schematic diagrams of different embodiments of a slave operation device, respectively.

The surgical robot includes a master operation table 1 and aslave operation device 2. Themain console 1 is configured to transmit a control command to theslave operation device 2 according to a doctor's operation to control theslave operation device 2, and is configured to display an image acquired from theslave operation device 2. Theslave operation device 2 is used for responding to the control command sent by the master operation table 1 and performing corresponding operation, and theslave operation device 2 is also used for acquiring the images in the body.

Specifically, theslave manipulation apparatus 2 includes arobot arm 10, apower mechanism 20 provided on therobot arm 10, amanipulation arm 30 provided on thepower mechanism 20, and asleeve 40 that sleeves themanipulation arm 30. Therobot arm 10 is used to adjust the position of theoperation arm 30; thepower mechanism 20 is used for driving theoperating arm 30 to perform corresponding operations;manipulator arm 30 is used to extend into the body and perform surgical procedures, and/or acquire in vivo images, with its distally locatedend instrument 31. Specifically, as shown in fig. 2 and 3, theslave manipulator 2 has a plurality ofmanipulator arms 30, each of the plurality ofmanipulator arms 30 passes through thecannula 40, and the distal instruments each extend out of thecannula 40, so that the plurality of manipulator arms extend into the body through one incision and perform the operation. In fig. 2, the region of theoperating arm 30 located within thesleeve 40 is a rigid region; in fig. 3, the region of theoperating arm 30 within thesleeve 40 is a flexible region, and the sleeve bends with the flexible region. In other embodiments, thesleeve 40 may be omitted, in which case the sleeve is not required.

In one embodiment, theslave operating device 2 further includes a poking card, the poking card is used for penetrating through an incision on a human body and is fixedly arranged in an incision area, and theoperating arm 30 extends into the human body through the poking card.

As shown in fig. 4 to 11, theoperation arm 30 includes: aterminal instrument 31, a connectingcomponent 32, a connectingrod 33 and adriving mechanism 34 which are connected in sequence. Thedriving mechanism 34 is used for being connected with thepower mechanism 20, and thedriving mechanism 34 is provided with ashell 340; the connectingrod 33 is used for penetrating thesleeve 40 and/or poking the card; the connectingcomponent 32 is used for adjusting the position and the posture of theterminal instrument 31;end instrument 31 is used to perform surgical procedures and/or to acquire in vivo images. In other embodiments, the connectingrod 33 may be omitted, and the connectingmember 32 may be inserted through the sleeve.

In one embodiment, the connectingrods 33 are disposed on thehousing 340 and tangent to theside 341 of thehousing 340 in the extending direction thereof, so that the connectingrods 33 of the plurality ofoperation arms 30 are inserted into the body through one cut. Theside 341 of thehousing 340 is connected to thebottom 342 of thehousing 340, and thebottom 342 of thehousing 340 is the surface facing the human body during the operation. Thelink 33 is a substantiallyrigid link 33 that is directly mounted to thepower mechanism 20 when theoperating arm 30 is installed, eliminating the need to bend thelink 33. In other embodiments, link 33 may also be aflexible link 33.

The operatingarms 30 are tangent to thehousing 340, so that the connectingrods 33 of the operatingarms 30 can extend into the body through one incision on the human body, the distance between the drivingmechanisms 34 of the operatingarms 30 can be reduced, the operatingarms 30 are further more compact, and the volume of the area where the operatingarms 30 are installed on thepower mechanism 20 is reduced. Further, since thelink 33 is arigid link 33, the operation is more stable.

In the embodiment shown in fig. 4 and 5, thehousing 340 has afirst side surface 341A and asecond side surface 341B adjacent to each other, and both are used for abutting against thefirst side surface 341A or thesecond side surface 341B of theadjacent operating arm 30, so that the plurality of operatingarms 30 are distributed around a central axis; or thefirst side 341A and thesecond side 341B are configured to be disposed adjacent to and spaced apart from thefirst side 341A or thesecond side 341B of theadjacent operating arm 30, so that the plurality of operatingarms 30 are distributed around a central axis, for example, thefirst side 341A of one of the twoadjacent housings 340 is disposed opposite to thefirst side 341A or thesecond side 341B of theother housing 340, and a gap is formed between the opposite surfaces. Thefirst side 341A and thesecond side 341B form an acute angle. In other embodiments, the first and second side surfaces 341A and 341B may form a right angle or an obtuse angle.

Further, the edge of thefirst side surface 341A extends to the edge of thesecond side surface 341B, so that the twoside surfaces 341 are connected, and the connection region is a curved surface. Wherein the connectingrod 33 is tangent to the curved surface, in one embodiment, the radius of curvature of the curved surface is substantially the same as the radius of the connectingrod 33. In other embodiments, the curvature radii of the curved surfaces may also be different. Alternatively, in other embodiments, as shown in fig. 6-11, the connecting rod may not be disposed adjacent to the plurality of sides.

In other embodiments, the housing may be other shapes. In the embodiment shown in fig. 6 and 7, the housing is rectangular. In the embodiment shown in fig. 8 to 11, thehousing 340 has afirst body 343, thefirst body 343 has a mountingsurface 344 for connecting thepower mechanism 20, and asecond body 345 extends on the mountingsurface 344, so that a free end of thesecond body 345 protrudes out of the mountingsurface 344, and forms anotch 36 with thefirst body 343 for receiving thepower mechanism 20, wherein the free end extends out of an end of thefirst body 343 which is not connected thereto. In fig. 8 to 10, the second body extends along one edge of the mounting surface to form the housing into an L-shape. In fig. 11, the second body extends from a middle region of the mounting surface such that the housing forms a T-shape with twonotches 36.

In each embodiment, the mode of the embodiment shown in fig. 4 and 5 can be adopted for the area where the link is provided in the housing. For example, the second body has a first side face and a second side face adjacent to each other, and both are used for abutting against the first side face or the second side face of the adjacent operation arm, or used for being arranged close to and spaced from the first side face or the second side face of the adjacent operation arm, so that the plurality of operation arms are distributed around a central shaft.

As shown in fig. 4 to 11, the surface of the housing for connecting the power mechanism and the surface provided with the connecting rod may have various positional relationships.

In the embodiment shown in fig. 4, the surface of thehousing 340 for connecting the power mechanism is opposite to the surface where the connectingrod 33 is disposed. Specifically, the connectingrod 33 is disposed on thebottom 342 of thehousing 340 and adjacent to an edge region of the bottom 342, and a surface of thehousing 340 opposite to the bottom 342 is used for connecting the power mechanism.

In the embodiment shown in fig. 6, the surface of thehousing 340 for connecting thepower mechanism 20 and the surface where the connectingrod 33 is disposed are the same surface, specifically, thebottom 342 of thehousing 340 has a connectingplate 35 for connecting thepower mechanism 20, and the connectingrod 33 is disposed on thebottom 342 of thehousing 340.

In the embodiment shown in fig. 7, the surface of thehousing 340 for connecting thepower mechanism 20 may be disposed adjacent to the surface where the connectingrod 33 is disposed, that is, oneside 341 of thehousing 340 for connecting the power mechanism is disposed, and the connectingplate 35 is disposed thereon.

In the embodiment shown in fig. 8 to 11, the link is provided on the second body, and in fig. 8, 9 and 11, the mountingsurface 344 is parallel to thelink 33, and in fig. 10, the mountingsurface 344 is perpendicular to thelink 33. In fig. 8, 10, and 11, thenotch 36 is located in the direction of the side surface of the second body, and in fig. 9, the notch 6 is located in the direction of the surface of the second body opposite to the bottom surface. Specifically, the connectingrod 33 is disposed on the area of thesecond body 345 near the free end, for example, on the bottom surface of the second body, which is the surface facing the human body during operation, and is tangent to the side surface of the second body in the extending direction thereof, which is the surface adjacent to the bottom surface. The mountingsurface 344 is provided with aconnection pad 35 for connection to thepower structure 20.

In addition, the connectingrod 33 may be disposed on the side surfaces 341 of thehousing 340, and in this case, a surface of thehousing 340 for connecting with the power mechanism may be on one of the side surfaces 341, thebottom surface 342, or a surface opposite to thebottom surface 342. Thelink 33 may also be located adjacent to the side area, not tangential to the side.

In the above embodiment, thelink 33 is a straight rod, and thelink 33 is rotatably disposed on thehousing 340 of thedriving mechanism 34, and thedriving mechanism 34 drives thelink 33 to rotate along the axis thereof. In other embodiments, the connectingrod 33 may be a non-straight rod structure. Alternatively, thelink 33 may be fixedly provided to thehousing 340.

As shown in fig. 12, in an embodiment, the connectingrod 33 includes a first connectingrod 331 and a second connectingrod 332 connected in sequence, wherein the first connectingrod 331 is disposed on thehousing 340 and is fixedly connected to the second connectingrod 332, and the first connectingrod 331 and the second connectingrod 332 form an included angle, which is a non-straight angle. In this embodiment, the second connectingrod 332 is tangent to theside 341 of thehousing 340, and the connectingrod 33 is fixedly disposed on thehousing 340. At this time, thedistal end instrument 31 connected to thelink 33 can be relatively rotated, thereby securing the degree of freedom of theoperation arm 30. In other embodiments, thesecond link 33 may be non-tangent to thehousing 340, so long as thesecond links 33 of the plurality of operation arms are ensured to enter the body through one incision.

Thefirst link 33 may also be rotatably disposed on thehousing 340. For example, thefirst link 33 is a flexible rod, a flexible tube, or thefirst link 33 is connected with thesecond link 33 through a flexible joint assembly, so that the position between thefirst link 33 and thesecond link 33 is adjustable; thesecond link 33 is inserted through the poking card or the sleeve to limit the position of the second link relative to the human body, so that thefirst link 33 drives thesecond link 33 to rotate around the fixed rotation axis, that is, the rotation axis of thesecond link 33 will not change with the bending of thefirst link 33. For another example, thesecond link 33 is fixed in position relative to thefirst link 33, and at this time, thefirst link 33 is connected to thesecond link 33 through a transmission mechanism, so that when thefirst link 33 rotates, thesecond link 33 is driven to rotate around the fixed rotation axis. When thefirst link 33 is rotatably disposed on thehousing 340, thefirst link 33 may be located at a middle region of the surface of thehousing 340.

It should be noted that, when the first connectingrod 33 is a flexible rod or a flexible tube, or the first connectingrod 33 is connected to the second connectingrod 33 through a flexible joint assembly, the first connectingrod 33 may also be fixedly connected to thehousing 340, and at this time, thedistal end instrument 31 connected to the connectingrod 33 may be relatively rotated.

As shown in fig. 13, in an embodiment, thelink 33 includes afirst link 331 and asecond link 332, and the connectingassembly 32 includes a first connectingassembly 321 and a second connectingassembly 322. Thefirst link 331 is disposed on thedriving mechanism 34 and is connected to thesecond link 332 through the first connectingcomponent 321 in a swinging manner, thesecond link 332 is used for connecting thedistal end instrument 31 or the second connectingcomponent 322, wherein when thesecond link 332 is connected to the second connectingcomponent 322, thedistal end instrument 31 is connected to the distal end of the second connectingcomponent 322. The first connectingcomponent 321 is located outside the body and the second connectingcomponent 322 is located inside the body during the operation. Note that, in the present embodiment, thesecond link 332 is tangent to theside 341 of thehousing 340. In other embodiments, the second connectingrod 332 may not be tangent to thehousing 340, but may have other positions.

Theoperation arm 30 drives the connectingassembly 32 through thedriving mechanism 34, so that the second connectingrod 332 swings relative to the first connectingrod 331, the positions of the second connectingrod 332 and theterminal instrument 31 connected with the second connectingrod 332 are further adjusted, the space between the drivingmechanism 34 of theoperation arm 30 and a human body is fully utilized, and the flexibility of theoperation arm 30 is improved.

In one embodiment, the number of thefirst links 331 is plural, the pluralfirst links 331 are sequentially connected via the first connectingelement 321 in a swinging manner, thefirst link 331 located at the proximal end is connected to thedriving mechanism 34, and thefirst link 331 located at the distal end is connected to thesecond link 332 via the first connectingelement 321. This further increases the flexibility of theoperating arm 30.

Fig. 14 and 15 are schematic diagrams illustrating an exploded view of a partial structure of a slave operation device and a structure of an embodiment of apower mechanism 20 according to the present invention.

Thepower mechanism 20 includes abody 210 and apower unit 220. Wherein, theside 211 of thebody 210 is provided with aninstallation groove 213, theinstallation groove 213 penetrates through thebottom 212 of thebody 210, so that theoperation arm 30 is translated from theside 211 to theinstallation groove 213, and the distal end thereof is located outside theinstallation groove 213, i.e. thedistal end instrument 31 of theoperation arm 30 is substantially located outside theinstallation groove 213 during the translation installation, and thedistal end instrument 31 does not need to penetrate through theinstallation groove 213 to extend out of theinstallation groove 213; thepower unit 220 is disposed on thebody 210, and is used for connecting thedriving mechanism 34 of theoperation arm 30 and providing power for theoperation arm 30 to make theoperation arm 30 perform corresponding operations, such as changing the position or posture of thedistal end instrument 31. Thebottom surface 212 of thebody 210 refers to the surface facing the patient during operation, and theside surface 211 is the surface adjacent to thebottom surface 212.

When theoperation arm 30 is installed, theoperation arm 30 is firstly translated into theinstallation groove 213 from the opening of theinstallation groove 213 located on theside surface 211 of thebody 210, and at this time, since theinstallation groove 213 penetrates through thebottom surface 212 of thebody 210, theoperation arm 30 is not blocked by thebottom surface 212 in the process of translating to theinstallation groove 213. After translating to the mountinggroove 213, theoperation arm 30 is connected to thepower unit 220. The slave operation device with thepower mechanism 20 makes theoperation arm 30 to be installed more simply and quickly.

In this embodiment, there is one mountinggroove 213, and there are a plurality ofpower units 220, and eachpower unit 220 is connected to itscorresponding operating arm 30. The plurality ofoperation arms 30 connected to thepower unit 220 are inserted into the mountinggrooves 213, so that the plurality ofoperation arms 30 can be inserted into the body through one slit.

In other embodiments, thepower mechanism 20 may have only onepower unit 220. Alternatively, at least two of the plurality ofoperation arms 30 may be inserted into the mountinggroove 213. For example, part of theoperation arm 30 is disposed in thebody 210 and penetrates theinstallation groove 213, so that the end of the operation arm extends out of thebody 210, and part of theoperation arm 30 is disposed outside thebody 210 without penetrating theinstallation groove 213.

In other embodiments, there may be more than one mountinggroove 213. For example, there are two mountinggrooves 213, wherein at least one mountinggroove 213 accommodates twooperation arms 30, and the remainingoperation arms 30 are accommodated in the other mountinggroove 213. At this time, the mounting grooves may be formed on the same side surface or different side surfaces of the body, for example, two side surfaces of the body opposite to each other. A plurality of theoperation arms 30 are inserted into the body through two cutouts, each corresponding to one of theinstallation grooves 213, so that theoperation arms 30 inserted from theinstallation grooves 213 are inserted into the corresponding cutouts.

It should be noted that, when there are a plurality of mounting grooves, at least two mounting grooves may also correspond to one notch, that is, the operating arms extending from the plurality of mounting grooves corresponding to one notch all extend into the body through one notch. Alternatively, a plurality ofoperation arms 30 extending from the same mountinggroove 213 may extend into the body from a plurality of cutouts.

Thebody 210 further defines a receivinggroove 214 for receiving thepower portion 220. When theoperation arm 30 is mounted, theoperation arm 30 is translated so that thelink 33 is received in the mountinggroove 213 from theside surface 211 of thebody 210, so that thedriving mechanism 34 of theoperation arm 30 is adjacent to thepower portion 220 in the receivinggroove 214, and then thedriving mechanism 34 is connected to the corresponding power portion.

In the embodiment shown in fig. 14 and 15, the surface of thebody 210 with the receivinggroove 214 is opposite to thebottom surface 212. The mountinggroove 213 penetrates the bottom surface of thehousing groove 214, that is, the mountinggroove 213 penetrates the bottom surface of thehousing groove 214 and thebottom surface 212 of thebody 210 in the direction of thelink 33 of theoperation arm 30, so that theoperation arm 30 can be mounted from the side surface of thebody 210. Thepower portion 220 is disposed in the receivinggroove 214, and aconnection surface 221 of thepower portion 220 connected to theoperation arm 30 is a surface of thepower portion 220 facing away from thebottom surface 212 of thebody 210. At this time, the surface of theoperation arm 30 connected to thepower unit 220 is the surface of thedriving mechanism 34 facing thebottom surface 212, for example, theoperation arm 30 of the embodiment shown in fig. 6, and moves toward thebottom surface 212 and is engaged with theconnection surface 221 when being mounted.

In the embodiment shown in fig. 16 and 17, the surface of thebody 210 with the receivinggroove 214 is the same as the surface with the mountinggroove 213, that is, the opening of the receivinggroove 214 is located on theside surface 211 of thebody 210, and at this time, the mountinggroove 213 penetrates through the firstinner wall 215 of the receivinggroove 214 close to the bottom surface of thebody 210, so that the links of the operating arm can all extend out of thebody 210 through the mounting groove. Thepower portion 220 is disposed in the receivinggroove 214 and spaced apart from the firstinner wall 215 to form a receiving area for receiving thepower portion 220, and aconnection surface 221 of thepower portion 220 and theoperating arm 30 is a surface of thepower portion 220 facing thebottom surface 212 of thebody 210. In this case, the surface of theoperation arm 30 connected to thepower unit 220 is the surface of thedriving mechanism 34 facing away from thebottom surface 212, for example, theoperation arm 30 of the embodiment shown in fig. 4, and moves away from thebottom surface 212 and engages with theconnection surface 221 when mounted.

In the embodiment shown in fig. 18 and 19, the surface of thebody 210 with the receivinggroove 214 is opposite to thebottom surface 212. The mountinggroove 213 penetrates the bottom surface of the receivinggroove 214. Thepower portion 220 is disposed in the mountinggroove 213, and aconnection surface 221 of thepower portion 220 connected to theoperating arm 30 is a surface of thepower portion 220 facing the side of thebody 210, and theconnection surface 221 faces the middle of the receivinggroove 214. At this time, the surface of theoperation arm 30 connected to the power unit is one side surface of the drive mechanism, and is, for example, the operation arm of the embodiment shown in fig. 7, and moves in the direction of theconnection surface 221 when attached, and engages therewith.

In the embodiment shown in fig. 20, similar to the embodiment shown in fig. 18 and 19, thepower portion 220 is located at the middle of theaccommodating groove 214, the connectingsurface 221 faces the side surface of theaccommodating groove 214, and the surface of thebody 210 opening theaccommodating groove 214 is the same as the surface opening the mountinggroove 213. The surface of theoperating arm 30 connected with thepower portion 220 faces the middle of the receivinggroove 214, for example, theoperating arm 30 of the embodiment shown in fig. 8, 9 and 11, at this time, thepower portion 220 is partially received in the notch area of thecasing 340 of thedriving mechanism 34, and since thelink 33 is located in the area of the protruding portion of the bottom surface of thedriving mechanism 34, a plurality of operatingarms 30 can be inserted into the body through one notch. The surface of the body with the receiving groove may be opposite to thebottom surface 212.

In the above embodiments, theaccommodating groove 214 may be omitted from themain body 210, and in this case, thepower portion 220 is disposed outside themain body 210, for example, on the surface opposite to thebottom surface 212.

Further, thepower portion 220 is slidably disposed on thebody 210, specifically, as shown in fig. 14 to 20, theaccommodating groove 214 is disposed in theguide rail 230, and thepower portion 220 is slidably disposed on theguide rail 230. In one embodiment, theoperating arm 30 performs a feeding motion with thepower portion 220, i.e. the sliding direction of thepower portion 220 is the same as the extending direction of the mountinggroove 213. In other embodiments, the sliding direction of thepower portion 220 may be other directions to adjust the position of theoperating arm 30, for example, the sliding direction of thepower portion 220 is perpendicular to the extending direction of the mountinggroove 213.

Fig. 21 is a partial schematic structural diagram of the slave operation device according to the present invention.

In one embodiment, thebody 210 of thepower mechanism 20 is rotatably disposed on therobot arm 10. Specifically, the end of the mechanical arm is n-shaped and is rotatably connected to two surfaces opposite to thebody 210, and the surface of the mechanical arm rotatably connected to thebody 210 is different from the surface of thebody 210 provided with the mountinggroove 213. Further, the end of the robot arm has a motor for driving thebody 210 to rotate. In this embodiment, the motor is one and is located at one side of thebody 210. In other embodiments, there may be two motors respectively located at two sides of thebody 210.

It should be noted that the end of the mechanical arm may also be rotatably connected to a surface of the body, and the surface may be the same as the surface of the body on which the mounting groove is formed, or different from the surface of the body on which the mounting groove is formed, for example, adjacent to the surface of the body on which the mounting groove is formed. At this time, when the end of the robot arm has the motor, the motor is located at one side of the robot arm connection body.

In one embodiment, the rotation angle of thepower mechanism 20 relative to the robot arm is 0 to 360 degrees. In this way, theoperating arm 30 connected to thepower section 220 is made easier to adjust. In other embodiments, the rotation angle of thepower mechanism 20 relative to the mechanical arm may be other angles, such as 0 to 180 degrees, 0 to 90 degrees, and the like.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (16)

1. An operating arm, comprising:

the driving mechanism is provided with a shell, the shell is provided with a first main body, the first main body is provided with a mounting surface used for being connected with the power mechanism, a second main body extends on the mounting surface, so that the free end of the second main body protrudes out of the mounting surface, and a notch used for accommodating the power mechanism is formed between the free end of the second main body and the first main body;

the connecting rod is arranged in the area, close to the free end, of the second main body, the second main body is provided with a first side face and a second side face which are adjacent to each other, the first side face and the second side face are used for being abutted to or arranged close to the first side face or the second side face of the second main body of the adjacent operating arm, and therefore the connecting rods of the operating arms stretch into the body through one cut.

2. The arm as set forth in claim 1 wherein said second body extends along one edge of said mounting surface to form said housing into an L-shape.

3. The arm as set forth in claim 1 wherein said second body extends from a mid-region of said mounting surface to form said housing into a T-shape.

4. The arm as claimed in claim 3, wherein the two notches formed by the first and second bodies are used for connecting the actuating mechanism.

5. The arm as claimed in claim 1, wherein the mounting surface is provided with a connecting plate for connecting the power mechanism.

6. Operating arm according to claim 1, characterized in that the connecting rod is tangent to the side of the second body in the direction of extension thereof.

7. An operating arm according to claim 1, characterised in that the link is a substantially rigid link.

8. The manipulating arm according to claim 1, wherein the link is disposed on a bottom surface of the second body, the bottom surface of the second body being a surface facing a human body during a surgical operation.

9. The arm as claimed in claim 8, wherein said mounting surface is parallel to said link, and said notch is located in a direction of said second body side surface.

10. The arm as claimed in claim 8, wherein said mounting surface is parallel to said link, and said notch is located in the direction of the surface of said second body opposite said bottom surface.

11. The manipulator arm according to claim 8, wherein the mounting surface is perpendicular to the link.

12. A slave operation device characterized by comprising:

an operating arm as claimed in any one of claims 1 to 11;

and at least part of the power mechanism is accommodated in the notch and is connected with the operating arm through the mounting surface.

13. The slave manipulator according to claim 12, wherein the power mechanism has a plurality of power portions for connecting the manipulation arms, the manipulation arms are provided in plurality, each manipulation arm is provided on the power portion corresponding thereto, and the plurality of links of the plurality of manipulation arms are adjacently provided so as to protrude from an incision into the body.

14. The slave manipulator according to claim 13, wherein the second bodies of a plurality of the manipulator arms are adjacently disposed.

15. The slave manipulator according to claim 12, wherein the power mechanism comprises:

the side surface of the body is provided with an installation groove, the installation groove penetrates through the bottom surface of the body so that the operation arm can translate into the installation groove from the side surface, and the far end of the operation arm is positioned outside the installation groove;

the power part is arranged on the body and is used for connecting the operating arm, and part of the power part is contained in the gap.

16. The slave operating device of claim 15, wherein a plurality of the power portions are slidably disposed on the body.

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