技术领域Technical Field
本申请总地涉及手术机器人的技术领域，更具体地涉及一种持械臂和手术机器人。The present application generally relates to the technical field of surgical robots, and more specifically to a robotic arm and a surgical robot.
背景技术Background Art
与传统的微创手术相比，利用机器人手术的许多优势之一是，机器人手术可以在整个手术过程中提供高水平的手术器械控制精度，减少病人的风险，同时减少外科医生的精神和身体压力。手术机器人是可以远程操纵完成手术的机器人，其包括三个组成部分：医生控制台、机械臂系统和成像系统。One of the many advantages of using robotic surgery over traditional minimally invasive surgery is that it can provide a high level of precision in surgical instrument control throughout the entire procedure, reducing risks to the patient while also reducing the mental and physical stress on the surgeon. A surgical robot is a robot that can be remotely controlled to perform surgery, and consists of three components: a doctor's console, a robotic arm system, and an imaging system.
其中，机械臂系统，包括若干机械臂，机械臂具有若干节连接臂，相邻的两节连接臂以特定的自由度相对活动，使得机械臂的末端可以达到多自由度的活动，机械臂的末端关节臂为持械臂，持械臂安装有器械驱动器，手术器械或内窥镜可拆卸地安装于器械驱动器上。Among them, the robotic arm system includes several robotic arms, each of which has several connecting arms. Two adjacent connecting arms can move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom movement. The end joint arm of the robotic arm is a robotic arm, and the robotic arm is equipped with an instrument driver. The surgical instrument or endoscope is detachably mounted on the instrument driver.
现有的持械臂采用带传动或伺服驱动等结构，传动环节多，零件多，结构复杂，占用空间大，在使用时手术机器人不同的持械臂容易产生碰撞或干涉。Existing robotic arms use belt drive or servo drive structures, which have many transmission links, many parts, complex structures, and occupy a large space. When in use, different robotic arms of the surgical robot are prone to collision or interference.
因此，需要提供一种持械臂和手术机器人，以至少部分地解决上述问题。Therefore, it is necessary to provide a robotic arm and a surgical robot to at least partially solve the above problems.
发明内容Summary of the invention
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本申请的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.
为至少部分地解决上述问题，根据本申请的第一方面，提供一种持械臂，用于安装器械驱动器，所述持械臂包括：In order to at least partially solve the above problems, according to a first aspect of the present application, a mechanical arm is provided for installing an instrument driver, the mechanical arm comprising:
臂主体；Arm body;
驱动电机，所述驱动电机包括定子和电机转子，所述定子与所述臂主体相对固定地设置，所述电机转子相对于所述定子可旋转，所述电机转子的旋转轴线沿所述臂主体的长度方向延伸；A driving motor, the driving motor comprising a stator and a motor rotor, the stator being fixedly arranged relative to the arm body, the motor rotor being rotatable relative to the stator, and a rotation axis of the motor rotor extending along the length direction of the arm body;
丝杆，所述丝杆沿着所述臂主体的长度方向设置于所述臂主体内，所述丝杆贯穿所述电机转子并与所述电机转子刚性固定连接；A screw rod, the screw rod is arranged in the arm body along the length direction of the arm body, the screw rod passes through the motor rotor and is rigidly fixedly connected to the motor rotor;
可动组件，所述可动组件用于与所述器械驱动器连接，所述可动组件包括丝杆螺母，所述丝杆螺母套设于所述丝杆，所述丝杆螺母能够带动所述器械驱动器沿所述丝杆的轴向方向来回移动；A movable component, the movable component is used to connect with the instrument driver, the movable component includes a screw nut, the screw nut is sleeved on the screw, and the screw nut can drive the instrument driver to move back and forth along the axial direction of the screw;
减速机构，所述减速机构设置于所述臂主体，所述减速机构的输入端与所述丝杆的一端刚性固定连接，并且所述减速机构的输入端的转动轴线与所述丝杆的转动轴线同轴；A speed reduction mechanism, wherein the speed reduction mechanism is arranged on the arm body, an input end of the speed reduction mechanism is rigidly fixedly connected to one end of the screw rod, and a rotation axis of the input end of the speed reduction mechanism is coaxial with a rotation axis of the screw rod;
第一传感器，所述第一传感器设置于所述减速机构的输出端，以用于检测所述减速机构的输出端的旋转位置和旋转速度。A first sensor is disposed at an output end of the speed reduction mechanism to detect a rotation position and a rotation speed of the output end of the speed reduction mechanism.
根据本申请的持械臂，当驱动电机启动时，电机转子相对于定子转动，而电机转子与丝杆刚性固定连接，从而使得丝杆转动，进而使得可动组件带动器械驱动器沿丝杆的轴向方向来回移动，与此同时，第一传感器检测减速机构的输出端的旋转位置和旋转速度，从而检测器械驱动器的移动行程和速度；由于持械臂的驱动结构沿持械臂的长度方向排布，在持械臂的宽度方向上，相关的驱动结构占用空间较少，利于缩小持械臂的体积，不易造成持械臂之间的干涉或碰撞，且易于维护。According to the robotic arm of the present application, when the driving motor is started, the motor rotor rotates relative to the stator, and the motor rotor is rigidly fixed to the lead screw, thereby causing the lead screw to rotate, and then the movable component drives the instrument driver to move back and forth along the axial direction of the lead screw. At the same time, the first sensor detects the rotational position and rotational speed of the output end of the reduction mechanism, thereby detecting the moving stroke and speed of the instrument driver; since the driving structure of the robotic arm is arranged along the length direction of the robotic arm, the related driving structure occupies less space in the width direction of the robotic arm, which is conducive to reducing the volume of the robotic arm, is not easy to cause interference or collision between the robotic arms, and is easy to maintain.
可选地，所述丝杆和所述电机转子分体设置，并且所述丝杆和所述电机转子直接连接或者通过刚性联轴器连接；或者Optionally, the screw rod and the motor rotor are separately arranged, and the screw rod and the motor rotor are directly connected or connected through a rigid coupling; or
所述丝杆和所述电机转子成型为一体。The screw rod and the motor rotor are formed as one body.
可选地，所述第一传感器为绝对编码器，并且所述持械臂还包括编码器磁铁，所述编码器磁铁设置于所述减速机构的输出端，所述第一传感器基于所述编码器磁铁的旋转检测所述减速机构的输出端的旋转位置和旋转速度。Optionally, the first sensor is an absolute encoder, and the robotic arm further includes an encoder magnet, the encoder magnet is arranged at the output end of the reduction mechanism, and the first sensor detects the rotation position and rotation speed of the output end of the reduction mechanism based on the rotation of the encoder magnet.
可选地，所述丝杆和所述减速机构的输入端分体设置，并且所述丝杆和所述减速机构的输入端直接刚性连接或者通过刚性联轴器连接；或者Optionally, the screw rod and the input end of the reduction mechanism are separately arranged, and the screw rod and the input end of the reduction mechanism are directly rigidly connected or connected through a rigid coupling; or
所述丝杆和所述减速机构的输入端为一次成型结构。The screw rod and the input end of the speed reduction mechanism are a one-step molding structure.
可选地，所述减速机构包括蜗轮和蜗杆，所述蜗杆配置为所述减速机构的输入端，所述蜗轮配置为所述减速机构的输出端。Optionally, the reduction mechanism comprises a worm wheel and a worm, the worm wheel is configured as an input end of the reduction mechanism, and the worm wheel is configured as an output end of the reduction mechanism.
可选地，所述蜗杆与所述蜗轮的传动比大于1，并且当所述丝杆螺母带动所述器械驱动器单向移动一个完整行程时，所述蜗轮的转动角度不大于360°。Optionally, a transmission ratio between the worm and the worm wheel is greater than 1, and when the lead screw nut drives the instrument driver to move a complete stroke in one direction, the rotation angle of the worm wheel is no greater than 360°.
可选地，所述电机转子包括第一转子和与所述第一转子连接的第二转子，所述丝杆贯穿所述第一转子并与所述第一转子刚性固定连接，所述第二转子套设在所述第一转子的外侧并且设置在所述定子的内侧。Optionally, the motor rotor includes a first rotor and a second rotor connected to the first rotor, the screw rod passes through the first rotor and is rigidly fixedly connected to the first rotor, and the second rotor is sleeved on the outside of the first rotor and arranged on the inside of the stator.
可选地，所述第一转子和所述第二转子通过粘合剂粘接在一起；并且/或者Optionally, the first rotor and the second rotor are bonded together by an adhesive; and/or
所述第一转子和所述丝杆通过粘合剂粘接在一起或者通过紧固件连接在一起。The first rotor and the lead screw are bonded together by an adhesive or connected together by a fastener.
可选地，所述可动组件还包括与所述丝杆螺母连接的滑块，所述持械臂还包括导轨，所述导轨沿所述臂主体的长度方向设置于所述臂主体，所述滑块沿着所述导轨的长度方向可移地设置于所述导轨，所述器械驱动器连接至所述滑块。Optionally, the movable component also includes a slider connected to the screw nut, and the mechanical arm also includes a guide rail, which is arranged on the arm body along the length direction of the arm body, and the slider is movably arranged on the guide rail along the length direction of the guide rail, and the instrument driver is connected to the slider.
可选地，所述持械臂还包括第二传感器，所述第二传感器设置于所述定子和所述臂主体中的至少一者，并且用于检测所述丝杆、所述电机转子和减速机构的输入端中的至少一者的转动角度。Optionally, the robotic arm further comprises a second sensor, which is disposed at at least one of the stator and the arm body and is used to detect a rotation angle of at least one of the lead screw, the motor rotor and an input end of a reduction mechanism.
可选地，所述持械臂还包括电磁制动器，所述电磁制动器设置于丝杆的另一端并且用于阻止所述丝杆旋转，所述电磁制动器包括制动器转子，所述制动器转子与所述丝杆固定连接。Optionally, the robotic arm further comprises an electromagnetic brake, which is arranged at the other end of the screw and is used to prevent the screw from rotating, and the electromagnetic brake comprises a brake rotor, which is fixedly connected to the screw.
本申请第二方面提供一种手术机器人，包括根据前述的持械臂。A second aspect of the present application provides a surgical robot, comprising the aforementioned robotic arm.
根据本申请第二方面的手术机器人，其持械臂的宽度尺寸较小，结构紧凑，利于防止持械臂之间的干涉或碰撞。According to the surgical robot of the second aspect of the present application, the width of its holding arms is relatively small and the structure is compact, which helps to prevent interference or collision between the holding arms.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
本申请实施方式的下列附图在此作为本申请的一部分用于理解本申请。附图中示出了本申请的实施方式及其描述，用来解释本申请的原理。在附图中，The following drawings of the embodiments of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,
图1为本申请的一种优选实施方式的手术机器人的立体示意图；FIG1 is a perspective schematic diagram of a surgical robot according to a preferred embodiment of the present application;
图2为图1中的手术机器人的机械臂的立体示意图；FIG2 is a perspective schematic diagram of a mechanical arm of the surgical robot in FIG1 ;
图3为图2中的机械臂的持械臂的立体示意图；FIG3 is a perspective schematic diagram of a mechanical arm of the mechanical arm in FIG2 ;
图4为图2中的机械臂的持械臂的另一视角的立体示意图；FIG4 is a perspective schematic diagram of the robot arm of the robot arm in FIG2 from another perspective;
图5为图4中的持械臂的剖视示意图；FIG5 is a schematic cross-sectional view of the robotic arm in FIG4 ;
图6为图5中的持械臂的局部结构的放大示意图；FIG6 is an enlarged schematic diagram of a partial structure of the robotic arm in FIG5 ;
图7为图4中的持械臂的另一剖视示意图；FIG7 is another schematic cross-sectional view of the robotic arm in FIG4 ;
图8为图4中的持械臂的局部结构的剖视示意图；FIG8 is a schematic cross-sectional view of a partial structure of the robotic arm in FIG4 ;
图9为图4中的持械臂的局部结构的另一剖视示意图；FIG9 is another schematic cross-sectional view of a partial structure of the robotic arm in FIG4 ;
图10为图2中的丝杆的局部结构的立体示意图；以及FIG10 is a perspective schematic diagram of a partial structure of the screw rod in FIG2 ; and
图11为图4中的持械臂的局部结构的立体示意图，其中示出了电机和丝杆。FIG. 11 is a three-dimensional schematic diagram of a partial structure of the robotic arm in FIG. 4 , showing a motor and a lead screw.
附图标记说明Description of Reference Numerals
100：连接臂 101： 臂主体100: Connecting arm 101: Arm body
102：器械驱动器 103： 手术器械102: Instrument driver 103: Surgical instrument
106：导轨 107： 驱动槽106: Guide rail 107: Drive slot
110：丝杆 111： 限位螺母110: Screw rod 111: Limit nut
120：可动组件 121： 丝杆螺母120: Movable assembly 121: Screw nut
122：滑块 123： 连接件122: Slider 123: Connector
130：驱动电机 131： 电机转子130: Drive motor 131: Motor rotor
132：定子 133： 第一转子132: Stator 133: First rotor
134：第二转子 135： 安装部134: Second rotor 135: Mounting portion
136：紧固件 137： 螺孔136: Fastener 137: Screw hole
140：电磁制动器 150： 第一传感器140: Electromagnetic brake 150: First sensor
151：第二传感器 112： 安装表面151: Second sensor 112: Mounting surface
161：蜗杆 162： 蜗轮161: Worm 162: Worm wheel
170：底座 171： 立柱170: Base 171: Column
172：连接台 180： 机械臂172: Connecting table 180: Robotic arm
190：持械臂190: Robotic Arm
具体实施方式DETAILED DESCRIPTION
在下文的描述中，给出了大量具体的细节以便提供对本申请更为彻底的理解。然而，对于本领域技术人员来说显而易见的是，本申请实施方式可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本申请实施方式发生混淆，对于本领域公知的一些技术特征未进行描述。In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application embodiments, some technical features well known in the art are not described.
在本文中，本申请中所引用的诸如“第一”和“第二”的序数词仅仅是标识，而不具有任何其它含义，例如特定的顺序等。而且，例如，术语“第一部件”其本身不暗示“第二部件”的存在，术语“第二部件”本身不暗示“第一部件”的存在。Herein, ordinal numbers such as “first” and “second” cited in the present application are merely identifications and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term “first component” itself does not imply the existence of the “second component”, and the term “second component” itself does not imply the existence of the “first component”.
在本文中，“上”、“下”、“前”、“后”、“左”、“右”等仅用于表示相关部分之间的相对位置关系，而非限定这些相关部分的绝对位置。In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.
在本文中，“相等”、“相同”等并非严格的数学和/或几何学意义上的限制，还包含本领域技术人员可以理解的且制造或使用等允许的误差。In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and/or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.
除非另有说明，本文中的数值范围不仅包括其两个端点内的整个范围，也包括含于其中的若干子范围。Unless otherwise stated, the numerical ranges herein include not only the entire range within its two endpoints but also include several sub-ranges contained therein.
本申请公开了一种持械臂190及具有其的手术机器人。如图1所示，手术机器人包括底座170、立柱171、连接台172和至少一个机械臂180。立柱171设置于底座170，并且沿竖直方向延伸。连接台172沿竖直方向可移动地连接至立柱171，机械臂180的一端连接至立柱171，以实现机械臂180的高度可调节。具体地，每一个机械臂180包括持械臂190和至少两个连接臂100，该至少两个连接臂100之间首尾连接，并且相邻的两个连接臂100以能够特定的自由度相对活动，使得机械臂180的末端可以达到多自由度的活动。该至少两个连接臂100中位于一端的连接臂100连接至立柱171，持械臂190与该至少两个连接臂100中位于另一端的连接臂100连接，也就是说，持械臂190设置在机械臂180的末端。此外，机械臂180与连接台172对应设置有多组，可实现各个机械臂180的不同高度的调节。根据本申请的持械臂190，其宽度尺寸较小，结构紧凑，利于防止持械臂190之间的干涉或碰撞。The present application discloses a robotic arm 190 and a surgical robot having the same. As shown in FIG1 , the surgical robot includes a base 170, a column 171, a connecting platform 172 and at least one robotic arm 180. The column 171 is disposed on the base 170 and extends in a vertical direction. The connecting platform 172 is movably connected to the column 171 in a vertical direction, and one end of the robotic arm 180 is connected to the column 171 to achieve height adjustment of the robotic arm 180. Specifically, each robotic arm 180 includes a robotic arm 190 and at least two connecting arms 100, the at least two connecting arms 100 are connected end to end, and two adjacent connecting arms 100 can move relative to each other with specific degrees of freedom, so that the end of the robotic arm 180 can achieve multi-degree-of-freedom movement. The connecting arm 100 at one end of the at least two connecting arms 100 is connected to the column 171, and the mechanical arm 190 is connected to the connecting arm 100 at the other end of the at least two connecting arms 100, that is, the mechanical arm 190 is arranged at the end of the mechanical arm 180. In addition, there are multiple groups of mechanical arms 180 and connecting platforms 172 correspondingly arranged, which can realize the adjustment of different heights of each mechanical arm 180. According to the mechanical arm 190 of the present application, its width is small and its structure is compact, which is conducive to preventing interference or collision between the mechanical arms 190.
下面将参照图2至图11对本申请持械臂190进行详细的说明。持械臂190用于安装器械驱动器102，器械驱动器102用于安装手术器械103。持械臂190主要包括臂主体101、驱动电机130、丝杆110、可动组件120、减速机构以及第一传感器150。The present invention's robotic arm 190 will be described in detail below with reference to FIGS. 2 to 11. The robotic arm 190 is used to mount an instrument driver 102, and the instrument driver 102 is used to mount a surgical instrument 103. The robotic arm 190 mainly includes an arm body 101, a drive motor 130, a screw rod 110, a movable assembly 120, a speed reduction mechanism, and a first sensor 150.
参照图8，驱动电机130包括定子132和电机转子131，电机转子131设置在定子132的内侧，并且与定子132同轴地设置。定子132与臂主体101相对固定地设置，电机转子131相对于定子132可旋转，并且电机转子131的旋转轴线沿臂主体101的长度方向延伸。8 , the driving motor 130 includes a stator 132 and a motor rotor 131, the motor rotor 131 being disposed inside the stator 132 and being coaxially disposed with the stator 132. The stator 132 is fixedly disposed relative to the arm body 101, the motor rotor 131 is rotatable relative to the stator 132, and the rotation axis of the motor rotor 131 extends along the length direction of the arm body 101.
参照图4至图7，丝杆110沿着臂主体101的长度方向设置于臂主体101内，丝杆110贯穿电机转子131并与电机转子131刚性固定连接。可动组件120用于与器械驱动器102连接。可动组件120包括丝杆螺母121，丝杆螺母121套设于丝杆110，丝杆螺母121能够随着丝杆110的旋转带动器械驱动器102沿丝杆110的轴向方向来回移动。4 to 7 , the screw rod 110 is disposed in the arm body 101 along the length direction of the arm body 101, and the screw rod 110 penetrates the motor rotor 131 and is rigidly fixedly connected to the motor rotor 131. The movable assembly 120 is used to be connected to the instrument driver 102. The movable assembly 120 includes a screw rod nut 121, which is sleeved on the screw rod 110. The screw rod nut 121 can drive the instrument driver 102 to move back and forth along the axial direction of the screw rod 110 as the screw rod 110 rotates.
参照图5至图7，减速机构设置于臂主体101，减速机构的输入端与丝杆110的一端刚性固定连接，并且减速机构的输入端的转动轴线与丝杆110的转动轴线同轴。第一传感器150设置于减速机构的输出端，以用于检测减速机构的输出端的旋转位置和旋转速度。将减速机构设置于丝杆110的一端，这样可以将第一传感器150设置于丝杆110的非传动区域，以通过减速机构的减速比来得出器械驱动器102的准确位置，有利于持械臂190的窄型化。5 to 7, the speed reduction mechanism is arranged on the arm body 101, the input end of the speed reduction mechanism is rigidly fixedly connected to one end of the screw rod 110, and the rotation axis of the input end of the speed reduction mechanism is coaxial with the rotation axis of the screw rod 110. The first sensor 150 is arranged at the output end of the speed reduction mechanism to detect the rotation position and rotation speed of the output end of the speed reduction mechanism. The speed reduction mechanism is arranged at one end of the screw rod 110, so that the first sensor 150 can be arranged in the non-transmission area of the screw rod 110, so as to obtain the accurate position of the instrument driver 102 through the reduction ratio of the speed reduction mechanism, which is conducive to the narrowing of the robot arm 190.
根据本申请的持械臂190，当驱动电机130启动时，电机转子131相对于定子132转动，由于电机转子131与丝杆110刚性固定连接，从而使得丝杆110与电机转子131同步转动。丝杆螺母121随着丝杆110的旋转能够沿丝杆110的轴向方向移动，以带动器械驱动器102和手术器械103沿丝杆110的轴向方向来回移动。与此同时，第一传感器150检测减速机构的输出端的旋转位置和旋转速度，从而检测器械驱动器102的移动行程和移动速度。故而持械臂190的驱动结构沿持械臂190的长度方向排布，在持械臂190的宽度方向上，相关的驱动结构占用空间较少，利于缩小持械臂190的体积，不易造成持械臂190之间的干涉或碰撞，且易于维护。According to the mechanical arm 190 of the present application, when the driving motor 130 is started, the motor rotor 131 rotates relative to the stator 132. Since the motor rotor 131 is rigidly fixedly connected to the screw rod 110, the screw rod 110 and the motor rotor 131 rotate synchronously. The screw nut 121 can move along the axial direction of the screw rod 110 with the rotation of the screw rod 110, so as to drive the instrument driver 102 and the surgical instrument 103 to move back and forth along the axial direction of the screw rod 110. At the same time, the first sensor 150 detects the rotation position and rotation speed of the output end of the reduction mechanism, thereby detecting the moving stroke and moving speed of the instrument driver 102. Therefore, the driving structure of the mechanical arm 190 is arranged along the length direction of the mechanical arm 190. In the width direction of the mechanical arm 190, the relevant driving structure occupies less space, which is conducive to reducing the volume of the mechanical arm 190, not easily causing interference or collision between the mechanical arms 190, and easy to maintain.
详细地说，关于驱动电机130与丝杆110之间的连接。丝杆110和电机转子131可以为分体设置，并且丝杆110和电机转子131之间可以直接连接或者通过刚性联轴器连接。当丝杆110与电机转子131通过刚性联轴器连接时，便于将丝杆110与电机转子131拆开，方便持械臂190的维护。当丝杆110与电机转子131直接连接(如丝杆110与电机转子131通过焊接固定或者通过紧固件连接)时，丝杆110与电机转子131安装后不会脱离，结构稳定。In detail, regarding the connection between the drive motor 130 and the screw rod 110. The screw rod 110 and the motor rotor 131 can be separately set, and the screw rod 110 and the motor rotor 131 can be directly connected or connected through a rigid coupling. When the screw rod 110 and the motor rotor 131 are connected through a rigid coupling, it is convenient to disassemble the screw rod 110 and the motor rotor 131, which is convenient for the maintenance of the robotic arm 190. When the screw rod 110 and the motor rotor 131 are directly connected (such as the screw rod 110 and the motor rotor 131 are fixed by welding or connected by fasteners), the screw rod 110 and the motor rotor 131 will not be separated after installation, and the structure is stable.
可选地，丝杆110和电机转子131也可以成型为一体。成型为一体的丝杆110和电机转子131，安装方便，传动精度高，且结构紧凑，利于减小持械臂190的尺寸。Optionally, the screw rod 110 and the motor rotor 131 may also be formed as one body. The screw rod 110 and the motor rotor 131 formed as one body are easy to install, have high transmission accuracy, and have a compact structure, which is conducive to reducing the size of the robotic arm 190.
进一步的，参照图9，电机转子131包括第一转子133和与第一转子133连接的第二转子134。第一转子133和第二转子134均为筒状，第二转子134套设在第一转子133的外侧并且设置在定子132的内侧。丝杆110贯穿第一转子133并与第一转子133刚性固定连接。电机转子131采用第一转子133和第二转子134的分体式设置，便于丝杆110与驱动电机130的安装。然而，可以理解的是，电机转子131也可设置为一体式，采用一体式的电机转子131并不影响驱动电机130对丝杆110的驱动作用。Further, referring to FIG. 9 , the motor rotor 131 includes a first rotor 133 and a second rotor 134 connected to the first rotor 133. The first rotor 133 and the second rotor 134 are both cylindrical, and the second rotor 134 is sleeved on the outside of the first rotor 133 and arranged on the inside of the stator 132. The screw rod 110 passes through the first rotor 133 and is rigidly fixedly connected to the first rotor 133. The motor rotor 131 adopts a split arrangement of the first rotor 133 and the second rotor 134, which facilitates the installation of the screw rod 110 and the drive motor 130. However, it can be understood that the motor rotor 131 can also be set as an integrated type, and the use of the integrated motor rotor 131 does not affect the driving effect of the drive motor 130 on the screw rod 110.
第一转子133和第二转子134可以通过粘合剂粘接在一起，安装方便。作为替代方案，第一转子133和第二转子134也可通过紧固件136固定在一起。在一个示例中，在安装电机转子131和丝杆110时，先将第二转子134安装至定子132内，然后将丝杆110穿设至第一转子133并与第一转子133固定，然后再将第一转子133连同丝杆110安装至第二转子134和定子132。The first rotor 133 and the second rotor 134 can be bonded together by an adhesive, which is convenient for installation. As an alternative, the first rotor 133 and the second rotor 134 can also be fixed together by a fastener 136. In one example, when installing the motor rotor 131 and the screw rod 110, the second rotor 134 is first installed in the stator 132, and then the screw rod 110 is passed through the first rotor 133 and fixed to the first rotor 133, and then the first rotor 133 is installed together with the screw rod 110 to the second rotor 134 and the stator 132.
第一转子133和丝杆110可以通过粘合剂粘接在一起或者通过紧固件136(如螺栓、螺钉)连接在一起。具体而言，参照图9至图11，在本具体实施方式中，丝杆110的两侧设置有安装表面112，第一转子133设置有延伸至第二转子134外的安装部135，安装表面112位于安装部135内，并且面向安装部135。安装部135设置有螺孔137，可以通过紧固件136延伸穿过螺孔137，且紧固件136的端部抵接至安装表面112，当紧固件136旋紧时，紧固件136的端部与安装表面112抵紧，从而使得第一转子133与丝杆110固定，安装难度小。The first rotor 133 and the screw rod 110 can be bonded together by an adhesive or connected together by a fastener 136 (such as a bolt or a screw). Specifically, referring to FIGS. 9 to 11 , in this specific embodiment, mounting surfaces 112 are provided on both sides of the screw rod 110, and the first rotor 133 is provided with a mounting portion 135 extending to the outside of the second rotor 134, and the mounting surface 112 is located inside the mounting portion 135 and faces the mounting portion 135. The mounting portion 135 is provided with a screw hole 137, through which a fastener 136 can extend, and the end of the fastener 136 abuts against the mounting surface 112. When the fastener 136 is tightened, the end of the fastener 136 abuts against the mounting surface 112, so that the first rotor 133 is fixed to the screw rod 110, and the installation difficulty is small.
参照图8，丝杆110还套设有限位螺母111，限位螺母111可以设置为两个，限位螺母111与丝杆110螺纹连接，且限位螺母111可位于臂主体101的内壁结构或安装丝杆110的转动结构的内部，以限制丝杆110相对于臂主体101的轴向偏移，使得丝杆110的安装更为稳固。Referring to Figure 8, the screw rod 110 is also provided with a limiting nut 111, and two limiting nuts 111 can be set. The limiting nuts 111 are threadedly connected to the screw rod 110, and the limiting nuts 111 can be located inside the inner wall structure of the arm body 101 or the rotating structure for installing the screw rod 110 to limit the axial displacement of the screw rod 110 relative to the arm body 101, so that the installation of the screw rod 110 is more stable.
而具体到减速机构，参照图5至图8，减速机构包括蜗轮162和与蜗轮162啮合的蜗杆161。蜗轮162和蜗杆161均设置在臂主体101的内部。蜗杆161配置为减速机构的输入端，蜗轮162配置为减速机构的输出端。蜗杆161与丝杆110刚性固定连接，以与丝杆110同步转动。在本实施方式中，蜗杆161和丝杆110同轴地设置。蜗轮162的转动轴线与蜗杆161的转动轴线垂直，即与丝杆110的轴线垂直。采用蜗轮162和蜗杆161作为减速机构，蜗轮162和蜗杆161组成的减速机构结构紧凑，在持械臂190的端部占用空间小，进一步有利于持械臂190的窄型化和紧凑化。优选地，蜗杆161与蜗轮162是一级蜗轮162蜗杆161传动。As for the reduction mechanism, referring to FIGS. 5 to 8 , the reduction mechanism includes a worm wheel 162 and a worm 161 meshed with the worm wheel 162. The worm wheel 162 and the worm 161 are both arranged inside the arm body 101. The worm 161 is configured as the input end of the reduction mechanism, and the worm wheel 162 is configured as the output end of the reduction mechanism. The worm 161 is rigidly fixedly connected to the screw 110 so as to rotate synchronously with the screw 110. In this embodiment, the worm 161 and the screw 110 are coaxially arranged. The rotation axis of the worm wheel 162 is perpendicular to the rotation axis of the worm 161, that is, perpendicular to the axis of the screw 110. The worm wheel 162 and the worm 161 are used as the reduction mechanism. The reduction mechanism composed of the worm wheel 162 and the worm 161 has a compact structure and occupies a small space at the end of the robot arm 190, which is further conducive to the narrowing and compactness of the robot arm 190. Preferably, the worm 161 and the worm wheel 162 are a primary worm wheel 162 and worm 161 transmission.
详细地说，丝杆110和减速机构的输入端(即蜗杆161)分体设置，并且丝杆110和减速机构的输入端可以直接刚性连接或者通过刚性联轴器连接。当然，丝杆110和减速机构的输入端(即蜗杆161)也可以为一次成型结构，利于防止丝杆110与蜗杆161脱离，且安装方便，结构稳固。In detail, the screw 110 and the input end of the reduction mechanism (i.e., the worm 161) are separately arranged, and the screw 110 and the input end of the reduction mechanism can be directly rigidly connected or connected through a rigid coupling. Of course, the screw 110 and the input end of the reduction mechanism (i.e., the worm 161) can also be a one-time molding structure, which is conducive to preventing the screw 110 from being separated from the worm 161, and is easy to install and has a stable structure.
当丝杆110在驱动电机130的驱动下转动时，丝杆110带动蜗杆161转动，蜗杆161的转动驱动了蜗轮162的转动。优选地，蜗杆161与蜗轮162的传动比大于1。由于第一传感器150能够检测减速机构的输出端(即蜗轮162)的旋转位置和旋转速度，通过计算即可定位器械驱动器102以及手术器械103的行程和速度。When the lead screw 110 rotates under the drive of the driving motor 130, the lead screw 110 drives the worm 161 to rotate, and the rotation of the worm 161 drives the rotation of the worm wheel 162. Preferably, the transmission ratio of the worm 161 to the worm wheel 162 is greater than 1. Since the first sensor 150 can detect the rotation position and rotation speed of the output end of the reduction mechanism (i.e., the worm wheel 162), the stroke and speed of the instrument driver 102 and the surgical instrument 103 can be located by calculation.
在本实施方式中，进一步优选地，当丝杆螺母121带动器械驱动器102单向移动一个完整行程时，蜗轮162的转动角度不大于360°，从而使得第一传感器150仅检测蜗轮162的转动角度和转动方向即可计算出器械驱动器102的位置，而无需代入蜗轮162的转动圈数等数据，简化了数据的处理逻辑，利于控制。In this embodiment, it is further preferred that when the lead screw nut 121 drives the instrument driver 102 to move a complete stroke in one direction, the rotation angle of the worm gear 162 is not greater than 360°, so that the first sensor 150 can calculate the position of the instrument driver 102 by only detecting the rotation angle and rotation direction of the worm gear 162, without substituting data such as the number of rotations of the worm gear 162, thereby simplifying the data processing logic and facilitating control.
参照图6，在本实施方式中，第一传感器150为绝对编码器，并且持械臂190还包括编码器磁铁(图中未示出)。编码器磁铁设置于减速机构的输出端(即蜗轮162)，且第一传感器150基于编码器磁铁的旋转检测减速机构的输出端的旋转位置和旋转速度。第一传感器150采用绝对编码器，不仅能够在器械驱动器102被驱动时检测器械驱动器102的位置，还能够在设备断电重启时保留器械驱动器102的位置数据。6, in this embodiment, the first sensor 150 is an absolute encoder, and the arm 190 further includes an encoder magnet (not shown). The encoder magnet is disposed at the output end of the reduction mechanism (i.e., the worm gear 162), and the first sensor 150 detects the rotation position and rotation speed of the output end of the reduction mechanism based on the rotation of the encoder magnet. The first sensor 150 uses an absolute encoder, which can not only detect the position of the instrument driver 102 when the instrument driver 102 is driven, but also retain the position data of the instrument driver 102 when the device is powered off and restarted.
持械臂190还包括第二传感器151，第二传感器151可设置于定子132和臂主体101中的至少一者。在本具体实施方式中，第二传感器151设置于定子132，例如设置在定子的一端。可选的，第二传感器151用于检测丝杆110、电机转子131和减速机构的输入端中的至少一者的转动角度。第二传感器151为编码器。进一步的，第二传感器151也可以是多圈绝对式编码器，通过检测丝杆110的转动角度(可以大于一圈)以检测器械驱动器102的位置。当然，为了便于安装，第二传感器151也可选为轴套型编码器，利于节省第二传感器151占用的臂主体101内的空间。The mechanical arm 190 further includes a second sensor 151, which can be disposed on at least one of the stator 132 and the arm body 101. In this specific embodiment, the second sensor 151 is disposed on the stator 132, for example, on one end of the stator. Optionally, the second sensor 151 is used to detect the rotation angle of at least one of the lead screw 110, the motor rotor 131, and the input end of the reduction mechanism. The second sensor 151 is an encoder. Furthermore, the second sensor 151 can also be a multi-turn absolute encoder, which detects the position of the instrument driver 102 by detecting the rotation angle of the lead screw 110 (which can be greater than one turn). Of course, in order to facilitate installation, the second sensor 151 can also be a sleeve-type encoder, which is conducive to saving the space occupied by the second sensor 151 in the arm body 101.
对于可动组件120，参照图3至图7，可动组件120还包括滑块122和连接件123，滑块122通过连接件123与丝杆螺母121连接。持械臂190还包括导轨106，导轨106设置于臂主体101的外侧并沿臂主体101的长度方向延伸。滑块122沿着导轨106的长度方向可移地设置于导轨106，器械驱动器102连接至滑块122。具体地，臂主体101设置有驱动槽107，驱动槽107沿导轨106的长度方向延伸。连接件123延伸穿过驱动槽107，并且在丝杆螺母121的驱动作用下能够沿驱动槽107的长度方向来回移动。当驱动电机130启动时，丝杆110转动，丝杆螺母121与丝杆110螺纹连接，使得丝杆螺母121沿丝杆110的轴向方向移动，从而使得滑块122带动器械驱动器102沿导轨106的长度方向移动。With reference to FIGS. 3 to 7 , the movable assembly 120 further includes a slider 122 and a connector 123, wherein the slider 122 is connected to the screw nut 121 via the connector 123. The mechanical arm 190 further includes a guide rail 106, which is disposed outside the arm body 101 and extends along the length direction of the arm body 101. The slider 122 is movably disposed on the guide rail 106 along the length direction of the guide rail 106, and the instrument driver 102 is connected to the slider 122. Specifically, the arm body 101 is provided with a drive slot 107, which extends along the length direction of the guide rail 106. The connector 123 extends through the drive slot 107, and can move back and forth along the length direction of the drive slot 107 under the driving action of the screw nut 121. When the drive motor 130 is started, the screw 110 rotates, and the screw nut 121 is threadedly connected to the screw 110 , so that the screw nut 121 moves along the axial direction of the screw 110 , thereby causing the slider 122 to drive the instrument driver 102 to move along the length direction of the guide rail 106 .
参照图7，持械臂190还包括电磁制动器140，电磁制动器140设置于丝杆110的远离驱动电机130的一端，且电磁制动器140用于阻止丝杆110旋转。详细地说，电磁制动器140包括制动器转子(图中未示出)，制动器转子与丝杆110固定连接。当电磁制动器140启动时，制动器转子被固定，从而使得丝杆110停止转动。7 , the robotic arm 190 further includes an electromagnetic brake 140, which is disposed at one end of the lead screw 110 away from the drive motor 130, and is used to prevent the lead screw 110 from rotating. Specifically, the electromagnetic brake 140 includes a brake rotor (not shown in the figure), which is fixedly connected to the lead screw 110. When the electromagnetic brake 140 is activated, the brake rotor is fixed, thereby stopping the lead screw 110 from rotating.
除非另有定义，本文中所使用的技术和科学术语与本申请的技术领域的技术人员通常理解的含义相同。本文中使用的术语只是为了描述具体的实施目的，不是旨在限制本申请。本文中出现的诸如“设置”等术语既可以表示一个部件直接附接至另一个部件，也可以表示一个部件通过中间件附接至另一个部件。本文中在一个实施方式中描述的特征可以单独地或与其它特征结合地应用于另一个实施方式，除非该特征在该另一个实施方式中不适用或是另有说明。Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this article can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.
本申请已经通过上述实施方式进行了说明，但应当理解的是，上述实施方式只是用于举例和说明的目的，而非意在将本申请限制于所描述的实施方式范围内。本领域技术人员可以理解的是，根据本申请的教导还可以做出更多种的变型和修改，这些变型和修改均落在本申请所要求保护的范围以内。The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed in the present application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310280837.5ACN118662242A (en) | 2023-03-16 | 2023-03-16 | Robotic arms and surgical robots |
| PCT/CN2024/073196WO2024187959A1 (en) | 2023-03-16 | 2024-01-19 | Instrument holding arm and surgical robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310280837.5ACN118662242A (en) | 2023-03-16 | 2023-03-16 | Robotic arms and surgical robots |
| Publication Number | Publication Date |
|---|---|
| CN118662242Atrue CN118662242A (en) | 2024-09-20 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310280837.5APendingCN118662242A (en) | 2023-03-16 | 2023-03-16 | Robotic arms and surgical robots |
| Country | Link |
|---|---|
| CN (1) | CN118662242A (en) |
| WO (1) | WO2024187959A1 (en) |
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| WO2024187959A1 (en) | 2024-09-19 |
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