CN115137484A - Trailing arm of surgical robot and assembling method thereof - Google Patents

Abstract

The invention provides a trailing arm of a surgical robot and an assembling method thereof. The dragging arm of the surgical robot includes a first joint, a first cantilever, a second joint, a second cantilever, a third joint, an end arm, a fourth joint and a control system; the first cantilever can rotate around the first joint, and the second cantilever can rotate around the first joint. It can rotate around the second joint, and the end arm can rotate around the third joint; the fourth joint is used to connect medical equipment, and the medical equipment can rotate around the fourth joint; the first joint, the second joint, the third joint and the fourth joint are all Electrically connected to the control system. Through the arrangement of multiple joints and cantilevers, the device achieves the purpose of reducing hand tremors when doctors operate medical equipment, reducing work intensity and reducing operator burden. In addition, the present invention can efficiently lock the position of the medical equipment by electrically connecting the brake with the control system. The doctor only needs to control the operation button to complete the position lock, and the operation is simple and convenient.

Description

Trailing arm of surgical robot and its assembling method

technical field

The present invention relates to the field of medical instruments, in particular, to the field of interventional surgical robot operation, in particular, to a drag arm of a surgical robot and an assembling method thereof.

Background technique

In surgery, sometimes for the convenience of operation, it is necessary to fix medical instruments such as ultrasound, endoscope, surgical forceps, ablation needles, navigation stents, etc. with stents. Existing solutions generally use mechanical brackets that lock the medical device in the operating position by turning a knob by hand. However, this solution requires the doctor to hold the front-end fixed medical device with one hand and rotate the knob with the other hand, which is sometimes inflexible and may obstruct the surgical space and affect the user experience. If the doctor does not firmly hold the front end to fix the medical device, the medical device may deviate from the position or even fall directly, which is not conducive to the fixing of the medical device and other operations, and affects the operation efficiency. In addition, the current mechanical bracket locking operation is complicated and requires multiple locking, which makes it difficult to improve the position fixing efficiency.

Patent document CN 215688568 U discloses a bracket for nasal endoscope surgery, comprising a shell, a support seat is fixedly installed at the bottom end of the shell, and a vertical support rod is inserted into the shell, so The top end of the vertical support rod is fixedly installed with a first rotating shaft, the outer circumferential surface of the first rotating shaft is sleeved with two rings, a first support arm is inserted on the first rotating shaft, and the first support arm is inserted into the first rotating shaft. One end of the arm is plugged with a second shaft, the upper part of the second shaft is plugged with a second support arm, one end of the second support arm is plugged with a third shaft, and the top of the third shaft is fixedly installed with a pallet. However, in this solution, when the posture of the bracket is fixed, the operator still needs to step on or rotate the knob for many times, and the operation is still not flexible enough and the operation efficiency is low.

SUMMARY OF THE INVENTION

In view of the defects in the prior art, the purpose of the present invention is to provide a trailing arm of a surgical robot and an assembling method thereof.

A trailing arm of a surgical robot provided according to the present invention includes a first joint, a first cantilever, a second joint, a second cantilever, a third joint, an end arm, a fourth joint and a control system; the first joint is installed At one end of the first cantilever, the other end of the first cantilever is rotatably connected to one end of the second cantilever through a second joint, and the other end of the second cantilever is connected to the end through the third joint One end of the arm is rotatably connected, and the fourth joint is mounted on the end of the end arm;

The first cantilever can rotate around the first joint, the second cantilever can rotate around the second joint, and the end arm can rotate around the third joint; the fourth joint is used to connect medical equipment, and the medical equipment can rotate around the fourth joint ;

The first joint, the second joint, the third joint and the fourth joint are all electrically connected to the control system.

Preferably, the first joint includes a first fixed seat, a second fixed seat, a first damper, a first brake, a rotating shaft, a rotating shaft expansion sleeve and a first bearing;

The first brake includes a first brake expansion sleeve and a first fixing part, and the first brake has a release state and a tight state; when in the release state, the first brake expands The sleeve can rotate relative to the first fixed part; when in the tightened state, the first brake expansion sleeve cannot rotate relative to the first fixed part;

The first brake is sleeved on the rotating shaft, the rotating shaft is fastened with the first brake expansion sleeve, and the rotating shaft and the first fixing part have a gap; the first fixing part and the second fixing part Seat tight connection;

The top end of the rotating shaft is installed on one end of the first cantilever through the rotating shaft expansion sleeve; the bottom end of the rotating shaft is installed on the second fixed seat through the first damper;

The top of the first fixing seat is connected with one end of the first cantilever through the first bearing.

Preferably, the second joint includes a screw-on screw, a screw-on nut, a second bearing, a second damper, a second brake and a third bearing;

The second brake includes a second brake expansion sleeve and a second fixing part, and the second brake has a release state and a tight state; when in the release state, the second brake The brake expansion sleeve can rotate relative to the second fixed part; when in the tightened state, the second brake expansion sleeve cannot rotate relative to the second fixed part;

The twisting screw includes a first top cover, a first screw part, a first polished rod part and a first damper pin; the first screw part is connected with the first top cover through the first polished rod part; the first damper The pin is arranged on the first polished rod portion; the counter-twisting nut comprises a nut body and a first threaded sleeve that are connected to each other;

the second damper is sleeved on the counter-tightening screw and is fastened to the first cantilever arm;

The second brake is sleeved on the anti-twisting nut and the anti-twisting screw, the first threaded sleeve is tightly connected with the second brake expansion sleeve, and the second fixing part is fastened and connected at the other end of the first cantilever; the first polished rod part and the second fixed part have a gap;

The second bearing is provided between the counter-twisting screw and the first cantilever, and the third bearing is provided between the counter-twisting nut and the first cantilever;

Both the anti-twisting screw and the anti-twisting nut are connected with one end of the second cantilever arm; the anti-twisting screw is matched with the anti-twisting nut.

Preferably, the first top cover includes two circular arc parts and two straight line parts, the circular arc parts and the straight line parts are alternately arranged in sequence, and the first top cover has a symmetrical structure;

One end of the second cantilever matches the shape of the first top cover.

Preferably, the nut body is provided with a first through hole, and the position of the first through hole matches the position of the screw of the second brake expansion sleeve.

Preferably, the third joint includes a custom screw, a third damper, a fourth bearing, a fifth bearing, a third brake, a rotating arm and a fixing nut;

The third brake includes a third brake expansion sleeve and a third fixing portion, and the third brake has a release state and a tight state; when in the release state, the third brake The brake expansion sleeve can rotate relative to the third fixed part; when in the tightened state, the third brake expansion sleeve cannot rotate relative to the third fixed part;

The custom screw includes a second top cover, a second screw part, a second polished rod part and a second damper pin; the second screw part is connected with the second top cover through the second polished rod part; the second damper a pin is arranged on the second polished rod portion;

The rotating arm includes a rotating arm main body and a second threaded sleeve, the second threaded sleeve is located at the top end of the rotating arm main body; the second screw portion passes through the second threaded sleeve and penetrates to the Inside the main body of the rotating arm, the main body of the rotating arm and the custom screw are connected by a fixing nut and a second threaded sleeve;

The third damper is sleeved on the custom screw and is fastened to the second cantilever;

The third brake is sleeved on the custom screw and the second threaded sleeve, the second threaded sleeve is tightly connected with the third brake expansion sleeve, and the third fixing part is fastened connected to the other end of the second cantilever; the second polished rod part and the third fixed part have a gap;

The fourth bearing is arranged between the custom screw and the other end of the second cantilever, and the fifth bearing is arranged between the rotating arm and the other end of the second cantilever;

The bottom end of the rotating arm is connected with the top end of the end arm.

Preferably, the fourth joint includes a rear cover, a sixth bearing, a seventh bearing, a fourth brake, a fourth damper and an inner sleeve, all of which are mounted on the end of the distal arm and are coaxially arranged;

The fourth brake includes a fourth brake expansion sleeve and a fourth fixing portion, and the fourth brake has a release state and a tight state; when in the release state, the fourth brake expands The sleeve can rotate relative to the fourth fixed part; when in the tightened state, the fourth brake expansion sleeve cannot rotate relative to the fourth fixed part;

The fourth damper is fastened to the inner sleeve, the fourth brake expansion sleeve is fastened to the rear cover, and the fourth fixing portion is fastened to the end of the end arm,

A sixth bearing is provided between the rear cover and the end of the end arm, and the seventh bearing is mounted on the end of the end arm.

Preferably, the first brake, the second brake, the third brake and the fourth brake have the same structure, and are all selected from Nanjing Gongnuo Technology Co., Ltd., and the model is SP-VSB3 series products.

According to a method for assembling a dragging arm of a surgical robot provided by the present invention, using the dragging arm of a surgical robot, the following steps are further included:

Step 1. Install the first joint;

Step 2. Install the second joint;

First, install the second damper and the second brake directly on the first cantilever, place the second bearing and the third bearing on the upper and lower ends of the first cantilever respectively, insert the second cantilever in translation, and tighten the screws and The nuts are inserted and tightened, and finally a tightening tool is used to pass through the first through hole reserved at the bottom of the paired nut to lock the second brake expansion sleeve and the first threaded sleeve of the paired nut to each other.

Step 3. Install the third joint;

First install the third damper and the third brake directly on the second cantilever, place the fourth bearing and the fifth bearing on the upper and lower ends of the second cantilever, respectively, then insert the custom screw and the rotating arm, and connect the end arm with the screw. Rotating the arm completes the installation of the joint and end arm.

Step 4. Install the fourth joint;

Insert the fourth brake into the shell and install it with glue. After welding the fourth damper and the inner sleeve together, glue them into the shell. Both ends of the shell are sleeved with the sixth bearing and the seventh Bearing, pass the U-shaped arm connecting rod of the U-shaped arm through the seventh bearing, the fourth damper and the fourth fixing part in sequence, and then lock the U-shaped arm connecting rod and the fourth brake expansion sleeve, and finally cover the The installation of the joint is completed when the rear cover is placed on.

Preferably, the step 1 includes:

Step 1.1. Insert the rotating shaft into the first brake, fasten the rotating shaft with the first brake through screws, fix the first damper to the second fixing seat, and then insert the rotating shaft into the first damper In the middle, the screw locks the second fixed seat and the first brake.

Step 1.2. Insert the components of the first step as a whole from the lower port of the first fixed seat, put two first bearings in the upper port, install the first cantilever to the top of the first fixed seat, and insert the rotating shaft from above the first cantilever The expansion sleeve is used to connect the rotating shaft to the first cantilever through the rotating shaft expansion sleeve, and then tighten the rotating shaft expansion sleeve to realize the installation of the joint one.

Compared with the prior art, the present invention has the following beneficial effects:

1. Through the arrangement of multiple joints and cantilevers, this device can reduce the hand tremor when doctors operate medical equipment (such as endoscopes and U-shaped arms), reduce the work intensity, reduce the burden on operators, and improve the operation efficiency. success rate, and can avoid the injury caused by ERCP surgical radiation to doctors and other operators.

2. The present invention can efficiently carry out medical equipment (such as endoscopes, U-shaped devices, etc.) The position lock of the arm), the doctor only needs to control the operation button to complete the position lock, and the operation is simple and convenient.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the top view schematic diagram of Fig. 1;

3 is a schematic diagram of an exploded view of the first joint;

Fig. 4 is the front view schematic diagram of Fig. 1;

Fig. 5 is in Fig. 4, A-A side sectional view schematic diagram;

6 is a schematic cross-sectional view of the first damper;

7 is a schematic diagram of an exploded view of the second joint;

Fig. 8 is the left side view schematic diagram of Fig. 1;

Fig. 9 is in Fig. 8, D-D side sectional view schematic diagram;

10 is a schematic diagram of a cross-sectional view of the second joint;

Figure 11 is a schematic diagram of the screw structure;

Figure 12 is a schematic diagram of Figure 11 upside down;

Figure 13 is a schematic diagram of the structure of the counter-tightening nut;

Figure 14 is a schematic structural diagram of the second brake;

15 is a schematic diagram of the first cantilever structure;

16 is a schematic diagram of an exploded view of the third joint;

Figure 17 is a schematic diagram of a rear view;

Fig. 18a is a schematic diagram of a side cross-sectional view of E-E in Fig. 17;

Figure 18b is a schematic perspective view of the third joint;

Figure 19 is a schematic diagram of a custom screw structure;

20 is a schematic diagram of the second cantilever structure;

21 is a schematic diagram of an exploded view of the fourth joint;

Fig. 22 is the schematic diagram of the right side view of Fig. 1;

Figure 23 is a schematic diagram of a side cross-sectional view of F-F in Figure 22;

Figure 24 is a schematic view of the U-shaped arm structure;

Figure 25 is a schematic diagram of the inner sleeve structure;

Figure 26 is a schematic structural diagram of the present invention after the U-shaped arm is installed;

FIG. 27 is a schematic diagram of the structure of the fourth joint in cooperation with the U-shaped arm connecting rod.

The figure shows:

Detailed ways

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the inventive concept. These all belong to the protection scope of the present invention.

The present invention provides a trailing arm of a surgical robot, as shown in FIG. 1 and FIG. 2 , including a first joint 1 , a first cantilever 2 , a second joint 3 , a second cantilever 4 , a third joint 5 , and an end arm 6 , a fourth joint 7 and a control system; the first joint 1 is installed on one end of the first cantilever 2 , and the other end of the first cantilever 2 and one end of the second cantilever 4 are rotated through the second joint 3 For connection, the other end of the second cantilever 4 is rotatably connected to one end of the end arm 6 through the third joint 5 , and the fourth joint 7 is installed on the end of the end arm 6 .

The first cantilever 2 can rotate around the first joint 1, the second cantilever 4 can rotate around the second joint 3, the end arm 6 can rotate around the third joint 5, and the fourth joint is used to connect medical equipment, the medical equipment It can rotate around the fourth joint 7 .

The first joint 1 , the second joint 3 , the third joint 5 and the fourth joint 7 are all electrically connected to the control system.

As shown in FIGS. 3-6 , the first joint 1 includes a first fixed seat 11 , a second fixed seat 12 , a first damper 13 , a first brake 14 , a rotating shaft 15 , a rotating shaft expansion sleeve 17 and a first A bearing 18; the first brake 14 includes a first brake expansion sleeve 16 and a first fixing portion 141, the first brake 14 has a released state and a tightened state; when in the released state, The first brake expansion sleeve 16 can rotate relative to the first fixing part 141; when in the tightened state, the first brake expansion sleeve 16 cannot rotate relative to the first fixed part 141; the first brake 14 is sleeved on the rotating shaft 15, the rotating shaft 15 is tightly connected with the first brake expansion sleeve 16, and there is a gap between the rotating shaft 15 and the first fixing part 141; The two fixed seats 12 are tightly connected; the top end of the rotating shaft 15 is installed on one end of the first cantilever 2 through the rotating shaft expansion sleeve 17 ; the bottom end of the rotating shaft 15 is installed on the first cantilever 2 through the first damper 13 two fixed seats 12 . The top of the first fixing seat 11 is connected to one end of the first cantilever 2 through the first bearing 18 . Specifically, the inner ring of the first bearing 18 is in contact with one end of the first cantilever 2 , and the outer ring of the first bearing 18 is in contact with the first fixed seat 11 . In a preferred example, the The number of the first bearings 18 is two.

As shown in FIGS. 7-13 , the second joint 3 includes a screw 31, a screw nut 32, a second bearing 33, a second damper 34, a second brake 35 and a third bearing 37; the first The second brake 35 includes a second brake expansion sleeve 36 and a second fixing portion 351. The second brake 35 has a released state and a tightened state; when in the released state, the second brake The brake expansion sleeve 36 can rotate relative to the second fixed part 351; when in the tightened state, the second brake expansion sleeve 36 cannot rotate relative to the second fixed part 351; as shown in FIG. 11-FIG. 12, the The screw 31 includes a first top cover 311 , a first screw portion 312 , a first polished rod portion 313 and a first damper pin 314 ; the first screw portion 312 passes through the first polished rod portion 313 and the first top cover 311 connection, the first damper pin 314 is arranged on the first polished rod portion 313, preferably, the first damper pin 314 is a hexagonal column structure; as shown in FIG. 321 and the first threaded sleeve 322 ; in a preferred example, the nut body 321 and the first threaded sleeve 322 are integrally connected. As shown in FIG. 10 , the second damper 34 is sheathed on the opposite screw 31 and is fastened to the first cantilever 2 ; specifically, the second damper 34 is sheathed on the first cantilever 2 On a damper pin 314, the second damper 34 is fastened to the first cantilever 2 through screws.

As shown in FIG. 10 , the second brake 35 is sleeved on the anti-twist nut 32 and the anti-twist screw 31. Specifically, the first threaded sleeve 322 and the second brake expansion sleeve 36 Fastening connection, the second fixing part 351 is fastened and connected to the other end of the first cantilever 2 ; the first polished rod part 313 and the second fixing part 351 have a gap. The second bearing 33 is provided between the counter-twisting screw 31 and the first cantilever 2 , and the third bearing 37 is provided between the counter-twisting nut 32 and the first cantilever 2 ; The inner ring of the second bearing 33 is in contact with the first top cover 311 , the outer ring of the second bearing 33 is in contact with the other end of the first cantilever 2 ; the inner ring of the third bearing 37 is in contact with the nut The main body 321 is in contact, and the outer ring of the third bearing 37 is in contact with the other end of the first cantilever 2 .

As shown in FIG. 7 , FIG. 10 and FIG. 20 , the anti-twisting screw 31 and the anti-twisting nut 32 are both connected to one end of the second cantilever 4 . Specifically, one end of the second cantilever 4 includes the first A connecting portion 41 and a second connecting portion 42, the first connecting portion is located above the second connecting portion 42, the first connecting portion 41 is connected to the first top cover 311, and the second connecting portion 42 is connected to the The nut body 321 is connected. The anti-twisting screw 31 is matched with the anti-twisting nut 32 . Specifically, the first screw portion 312 is matched with the first threaded sleeve 322 .

As shown in FIG. 7 , FIG. 11 and FIG. 20 , the first top cover 311 includes two arc portions 3111 and two straight portions 3112 . The arc portions 3111 and the straight portions 3112 are alternately arranged in sequence. The cover 311 has a symmetrical structure; one end of the second cantilever 4 matches the shape of the first top cover 311 , and specifically, the shape of the first connecting portion 41 matches the shape of the first top cover 311 .

As shown in FIGS. 16-19 , the third joint 5 includes a custom screw 51 , a third damper 52 , a fourth bearing 53 , a fifth bearing 54 , a third brake 55 , a rotating arm 56 and a fixing nut 57 ; The third brake 55 includes a third brake expansion sleeve 58 and a third fixing portion 551. The third brake 55 has a released state and a tightened state; when in the released state, the The third brake expansion sleeve 58 can rotate relative to the third fixed portion 551; when in the tightened state, the third brake expansion sleeve 58 cannot rotate relative to the third fixed portion 551;

As shown in FIG. 19 , the custom screw 51 includes a second top cover 511 , a second screw portion 512 , a second polished rod portion 513 and a second damper pin 514 ; the second screw portion 512 passes through the second polished rod portion 513 Connected with the second top cover 511; the second damper pin 514 is arranged on the second polished rod portion 513, preferably, the second damper pin 514 is a hexagonal column structure; as shown in FIG. 16 and FIG. 18, The rotating arm (56) includes a rotating arm main body (561) and a second threaded sleeve (562), the second threaded sleeve (562) is located at the top end of the rotating arm main body (561); the second threaded sleeve (562) The screw portion (512) passes through the second threaded sleeve (562) and penetrates into the interior of the rotating arm body (561), and the rotating arm body (561) and the custom screw (51) pass through the fixing nut (57) and the second threaded sleeve (562) is connected;

The third damper 52 is fitted over the custom screw 51 and is fastened to the second cantilever 4 ; specifically, the third damper 52 is fitted over the second damper pin 514 .

As shown in FIG. 18a and FIG. 18b, the third brake 55 is sleeved on the custom screw 51 and the second threaded sleeve 562. Specifically, the second threaded sleeve 562 and the third The brake expansion sleeve 58 is tightly connected. The third fixing portion 551 is fastened to the other end of the second cantilever 4; the second polished rod portion 513 and the third fixing portion 551 have a gap;

The fourth bearing 53 is arranged between the custom screw 51 and the other end of the second cantilever 4 , the fifth bearing 54 is arranged between the rotating arm 56 and the other end of the second cantilever 4 , Specifically, the inner ring of the fourth bearing 53 is in contact with the second top cover 511 , the outer ring of the fourth bearing 53 is in contact with the other end of the second cantilever, and the inner ring of the fifth bearing 54 is in contact with the other end of the second cantilever. The ring is in contact with the rotating arm main body 561, and the outer ring of the fifth bearing 54 is in contact with the other end of the second cantilever.

The bottom end of the rotating arm 56 is connected with the top end of the end arm 6 .

As shown in FIGS. 21-23 and 25 , the fourth joint 7 includes a rear cover 71 , a sixth bearing 72 , a seventh bearing 73 , and a fourth brake that are all mounted on the end of the end arm 6 and are arranged coaxially Specifically, the end of the end arm 6 includes a housing 61, the sixth bearing 72, the seventh bearing 73, the fourth brake 74, the fourth damper The device 75 and the inner sleeve 76 are both disposed in the casing 61 , and the rear cover 71 is an end cover of the casing 61 .

The fourth brake 74 includes a fourth brake expansion sleeve 77 and a fourth fixing portion 741. The fourth brake 74 has a released state and a tightened state; when in the released state, the fourth brake The brake expansion sleeve 77 can rotate relative to the fourth fixed portion 741; when in the tightened state, the fourth brake expansion sleeve 77 cannot rotate relative to the fourth fixed portion 741;

As shown in FIGS. 23 and 27 , the fourth damper 75 is fastened to the inner sleeve 76 , the fourth brake expansion sleeve 77 is fastened to the rear cover 71 , and the fourth The fixing portion 741 is fastened to the end of the end arm 6 . A sixth bearing 72 is disposed between the rear cover 71 and the end of the end arm 6 , and the seventh bearing 73 is installed at the end of the end arm 6 . Specifically, the inner ring of the sixth bearing 72 is in contact with the rear cover 71 , the outer ring of the sixth bearing 72 is in contact with the housing 61 , and the outer ring of the seventh bearing 73 is in contact with the housing 61 . The housing 61 is in contact with each other. In a preferred example, as shown in FIG. 24 , the medical device is a U-shaped arm 19 or an endoscope, and the medical device needs to have a connecting rod, as shown in FIG. 26 and FIG. 27 , as shown in the U-shaped arm 19 The U-shaped arm connecting rod 191 is inserted into the housing 61 and passes through the seventh bearing 73 , the fourth damper 75 , the fourth fixing part 741 and the fourth brake expansion sleeve 77 in sequence, The U-shaped arm connecting rod 191 is tightly connected with the fourth brake expansion sleeve 77 , and there is a gap between the U-shaped arm connecting rod 191 and the fourth fixing portion 741 .

In a preferred example, the first brake 14 , the second brake 35 , the third brake 55 and the fourth brake 74 have the same structure, and are all selected from Nanjing Gongnuo Technology Co., Ltd., the model is SP -Products of the VSB3 series.

In a preferred example, the first joint 1 , the first cantilever arm 2 , the second joint 3 , the second cantilever arm 4 , the third joint 5 , the end arm 6 and the fourth joint 7 are all provided with cables for arranging wires. The wiring channels are connected to each other. Preferably, the wiring channels are connected to each other through wire holes.

In a preferred example, as shown in FIG. 3 , the first fixing seat 11 is provided with a rotation positioning block 111 , the rotating shaft 15 is provided with a rotation positioning pin 151 , and the first fixing seat 11 is provided with a rotation positioning block 151 . The block 111 can be matched with the rotation positioning pin 151 on the rotating shaft 15 to limit the rotation angle of the first joint 1 and prevent the rotation angle of the first joint 1 from being too large. As shown in FIG. 12 , a rotation positioning pin 151 is provided on the counter-twisting screw 31 . As shown in FIG. 15 , a rotary positioning block 111 is provided on the first cantilever 2 , and the rotation positioning block 111 is provided on the counter-twisting screw 31 . The pin 151 can be matched with the rotation positioning block 111 on the first cantilever 2 to limit the rotation angle of the second joint 3 and prevent the rotation angle of the second joint 3 from being too large. As shown in FIG. 19 , the custom screw 51 is provided with a rotary positioning pin 151 , as shown in FIG. 20 , the second cantilever 4 is provided with a rotary positioning block 111 , and the rotary positioning pin 151 on the custom screw 51 is It can be matched with the rotation positioning block 111 on the second cantilever 4 to limit the rotation angle of the third joint 5 and prevent the rotation angle of the third joint 5 from being too large. The U-shaped arm connecting rod 191 is provided with a rotation positioning pin 151. As shown in FIG. 25, the inner sleeve 76 is provided with a rotation positioning block 111. The rotation positioning pin 151 on the U-shaped arm connecting rod 191 can Matching with the rotation positioning block 111 on the inner sleeve 76 , it is used to limit the rotation angle of the fourth joint 7 and prevent the rotation angle of the fourth joint 7 from being too large. The purpose of preventing the rotation angle of each joint from being too large is to prevent the wires in the routing channel from being entangled and knotted due to the too large rotation angle.

In a preferred example, the second brake expansion sleeve 36 and the first threaded sleeve 322 are connected by screws. As shown in FIG. 13 , the nut body 321 is further provided with a first through hole 323 . The number of the through holes 323 is four, and the positions of the first through holes 323 match the positions of the screws of the second brake expansion sleeve 36 . So that the operator can pass a screwdriver through the first through hole 323 to tighten or loosen the screw, the second brake expansion sleeve 36 has the screw used to connect the second brake expansion sleeve 36 with the first thread The sleeve 322 is tightly connected.

The first brake 14, the second brake 35, the third brake 55 and the fourth brake 74 are all electrically connected to the control system, and the control system can control the first brakes respectively. The release and tightening states of the brake 14, the second brake 35, the third brake 55 and the fourth brake 74 can also be controlled at the same time.

In the present invention, when the control system is used to set the first brake 14 to the release state, the operator can manually operate the first cantilever 2 to rotate, and the first joint 1 rotates at this time. When the brake 14 is switched to the tightened state, since the first brake 14 is tightened, the first cantilever 2 cannot continue to rotate to achieve the function of fixing the first cantilever 2; the first damper 13 is designed for When the first brake 14 is released, a certain rotational damping is reserved to prevent the joint from being too flexible.

When the control system is used to set the second brake 35 to the release state, the operator can manually operate the second cantilever 4 to rotate, at this time the first cantilever 2 does not move, and the counterscrew 31 rotates. When the control system is used to switch the second brake 35 to the tightened state, since the second brake 35 is tightened, the second cantilever 4 cannot continue to rotate, so as to achieve the effect of fixing the second cantilever 4; the The second damper 34 is designed to retain a certain rotational damping when the second brake 35 is released, so as to prevent the joint from being too flexible.

When the control system is used to set the third brake 55 to the release state, the operator can manually operate the end arm 6 to rotate, at this time, the second cantilever 4 does not move and the rotating arm 56 rotates. When the control system is used to switch the third brake 55 to the tightened state, since the third brake 55 is tightened, the rotating arm 56 and the end arm 6 cannot continue to rotate, so as to fix the rotating arm 56 and the end arm 6; the third damper 52 is designed to retain a certain rotational damping when the third brake 55 is released, so as to prevent the joint from being too flexible.

When the fourth holding brake 74 is set to the release state by the control system, the operator can manually operate the medical device to rotate, and at this time, the rotating arm 56 and the end arm 6 do not move. When the control system is used to switch the fourth holding brake 74 to the holding state, since the fourth holding brake 74 is held tight, the medical equipment cannot continue to rotate, so as to achieve the function of fixing the medical equipment; the fourth damper The design of 75 is to retain a certain rotational damping when the fourth brake 74 is released, so as to prevent the joint from being too flexible.

The present invention also provides a method for assembling the dragging arm of the surgical robot, which adopts the dragging arm of the surgical robot, and further comprises the following steps:

Step 1. Install the first joint 1 with reference to FIG. 3; the step 1 includes:

Step 1.1. Insert the rotating shaft 15 into the first brake 14, fasten the rotating shaft 15 with the first brake 14 by screws, fix the first damper 13 to the second fixing seat 12, and then insert the rotating shaft 15 To the first damper 13 , the second fixing seat 12 and the first brake 14 are locked with screws. Preferably, the first damper 13 is fixed to the second fixing base 12 by screws.

Step 1.2. Insert the components of the first step as a whole from the lower port of the first fixing seat 11, put the two first bearings 18 in the upper port, and install the first cantilever 2 to the top of the first fixing seat 11. A rotating shaft expansion sleeve 17 is inserted above the cantilever 2, the rotating shaft 15 is connected to the first cantilever 2 through the rotating shaft expansion sleeve 17, and then the rotating shaft expansion sleeve 17 is tightened to realize the installation of the joint 1.

Step 2. Referring to Figure 7, install the second joint 3;

First, install the second damper 34 and the second brake 35 directly on the first cantilever 2, place the second bearing 33 and the third bearing 37 on the upper and lower ends of the first cantilever 2, respectively, and then insert the second cantilever 4 in translation. , the screw 31 and the screw nut 32 are inserted and tightened, and finally the first through hole 323 reserved at the bottom of the screw nut 32 is used to pass through the tightening tool, and the second brake expansion sleeve 36 is connected to the first through hole 323 of the screw nut 32. A threaded sleeve 322 interlocks. Preferably, the tightening tool is a screwdriver.

Step 3. Referring to Figure 16, install the third joint 5;

First install the third damper 52 and the third brake 55 directly on the second cantilever 4 , place the fourth bearing 53 and the fifth bearing 54 on the upper and lower ends of the second cantilever 4 respectively, and then customize the screws 51 and the rotating arm 56 The joint 3 and the end arm 6 can be installed by connecting the end arm 6 and the rotating arm 56 with screws.

Step 4. Referring to Figure 21, install the fourth joint 7;

Insert the fourth brake 74 into the housing 61 and install it with glue. After welding the fourth damper 75 and the inner sleeve 76 together, install it into the housing 61 with glue. The two ends of the housing 61 are respectively sleeved. The sixth bearing 72 and the seventh bearing 73, the U-shaped arm connecting rod 191 of the U-shaped arm 19 is passed through the seventh bearing 73, the fourth damper 75, and the fourth fixing part 741 in sequence, and then the U-shaped arm connecting rod is connected. 191 is locked with the fourth brake expansion sleeve 77, and finally the rear cover 71 is closed to complete the installation of the fourth joint 7.

After the trailing arm is assembled according to the above steps, after aligning the mounting holes of the first fixing base 11 and the second fixing base 12, the trailing arm can be fixed to the external equipment, and the trailing arm and the external equipment can be completed. Connection. Preferably, the external device is a surgical robot, and the trailing arm is mounted on the base of the main body of the surgical robot.

The invention mainly solves the problem of reducing hand tremors during the operation of the doctor, reducing the work intensity, reducing the number of operators, improving the success rate of the operation, and avoiding the damage caused by the radiation to the doctor. Specifically, the doctor can control the tightening or loosening of the brakes at the four joints on the trailing arm through the remote control system, such as control buttons. When loosening, the doctor or other operators can manually and freely drag the brakes. The dragging arm moves, rotates and other operations within a certain range. When the position is adjusted to the ideal position, the brake can be locked by releasing the control button, so as to realize the positioning of the joints and the ideal placement of the surgical instruments.

The invention can effectively solve the problem of positioning and fixing the endoscope in the ERCP operation. By loosening or tightening the holding brake, the position adjustment and locking of the medical equipment (eg, endoscope, U-shaped arm 19 ) can be efficiently performed. The device reduces the hand tremor during the operation of the doctor, reduces the work intensity, reduces the number of operators, improves the success rate of the operation, and can avoid the injury caused by the radiation of the ERCP operation to the doctor and other operators.

In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying the indicated device. Or elements must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essential content of the present invention. The embodiments of the present application and features in the embodiments may be arbitrarily combined with each other without conflict.

Claims (10)

1. A dragging arm of a surgical robot, characterized in that it comprises a first joint (1), a first cantilever (2), a second joint (3), a second cantilever (4), a third joint (5), A terminal arm (6), a fourth joint (7) and a control system; the first joint (1) is mounted on one end of the first cantilever (2), and the other end of the first cantilever (2) is connected to the One end of the second cantilever (4) is rotatably connected through a second joint (3), and the other end of the second cantilever (4) is rotated with one end of the end arm (6) through the third joint (5) connected, the fourth joint (7) is mounted on the end of the end arm (6); The first cantilever (2) can rotate around the first joint (1), the second cantilever (4) can rotate around the second joint (3), and the end arm (6) can rotate around the third joint (5); Four joints are used to connect medical equipment, and the medical equipment can rotate around the fourth joint (7); The first joint (1), the second joint (3), the third joint (5) and the fourth joint (7) are all electrically connected to the control system. 2 . The trailing arm of a surgical robot according to claim 1 , wherein the first joint ( 1 ) comprises a first fixing seat ( 11 ), a second fixing seat ( 12 ), and a first damper ( 13 ). 3 . ), a first brake (14), a rotating shaft (15), a rotating shaft expansion sleeve (17) and a first bearing (18); The first brake (14) includes a first brake expansion sleeve (16) and a first fixing portion (141), and the first brake (14) has a released state and a tightened state; In the open state, the first brake expansion sleeve (16) can rotate relative to the first fixing part (141); when in the tightened state, the first brake expansion sleeve (16) cannot be relative to the first brake expansion sleeve (16). The fixed part (141) rotates; The first brake (14) is sleeved on the rotating shaft (15), the rotating shaft (15) is tightly connected with the first brake expansion sleeve (16), and the rotating shaft (15) is connected to the first fixing part (141) has a gap; the first fixing part (141) is fastened to the second fixing seat (12); The top end of the rotating shaft (15) is mounted on one end of the first cantilever (2) through the rotating shaft expansion sleeve (17); the bottom end of the rotating shaft (15) is mounted on the first damper (13) on the on the second fixing seat (12); The top of the first fixing seat (11) is connected with one end of the first cantilever (2) through the first bearing (18). 3 . The trailing arm of a surgical robot according to claim 2 , wherein the second joint ( 3 ) comprises an anti-twist screw ( 31 ), a anti-twist nut ( 32 ), a second bearing ( 33 ), a second damping brake (34), second brake (35) and third bearing (37); The second brake (35) includes a second brake expansion sleeve (36) and a second fixing portion (351), and the second brake (35) has a released state and a tightened state; when When in the released state, the second brake expansion sleeve (36) can rotate relative to the second fixing portion (351); when in the tightened state, the second brake expansion sleeve (36) cannot be relative to each other The second fixed part (351) rotates; The counter-twisting screw (31) includes a first top cover (311), a first screw part (312), a first polished rod part (313) and a first damper pin (314); the first screw part (312) passes through The first polished rod part (313) is connected with the first top cover (311); the first damper pin (314) is arranged on the first polished rod part (313); the counter-tightening nut (32) comprising an interconnected nut body (321) and a first threaded sleeve (322); The second damper (34) is sleeved on the counterscrew (31), and is fastened to the first cantilever (2); The second brake (35) is sleeved on the anti-twist nut (32) and the anti-twist screw (31), and the first threaded sleeve (322) and the second brake expansion sleeve ( 36) Fastened connection, the second fixed portion (351) is fastened to the other end of the first cantilever (2); the first polished rod portion (313) and the second fixed portion (351) have a gap ; The second bearing (33) is arranged between the anti-twisting screw (31) and the first cantilever (2), and a bearing (33) is arranged between the anti-twisting nut (32) and the first cantilever (2). the third bearing (37); The counter-twisting screw (31) and the counter-twisting nut (32) are both connected to one end of the second cantilever (4); the counter-twisting screw (31) is matched with the counter-twisting nut (32) . 4. The dragging arm of a surgical robot according to claim 3, wherein the first top cover (311) comprises two arc parts (3111) and two straight parts (3112), and the arc part (3112) 3111) and the linear parts (3112) are alternately arranged in sequence, and the first top cover (311) is a symmetrical structure; One end of the second cantilever (4) matches the shape of the first top cover (311). 5 . The trailing arm of a surgical robot according to claim 3 , wherein a first through hole ( 323 ) is provided on the nut body ( 321 ), and the position of the first through hole ( 323 ) is the same as that of the The screw positions of the second brake expansion sleeve (36) are matched. 6. The trailing arm of a surgical robot according to claim 3, wherein the third joint (5) comprises a custom screw (51), a third damper (52), a fourth bearing (53), a third Five bearings (54), a third brake (55), a rotating arm (56) and a fixing nut (57); The third brake (55) includes a third brake expansion sleeve (58) and a third fixing part (551), and the third brake (55) has a released state and a tightened state; when When in the released state, the third brake expansion sleeve (58) can rotate relative to the third fixing portion (551); when in the tightened state, the third brake expansion sleeve (58) cannot be relatively The third fixed part (551) rotates; The customized screw (51) includes a second top cover (511), a second screw part (512), a second polished rod part (513) and a second damper pin (514); the second screw part (512) passes through the the second polished rod part (513) is connected with the second top cover (511); the second damper pin (514) is arranged on the second polished rod part (513); The rotating arm (56) includes a rotating arm main body (561) and a second threaded sleeve (562), the second threaded sleeve (562) is located at the top end of the rotating arm main body (561); the second threaded sleeve (562) The screw portion (512) passes through the second threaded sleeve (562) and penetrates into the interior of the rotating arm body (561), and the rotating arm body (561) and the custom screw (51) pass through the fixing nut (57) and the second threaded sleeve (562) is connected; The third damper (52) is sleeved on the custom screw (51) and is fastened to the second cantilever (4); The third brake (55) is sleeved on the custom screw (51) and the second threaded sleeve (562), the second threaded sleeve (562) and the third brake expansion sleeve (58) Fastened connection, the third fixed part (551) is fastened to the other end of the second cantilever (4); the second polished rod part (513) and the third fixed part (551) have gap; The fourth bearing (53) is arranged between the custom screw (51) and the other end of the second cantilever (4), and the rotating arm (56) and the other end of the second cantilever (4) The fifth bearing (54) is arranged between; The bottom end of the rotating arm (56) is connected with the top end of the end arm (6). 7 . The trailing arm of a surgical robot according to claim 6 , wherein the fourth joint ( 7 ) comprises a rear cover ( 71 ), a rear cover ( 71 ), a rear cover ( 71 ), a sixth bearing (72), a seventh bearing (73), a fourth brake (74), a fourth damper (75) and an inner sleeve (76); The fourth brake (74) includes a fourth brake expansion sleeve (77) and a fourth fixing portion (741), and the fourth brake (74) has a released state and a tightened state; In the open state, the fourth brake expansion sleeve (77) can rotate relative to the fourth fixing part (741); when in the tightened state, the fourth brake expansion sleeve (77) cannot be relative to the fourth The fixed part (741) rotates; The fourth damper (75) is fastened and installed in the inner sleeve (76), the fourth brake expansion sleeve (77) is fastened and installed on the rear cover (71), and the fourth fixed The part (741) is fastened to the end of the end arm (6); A sixth bearing (72) is arranged between the rear cover (71) and the end of the end arm (6), and the seventh bearing (73) is mounted on the end of the end arm (6). 8 . The trailing arm of a surgical robot according to claim 7 , wherein the first brake ( 14 ), the second brake ( 35 ), the third brake ( 55 ) and the fourth brake The structure of the brake (74) is the same, and the products of Nanjing Gongnuo Technology Co., Ltd. are selected, and the model is SP-VSB3 series. 9. A method for assembling a trailing arm of a surgical robot, characterized in that, adopting the trailing arm of any one of the surgical robots described in claims 1-8, further comprising the steps of: Step 1. Install the first joint (1); Step 2. Install the second joint (3); First, install the second damper (34) and the second brake (35) directly on the first cantilever (2), and place the second bearing (33) and the third bearing on the upper and lower ends of the first cantilever (2) respectively. After (37), the second cantilever (4) is inserted in translation, the screw (31) and the screw nut (32) are inserted and tightened, and finally a tightening tool is used to pass through the first reserved space at the bottom of the screw nut (32). The through hole (323) locks the second brake expansion sleeve (36) and the first threaded sleeve (322) of the counter-twisting nut (32) to each other. Step 3. Install the third joint (5); First install the third damper (52) and the third brake (55) directly on the second cantilever (4), and place the fourth bearing (53) and the fifth bearing on the upper and lower ends of the second cantilever (4) respectively After (54), the custom screw (51) and the rotating arm (56) are inserted into each other, and the end arm (6) and the rotating arm (56) are connected by screws to complete the installation of the joint (3) and the end arm (6); Step 4. Install the fourth joint (7); Insert the fourth brake (74) into the housing (61) and install it with glue, weld the fourth damper (75) and the inner sleeve (76) together and then install it to the housing (61) with glue The sixth bearing (72) and the seventh bearing (73) are respectively sleeved at both ends of the casing (61), and the U-shaped arm connecting rod (191) of the U-shaped arm (19) is passed through the seventh bearing in turn. (73), the fourth damper (75) and the fourth fixing part (741), lock the U-arm connecting rod (191) and the fourth brake expansion sleeve (77), and finally cover the rear cover (71) ) to complete the installation of the fourth joint (7). 10. The method for assembling a drag arm of a surgical robot according to claim 9, wherein the step 1 comprises: Step 1.1. Insert the shaft (15) into the first brake (14), fasten the shaft (15) with the first brake (14) with screws, and fix the first damper (13) to the second on the fixing seat (12), then insert the rotating shaft into the first damper (13), and fasten the second fixing seat (12) and the first brake (14) with screws. Step 1.2. Insert the components of the first step as a whole from the lower port of the first fixing seat (11), put two first bearings (18) in the upper port, and install the first cantilever (2) to the first fixing seat (11) Top, insert the shaft expansion sleeve (17) from above the first cantilever (2), connect the shaft (15) to the first cantilever (2) through the shaft expansion sleeve (17), and then tighten the shaft to expand The sleeve (17) can realize the installation of the joint one.

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