CN115024826B

CN115024826B - Control method for robot arm structure and control method for surgical robot

Info

Publication number: CN115024826B
Application number: CN202210957985.1A
Authority: CN
Inventors: 史文勇
Original assignee: Kochi Medical Technology Beijing Co ltd
Current assignee: Kochi Medical Technology Beijing Co ltd
Priority date: 2022-08-11
Filing date: 2022-08-11
Publication date: 2022-11-08
Anticipated expiration: 2042-08-11
Also published as: CN115024826A

Abstract

A control method of a robot arm structure and a control method of a surgical robot, the control method of the robot arm structure including: the lower part of the mechanical arm structure is driven to move in a three-dimensional space through the upper part of the mechanical arm structure, and the position of the lower part is independently adjusted in a horizontal plane parallel to the ground and a direction vertical to the horizontal plane respectively; and the first position adjusting mechanism is matched with the upper part to drive the whole mechanical arm to move in a three-dimensional space, and the position of the whole mechanical arm is independently adjusted in the horizontal plane and the direction vertical to the horizontal plane respectively, wherein the first position adjusting mechanism is matched with the upper part to keep the position of the working point unchanged in the moving process of the lower part and the whole mechanical arm.

Description

Control method for robot arm structure and control method for surgical robot

Technical Field

The present invention relates to a method for controlling a robot arm structure and a method for controlling a surgical robot.

Background

The current endoscopic surgery can be completed by manually operating a surgical robot, and a doctor remotely controls the action of a manipulator of the robot to complete the surgery through a monitor and a micro-operation platform. The operation patient wound that accomplishes through operation robot is little, and postoperative healing is fast, owing to do not have direct physical contact with the disease simultaneously, has avoided doctorsing and nurses the risk of being infected at the operation in-process.

In the use of an endoscopic surgical robot, it is usually necessary to use multiple mechanical arms of the surgical robot to operate simultaneously, for example, the working ends of the multiple mechanical arms are respectively connected to an endoscope, a scalpel, and a hemostatic forceps surgical instrument, and these surgical instruments are used in cooperation with each other to complete the operation.

Disclosure of Invention

The invention provides a control method of a mechanical arm structure, wherein the mechanical arm structure comprises a mechanical arm and a first position adjusting mechanism connected with the mechanical arm; the mechanical arm comprises a lower part and an upper part; the lower portion including a connecting end and a working end opposite one another, the working end configured to be connectable to a surgical instrument for performing a surgical procedure on tissue, a working point located on the surgical instrument; the upper part comprises an upper end connected with the first position adjusting mechanism and a lower end connected with the connecting end of the lower part; the control method of the mechanical arm structure comprises the following steps: the upper part drives the lower part to move in a three-dimensional space, and the position of the lower part is independently adjusted in a horizontal plane parallel to the ground and a direction vertical to the horizontal plane respectively; and the first position adjusting mechanism is matched with the upper part to drive the whole mechanical arm to move in a three-dimensional space, and the position of the whole mechanical arm is independently adjusted in the horizontal plane and the direction vertical to the horizontal plane respectively, wherein the first position adjusting mechanism is matched with the upper part to keep the position of the working point unchanged during the movement of the lower part and the whole mechanical arm.

For example, in the control method of a robot arm structure provided by the present invention, a lower end of an upper portion of the robot arm structure includes a first joint having a first rotation shaft extending in a first direction; the upper end of the upper part comprises a second position adjusting mechanism, and the second position adjusting mechanism is connected with the first position adjusting mechanism and the first joint; the control method of the mechanical arm structure comprises the following steps: driving the first joint to rotate around a first rotating shaft to drive the lower part to move; and the second position adjusting mechanism is controlled to be matched with the first position adjusting mechanism in motion to drive the first joint to translate so as to drive the lower part to move, wherein the second position adjusting mechanism is matched with the first position adjusting mechanism to control the distance between the working point and the first rotating shaft to be constant in the moving process of the lower part and the whole mechanical arm.

For example, in the control method of the robot arm structure provided by the present invention, the first joint moves on a spherical surface with the working point as the center to drive the lower part to move in a three-dimensional space by controlling the movement of the second position adjustment mechanism to cooperate with the movement of the first position adjustment mechanism to control the movement of the lower part and the entire robot arm.

For example, in the control method of a robot arm structure according to the present invention, a perpendicular line to the first rotation axis passes through the working point, and the first joint is controlled to rotate about the first rotation axis to drive the lower portion to swing in a direction perpendicular to the perpendicular line to the first rotation axis of the first joint.

For example, in the control method of the robot arm structure provided by the present invention, the connecting end of the lower portion includes a second joint, the second joint is connected to the first joint via a first transmission member, is connectable to the surgical instrument via a transmission mechanism, and has a second rotating shaft extending in a second direction; the control method comprises the following steps: and controlling the second joint to rotate around the second rotating shaft so as to drive the surgical instrument to swing in the direction vertical to the second rotating shaft, wherein the straight line of the orthographic projection of the second rotating shaft on the horizontal plane is intersected with the straight line of the orthographic projection of the first rotating shaft on the horizontal plane, and the working point is positioned on the straight line of the second rotating shaft.

For example, in the control method of the robot arm structure provided by the present invention, the extending direction of the first rotating shaft and the extending direction of the second rotating shaft intersect or do not intersect; and the extending direction of the first rotating shaft is vertical or not vertical to the extending direction of the second rotating shaft.

For example, in the control method of a robot arm structure provided by the present invention, the second position adjustment mechanism includes: a third joint and a fourth joint; the third joint is connected with the first joint and is provided with a third rotating shaft; the fourth joint is connected with the third joint and is positioned on one side of the third joint, which is far away from the first joint, and is provided with a first axis extending along a third direction vertical to the ground, and the third direction is intersected with the first direction and the second direction; the control method comprises the following steps: driving the third joint to rotate around the third rotating shaft so as to drive the first joint and the lower part to rotate along the third rotating shaft; and driving the fourth joint to move linearly along the first axis to drive the third joint, the first joint and the lower part to move in the third direction.

For example, in the control method of a robot arm structure provided by the present invention, the second position adjustment mechanism includes a fifth joint and a sixth joint; the fifth joint is connected with the first joint and has a second axis extending along a third direction perpendicular to the ground, the third direction intersecting both the first direction and the second direction; the sixth joint is connected with the fifth joint, is positioned on one side of the fifth joint, which is far away from the first joint, and is provided with a fourth rotating shaft; the control method of the mechanical arm structure comprises the following steps: driving the fifth joint to move linearly along the second axis to drive the first joint and the lower part to move in the third direction; and driving the sixth joint to rotate around the fourth rotating shaft so as to drive the fifth joint, the first joint and the lower part to rotate along the fourth rotating shaft.

For example, in the control method of a robot arm structure provided by the present invention, the first position adjustment mechanism includes a seventh joint connected to an upper end of an upper portion of the robot arm; the control method of the mechanical arm structure comprises the following steps: driving the seventh joint to move in a fourth direction to drive the mechanical arm to move in the fourth direction, wherein the fourth direction is perpendicular to the third direction.

For example, in the control method of a robot arm structure provided by the present invention, the first position adjustment mechanism further includes an eighth joint that is connected to the seventh joint, is connected to the lower portion via the seventh joint, and has a fifth rotation shaft; the control method of the mechanical arm structure comprises the following steps: and driving the eighth joint to rotate around the fifth rotating shaft so as to drive the seventh joint and the mechanical arm to rotate around the fifth rotating shaft, wherein the extending direction of the fifth rotating shaft is perpendicular to the fourth direction.

For example, in the control method of a robot arm structure provided by the present invention, the lower portion further includes: a ninth joint, a tenth joint, and an eleventh joint; the ninth joint is connected with the second joint through a first connecting rod and is provided with a first parallel shaft; the tenth joint is connected with the ninth joint through a second connecting rod and is provided with a second parallel shaft; the eleventh joint is connected with the tenth joint through a third connecting rod and is provided with a third parallel shaft, and the eleventh joint is connected with the surgical instrument through a fourth connecting rod; in the moving process of driving the mechanical arm, the first parallel shaft, the second parallel shaft and the third parallel shaft are parallel to each other, the center of the ninth joint, the center of the tenth joint, the center of the eleventh joint and the working point respectively form four vertexes of a parallelogram, and a first connecting line of the center of the second link, the third link, the eleventh joint and the working point and a second connecting line of the center of the ninth joint and the working point respectively serve as four sides of the parallelogram; the second rotating shaft is a first swinging shaft, and the control method of the mechanical arm structure further comprises the following steps: the ninth joint, the tenth joint, the eleventh joint, the second link and the third link are driven to move so as to drive the surgical instrument to swing around a second swing axis intersecting the first swing axis at the working point.

For example, in the control method of the robot arm structure provided by the present invention, the second swing axis is perpendicular to the first swing axis.

For example, in the control method of the robot arm structure provided by the present invention, the first link and four sides of the parallelogram are located on the same working plane, and the working plane is perpendicular to the second swing axis.

The invention also provides a control method of the surgical robot, the surgical robot comprises a plurality of mechanical arm structures in the control method of any mechanical arm structure provided by the embodiment of the invention, at least one working mechanical arm in the plurality of mechanical arm structures is a working mechanical arm, and the working end of the working mechanical arm is connected with the surgical instrument; the control method of the surgical robot comprises the following steps: driving at least one of the robot arm structures to move so as to prevent the work robot arm and the other robot arm structures from colliding with each other, and keeping the position of the work point of the work robot arm unchanged.

For example, in the control method of the surgical robot provided by the present invention, the surgical robot further includes a suspension mechanism, the suspension mechanism includes a fixed disk, and the first position adjustment mechanism of each of the plurality of robot arm structures is connected to the fixed disk and arranged around an edge of the fixed disk; the control method of the surgical robot comprises the following steps: and driving the fixed disc to rotate so as to drive the mechanical arm structures to rotate.

For example, in the control method of the surgical robot provided by the present invention, the surgical robot further includes a control system including a first joint at a lower end of the upper portion, the first joint having a first rotation shaft extending in a first direction; the upper end of the upper portion includes a second position adjustment mechanism coupled to the first position adjustment mechanism and the first joint, the control method comprising: driving the first joint to rotate around a first rotating shaft to drive the lower part to move, and controlling the motion of the second position adjusting mechanism to be matched with the motion of the first position adjusting mechanism to drive the first joint to translate to drive the lower part to move, wherein the second position adjusting mechanism is matched with the first position adjusting mechanism to control the control system to be in signal connection with the first position adjusting mechanism and the second position adjusting mechanism under the condition that the distance between the working point and the first rotating shaft is kept constant in the process of moving the lower part and the whole mechanical arm; the control method of the surgical robot comprises the following steps: calculating, by the control system, coordinates of the first joint; and driving the first position adjusting mechanism and the second position adjusting mechanism to adjust the position of the first joint according to the calculation result of the control system so as to enable the first joint to move on a spherical surface with the working point as the center of sphere and keep the position of the working point constant.

Drawings

To illustrate the technical solutions of the embodiments of the present invention more clearly, the drawings of the embodiments will be briefly introduced, and it is obvious that the drawings in the following description only relate to some embodiments of the present invention, and are not to limit the present invention.

Fig. 1 is a schematic structural diagram of a robot arm structure according to an embodiment of the present disclosure.

Figure 2 is a simplified schematic diagram of another embodiment of the robotic arm structure shown in figure 1.

FIG. 3 is a schematic view of the robotic arm structure of FIG. 1 in operation in relation to the position of target tissue.

Figure 4 is a schematic diagram of another robot arm configuration provided in accordance with an embodiment of the present disclosure.

Fig. 5 is a schematic structural diagram of a robot arm structure according to an embodiment of the present disclosure.

Fig. 6A-6B are schematic diagrams illustrating a robot arm structure according to an embodiment of the present disclosure implementing displacement in a horizontal direction.

Fig. 7A-7B are schematic diagrams illustrating a robot arm structure according to an embodiment of the present disclosure implementing displacement in a vertical direction.

Fig. 8 is a schematic structural diagram of a surgical robot according to an embodiment of the present disclosure.

Fig. 9 is a schematic view showing a structure of one robot arm of the surgical robot shown in fig. 8.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

Unless defined otherwise, technical or 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 use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item preceding the word comprises the element or item listed after the word and its equivalent, but does not exclude other elements or items. "inner", "outer", "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

The drawings in the present disclosure are not strictly drawn to scale, nor are the structures of the mechanical arms and the number of mechanical arms in the surgical robot limited to the numbers shown in the drawings, and the specific size and number of each structure can be determined according to actual needs. The drawings described in this disclosure are for structural purposes only.

In the use of an endoscopic surgical robot, it is usually necessary to use multiple mechanical arms of the surgical robot to operate simultaneously, for example, the working ends of the multiple mechanical arms are respectively connected to an endoscope, a scalpel, and a hemostatic forceps surgical instrument, and these surgical instruments are used to cooperate with each other to complete the operation. The space above the operating table is limited, and under the condition, in a narrow working space, the plurality of mechanical arms collide with each other due to operation reasons to interfere with each other, for example, the positions of the surgical instruments shift due to the mutual collision of the mechanical arms, and the subcutaneous tissues of the patient penetrated by the surgical instruments are dragged to cause adverse results, so that the injury to the patient in the operation process is aggravated, the accuracy of the operation is reduced, and the smooth operation is influenced.

At least one embodiment of the present disclosure provides a robot arm structure including a robot arm and a first position adjustment mechanism connected to the robot arm; the robot arm includes: a lower portion and an upper portion. The lower part comprises a connecting end and a working end which are opposite to each other, the working end is connected with a surgical instrument used for performing surgical operation on tissues, and a working point is positioned on the surgical instrument; the upper part comprises an upper end connected with the first position adjusting mechanism and a lower end connected with the connecting end of the lower part, and the upper part is configured to drive the lower part to move in a three-dimensional space and independently adjust the position of the lower part in a horizontal plane parallel to the ground and a direction vertical to the horizontal plane respectively; the first position adjusting mechanism is configured to drive the whole mechanical arm to move in a three-dimensional space and independently adjust the position of the whole mechanical arm in the horizontal plane and the direction vertical to the horizontal plane respectively; and the upper part cooperates with the first position adjustment mechanism to maintain the position of the working point constant during movement of the lower part and the entire robot arm.

At least one embodiment of the present disclosure provides a surgical robot including any one of the arm structures provided in the embodiments of the present disclosure.

At least one embodiment of the present disclosure provides a method for controlling a robot arm structure, where the robot arm structure includes a robot arm and a first position adjustment mechanism connected to the robot arm; the mechanical arm comprises a lower part and an upper part; the lower portion including a connecting end and a working end opposite one another, the working end configured to be connectable to a surgical instrument for performing a surgical operation on tissue, a working point located on the surgical instrument; the upper part comprises an upper end connected with the first position adjusting mechanism and a lower end connected with the connecting end of the lower part; the control method of the mechanical arm structure comprises the following steps: the upper part drives the lower part to move in a three-dimensional space, and the position of the lower part is independently adjusted in a horizontal plane parallel to the ground and a direction vertical to the horizontal plane; and the first position adjusting mechanism is matched with the upper part to drive the whole mechanical arm to move in a three-dimensional space, and the position of the whole mechanical arm is independently adjusted in the horizontal plane and the direction vertical to the horizontal plane respectively, wherein the first position adjusting mechanism is matched with the upper part to keep the position of the working point unchanged during the movement of the lower part and the whole mechanical arm.

The present disclosure also provides a method for controlling a surgical robot, where the surgical robot includes a plurality of any one of the robot arm structures provided in the present disclosure, at least one working robot arm in the plurality of robot arm structures is a working robot arm, and a working end of the working robot arm is connected to a surgical instrument; the control method of the surgical robot comprises the following steps: driving at least one of the robot arm structures to move so as to prevent the work robot arm and the other robot arm structures from colliding with each other, and keeping the position of the work point of the work robot arm unchanged.

Fig. 1 is a schematic structural diagram of a robot arm structure according to an embodiment of the present disclosure, and fig. 5 is a schematic structural diagram of a robot arm structure according to an embodiment of the present disclosure. As shown in fig. 1 and 5, the robot arm structure 10 includes a robot arm 1 and a first position adjustment mechanism 01 connected to the robot arm 1. The robot arm 1 includes an upper portion 110 and a lower portion 120. The lower part 120 comprises a connecting end and a working end opposite to each other, the working end is connected with a surgical instrument 2 for performing surgical operation on the target tissue, and the working point RC is positioned on the surgical instrument; the upper part 110 includes an upper end connected with the first position adjustment mechanism 01 and a lower end connected with the connection end of the lower part 120. The upper part 110 is configured to drive the lower part 120 to move in a three-dimensional space and independently adjust the position of the lower part 120 in a horizontal plane parallel to the ground and a vertical direction perpendicular to the horizontal plane, respectively; the first position adjusting mechanism 01 is matched with the upper part 110 to drive the whole mechanical arm 1 to move in a three-dimensional space and independently adjust the position of the whole mechanical arm 1 in a horizontal plane and a vertical direction respectively; also, the first position adjustment mechanism 01 cooperates with the upper portion 110 to maintain the position of the operating point RC constant during the movement of the lower portion 120 and the entire robot arm 1. The robotic arm structure 10 provided by the embodiment of the present disclosure may be used in connection with the surgical instrument 2 to perform a surgical operation on a target tissue with the surgical instrument 2, and the robotic arm structure 10 controls the movement of the working end 20 of the surgical instrument 2 to perform a surgical operation on a target (lesion). For example, endoscopic surgery may be performed using the surgical instrument 2.

For example, FIG. 3 is a schematic illustration of the robotic arm structure of FIG. 1 in operational relationship to target tissue. As shown in fig. 3, the surgical instrument 2 is required to penetrate the surface tissue TS of the surgical target. Such as a surgical target, e.g., a human body, an animal body, etc. For example, the surgical instrument 2 penetrates the surface tissue TS of the human body into the cavity such as the thoracic cavity, the abdominal cavity, etc., to perform a surgical operation on a surgical target (lesion) in the cavity. Generally, a hole is punched in the surface tissue TS, the hole is an auxiliary hole penetrating through the surface tissue TS, then the working end 20 of the surgical instrument 2 enters the cavity through the auxiliary hole, the working point RC is located in the auxiliary hole of the surface tissue TS, during the surgical operation, along with the slight position change of the mechanical arm, the rod part of the surgical instrument 2 may contact with the auxiliary hole wall, i.e., the surface tissue, if the position of the working point RC is only slightly changed, for example, the working point RC is always kept in the auxiliary hole and does not collide with the auxiliary hole wall, i.e., the surface tissue, so that no additional damage is caused to the surface tissue, and the auxiliary hole wall, i.e., the surface tissue, is not repeatedly rubbed due to the position change of the auxiliary hole wall, i.e., the surface tissue, in the direction perpendicular to the ground.

In the operation of the robot arm structure 10 provided by the embodiment of the present disclosure, it is possible to independently adjust the position of the lower portion 120 in the horizontal plane parallel to the ground surface and in the vertical direction by using the upper portion 110 as a driving assembly for driving the lower portion 120 to move, and it is possible to independently adjust the position of the entire robot arm 1 in the horizontal plane and in the vertical direction (for example, the third direction D3 in fig. 1) by using the first position adjustment mechanism 01, that is, in a general method of adjusting the position of the robot arm, the position adjustments of a part of the robot arm or the entire robot arm in the horizontal plane and in the vertical direction are coupled, and independent adjustments in two dimensions cannot be achieved, so that there is a limitation, whereas in the robot arm structure 10 provided by the embodiment of the present disclosure, the position adjustment of the lower part 120 and the whole mechanical arm 1 in the horizontal plane and the vertical direction is uncoupled, namely, the positions of the lower part 120 and the whole mechanical arm 1 are independently adjusted in the horizontal plane and the vertical direction respectively, so that in the process of using the mechanical arm structure 10, the working end of the mechanical arm structure is connected with a surgical instrument, on one hand, the position adjustment of the lower part 120 and the position adjustment of the whole mechanical arm 1 in the two dimensions can be independently adjusted in the two dimensions through the mutual matching of the upper part 110 and the first position adjustment mechanism 01, so that in the case of performing surgical operation by using a plurality of mechanical arms, the avoidance of the plurality of mechanical arms in a three-dimensional space can be more flexibly and more sensitively prevented, and the damage to the surface tissue TS of a surgical target to be performed by the collision of the plurality of mechanical arms can be prevented; on the other hand, keeping the position of the working point RC constant is reliably achieved by independently adjusting the positions of the lower portion 120 and the entire robot arm 1 in the horizontal plane and the vertical direction, thereby preventing the movement of the working point RC from damaging the surface tissue TS of the surgical target on which the surgery is performed.

It should be noted that, during the use of the robot arm structure 10, for example, the lower portion of the robot arm is the side of the lower portion of the robot arm close to the ground, and the lower end of the upper portion is the side of the upper end of the robot arm close to the ground, i.e., "upper" and "lower" are referred to herein with respect to the bottom surface.

For example, the surgical device 2 is a scalpel, an endoscope, a hemostat, etc., for example, the scalpel includes a cutting knife, an ultrasonic knife, etc. Of course, the type of surgical instrument is not limited to the above-listed types, and may be selected as desired by those skilled in the art.

Specifically, for example, as shown in fig. 1, the lower end of the upper portion 110 includes a first joint 9, the first joint 9 having a first rotation axis 24 extending in the first direction D1, the first joint 9 being configured to be rotatable about the first rotation axis 24; the first joint 9 moves to drive the lower part 120 to move, and the distance from the working point RC to the first rotating shaft 24 is constant in the process of moving the lower part 120 and the whole mechanical arm 1, so as to ensure that the position of the working point RC is not changed in the process of surgical operation, namely the pose of the surgical instrument is not changed.

For example, as shown in fig. 1, the upper end of the upper portion 110 includes a second position adjusting mechanism 02, the second position adjusting mechanism 02 is connected with the first position adjusting mechanism 01 and the first joint 9, the first joint 9 rotates around the first rotating shaft 24 to drive the lower portion 120 to move, the second position adjusting mechanism 02 is matched with the first position adjusting mechanism 01 to drive the first joint 9 to translate to drive the lower portion 120 to move, and the second position adjusting mechanism 02 is matched with the first position adjusting mechanism 01 to control the distance from the working point RC to the first rotating shaft 24 to be constant during the movement of the lower portion 120 and the whole robot arm 1. For example, the first joint 9 moves on a spherical surface centered on the working point RC to drive the lower portion 120 to move in a three-dimensional space.

For example, the surgical robot using the mechanical arm structure 10 further includes a control system, the control system is respectively in signal connection (e.g., electrical connection or wireless signal connection) with the first position adjusting mechanism 01 and the second position adjusting mechanism 02, coordinates of the first joint 9 can be calculated by the control system during a surgical operation, and the first position adjusting mechanism 01 and the second position adjusting mechanism 02 are controlled according to a calculation result to adjust positions of the first joint 9 on a horizontal plane and a vertical direction perpendicular to the horizontal plane, so that the first joint 9 moves on a spherical surface with the working point RC as a center to drive the lower portion 120 to move in a three-dimensional space, and the position of the working point RC is kept constant. For a mechanical arm 1, the range of the motion track of the first joint 9 with the mechanical arm 1 may not be a whole sphere, for example, a part of a whole sphere, so as to prevent collision with other mechanical arms within a required range, and meet the work requirement.

For example, the first joint 9 rotates around the first rotating shaft 24 to drive the lower part 120 to swing, and the swinging direction of the lower part 120 is perpendicular to the perpendicular line of the first rotating shaft 24 of the first joint 9 passing through the working point RC, that is, the rotation of the first joint 9 around the first rotating shaft 24 can drive the lower part 120 of the mechanical arm 1 to perform pitching motion along the swinging direction. The working point RC is located on the straight line of the second rotating shaft 27, and the second joint 10a rotates around the second rotating shaft 27 to drive the surgical instrument 2 to swing around the second rotating shaft 27, so as to realize the swing of the surgical instrument 2 in the direction perpendicular to the second rotating shaft 27, and to realize the movement of the working end 20 of the surgical instrument 2 in the direction perpendicular to the second rotating shaft 27. For example, the control system is in signal communication (e.g., electrically or wirelessly) with the second joint 10a to independently drive rotation of the second joint 10 a.

For example, a control system is in signal communication (e.g., electrically or wirelessly) with each joint, rotation or translation of each joint can be independently controlled by the control system, and movement of the first and second drive structures can be independently driven by the control system. Of course, the rotation or translation of the various joints, and the movement of the various components of the first and second drive mechanisms, may also be manually driven by a human operator, if necessary.

For example, as shown in fig. 1, the connecting end of the lower portion 120 includes a second joint 10a, the second joint 10a is connected to the first joint 9 via a first transmission member 25, and is connectable to the surgical instrument 2 via a transmission mechanism 40, and has a second rotating shaft 27 extending along a second direction D2, the second joint 10a is rotatable about the second rotating shaft 27, and a straight line on which an orthogonal projection of the second rotating shaft 27 on the horizontal plane intersects a straight line on which an orthogonal projection of the first rotating shaft 24 on the horizontal plane intersects, that is, an extending direction of the first rotating shaft 24 intersects an extending direction of the second rotating shaft 27. For example, the extending direction of the first rotating shaft 24 intersects with the extending direction of the second rotating shaft 27, for example, coplanar intersection; alternatively, the directions of extension of the first rotation axis 24 do not intersect, e.g., they do not intersect in different planes; the extending direction of the first rotating shaft 24 is perpendicular or not perpendicular to the extending direction of the second rotating shaft 27.

For example, the second position adjustment mechanism 02 includes a third joint 8 and a fourth joint 7. The third joint 8 is connected with the first joint 9 and is provided with a third rotating shaft 08, and the third joint 8 can rotate around the third rotating shaft 08 to drive the first joint 9 and the lower part 120 to rotate along the third rotating shaft 08; the fourth joint 7 is connected with the third joint 8 and located on one side of the third joint 8 far away from the first joint 9, and has a first axis extending along a third direction D3 perpendicular to the ground, the third direction D3 intersects with both the first direction D1 and the second direction D2, and the fourth joint 7 can make a linear motion along the first axis to drive the third joint 8, the first joint 9 and the lower portion 120 to move in the third direction D3.

The first joint 9 and the lower part 120 are moved by the two joints, the third joint 8 and the fourth joint 7, in the spatial range of an unclosed cylindrical ring which is at the height of the cylinder in a vertical direction perpendicular to the ground, for example, in the third direction D3 shown in fig. 1. Also in this case, the adjustment of the position of the first joint 9 and of the lower part 120 in the vertical direction and in a horizontal plane around the third axis of rotation 08 and parallel to the ground is independent of each other, avoiding the limitation that the position adjustment in these two directions necessarily occurs simultaneously (i.e. in the sense of "coupling" described above).

For example, as shown in fig. 1, the first joint 9 is connected to the third joint 8 through the second transmission member 23, and the second transmission member 23 performs a transmission function between the first joint 9 and the third joint 8; the third joint 8 and the fourth joint 7 are connected by a third transmission member 22, and the third transmission member 22 performs a transmission function between the third joint 8 and the fourth joint 7. For example, the second transmission member 23 and the third transmission member 22 are both links.

For example, as shown in fig. 1, the first position adjustment mechanism 01 includes a seventh joint 6, the seventh joint 6 is connected to the upper end of the upper portion 110 of the robot arm 1, for example, the seventh joint 6 is connected to the second position adjustment mechanism 02, for example, the seventh joint 6 is connected to the fourth joint 7, and is configured to be movable in a fourth direction D4 to drive the robot arm 1 to move in the fourth direction D4, for example, the fourth direction D4 is perpendicular to the third direction D3, that is, the fourth direction D4 is a direction parallel to the ground. In this manner, by moving the seventh joint 6 in the fourth direction D4 to drive the robot arm 1 to move in the fourth direction D4, independent control of the movement of the entire robot arm 1 in the fourth direction D4 is realized, avoidance of the robot arm 1 and other robot arms in the fourth direction D4 is realized, or the movement of the entire robot arm 1 in the fourth direction D4 is simultaneously linked to the movement in the other directions, so that the robot arm 1 is moved to a target position to prevent collision with other robot arms.

For example, as shown in fig. 1, the mechanical arm structure 10 further includes a slide link 21, the seventh joint 6 is connected to the eighth joint 5 through the slide link 21, the slide link 21 has a slide rail extending in the fourth direction D4, and the seventh joint 6 is configured to move along the slide rail, so as to reliably realize the movement of the seventh joint 6 in the fourth direction D4.

For example, the first position adjustment mechanism 01 further includes an eighth joint 5, the eighth joint 5 is connected with the seventh joint 6, is connected with the lower part 120 through the seventh joint 6, and has a fifth rotating shaft 51, and the eighth joint 5 is configured to be rotatable around the fifth rotating shaft 51 to drive the seventh joint 6 and the mechanical arm 1 to rotate around the fifth rotating shaft 51; the extending direction of the fifth rotating shaft 51 is perpendicular to the fourth direction D4. For example, the fifth rotating shaft 51 also extends along the third direction D3. In this way, as shown in fig. 6A-6B, the eighth joint 5 in cooperation with the seventh joint 6 may enable adjustment of the position of the entire robot arm 1 on the horizontal plane, such that the entire robot arm 1 moves from position 1 to position 2 on the horizontal plane; also, as shown in fig. 7A-7B, the kinematic cooperation of the fourth joint 7 with the first joint 9 may enable adjustment of the position of the robot arm 1 or the lower part 120 in the vertical direction, such that the entire robot arm 1 is moved in the vertical direction from the position 3 to the position 4. The eighth joint 5 and the seventh joint 6, and the fourth joint 7, the third joint 8, and the first joint 9 are structurally matched with each other, functionally supported by each other, and work in cooperation with each other, for example, simultaneously perform the respective movements described above, and the position of the lower portion 120 in the horizontal and vertical directions is also adjustable, so that the positional change of the robot arm in the horizontal plane shown in fig. 6A to 6B can occur simultaneously with the positional change of the robot arm in the vertical direction Z shown in fig. 7A to 7B, and the positional change tendency of the working point RC is compensated for the movement of one of them by the cooperation of the movements of the plurality of joints and the transmission member (for example, the plurality of links described above) connecting the plurality of joints, and it is possible to achieve the position of the working point RC of the surgical instrument 2 connected to the working end of the lower portion 120 to be kept constant while the positions of the first joint 9 and the lower portion 120 in the three-dimensional space are adjusted to prevent the robot arm from colliding. In addition, the position adjustment of the mechanical arm 1 on the horizontal plane and the position adjustment of the mechanical arm 1 in the vertical direction can be independent, the adjustment is not limited by adjustment coupling in multiple directions, and the collision among the mechanical arms can be more flexibly and reliably prevented in the operation process. The position adjustment of the robot arm 1 in the horizontal plane and the position adjustment in the vertical direction are independent, and it is very important to adjust the position of the robot arm 1 in real time, efficiently, and accurately in the course of the operation, thereby reliably preventing the collision between the plurality of robot arms and maintaining the position of the working point RC.

For example, the direction Z in fig. 6A to 6B and fig. 7A to 7B is the same as the third direction D3, the direction X and the direction Y are perpendicular to the direction Z, and the plane in which the direction X and the direction Y are located is the horizontal plane.

For example, the position coordinates of the eighth joint 5 and the seventh joint 6, and the fourth joint 7, the third joint 8, and the first joint 9 may be calculated by the control system during the surgical operation, so that the control system controls the eighth joint 5 and the seventh joint 6, and the fourth joint 7, the third joint 8, and the first joint 9 to move according to the calculation result to control the positions in the horizontal plane and the vertical direction perpendicular to the horizontal plane, so that the first joint 9 moves on a spherical surface with the working point RC as the center to drive the lower portion 120 to move in the three-dimensional space, and the position of the working point RC is kept constant.

For example, as shown in fig. 1 and 3, the lower portion 120 further includes: a ninth joint 11, a tenth joint 12, and an eleventh joint 13. The ninth joint 11 is connected to the second joint 10a via a first link 26, and has a first parallel axis 28; the tenth joint 12 is connected to the ninth joint 11 via a second link 29 and has a second parallel axis 30; the eleventh joint 13 is connected with the tenth joint 12 through a third connecting rod 31 and has a third parallel shaft 32, and the eleventh joint 13 is connected with the surgical instrument 2 through a fourth connecting rod 33; during the movement of the robot arm 1, the first parallel shaft 28, the second parallel shaft 30, and the third parallel shaft 32 are parallel to each other, the center of the ninth joint 11, the center of the tenth joint 12, the center of the eleventh joint 13, and the operating point RC respectively constitute four vertices of a parallelogram, and the second link 29, the third link 31, the first connection line 35 between the center of the eleventh joint 13 and the operating point RC, and the second connection line 38 between the center of the ninth joint 11 and the operating point RC respectively serve as four sides of the parallelogram. The second rotating shaft 27 is a first swinging shaft, so that, as described above, the working point RC is located on the straight line on which the first swinging shaft 270 is located, and the second joint 10a rotates about the first swinging shaft 270 to drive the surgical instrument 2 to swing in the direction perpendicular to the first swinging shaft 270, so that the surgical instrument 2 swings in the direction perpendicular to the second rotating shaft 27 to realize the movement of the working end 20 of the surgical instrument 2 in the direction perpendicular to the first swinging shaft 270. The ninth joint 11, the tenth joint 12, the eleventh joint 13, the second link 29, and the third link 31 move to drive the surgical instrument 2 to swing about the second swing axis 37 intersecting the first swing axis 270 at the working point RC. In this way, it is possible to independently control the positions of the rod portions 34 of the surgical instrument 2 in the two directions intersecting each other, to independently control the working end 20 of the surgical instrument 2 to move in the two directions intersecting each other to reach the target position in the endoscope of the endoscopic surgery, to perform surgical operations such as cutting, suturing, hemostasis, coagulation on a target tissue (e.g., a lesion), or to perform an image acquisition operation of the endoscope, and the like.

For example, as shown in fig. 1, the lower portion 120 further includes a twelfth joint 14, and the twelfth joint 14 is connected to the surgical device 2 and has a sliding axis, for example, the sliding axis coincides with the extending direction of the rod portion 34, for example, the rod portion 34 coincides with the overall extending direction of the surgical device 2. The twelfth joint 14 is configured to drive the surgical instrument 2 to move linearly along the sliding axis to adjust the position of the surgical instrument 2, for example, to adjust the position of the surgical instrument 2 before surgery, and to keep the position of the working point RC constant during the surgery. For example, the twelfth joint 14 is a slider-rail mechanism, and the surgical instrument 2 can move linearly along the sliding shaft under the limit guide of the slider. The twelfth joint 14 is connected with the eleventh joint 13, and the eleventh joint 13 is connected with the twelfth joint 14 through the fourth link 33, so that the eleventh joint 13 is connected with the surgical instrument 2, and thus, the twelfth joint 14 and the surgical instrument 2 can move correspondingly under the driving of the movement of the eleventh joint 13, so as to realize that the posture of the surgical instrument 2 is not changed under the condition that the position of the working point RC is kept unchanged during the surgical operation, that is, the surgical instrument 2 swings around the second swing shaft 37 intersecting the first swing shaft 270 at the working point RC under the condition that the position of the working point RC is kept unchanged.

For example, a signal connection may be made to the second joint 10a via the control system to drive the second joint 10a in motion via the control system in accordance with the calculation of the position coordinates of the working end 20 of the surgical instrument 2; and the control system is in signal connection with the ninth joint 11, the tenth joint 12, the eleventh joint 13, the second connecting rod 29 and the third connecting rod 31 so as to drive the ninth joint 11, the tenth joint 12, the eleventh joint 13, the second connecting rod 29 and the third connecting rod 31 to move according to the calculation result of the position coordinates of the working end 20 of the surgical instrument 2, so that the working end 20 reaches the target position. Alternatively, the position of the mechanical arm can be adjusted by manual control. After the position of the mechanical arm is manually intervened, the control system can calculate the position coordinates of the working end 20, the position coordinates of each joint and the like in real time, so that the movement of each joint and the transmission rod is controlled in real time, the interference caused by manual intervention is corrected, and the working point RC is kept. Of course, for other joints and connecting rods, the movement thereof may also be controlled by the control system.

For example, the first swing axis 270 is perpendicular to the second swing axis 37, so that the working end 20 of the surgical device 2 can reach various positions in the direction of the first swing axis 270 and the second swing axis 37, and calculation of the control position by the control system is facilitated.

For example, the center of the ninth joint is the midpoint of the rotation axis (i.e., the first parallel axis) of the ninth joint, and similarly, the center of the other joints is the same.

For example, with reference to fig. 2, the first link 26 is located on the same working plane a with the four sides of the parallelogram, the working plane a being perpendicular to the second swing axis 37. For example, the ninth joint 11, the tenth joint 12, the eleventh joint 13, the second link 29, and the third link 31 move to swing the parallelogram in a direction coplanar with the second swing axis 37 and perpendicular to the second swing axis 37, thereby driving the working end 20 of the surgical device 2 to swing in a direction perpendicular to the second swing axis 37.

For example, fig. 4 is a simplified structural diagram of another robot arm configuration provided in accordance with an embodiment of the present disclosure. The embodiment shown in fig. 4 differs from the embodiment shown in fig. 1 in the following way. As shown in fig. 4, the second position adjustment mechanism 02 includes a fifth joint 80, the fifth joint 80 is connected to the first joint 9 and has a second axis extending along a third direction D3 perpendicular to the ground, the third direction D3 intersects with both the first direction D1 and the second direction D2, and the fifth joint 80 can move linearly along the second axis to drive the first joint 9 and the lower portion 120 to move in the third direction D3; the sixth joint 70 is connected to the fifth joint 80 and located at a side of the fifth joint 80 away from the first joint 9, and has a fourth rotation axis, for example, the fourth rotation axis extends along the vertical third direction D3; the sixth joint 70 is rotatable about a fourth axis of rotation to drive the overall structure of the fifth joint 80, the first joint 9 and the lower part 120 to rotate about the fourth axis of rotation. In this way, it is also possible to realize that the first joint 9 and the lower part 120 are moved by the two joints, the fifth joint 80 and the sixth joint 70, within the spatial range of an unclosed cylindrical ring whose height is along a vertical direction perpendicular to the ground, for example, the third direction D3 shown in fig. 4. Also in this case, the adjustment of the position of the first joint 9 and of the lower part 120 in the vertical direction and in a horizontal plane around the third axis of rotation 08 and parallel to the ground is independent of each other, avoiding the limitation that the position adjustment in these two directions necessarily occurs simultaneously (i.e. in the sense of "coupling" described above).

For example, the first joint 9 is connected to the fifth joint 80 via the fourth transmission member 230, and the fourth transmission member 230 performs a transmission function between the first joint 9 and the fifth joint 80; the fifth joint 80 is connected to the sixth joint 70 via a fifth transmission member 220, and the fifth transmission member 220 performs a transmission function between the fifth joint 80 and the sixth joint 70.

Other unreferenced structural features and control methods, and technical effects of the embodiment shown in fig. 4 are the same as those of the embodiment shown in fig. 1, and reference may be made to the description of fig. 1, which is not repeated here.

Fig. 8 is a schematic structural diagram of a surgical robot according to an embodiment of the present disclosure, and fig. 9 is a schematic diagram illustrating a mechanical arm structure of the surgical robot shown in fig. 8. For example, as shown in fig. 8-9, embodiments of the present disclosure also provide a surgical robot 1000, where the surgical robot 1000 includes any one of the robot arm structures 10 provided by embodiments of the present disclosure. For example, the surgical robot 1000 includes a plurality of robot arm structures. For example, in the embodiment shown in fig. 8, the surgical robot 1000 includes four robot arm structures, namely, a first robot arm structure 200, a second robot arm structure 300, a third robot arm structure 400, and a fourth robot arm structure 500. Of course, the number of the robot arm structures of the surgical robot provided by the embodiment of the present disclosure is not limited to four, and may also be less than four or more than four, which is not limited by the embodiment of the present disclosure. For example, each of the robot arm structures of the surgical robot 1000 is the robot arm structure described above with respect to the embodiment of the robot arm structure.

With the surgical robot 1000 for use in the embodiments of the present disclosure, on the one hand, the lower part 120 and the entire robot arm 1 can be adjusted independently of each other in the horizontal plane parallel to the ground and in the vertical direction perpendicular to the horizontal plane by the mutual cooperation of the upper part 110 and the first position adjustment mechanism 01, so that in the case of performing a surgical operation using a plurality of robot arms, the avoidance of the plurality of robot arms from each other in a three-dimensional space can be prevented more flexibly and swiftly, and damage to the surface tissue TS of the surgical target on which the surgical operation is performed due to collision of the plurality of robot arms can be prevented; on the other hand, keeping the position of the working point RC constant is reliably achieved by independently adjusting the positions of the lower portion 120 and the entire robot arm 1 in the horizontal plane and the vertical direction, thereby preventing the movement of the working point RC from damaging the surface tissue TS of the surgical target on which the surgery is performed.

As shown in fig. 8-9, the surgical robot 1000 further includes a suspension mechanism 103, and a plurality of robot arm structures 10 are connected to the suspension mechanism 103 to be suspended from the suspension mechanism 103 so as to be integrated on one robot base. For example, the suspension mechanism 103 is a horizontal beam that is substantially parallel to the ground. The surgical robot 1000 further includes a robot base 100, a lifting column 101, a main rotary joint 102, and a horizontal telescopic beam 104 connected to a suspension mechanism 103. The plurality of mechanical arm structures 10 and the horizontal telescopic beam 104 are connected to the suspension mechanism 103, the position of the suspension mechanism 103 is fixed, and the horizontal telescopic beam 104 can be stretched along the extending direction of the suspension mechanism 103 so as to adjust the position of the plurality of mechanical arm structures 10 connected with the horizontal telescopic beam 104 in the stretching direction, so that the plurality of mechanical arm structures are integrally adjusted to proper positions in the preparation stage before operation. The suspension mechanism 103 is connected to a main rotary joint 102, and the main rotary joint 102 is configured to rotate around a rotation axis perpendicular to the ground to drive the whole of the structure connected to the suspension mechanism 103 and the suspension mechanism 103 to rotate around the rotation axis perpendicular to the ground.

For example, the suspension mechanism 103 includes a fixed disk 105, and the first position adjustment mechanism 01 of each of the plurality of robot arm structures 10 is coupled to the fixed disk 105 and arranged around an edge of the fixed disk 105, thereby facilitating integration of the plurality of robot arm structures on one fixed disk 105. The fixed plate 105 of each robot arm structure is attached to the horizontal telescopic beam 104.

For example, in some embodiments, in conjunction with FIG. 9, the eighth joint 5 of each of the plurality of robotic arm structures 10 is coupled to the fixed platter 105 and is arranged around an edge of the fixed platter 105, and the slide link 21 of each of the plurality of robotic arms extends in a direction away from a center of the fixed platter 105 in a plane parallel to a platter surface of the fixed platter 105; the fifth rotating shaft 51 of the eighth joint 5 of each of the plurality of robot arms 10 extends in a direction perpendicular to the disk surface of the fixed disk 105.

For example, as shown in fig. 8, the surgical robot 1000 further includes a central rotary joint 106 having a main rotary shaft perpendicular to the disk surface of the fixed disk 105, the central rotary joint 106 passing through the disk surface of the fixed disk 105 through the center of the fixed disk 105 and configured to rotate along the main rotary shaft to drive the fixed disk 105 to rotate, for example, the main rotary shaft extends in a direction perpendicular to the ground; the disk face of the fixed disk 105 is substantially parallel to the ground and the main pivot axis extends perpendicular to the disk face of the fixed disk 105.

At least one embodiment of the present disclosure further provides a control method for a robot arm structure 10, and with reference to fig. 1, the control method includes: the lower part 120 is driven by the upper part 110 to move in a three-dimensional space, and the position of the lower part 120 is independently adjusted in a horizontal plane parallel to the ground and a direction vertical to the horizontal plane; and driving the whole robot arm 1 to move in a three-dimensional space by the first position adjusting mechanism 01 cooperating with the upper part 110, and independently adjusting the position of the whole robot arm 1 in the horizontal plane and in the direction perpendicular to the horizontal plane, respectively, wherein the first position adjusting mechanism 01 cooperates with the upper part 110 to keep the position of the working point RC constant during the movement of the lower part 120 and the whole robot arm 1.

Referring to fig. 1 to 3, the control method of the robot arm structure 10 includes: the first joint 9 is driven to rotate around the first rotating shaft 24 so as to drive the lower part 120 to move; and controlling the movement of the second position adjusting mechanism 02 and the movement of the first position adjusting mechanism 01 to cooperate to drive the first joint 9 to translate so as to drive the lower part 120 to move, wherein the second position adjusting mechanism 02 and the first position adjusting mechanism 01 cooperate to control the distance from the working point RC to the first rotating shaft 24 to be constant in the moving process of the lower part 120 and the whole mechanical arm 1.

For example, by controlling the movement of the second position adjustment mechanism 02 to cooperate with the movement of the first position adjustment mechanism 01 to control the movement of the lower portion 120 and the entire robot arm 1, the first joint 9 moves on a spherical surface centered on the working point RC to drive the lower portion 120 to move in a three-dimensional space.

For example, the perpendicular line of the first rotating shaft 24 passes through the operating point RC, and the first joint 9 is controlled to rotate around the first rotating shaft 24 to drive the lower part 120 to swing, and the swinging direction of the lower part 120 is perpendicular to the perpendicular line of the first rotating shaft 24 of the first joint 9.

For example, the control method of the robot arm structure 10 includes: the second joint 10a is controlled to rotate around the second rotating shaft 27 to drive the surgical instrument 2 to swing in a direction perpendicular to the second rotating shaft 27, wherein a straight line on which an orthographic projection of the second rotating shaft 27 on a horizontal plane is located intersects a straight line on which an orthographic projection of the first rotating shaft 24 on the horizontal plane, and the working point RC is located on the straight line on which the second rotating shaft 27 is located.

For example, in the control method of the robot arm structure 10, the extending direction of the first rotating shaft 24 and the extending direction of the second rotating shaft 27 intersect or do not intersect; the extending direction of the first rotating shaft 24 is perpendicular or not perpendicular to the extending direction of the second rotating shaft 27.

For example, referring to fig. 1-3, a method of controlling a robotic arm structure 10 includes: the third joint 8 is driven to rotate around the third rotating shaft 08 so as to drive the first joint 9 and the lower part 120 to rotate along the third rotating shaft 08; and driving the fourth joint 7 in a linear motion along the first axis to drive the third joint 8, the first joint 9 and the lower part 120 to move in the third direction D3.

For example, referring to fig. 4, in another embodiment, the second position adjustment mechanism 02 includes a fifth joint 80, the fifth joint 80 being connected to the first joint 9 and having a second axis extending in a third direction D3 perpendicular to the ground, the third direction D3 intersecting both the first direction D1 and the second direction D2. With the embodiment shown in fig. 4, the control method of the robot arm structure 10 differs from the previous embodiments in that the control method of the robot arm structure 10 includes: the fifth joint 80 is driven to move linearly along the second axis to drive the first joint 9 and the lower part 120 to move in the third direction D3; and driving the sixth joint 70 to rotate about the fourth axis of rotation to drive the fifth joint 80, the first joint 9 and the lower part 120 to rotate about the fourth axis of rotation.

For example, referring to fig. 1-3, the control method of the robot arm structure 10 further includes: driving the seventh joint 6 to move in the fourth direction D4 to drive the robot arm 1 to move in the fourth direction D4; the fourth direction D4 is perpendicular to the third direction D3.

For example, referring to fig. 1-3, a method of controlling a robotic arm structure 10 includes: the eighth joint 5 is driven to rotate around the fifth rotating shaft 51 to drive the seventh joint 6 and the mechanical arm 1 to rotate around the fifth rotating shaft 51, wherein the extending direction of the fifth rotating shaft 51 is perpendicular to the fourth direction D4. For example, the fifth rotating shaft 51 also extends along the third direction D3. In this way, as shown in fig. 6A-6B, the eighth joint 5 and the seventh joint 6 cooperate to achieve adjustment of the position of the entire robot arm 1 on the horizontal plane; also, as shown in fig. 7A-7B, the fourth joint 7 may achieve adjustment of the position of the robot arm 1 or the lower portion 120 in the vertical direction in cooperation with the movement of the first joint 9. The eighth joint 5 and the seventh joint 6, and the fourth joint 7, the third joint 8, and the first joint 9 are structurally matched with each other, functionally supported by each other, and work in cooperation with each other, for example, simultaneously perform the above-described respective movements, and also adjust the position of the lower portion 120 in the horizontal and vertical directions, so that the positional change of the robot arm in the horizontal plane shown in fig. 6A to 6B can be simultaneously made with the positional change of the robot arm in the vertical direction Z shown in fig. 7A to 7B, and the positional change tendency of the working point RC due to the movement of one of them is compensated by the cooperation of the above-described plurality of joints and the movement of the transmission member (for example, the above-described plurality of links) connecting the plurality of joints, and it is possible to achieve that the position of the working point RC of the surgical instrument 2 connected to the working end of the lower portion 120 is kept constant while the positions of the first joint 9 and the lower portion 120 in the three-dimensional space are adjusted to prevent the robot arm from colliding. In addition, the position adjustment of the mechanical arm 1 on the horizontal plane and the position adjustment of the mechanical arm 1 in the vertical direction can be independent, the adjustment is not limited by adjustment coupling in multiple directions, and the collision among the mechanical arms can be more flexibly and reliably prevented in the operation process. The position adjustment of the robot arm 1 in the horizontal plane and the position adjustment in the vertical direction are independent, and it is very important to adjust the position of the robot arm 1 in real time, efficiently, and accurately in the surgical procedure, so that the collision between the plurality of robot arms is reliably prevented and the position of the working point RC does not change.

For example, during the movement of the driving robot arm 1, the first parallel shaft 28, the second parallel shaft 30, and the third parallel shaft 32 are parallel to each other, the center of the ninth joint 11, the center of the tenth joint 12, the center of the eleventh joint 13, and the working point RC respectively constitute four vertices of a parallelogram, and the first connecting line of the center of the second link 29, the third link 31, the eleventh joint 13, and the working point RC, and the second connecting line of the center of the ninth joint 11, and the working point RC respectively serve as four sides of the parallelogram. The second rotating shaft 27 is a first swinging shaft 270, and the control method further comprises the following steps: the ninth joint 11, the tenth joint 12, the eleventh joint 13, the second link 29, and the third link 31 are driven to move to drive the surgical instrument 2 to swing about the second swing axis 37 intersecting the first swing axis 270 at the working point RC.

For example, the second swing axis 37 is perpendicular to the first swing axis 270.

For example, as shown in fig. 1, the lower portion 120 further includes a twelfth joint 14, and the twelfth joint 14 is connected to the surgical device 2 and has a sliding axis, for example, the sliding axis coincides with the extending direction of the rod portion 34, for example, the rod portion 34 coincides with the overall extending direction of the surgical device 2. The control method of the robot arm structure 10 further includes: the twelfth joint 14 drives the surgical instrument 2 to move linearly along the sliding axis to adjust the position of the surgical instrument 2, for example, to adjust the position of the surgical instrument 2 before surgery, and to keep the position of the working point RC constant during the surgery. For example, the twelfth joint 14 is a slider-rail mechanism, and the surgical instrument 2 can move linearly along the sliding shaft under the limit guide of the slider. The twelfth joint 14 is connected with the eleventh joint 13, and the eleventh joint 13 is connected with the twelfth joint 14 through the fourth link 33, so that the eleventh joint 13 is connected with the surgical instrument 2, and thus, the twelfth joint 14 and the surgical instrument 2 can move correspondingly under the driving of the movement of the eleventh joint 13, so as to realize that the posture of the surgical instrument 2 is not changed under the condition that the position of the working point RC is kept unchanged during the surgical operation, that is, the surgical instrument 2 swings around the second swing shaft 37 intersecting the first swing shaft 270 at the working point RC under the condition that the position of the working point RC is kept unchanged.

For example, as shown in fig. 2, the first link 26 is located on the same working plane a with the four sides of the parallelogram, and the working plane a is perpendicular to the second swing axis.

For other features and technical effects not mentioned in the control method of the robot arm structure 10, reference may be made in detail to the description of the embodiment of the robot arm structure 10, for example, the description of the structure and operation process of the robot arm structure 10 shown in fig. 1 to 7A already includes a specific control method specific to the robot arm structure 10, and will not be repeated here.

At least one embodiment of the present disclosure further provides a control method for a surgical robot 1000, where the surgical robot 1000 includes a plurality of any one of the robot arm structures 10 provided in the embodiments of the present disclosure, and at least one working robot arm in the plurality of robot arm structures 10 is a working robot arm, for example, the working robot arm is a robot arm 1 shown in fig. 1, or a robot arm of a surgical instrument 2 shown in fig. 3 and connected to a surface tissue TS penetrating a surgical target. The working end of the working mechanical arm is connected with a surgical instrument; the control method of the surgical robot 1000 includes: at least one robot arm structure 10 is driven to move to prevent the work robot arm and the other robot arm structures 10 from colliding with each other, and the position of the work point RC of the work robot arm is kept unchanged.

For example, referring to fig. 8, in the control method of the surgical robot 1000, the suspension mechanism 103 includes a fixed disk 105, and the first position adjustment mechanism 01 of each of the plurality of robot arm structures 10 is connected to the fixed disk 105 and arranged around an edge of the fixed disk 105; the control method of the surgical robot 1000 includes: the holding pan 105 is driven to rotate to drive the plurality of robot arm structures 10 to rotate.

For example, the surgical robot 1000 further comprises a control system in signal connection with the first position adjustment mechanism 01 and the second position adjustment mechanism 02; the control method of the surgical robot 1000 includes: calculating the coordinates of the first joint 9 by the control system; and driving the first position adjustment mechanism 01 and the second position adjustment mechanism 02 to adjust the position of the first joint 9 according to the calculation result of the control system, so that the first joint 9 moves on a spherical surface with the operating point RC as the center of sphere, and the position of the operating point RC is kept constant.

For example, the control system is respectively connected with the first position adjusting mechanism 01 and the second position adjusting mechanism 02 through signals, such as electrical connection or wireless signal connection, and the coordinates of the first joint 9 can be calculated by the control system during the operation process, so that the first position adjusting mechanism 01 and the second position adjusting mechanism 02 are controlled according to the calculation result to adjust the positions of the first joint 9 on the horizontal plane and in the vertical direction perpendicular to the horizontal plane, so that the first joint 9 can move on a spherical surface with the working point RC as the center of sphere to drive the lower part 120 to move in a three-dimensional space, and the position of the working point RC is kept constant.

For other details of the control method of the surgical robot 1000, reference may be made to the description of the embodiment of the surgical robot 1000, such as the description of the embodiment shown in fig. 8-9, and the description of the control system for controlling the movement of the respective joints, the respective links, etc., and so on, and will not be repeated here.

The above description is intended to be illustrative of the present invention and not to limit the scope of the invention, which is defined by the claims appended hereto.

Claims

1. A control method of a robot arm structure (10) is characterized in that the robot arm structure (10) comprises a robot arm (1) and a first position adjusting mechanism (01) connected with the robot arm (1); the mechanical arm (1) comprises a lower part and an upper part; the lower portion (120) comprises a connecting end and a working end opposite to each other, the working end being configured to be connectable to a surgical instrument (2) for performing a surgical operation on tissue, a working point (RC) being located on the surgical instrument (2); the upper part (110) comprises an upper end connected with the first position adjusting mechanism (01) and a lower end connected with the connecting end of the lower part (120);

the control method of the robot arm structure (10) includes:

the lower part (120) is driven to move in a three-dimensional space through the upper part (110), and the position of the lower part (120) is independently adjusted in a horizontal plane parallel to the ground and a direction vertical to the horizontal plane respectively; and

the first position adjusting mechanism (01) is matched with the upper part (110) to drive the whole mechanical arm (1) to move in a three-dimensional space, and the position of the whole mechanical arm (1) is independently adjusted in the horizontal plane and the direction vertical to the horizontal plane respectively, wherein,

-said first position adjustment mechanism (01) cooperates with said upper part (110) to keep the position of said working point (RC) constant during the movement of said lower part (120) and of the entire robot arm (1);

the lower end of the upper part (110) comprises a first joint (9), the first joint (9) having a first rotation axis (24) extending in a first direction (D1); the upper end of the upper part (110) comprises a second position adjusting mechanism (02), and the second position adjusting mechanism (02) is connected with the first position adjusting mechanism (01) and the first joint (9);

the control method of the robot arm structure (10) includes:

the first joint (9) is driven to rotate around a first rotating shaft (24) so as to drive the lower part (120) to move; and

the movement of the second position adjusting mechanism (02) is controlled to be matched with the movement of the first position adjusting mechanism (01) so as to drive the first joint (9) to translate so as to drive the lower part (120) to move, wherein the second position adjusting mechanism (02) is matched with the first position adjusting mechanism (01) so as to control the distance from the working point (RC) to the first rotating shaft (24) to be kept constant in the process of moving the lower part (120) and the whole mechanical arm (1), and the first joint (9) moves on a spherical surface taking the working point (RC) as a spherical center so as to drive the lower part (120) to move in a three-dimensional space.

2. The control method of a robot arm structure (10) according to claim 1, characterized in that the perpendicular line of the first rotation axis (24) passes through the working point (RC), and the first joint (9) is controlled to rotate around the first rotation axis (24) to drive the lower part (120) to swing, and the swinging direction of the lower part (120) is perpendicular to the perpendicular line of the first rotation axis (24) of the first joint (9).

3. The control method of a robot arm structure (10) according to claim 1 or 2, characterized in that the connecting end of the lower part (120) comprises a second joint (10 a), the second joint (10 a) being connected to the first joint (9) via a first transmission member (25), being connectable to the surgical instrument (2) via a transmission mechanism (40), and having a second rotation shaft (27) extending in a second direction (D2);

the control method comprises the following steps:

and controlling the second joint (10 a) to rotate around the second rotating shaft (27) so as to drive the surgical instrument (2) to swing in the direction vertical to the second rotating shaft (27), wherein the straight line of the orthographic projection of the second rotating shaft (27) on the horizontal plane is intersected with the straight line of the orthographic projection of the first rotating shaft (24) on the horizontal plane, and the working point (RC) is positioned on the straight line of the second rotating shaft (27).

4. The control method of a robot arm structure (10) according to claim 3, characterized in that the extending direction of the first rotating shaft (24) and the extending direction of the second rotating shaft (27) intersect or do not intersect; and the number of the first and second electrodes,

the extending direction of the first rotating shaft (24) is perpendicular or not perpendicular to the extending direction of the second rotating shaft (27).

5. The control method of the robot arm structure (10) according to claim 3, wherein the second position adjustment mechanism (02) comprises: a third joint (8) and a fourth joint (7); the third joint (8) is connected with the first joint (9) and is provided with a third rotating shaft (08); the fourth joint (7) is connected to the third joint (8) and is located on a side of the third joint (8) remote from the first joint (9), and has a first axis extending in a third direction (D3) perpendicular to the ground, the third direction (D3) intersecting both the first direction (D1) and the second direction (D2);

the control method comprises the following steps:

-driving the third joint (8) in rotation about the third rotation axis (08) to drive the first joint (9) and the lower part (120) in rotation along the third rotation axis (08); and

-driving the fourth joint (7) in a rectilinear motion along the first axis to drive the third joint (8), the first joint (9) and the lower part (120) in movement in the third direction (D3).

6. The control method of a robot arm structure (10) according to claim 3, characterized in that the second position adjustment mechanism (02) includes a fifth joint (80) and a sixth joint (70); -said fifth joint (80) being connected to said first joint (9) and having a second axis extending along a third direction (D3) perpendicular to the ground, said third direction (D3) intersecting both said first direction (D1) and said second direction (D2); the sixth joint (70) is connected with the fifth joint (80), is positioned on one side of the fifth joint (80) far away from the first joint (9), and is provided with a fourth rotating shaft;

the control method of the robot arm structure (10) includes:

-driving the fifth joint (80) in a rectilinear motion along the second axis to drive the first joint (9) and the lower part (120) in movement in the third direction (D3); and

driving the sixth joint (70) to rotate about the fourth axis of rotation to drive the fifth joint (80), the first joint (9) and the lower part (120) to rotate along the fourth axis of rotation.

7. The control method of a robot arm structure (10) according to claim 5, characterized in that the first position adjustment mechanism (01) comprises a seventh joint (6), the seventh joint (6) being connected to an upper end of an upper portion (110) of the robot arm (1);

the control method of the robot arm structure (10) includes:

driving the seventh joint (6) to move in a fourth direction (D4) to drive the robot arm (1) to move in the fourth direction (D4), wherein the fourth direction (D4) is perpendicular to the third direction (D3).

8. The control method of a robot arm structure (10) according to claim 7, characterized in that the first position adjustment mechanism (01) further comprises an eighth joint (5), the eighth joint (5) being connected with the seventh joint (6), connected with the lower part (120) through the seventh joint (6), and having a fifth rotation shaft (51);

the control method of the robot arm structure (10) includes:

and driving the eighth joint (5) to rotate around the fifth rotating shaft (51) so as to drive the seventh joint (6) and the mechanical arm (1) to rotate around the fifth rotating shaft (51), wherein the extending direction of the fifth rotating shaft (51) is perpendicular to the fourth direction (D4).

9. The control method of a robot arm structure (10) according to claim 3, wherein the lower portion (120) further comprises: a ninth joint (11), a tenth joint (12), and an eleventh joint (13); the ninth joint (11) is connected to the second joint (10 a) via a first link (26) and has a first parallel axis (28); the tenth joint (12) is connected with the ninth joint (11) through a second connecting rod (29) and is provided with a second parallel shaft (30); the eleventh joint (13) is connected with the tenth joint (12) through a third connecting rod (31) and is provided with a third parallel shaft (32), and the eleventh joint (13) is connected with the surgical instrument (2) through a fourth connecting rod (33);

during the movement for driving the robot arm (1), the first parallel axis (28), the second parallel axis (30) and the third parallel axis (32) are parallel to each other, the center of the ninth joint (11), the center of the tenth joint (12), the center of the eleventh joint (13) and the working point (RC) respectively constitute four vertices of a parallelogram, and the second link (29), the third link (31), a first connecting line (35) connecting the center of the eleventh joint (13) and the working point (RC), and a second connecting line (38) connecting the center of the ninth joint (11) and the working point (RC) respectively serve as four sides of the parallelogram;

the second rotating shaft (27) is a first swinging shaft (270), and the control method of the mechanical arm structure (10) further comprises the following steps:

driving the ninth joint (11), the tenth joint (12), the eleventh joint (13), the second link (29) and the third link (31) in motion to drive the surgical instrument (2) in oscillation about a second oscillation axis (37) intersecting the first oscillation axis (270) at the working point (RC).

10. The control method of a robot arm structure (10) according to claim 9, characterized in that the second swing axis (37) is perpendicular to the first swing axis (270).

11. The control method of a robot arm structure (10) according to claim 9, characterized in that the first link (26) is located on the same working plane (a) with four sides of the parallelogram, the working plane (a) being perpendicular to the second swing axis (37).

12. A control method for a surgical robot (1000), wherein the surgical robot (1000) comprises a plurality of robot arm structures (10) in the control method for the robot arm structures (10) according to any one of claims 1 to 11, at least one working robot arm in the plurality of robot arm structures (10) is a working robot arm, and a working end of the working robot arm is connected to the surgical instrument;

the control method of the surgical robot (1000) includes:

-driving at least one of said robot arm structures (10) in motion to prevent said working robot arm and the other robot arm structures (10) from colliding with each other, and keeping the position of the working point (RC) of said working robot arm unchanged.

13. The control method of a surgical robot (1000) according to claim 12, wherein the surgical robot (1000) further comprises a suspension mechanism (103), the suspension mechanism (103) comprises a fixed disk (105), the first position adjustment mechanism (01) of each of the plurality of robot arm structures (10) is connected to the fixed disk (105) and is arranged around an edge of the fixed disk (105);

the control method of the surgical robot (1000) includes:

driving the fixed disk (105) to rotate so as to drive the plurality of mechanical arm structures (10) to rotate.

14. The method of controlling a surgical robot (1000) according to claim 12, wherein the surgical robot (1000) further comprises a control system comprising a first joint (9) at a lower end of the upper part (110), the first joint (9) having a first rotation axis (24) extending in a first direction (D1); the upper end of the upper part (110) comprises a second position adjusting mechanism (02), the second position adjusting mechanism (02) is connected with the first position adjusting mechanism (01) and the first joint (9), and the control method comprises the following steps: driving the first joint (9) to rotate around a first rotating shaft (24) to drive the lower part (120) to move, and driving the first joint (9) to translate to drive the lower part (120) to move by controlling the motion of the second position adjusting mechanism (02) to cooperate with the motion of the first position adjusting mechanism (01), wherein the second position adjusting mechanism (02) cooperates with the first position adjusting mechanism (01) to control the condition that the distance from the working point (RC) to the first rotating shaft (24) is kept constant in the process of moving the lower part (120) and the whole mechanical arm (1),

the control system is in signal connection with the first position adjusting mechanism (01) and the second position adjusting mechanism (02); the control method of the surgical robot (1000) includes:

-calculating, by the control system, the coordinates of the first joint (9); and

and driving the first position adjusting mechanism (01) and the second position adjusting mechanism (02) to adjust the position of the first joint (9) according to the calculation result of the control system, so that the first joint (9) moves on a spherical surface with the working point (RC) as the center of a sphere, and the position of the working point (RC) is kept constant.