WO2022247481A1 - 一种机械臂及其控制方法 - Google Patents

一种机械臂及其控制方法 Download PDF

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Publication number
WO2022247481A1
WO2022247481A1 PCT/CN2022/085605 CN2022085605W WO2022247481A1 WO 2022247481 A1 WO2022247481 A1 WO 2022247481A1 CN 2022085605 W CN2022085605 W CN 2022085605W WO 2022247481 A1 WO2022247481 A1 WO 2022247481A1
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WO
WIPO (PCT)
Prior art keywords
joint
rotation
joints
surgical instrument
motion mechanism
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/085605
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English (en)
French (fr)
Inventor
程皓
徐敏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Agibot Medtech Suzhou Co Ltd
Original Assignee
Agibot Medtech Suzhou Co Ltd
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Publication date
Application filed by Agibot Medtech Suzhou Co Ltd filed Critical Agibot Medtech Suzhou Co Ltd
Priority to EP22810214.1A priority Critical patent/EP4299030A4/en
Priority to US18/283,181 priority patent/US12220191B2/en
Publication of WO2022247481A1 publication Critical patent/WO2022247481A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45119—Telesurgery with local assistent, voice communication

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a mechanical arm and a control method thereof.
  • the minimally invasive surgical robot with its high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations, such as hand tremors during filtering operations, and is widely used in abdominal, pelvic, and thoracic surgical areas.
  • the minimally invasive surgical robot includes a main operating arm and a robotic arm.
  • the operating signal collected by the main operating arm from the doctor is processed by the control system to generate a control signal for the robotic arm, and the robotic arm performs the surgical operation.
  • the robotic arm snaps into the surgical instrument, and the surgical instrument enters the patient's body through a poke inserted into the incision on the patient's body surface. Since the intersection point of the central line of the poking axis and the body surface is a "fixed point", during the operation, the surgical instrument rod must pass through this point through the poking card, so as not to enlarge the wound on the patient's body surface or even cause surgical accidents.
  • the first mechanical fixed point is based on the parallelogram linkage mechanism. Ensure that the position of the fixed point coincides with the position of the wound, but the clamping process needs to meet a strict matching relationship, the operation complexity is high, and the preoperative preparation time is long;
  • the second active fixed point adopts a general industrial robot configuration, Use the motion control algorithm to constrain the surgical instrument to pass through a fixed point, but it requires more complex kinematics inverse calculation, and considering factors such as joint motion range and fixed point virtual constraints, it is easy to introduce singularity, and the movement around the fixed point The participation of each joint of the robotic arm is required. When multiple arms are used in combination, it is easy to cause multi-arm interference.
  • a mechanical arm comprising a space positioning mechanism, a plane motion mechanism, and an autorotation joint connecting the space positioning mechanism and the plane motion mechanism, wherein:
  • the space positioning mechanism includes a base and a joint mechanism.
  • the joint mechanism includes a plurality of joints installed in sequence, and the joint at the head end is installed on the base, and the joint at the end rotates with the autorotation joint. connected;
  • the end of the planar motion mechanism is connected to the surgical instrument, and the vertical line of the plane where it is located is perpendicular to the rotation axis of the autorotation joint;
  • intersection of the rotation axis of the autorotation joint and the axis of the surgical instrument is an active fixed point.
  • the joints in the joint mechanism move relative to the base to drive the autorotation joints, planar movement mechanism and surgical instruments to rotate accordingly, so that the autorotation joints, planar movement mechanisms and surgical instruments move in a large range of space, so as to Realize the positioning of the active fixed point in a wide range of space;
  • the planar motion mechanism moves in a plane perpendicular to the rotation axis of the autorotation joint to drive the surgical instruments to move accordingly, so that the active fixed point moves on the plane where the planar motion mechanism is located to realize the main
  • the lower surgical instrument rotates around the active fixed point with the rotation axis of the autorotation joint as the rotation axis in a single degree of freedom.
  • the fixed point performs single-degree-of-freedom rotation with the direction perpendicular to the rotation axis of the autorotation joint as the rotation axis. Since the rotation of the surgical instrument around the active fixed point can be realized without the movement of the space positioning mechanism, the occurrence of collisions during the multi-arm combined movement is reduced. And by defining the intersection of the rotation axis of the autorotation joint and the axis of the surgical instrument as the active fixed point, the setting of the active fixed point can be completed more conveniently, and the unification of the surgical instrument can be realized through the linkage of the spatial positioning mechanism, the planar motion mechanism and the autorotation joint. The infinite combination of attitudes makes the kinematics solution simple.
  • the joint mechanism includes at least two revolving joints, wherein the rotation axis of at least one of the revolving joints is perpendicular to the rotation axis of the autorotation joint.
  • the joint mechanism includes two rotating joints and a moving joint, and the moving joint is arranged between the two rotating joints or between the rotating joint and the base, so The moving direction of the mobile joint is parallel to the rotation axis of one of the rotation joints, and the rotation axes of the two rotation joints are perpendicular.
  • the spatial positioning mechanism further includes three connecting rods, and the base and adjacent two of the three connecting rods are connected through the moving joint or the rotating joint , and the connecting rod farthest from the base among the three connecting rods is connected to the planar motion mechanism through the rotation joint.
  • the joint mechanism includes three revolving joints, and the three revolving joints are installed in sequence, and the revolving joint farthest from the autorotating joint is installed on the base and close to the
  • the rotation axes of the two rotation joints of the base are perpendicular to each other, and the rotation axes of the two rotation joints far away from the base are parallel.
  • the spatial positioning mechanism further includes three connecting rods, the base and adjacent two of the three connecting rods are connected through the rotating joint, and the three connecting rods Among the connecting rods, the connecting rod farthest from the base is connected to the planar motion mechanism through the rotation joint.
  • the joint mechanism includes two rotating joints and two moving joints, the two moving joints are arranged adjacent to each other, and the moving directions are perpendicular to each other and parallel to the rotation axis of one of the rotating joints.
  • one side of the two moving joints and the base is provided with one of the rotating joints, and the other side is provided with the other rotating joint, and the rotation axes of the two rotating joints are perpendicular to each other.
  • the spatial positioning mechanism further includes four connecting rods, and the base and adjacent two of the four connecting rods are connected through the moving joint or the rotating joint , and the connecting rod farthest from the base among the four connecting rods is connected to the planar motion mechanism through the rotation joint.
  • the planar motion mechanism includes four connecting rods and three rotating joints, the four connecting rods are arranged in sequence, and two adjacent connecting rods are connected by one rotating joint , one of the four connecting rods at the edge position is connected to the end of the space positioning mechanism through the rotation joint, and the other connecting rod is connected to the surgical instrument, and the three connecting rods are
  • the rotation axes of the revolving joints are parallel to each other and perpendicular to the rotation axes of the autorotation joints.
  • the motion control of the active fixed point satisfies the following constraints:
  • ⁇ , ⁇ , and ⁇ are the angles between two adjacent connecting rods from the head end to the end of the planar motion mechanism in turn, and a, b, and c are the angles between adjacent two connecting rods from the planar motion mechanism.
  • the length of the three connecting rods from the head end to the end, d is the distance between the end of the connecting rod adjacent to the head end in the planar motion mechanism, which is close to the head end, and the active fixed point.
  • the planar motion mechanism includes three connecting rods arranged in sequence, a slider and two rotary joints, the slider is connected to one of the rotary joints as a whole, and the other rotary joint is respectively connected to two adjacent connecting rods, the connecting rod connected to the slider is directly connected to the autorotation joint or indirectly connected to the surgical instrument, the rotation axes of the two rotation joints are parallel, and Both are perpendicular to the rotation axis of the autorotation joint and the moving direction of the slider.
  • the end of the planar motion mechanism is connected to the surgical instrument through a moving joint, and the moving direction of the moving joint is perpendicular to the rotation axis of the autorotation joint.
  • the mechanical arm further includes a laser generating module arranged on the planar motion mechanism, the laser generating module is arranged coaxially with the rotation joint, and is used to generate and irradiate the positioning marks on the surgical instrument laser to characterize the active fixed point.
  • the present invention also provides a method for controlling the mechanical arm according to any one of the above technical solutions, including:
  • the control method of the above-mentioned mechanical arm firstly, by controlling the movement of the joints of the joint mechanism in the space positioning mechanism relative to the base to drive the autorotation joint, the planar movement mechanism and the surgical instrument to rotate accordingly, so that the autorotation joint, the planar movement mechanism and the surgical instrument
  • the large-scale movement of the instrument in space is to realize the positioning of the active fixed point in a wide range of space, so that the rotation axis of the autorotation joint passes through the poke wound; then, by controlling the movement of the planar movement mechanism, the planar movement mechanism is perpendicular to the rotation axis of the autorotation joint.
  • the rotation axis of the joint is a single-degree-of-freedom rotation of the rotation axis, which controls the rotation of the planar motion mechanism and drives the surgical instrument to rotate accordingly, so that the surgical instrument can rotate around the active fixed point perpendicular to the rotation joint while ensuring that the active fixed point does not move.
  • the direction of the axis is a single degree of freedom rotation of the axis of rotation.
  • the end of the planar motion mechanism in the robotic arm when the end of the planar motion mechanism in the robotic arm is connected to a surgical instrument through a moving joint, after controlling the movement of the autorotation joint and the planar motion mechanism, it further includes:
  • the movable joint motion is controlled to operate the surgical instrument through the active fixed point.
  • Fig. 1 is the structural representation of a kind of mechanical arm provided by the present invention
  • Fig. 2 is a schematic diagram of a spatial positioning mechanism in a mechanical arm provided by the present invention
  • Fig. 3 is a schematic diagram of the spatial positioning mechanism in another mechanical arm provided by the present invention.
  • Fig. 4 is a schematic diagram of the space positioning mechanism in another mechanical arm provided by the present invention.
  • Fig. 5 is a mechanism diagram of a planar motion mechanism in a mechanical arm provided by the present invention.
  • Fig. 6 is a schematic diagram of the planar motion mechanism in another mechanical arm provided by the present invention.
  • Fig. 7 is a schematic diagram of the planar motion mechanism in another mechanical arm provided by the present invention.
  • Fig. 8 is a flowchart of a control method of a mechanical arm provided by the present invention.
  • 200 plane movement mechanism; 211, first plane connecting rod; 212, second plane connecting rod; 213, third plane connecting rod; 214, fourth plane connecting rod; 215, fifth plane connecting rod; 216, sixth Plane connecting rod; 217, the seventh plane connecting rod; 221, the first plane rotating joint; 222, the second plane rotating joint; 223, the third plane rotating joint; 224, the fourth plane rotating joint; 225, the fifth plane rotating joint Joint; 230, first plane moving joint; 240, slider;
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • the present invention provides a mechanical arm 10 used in a minimally invasive surgical robot.
  • the end of the mechanical arm 10 is detachably connected to a surgical instrument 20, which can locate the active fixed point A before the operation. And during the operation, the surgical instrument 20 is driven to pass the active fixed point A to perform the operation.
  • the mechanical arm 10 includes three parts: a space positioning mechanism 100, a planar motion mechanism 200, and an autorotation joint 300, and the autorotation joint 300 connects the space positioning mechanism 100 and the planar motion mechanism 200, wherein:
  • the space positioning mechanism 100 includes a base 110 and a joint mechanism.
  • the joint mechanism includes a plurality of joints.
  • the number of joints can be two, three or more than three. Multiple joints are installed on the base 110 in sequence, and the head end of the joint mechanism The joint and the base 110 can be directly connected, and the joint at the end of the joint mechanism is connected to the rotation joint 300 in rotation;
  • the end of the planar motion mechanism 200 is connected to the surgical instrument 20, and the vertical line of the plane where the planar motion mechanism 200 is located is perpendicular to the rotation axis of the autorotation joint 300;
  • the intersection of the rotation axis of the autorotation joint 300 and the axis of the surgical instrument 20 is the active fixed point A, and the rotation axis of the autorotation joint 300 always turns around the active fixed point A during the operation.
  • the joints in the joint mechanism move relative to the base 110 to drive the autorotation joint 300, the plane motion mechanism 200 and the surgical instrument 20 to rotate accordingly, so that the autorotation joint 300, the plane motion mechanism 200 and the surgical instrument 20 are A large range of motion can be performed in the space to realize the positioning of the active fixed point A in a large range of space;
  • the end of the planar motion mechanism 200 is a description of the position of the mobile joint connected to the surgical instrument 20 in conjunction with the accompanying drawings, and the planar motion mechanism 200
  • the connection between the end of the end and the surgical instrument 20 means that the mobile joint at the end of the planar motion mechanism 200 is connected with the surgical instrument 20; It moves accordingly, so that the active fixed point A moves on the plane where the planar motion mechanism 200 is located, so as to realize the fine positioning of the active fixed point A on the plane where the planar motion mechanism 200 is located;
  • the rotation joint 300 rotates around its axis of rotation to drive the planar motion mechanism 200 and the surgical instrument 20 rotate accordingly, so that the surgical instrument 20 rotate
  • the rotation of the surgical instrument 20 around the active fixed point A can be realized without the movement of the spatial positioning mechanism 100, the occurrence of collisions during the multi-arm combined movement is reduced. And by defining the intersection of the axis of rotation of the autorotation joint 300 and the axis of the surgical instrument 20 as the active fixed point A, the setting of the active fixed point A can be completed more conveniently.
  • the linkage can realize infinite combinations of the same posture of the surgical instrument 20, making the kinematics solution simple.
  • the spatial positioning mechanism 100 there are various structural forms of the spatial positioning mechanism 100.
  • the number of revolving joints can be two, three or more than three, and among these revolving joints, the rotation axis of one revolving joint can be perpendicular to the rotation axis of the autorotation joint 300, and there can also be The rotation axes of the two rotation joints are perpendicular to the rotation axis of the autorotation joint 300 .
  • the joint mechanism includes at least two revolving joints, and the two revolving joints move separately to drive the autorotation joint 300, the planar motion mechanism 200 and the surgical instrument 20 to rotate accordingly, realizing the rotation of the autorotation joint 300 and the planar motion mechanism 200. And the large-scale motion of surgical instrument 20 in the space.
  • the rotation axis of at least one of the rotation joints is perpendicular to the rotation axis of the autorotation joint 300
  • the autorotation joint 300 , the planar motion mechanism 200 and the surgical instrument 20 can be driven along the axis of rotation perpendicular to the rotation axis of the autorotation joint 300
  • the rotation axis of the rotation joint 300 is convenient to control the large-scale movement of the autorotation joint 300, the planar motion mechanism 200 and the surgical instrument 20 in space.
  • the rotation axes of the at least two revolving joints may not be perpendicular to the rotation axis of the autorotation joint 300 , and the arrangement of the rotation axes of the at least two revolving joints may be determined according to the actual situation of the mechanical arm 10 .
  • the joint mechanism includes two rotating joints and one moving joint.
  • the joint mechanism includes a first rotating joint 121, a second rotating joint 122 and a first Moving the joint 131, the rotation axis of the first rotating joint 121 and the second rotating joint 122 are perpendicular, the first moving joint 131 is arranged between the first rotating joint 121 and the second rotating joint 122, and the movement of the first moving joint 131 The direction is parallel to the rotation axis of the first rotary joint 121 .
  • the joint mechanism includes a first rotary joint 121, a second rotary joint 122 and a first mobile joint 131, the rotation axes of the first rotary joint 121 and the second rotary joint 122 are perpendicular, and the first mobile joint 131 is set Between the base 110 and the first rotating joint 121, and the moving direction of the first moving joint 131 is parallel to the rotation axis of the first rotating joint 121.
  • the rotation axes of the rotary joint 121 can be completely coincident, and the moving direction of the first mobile joint 131 and the rotation axis of the first rotary joint 121 can also be set parallel to each other.
  • the first rotary joint 121, the first mobile joint 131, and the second rotary joint 122 are installed on the base 110, and the moving direction of the first mobile joint 131 is parallel to the rotation axis of the first rotary joint 121.
  • the rotation axes of the first rotation joint 121 and the second rotation joint 122 are perpendicular, and the first rotation joint 121 and the second rotation joint 122 are respectively perpendicular to the rotation axis of the autorotation joint 300, when the spatial positioning mechanism 100 moves, the first The rotation of the revolving joint 121 and the second revolving joint 122 can realize the rotation of the spatial positioning mechanism 100 in two directions perpendicular to the rotation axis of the autorotation joint 300, so as to drive the autorotation joint 300, the planar motion mechanism 200 and the surgical instrument 20 to follow
  • the rotation of the active fixed point A takes two directions perpendicular to the rotation axis of the autorotation joint 300 as the rotation axis; the movement of the first mobile joint 131 can realize that the space positioning mechanism 100 is perpendicular to the rotation axis of the autorotation joint 300 direction to drive the autorotation joint 300, the planar motion mechanism 200 and the surgical instrument 20 to move accordingly, so that the active fixed point A moves in a direction
  • the structure is the first revolving joint 121, the second revolving joint 122 and the first moving joint 131, so as to conveniently and quickly realize the positioning of the active fixed point A in a wide range of space, and the structure is simple and easy to control the movement.
  • the rotation axes of the first rotation joint 121 and the second rotation joint 122 may not be perpendicular to each other, and the rotation axes of the first rotation joint 121 and the second rotation joint 122 may also not be perpendicular to the rotation axis of the autorotation joint 300 , and the arrangement of the rotation axes of the first rotary joint 121 and the second rotary joint 122 and the moving direction of the first mobile joint 131 can be determined according to the actual situation of the mechanical arm 10 .
  • the spatial positioning mechanism 100 includes three connecting rods, namely, a first connecting rod 141 , a second connecting rod 142 and a third connecting rod 143 , and the base 110 and the corresponding three connecting rods
  • the two adjacent ones are connected by moving joints or rotating joints
  • the third connecting rod 143 farthest from the base 110 among the three connecting rods is connected to the planar motion mechanism 200 through the rotation joint 300 .
  • the base 110 and the first connecting rod 141 are connected through the first rotating joint 121
  • the first connecting rod 141 and the second connecting rod 142 are connected through the first moving joint 131
  • the second connecting rod 142 and the third connecting rod 143 are connected through the second rotary joint 122 .
  • the base 110 and the first connecting rod 141 are connected through the first moving joint 131, the first connecting rod 141 and the second connecting rod 142 are connected through the first rotating joint 121, and the second connecting rod 142 and the third connecting rod 143 are connected through the second rotary joint 122 .
  • the first rotating joint 121 rotates, driving the first connecting rod 141 to rotate accordingly, so that the first connecting rod 141 directly or indirectly connected to A moving joint 131, a second connecting rod 142, a second rotating joint 122 and a third connecting rod 143 rotate accordingly, and the third connecting rod 143 drives the rotation joint 300, the planar motion mechanism 200 and the surgical instrument directly or indirectly connected thereto.
  • the connecting rod 142, the second rotating joint 122, the third connecting rod 143, the autorotation joint 300, the planar motion mechanism 200 and the surgical instrument 20 move accordingly, so that the active fixed point A is in the first direction perpendicular to the rotation axis of the autorotation joint 300 Move; the first pivot joint 121 rotates, driving the second link 142 to rotate thereupon, so that the second pivot joint 122, the third link 143, the rotation joint 300, and the plane movement directly or indirectly connected to the second link 142
  • the mechanism 200 and the surgical instrument 20 rotate accordingly, so that the active fixed point A rotates with the first direction perpendicular to the rotation axis of the autorotation joint 300 as the rotation axis; the second rotation joint 122 rotates, driving the third connecting rod 143 to rotate accordingly,
  • the third connecting rod 143 drives the autorotation joint 300, the planar motion mechanism 200 and the surgical instrument 20 connected directly or indirectly to it to rotate accordingly, so that the active fixed point A rotates with the second direction perpendicular to the rotation
  • FIG. 1 There are many structural forms of the space positioning mechanism 100.
  • One preferred embodiment as shown in FIG.
  • Three rotation joints 123, a fourth rotation joint 124, and a fifth rotation joint 125 are installed in sequence, and the third rotation joint 123 farthest from the rotation joint 300 among these three joints is installed on the base 110.
  • the rotation axes of the third rotation joint 123 and the fourth rotation joint 124 close to the base 110 are perpendicular, and among the three joints, the rotation axes of the fourth rotation joint 124 and the fifth rotation joint 125 far away from the base 110 are parallel.
  • the spatial positioning mechanism 100 further includes three connecting rods, namely a fourth connecting rod 144, a fifth connecting rod 145 and a sixth connecting rod 146, and the base 110 and the adjacent ones of the three connecting rods
  • the two are connected by a rotary joint, and among the three connecting rods, the sixth connecting rod 146 farthest from the base 110 is connected to the planar motion mechanism 200 by an autorotation joint 300 .
  • the base 110 and the fourth connecting rod 144 are connected through the third rotating joint 123
  • the fourth connecting rod 144 and the fifth connecting rod 145 are connected through the fourth rotating joint 124
  • the fifth connecting rod 144 is connected through the fourth rotating joint 124.
  • the rod 145 is connected to the sixth connecting rod 146 through the fifth rotary joint 125 .
  • the rotation axis rotates to drive the autorotation joint 300, the planar motion mechanism 200 and the surgical instrument 20 to rotate accordingly, so that the active fixed point A rotates with two directions perpendicular to the rotation axis of the autorotation joint 300 as the rotation axis; the fifth rotation
  • the rotation of the joint 125 can realize the rotation of the space positioning mechanism 100 with the rotation axis perpendicular to the rotation axis of the autorotation joint 300, so as to drive the rotation of the autorotation joint 300, the planar motion mechanism 200 and the surgical instrument 20, so that the active fixed point A rotates in a direction perpendicular to the rotation axis of the autorotation joint 300; therefore, by defining the structure of the space positioning mechanism 100 as the above three joints, it is more convenient and quick to realize the positioning of the active fixed point A in a large space, and the structure is simple, Easy motion controls.
  • the rotation axes of the third rotation joint 123 and the fourth rotation joint 124 may not be perpendicular to each other, and the rotation axes of the third rotation joint 123 and the fourth rotation joint 124 may also not be perpendicular to the rotation axis of the autorotation joint 300 , and the arrangement of the rotation axes of the third rotary joint 123 , the fourth rotary joint 124 and the fifth rotary joint 125 can be determined according to the actual situation of the mechanical arm 10 .
  • FIG. 1 There are various structural forms of the space positioning mechanism 100. As shown in FIG. These two mobile joints of the third mobile joint 133, the second mobile joint 132 and the third mobile joint 133 are adjacently arranged, and the moving directions of the second mobile joint 132 and the third mobile joint 133 are perpendicular to each other, and the third mobile joint
  • the moving direction of 133 is parallel to the rotation axis of the sixth rotary joint 126, and the sixth rotary joint 126 is arranged between one side of the second mobile joint 132 and the third mobile joint 133 and the base 110, the second mobile joint 132 and the second mobile joint 133
  • the seventh rotary joint 127 is disposed on the other side of the three movable joints 133 , and the rotation axes of the sixth rotary joint 126 and the seventh rotary joint 127 are perpendicular to each other.
  • the spatial positioning mechanism 100 further includes four connecting rods, namely, a seventh connecting rod 147, an eighth connecting rod 148, a ninth connecting rod 149 and a tenth connecting rod 150, the base 110 and the four connecting rods.
  • the four connecting rods are connected through moving joints or rotating joints, and the tenth connecting rod 150 farthest from the base 110 among the four connecting rods is connected to the planar motion mechanism 200 through the rotation joint 300 .
  • the base 110 and the seventh connecting rod 147 are connected through the sixth rotating joint 126
  • the seventh connecting rod 147 and the eighth connecting rod 148 are connected through the second moving joint 132
  • the eighth connecting rod 147 is connected through the second moving joint 132.
  • the rod 148 and the ninth connecting rod 149 are connected through the third moving joint 133
  • the ninth connecting rod 149 and the tenth connecting rod 150 are connected through the seventh rotating joint 127 .
  • the rotation of the sixth rotary joint 126 and the seventh rotary joint 127 can realize the rotation of the spatial positioning mechanism 100 with the rotation axis perpendicular to the rotation axis of the autorotation joint 300 as the rotation axis.
  • the second moving joint 132 and the second moving joint 132 The movement of the three moving joints 133 can realize the movement of the spatial positioning mechanism 100 in a direction perpendicular to the rotation axis of the autorotation joint 300, so as to drive the autorotation joint 300, the planar motion mechanism 200 and the surgical instrument 20 to move accordingly, so that the active fixed point A is at Move in the direction perpendicular to the rotation axis of the autorotation joint 300; therefore, by defining the structure of the space positioning mechanism 100 as the above two rotation joints and two moving joints, it is more convenient and quick to realize the positioning of the active fixed point A in a large space, And the structure is simple, easy to control the action.
  • the rotation axes of the sixth rotary joint 126 and the seventh rotary joint 127 may not be perpendicular to each other, and the moving directions of the second mobile joint 132 and the third mobile joint 133 may not be perpendicular to each other, and the sixth rotary joint 126
  • the arrangement of the rotation axis of the seventh rotary joint 127 and the moving directions of the second mobile joint 132 and the third mobile joint 133 can be determined according to the actual situation of the mechanical arm 10 .
  • the planar motion mechanism 200 includes a first planar link 211, a second planar link 212, a third planar link 213, the four connecting rods of the fourth plane connecting rod 214 and the three rotating joints of the first plane rotating joint 221, the second plane rotating joint 222, and the third plane rotating joint 223, the first plane connecting rod 211, the second plane rotating joint
  • the connecting rod 212, the third plane connecting rod 213, and the fourth plane connecting rod 214 are arranged in sequence, and two adjacent connecting rods are connected by a rotating joint.
  • the first plane connecting rod 211 at the edge position Connected to the end of the space positioning mechanism 100 through the rotation joint 300, and the fourth plane connecting rod 214 located at the edge position among the four connecting rods is connected with the surgical instrument 20, the first plane rotating joint 221, the second plane rotating joint 222,
  • the rotation axes of the third plane rotation joint 223 are parallel, and the first plane rotation joint 221 , the second plane rotation joint 222 , and the third plane rotation joint 223 are all perpendicular to the rotation axis of the autorotation joint 300 .
  • the connecting rods 214 are connected sequentially.
  • the motion control of the active fixed point A satisfies the following constraints:
  • ⁇ is the angle between the first planar link 211 and the second planar link 212
  • ⁇ is the included angle between the second planar link 212 and the third planar link 213
  • ⁇ is the angle between the third planar link 212 and 213.
  • the angle between the rod 213 and the fourth planar link 214, a-c is the length of the second planar link 212, the third planar link 213, and the fourth planar link 214
  • d is the distance between the second planar link 212 and The distance between the end of the first planar link 211 and the active fixed point A.
  • the first planar rotating joint 221 rotates, driving the second planar connecting rod 212, the second planar rotating joint 222, the third planar connecting rod 213, and the third planar rotating joint 223 1.
  • the fourth plane connecting rod 214 and the surgical instrument 20 rotate accordingly to drive the active fixed point A to rotate in a plane perpendicular to the rotation axis of the autorotation joint 300;
  • the second plane rotating joint 222 rotates to drive the second plane connecting rod 212,
  • the third plane connecting rod 213, the third plane rotating joint 223, the fourth plane connecting rod 214 and the surgical instrument 20 rotate accordingly, so that the active fixed point A rotates in a plane perpendicular to the axis of rotation of the rotation joint 300;
  • the third plane rotates
  • the joint 223 rotates, driving the second plane connecting rod 212, the second plane rotating joint 222, the third plane connecting rod 213, the third plane rotating joint 223, the fourth plane connecting rod 214 and the surgical instrument 20 to rotate thereupon, so that the active Point A rotates
  • the fine positioning, and the structure is simple, easy to control the movement.
  • the combined linkage among the first plane rotating joint 221, the second plane rotating joint 222 and the third plane rotating joint 223 drives the plane motion mechanism 200 to move in a direction perpendicular to the rotation axis of the autorotation joint 300.
  • the axis of rotation turns around the active fixed point A.
  • the rotation axes of the planar rotary joint 221 are vertical.
  • the fourth plane link 214 and the surgical instrument 20 are connected by defining the first plane movement joint 230, and the movement direction of the first plane movement joint 230 is perpendicular to the rotation axis of the first plane rotation joint 221,
  • the movement of the surgical instrument 20 in the wound can be realized by controlling the movement of the first plane moving joint 230 during the operation while keeping the position of the active fixed point A unchanged, which facilitates the operation.
  • the mechanical arm 10 also includes a laser generating module, which is arranged on the first plane connecting rod 211, and the laser generating module is coaxially arranged with the rotation joint 300, and the laser generating module The module is used to generate a laser that illuminates the positioning marks on the surgical instrument 20 to characterize the active fixed point A.
  • the surface of the instrument shaft of the surgical instrument 20 is coated with positioning marks, and the laser generating module emits laser light along the rotation axis direction of the autorotation joint 300, and the positioning mark area irradiated by the laser is the position of the active fixed point A. In order to confirm the active fixed point A more conveniently and quickly.
  • a connecting rod connected in turn, a slider 240, a fourth plane rotary joint 224, and a fifth plane rotary joint 225 are two rotary joints.
  • the slider 240 is connected with the fourth plane rotary joint 224 as a whole, and the slider 240 is connected to the fifth plane rotary joint.
  • the plane connecting rod 215 slides along the fifth plane connecting rod 215, the fourth plane rotating joint 224 is connected to the sixth plane connecting rod 216, and the fifth plane rotating joint 225 is respectively connected to the adjacent sixth plane connecting rod 216 and the sixth plane connecting rod 216.
  • the seven plane connecting rods 217 and the fifth plane connecting rod 215 can be directly connected with the autorotation joint 300, the rotation axes of the fourth plane rotating joint 224 and the fifth plane rotating joint 225 are parallel, and the fourth plane rotating joint 224 and the fifth plane
  • the rotation axes of the rotating joint 225 and the rotation axis of the autorotation joint 300 , and the rotation axes of the fourth planar rotating joint 224 and the fifth planar rotating joint 225 are perpendicular to the moving direction of the slider 240 .
  • the planar motion mechanism 200 includes three connecting rods connected in turn, a seventh planar link 217 , a fifth planar link 215 , and a sixth planar link 216 , a slider 240 and a fourth planar rotary joint 224 1.
  • the fifth plane rotating joint 225 is the two rotating joints.
  • the slider 240 is connected with the fourth plane rotating joint 224 as a whole.
  • the slider 240 is connected to the fifth plane connecting rod 215 and slides along the fifth plane connecting rod 215.
  • the four plane rotating joints 224 are connected to the sixth plane connecting rod 216, and the fifth plane rotating joint 225 is respectively connected to the adjacent sixth plane connecting rod 216 and the fifth plane connecting rod 215, and the fifth plane connecting rod 215 can also pass the sixth plane connecting rod 215.
  • the plane link 216, the slider 240 and the fourth plane rotation joint 224 are indirectly connected with the surgical instrument 20, the rotation axes of the fourth plane rotation joint 224 and the fifth plane rotation joint 225 are parallel, and the fourth plane rotation joint 224 and the fifth plane rotation joint 224 are parallel to each other.
  • the rotation axes of the five plane rotating joints 225 are all the rotation axes of the autorotation joint 300 , and the rotation axes of the fourth plane rotation joint 224 and the fifth plane rotation joint 225 are perpendicular to the moving direction of the slider 240 .
  • the combination of the fourth planar rotary joint 224 and the fifth planar rotary joint 225 is linked to drive the planar motion mechanism 200 to revolve around the active fixed point A with the direction perpendicular to the rotation axis of the autorotation joint 300 as the rotation axis. turn.
  • joints mentioned above can be driven by a motor to drive a harmonic reducer, planetary reducer, RV reducer or other gear transmission, or directly driven by a DD motor.
  • the mobile joints mentioned above can be realized by motor-driven screw nut mechanism lifting, linear motor direct drive, motor-driven wire rope pulling, etc.
  • the present invention also provides a control method of the mechanical arm 10 according to any one of the above technical solutions, including:
  • Step S801 control the movement of the space positioning mechanism 100 so that the rotation axis of the autorotation joint 300 passes through the poking wound; in the specific setting, perform zero-force control on the joint mechanism of the space positioning mechanism 100 to drive the joint mechanism of the space positioning mechanism 100,
  • the autorotation joint 300 , the planar motion mechanism 200 and the surgical instrument 20 move to ensure that the rotation axis of the autorotation joint 300 passes through the poking wound.
  • Step S802 control the movement of the planar movement mechanism 200 so that the axis of the surgical instrument 20 passes through the poking wound; in the specific setting, keep the space positioning mechanism 100 still, and control the planar movement mechanism 200 with zero force, so that the movement of the planar movement mechanism 200 drives The surgical instrument 20 moves accordingly, and when the axis of the surgical instrument 20 passes through the poking wound, the position of the active fixed point A is finely adjusted to coincide with the wound.
  • Step S803 control the rotation of the autorotation joint 300 and the planar motion mechanism 200 to rotate the surgical instrument 20 around the active fixed point A.
  • the active fixed point A is constrained at the optimal position, satisfying the above-mentioned motion control constraint relationship of the active fixed point A.
  • step S801 the joints of the joint mechanism in the space positioning mechanism 100 are controlled to move relative to the base 110, so as to drive the rotation joint 300, the planar movement mechanism 200 and the surgical instrument 20 to rotate accordingly, Make the autorotation joint 300 joints, the planar motion mechanism 200 and the surgical instrument 20 move in a large range in space, so as to realize the positioning of the active fixed point A in a wide range of space, so that the rotation axis of the autorotation joint 300 passes through the poking wound; then, through the steps S802, controlling the movement of the planar motion mechanism 200, the planar motion mechanism 200 moves in a plane perpendicular to the rotation axis direction of the autorotation joint 300, so as to drive the surgical instrument 20 to move accordingly, so that the active fixed point A moves on the plane where the planar motion mechanism 200 is located , to realize the fine positioning of the active fixed point A on the plane where the planar motion mechanism 200 is located, so that the axis of the surgical instrument
  • the axis of rotation is the single-degree-of-freedom rotation of the axis of rotation.
  • the planar motion mechanism 200 is controlled to rotate, and the surgical instrument 20 is driven to rotate accordingly, so that the surgical instrument 20 revolves around the active fixed point A to be perpendicular to
  • the direction of the rotation axis of the autorotation joint 300 is a single-degree-of-freedom rotation of the rotation axis.
  • the control method of the above-mentioned mechanical arm 10 can locate the fixed point more conveniently and accurately, and ensure that the rotation of the surgical instrument 20 around the active fixed point A can be realized without the movement of the space positioning mechanism 100, reducing the collision during the multi-arm combined movement the occurrence of the situation.
  • the end of the planar motion mechanism 200 in the robotic arm 10 when the end of the planar motion mechanism 200 in the robotic arm 10 is connected to the surgical instrument 20 through the first planar movement joint 230, after controlling the movement of the rotation joint 300 and the planar motion mechanism 200, further include:
  • step S803 the first plane moving joint 230 is controlled to move to adjust the position of the surgical instrument 20 in the direction perpendicular to the axis of the autorotation joint 300 to facilitate surgical operations.

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Abstract

本发明涉及一种机械臂及其控制方法，机械臂包括空间定位机构、平面运动机构及连接空间定位机构和平面运动机构的自转关节，其中：空间定位机构包括基座及关节机构，关节机构包括依次安装的多个关节，且其首端的关节安装于所述基座，其末端的关节与所述自转关节转动相连；平面运动机构的末端与手术器械相连接，且其所在平面的垂线与自转关节的旋转轴线相垂直；自转关节的旋转轴线与手术器械的轴线交点为主动不动点，以能够较为方便地完成主动不动点的设置；手术器械绕主动不动点的转动无需空间定位机构运动，减少了多臂碰撞的发生，通过空间定位机构、平面运动机构及自转关节的联动就可以实现手术器械同一姿态的无穷组解，使得运动学求解简单。

Description

一种机械臂及其控制方法 技术领域
本发明涉及医疗器械技术领域，特别是涉及一种机械臂及其控制方法。
背景技术
随着医疗器械、计算机技术及控制技术的不断发展，微创手术以其手术创伤小、康复时间短、患者痛苦少等优点得到了越来越广泛的应用。而微创手术机器人以其高灵巧性、高控制精度、直观的手术图像等特点能够避免操作局限性，如过滤操作时手部的震颤等，广泛适用于腹腔、盆腔、胸腔等手术区域。
目前，微创手术机器人包括主操作臂和机械臂，主操作臂采集到医生的操作信号经控制系统处理后生成机械臂的控制信号，由机械臂执行手术操作。机器人手术过程中，机械臂卡接手术器械，手术器械通过插在患者体表切口上的戳卡进入患者体内。由于戳卡轴的中心线与体表的交点为“不动点”，手术过程中，手术器械杆必须通过戳卡经过此点，以免扩大患者体表创口甚至造成手术事故。现有实现不动点的方法包括两种：第一种机械不动点，基于平行四边形连杆机构，不动点位置相对于基座位置固定，需要将戳卡卡接到机械臂上，以确保不动点位置与创口位置重合，但是卡接过程需要满足较严格的匹配关系，操作复杂度较高，术前准备时间较长；第二种主动不动点，采用通用的工业机器人构型，使用运动控制算法约束手术器械通过一个固定的点，但是需要较复杂的运动学逆解运算，且考虑到关节运动范围、不动点虚拟约束等因素，易引入奇异性，绕不动点的运动需要机械臂各个关节的参与，当多臂组合使用时，易引起多臂干涉。
发明内容
基于此，有必要针对上述机械臂运动学逆解运算复杂并且存在多臂干涉的问题，提供一种机械臂及其控制方法。
一种机械臂，包括空间定位机构、平面运动机构及连接所述空间定位机构和所述平面运动机构的自转关节，其中：
所述空间定位机构包括基座及关节机构，所述关节机构包括依次安装的多个关节，且其首端的所述关节安装于所述基座，其末端的所述关节与所述自转关节转动相连；
所述平面运动机构的末端与手术器械相连接，且其所在平面的垂线与所述自转关节的旋转轴线相垂直；
所述自转关节的旋转轴线与所述手术器械的轴线交点为主动不动点。
在上述机械臂中，关节机构中的关节相对基座运动，以带动自转关节、平面运动机构及手术器械随之转动，使得自转关节、平面运动机构及手术器械在空间内的大范围运动，以实现主动不动点在空间大范围定位；平面运动机构在垂直于自转关节旋转轴线方向的平面内运动，以带动手术器械随之运动，使得主动不动点在平面运动机构所在平面上移动，以实现主动不动点在平面运动机构所在平面上的精细定位；在确定出主动不动点后，自转关节绕其旋转轴线转动，带动平面运动机构及手术器械随之转动，使得在保证主动不动点不动的情况下手术器械绕主动不动点以自转关节的旋转轴线为旋转轴的单自由度旋转，平面运动机构转动，带动手术器械随之转动，使得在保证主动不动点不动的情况下，手术器械绕主动不动点以垂直于自转关节的旋转轴线的方向为旋转轴进行单自由度旋转。由于手术器械绕主动不动点的转动无需空间定位机构运动就能够实现，减少了多臂组合运动时的碰撞情况的发生。并且通过限定自转关节的旋转轴线与手术器械的轴线交点为主动不动点，以能够较为方便地完成主动不动点的设置，通过空间定位机构、平面运动机构及自转关节的联动就可以实现手术器械同一姿态的无穷组解，使得运动学求解简单。
在其中一个实施例中，所述关节机构包括至少两个转动关节，其中至少一个所述转动关节的旋转轴线与所述自转关节的旋转轴线之间相垂直。
在其中一个实施例中，所述关节机构包括两个所述转动关节和一个移动关节，所述移动关节设置在两个所述转动关节之间或所述转动关节与所述基座之间，所述移动关节的移动方向与一个所述转动关节的旋转轴线相平行，两个所述转动关节的旋转轴线相垂直。
在其中一个实施例中，所述空间定位机构还包括三个连杆，所述基座以及三个所述连杆中相邻的两者之间通过所述移动关节或所述转动关节相连接，且三个所述连杆中离所述基座最远的所述连杆通过所述自转关节连接于所述平面运动机构。
在其中一个实施例中，所述关节机构包括三个转动关节，三个所述转动关节依次安装，且离所述自转关节最远的所述转动关节安装于所述基座，且靠近所述基座的两个转动关节的旋转轴线之间相垂直，远离所述基座的两个转动关节的旋转轴线相平行。
在其中一个实施例中，所述空间定位机构还包括三个连杆，所述基座以及三个所述连杆中相邻的两者之间通过所述转动关节相连接，且三个所述连杆中离所述基座最远的所述连杆通过所述自转关节连接于所述平面运动机构。
在其中一个实施例中，所述关节机构包括两个转动关节和两个移动关节，两个所述移动关节相邻设置，且移动方向之间相垂直并与一个所述转动关节的旋转轴线相平行，两个所述移动关节的一侧与所述基座之间设置一个所述转动关节，且另一侧设置另一个所述转动关节，两个所述转动关节的旋转轴线相垂直。
在其中一个实施例中，所述空间定位机构还包括四个连杆，所述基座以及四个所述连杆中相邻的两者之间通过所述移动关节或所述转动关节相连接，且四个所述连杆中离所述基座最远的所述连杆通过所述自转关节连接于所述平面运动机构。
在其中一个实施例中，所述平面运动机构包括四个连杆和三个转动关节，四个所述连杆依次设置，且相邻两个所述连杆之间通过一个所述转动关节连接，四个所述连杆中位于边缘位置的一个所述连杆通过所述自转关节连接于所述空间定位机构的末端，且另一个所述连杆与所述手术器械相连接，三个所述转动关节的旋转轴线相平行，且均与所述自转关节的旋转轴线相垂直。
在其中一个实施例中，所述主动不动点的运动控制满足如下约束关系：
Figure PCTCN2022085605-appb-000001
其中，α、β、γ依次为从所述平面运动机构的首端到末端相邻两个所述连杆之间的夹角，a、b、c依次为从所述平面运动机构中相邻于首端到末端三个连杆的长度，d为所述平面运动机构中相邻于首端的连杆靠近首端的端部与所述主动不动点之间的距离。
在其中一个实施例中，所述平面运动机构包括三个依次设置的连杆、滑块以及两个转动关节，所述滑块与一个所述转动关节连接为一体、另一个所述转动关节分别连接于相邻的两个所述连杆，与所述滑块相连的所述连杆直接连接于所述自转关节或间接连接于手术器械，两个所述转动关节的旋转轴线相平行，且均与所述自转关节的旋转轴线、所述滑块的移动方向相垂直。
在其中一个实施例中，所述平面运动机构的末端通过移动关节与所述手术器械相连接，所述移动关节的移动方向与所述自转关节的旋转轴线相垂直。
在其中一个实施例中，机械臂还包括设置在所述平面运动机构上的激光发生模块，所述激光发生模块与所述自转关节同轴设置，用于产生照射所述手术器械上的定位标记的激光，以表征出所述主动不动点。
另外，本发明还提供了一种如上述任一项技术方案所述的机械臂的控制方法，包括：
控制空间定位机构运动，以使得自转关节的旋转轴线通过戳卡创口；
控制平面运动机构运动，以使得手术器械的轴线通过戳卡创口；
控制自转关节以及平面运动机构运动，以围绕主动不动点操作手术器械。
在上述机械臂的控制方法中，首先，通过控制空间定位机构中关节机构的关节相对基座运动，以带动自转关节、平面运动机构及手术器械随之转动，使得自转关节、平面运动机构及手术器械在空间内的大范围运动，以实现主动不动点在空间大范围定位，使得自转关节的旋转轴线通过戳卡创口；接着，通过控制平面运动机构运动，平面运动机构在垂直于自转关节旋转轴线方向的平面内运动，以带动手术器械随之运动，使得主动不动点在平面运动机构所在平面上移动，以实现主动不动点在平面运动机构所在平面上的精细定位，以使得手术器械的轴线通过戳卡创口；最后，控制自转关节转动，自转关节绕其旋转轴线转动，带动平面运动机构及手术器械随之转动，使得在保证主动不动点不动的情况下，手术器械绕主动不动点以自转关节的旋转轴线为旋转轴进行单自由度旋转，控制平面运动机构转动，带动手术器械随之转动，使得在保证主动不动点不动的情况下手术器械绕主动不动点以垂直于自转关节的旋转轴线的方向为旋转轴的单自由度旋转。上述机械臂的控制方法能够较为方便地精准地定位出不动点，并且保证手术器械绕主动不动点的转动无需空间定位机构运动就能够实现，减少了多臂组合运动时的碰撞情况的发生。
在其中一个实施例中，当所述机械臂中所述平面运动机构的末端通过移动关节连接手术器械时，在控制所述自转关节以及平面运动机构运动之后，还包括：
控制所述移动关节运动，以过主动不动点操作手术器械。
附图说明
图1为本发明提供的一种机械臂的结构示意图；
图2为本发明提供的一种机械臂中的空间定位机构的机构简图；
图3为本发明提供的另一种机械臂中的空间定位机构的机构简图；
图4为本发明提供的又一种机械臂中的空间定位机构的机构简图；
图5为本发明提供的一种机械臂中的平面运动机构的机构简图；
图6为本发明提供的另一种机械臂中的平面运动机构的机构简图；
图7为本发明提供的又一种机械臂中的平面运动机构的机构简图；
图8为本发明提供的一种机械臂的控制方法流程图。
附图标记：
10、机械臂；
A、主动不动点；
100、空间定位机构；110、基座；121、第一转动关节；122、第二转动关节；123、第三转动关节；124、第四转动关节；125、第五转动关节；126、第六转动关节；127、第七转动关节；131、第一移动关节；132、第二移动关节；133、第三移动关节；141、第一连杆；142、第二连杆；143、第三连杆；144、第四连杆；145、第五连杆；146、第六连杆；147、第七连杆；148、第八连杆；149、第九连杆；150、第十连杆；
200、平面运动机构；211、第一平面连杆；212、第二平面连杆；213、第三平面连杆；214、第四平面连杆；215、第五平面连杆；216、第六平面连杆；217、第七平面连杆；221、第一平面转动关节；222、第二平面转动关节；223、第三平面转动关节；224、第四平面转动关节；225、第五平面转动关节；230、第一平面移动关节；240、滑块；
300、自转关节；
20、手术器械。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施例的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非 另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
下面结合附图介绍本发明实施例提供的技术方案。如图1所示，本发明提供了一种机械臂10，用于微创手术机器人中，所述机械臂10的末端可拆卸地连接手术器械20，其在手术前能够定位主动不动点A，并在手术中驱动手术器械20过主动不动点A进行手术操作。该机械臂10包括空间定位机构100、平面运动机构200及自转关节300这三部分，而自转关节300连接空间定位机构100和平面运动机构200，其中：
空间定位机构100包括基座110及关节机构，关节机构包括多个关节，关节的数目可以为两个、三个或是三个以上，多个关节依次安装于基座110，并且关节机构首端的关节和基座110之间可以直接连接，关节机构末端的关节与自转关节300之间转动连接；
平面运动机构200的末端与手术器械20相连接，并且平面运动机构200所在平面的垂线与自转关节300的旋转轴线相垂直；
自转关节300的旋转轴线与手术器械20的轴线交点为主动不动点A，自转关节300的旋转轴线在手术中始终转过主动不动点A。
在上述机械臂10中，关节机构中的关节相对基座110运动，以带动自 转关节300、平面运动机构200及手术器械20随之转动，使得自转关节300、平面运动机构200及手术器械20在空间内能进行大范围运动，以实现主动不动点A在空间大范围定位；所述平面运动机构200的末端是结合附图对于与手术器械20连接的移动关节的位置的描述，平面运动机构200的末端与手术器械20相连接指的是位于平面运动机构200末端的移动关节与手术器械20相连接；平面运动机构200在垂直于自转关节300旋转轴线方向的平面内运动，以带动手术器械20随之运动，使得主动不动点A在平面运动机构200所在平面上移动，以实现主动不动点A在平面运动机构200所在平面上的精细定位；自转关节300绕其旋转轴线转动，带动平面运动机构200及手术器械20随之转动，使得在保证主动不动点A不动的情况下手术器械20绕主动不动点A以自转关节300的旋转轴线为旋转轴的单自由度旋转，平面运动机构200转动，带动手术器械20随之转动，使得在保证主动不动点A不动的情况下手术器械20绕主动不动点A以垂直于自转关节300的旋转轴线的方向为旋转轴的单自由度旋转。而由于手术器械20绕主动不动点A的转动无需空间定位机构100运动就能够实现，减少了多臂组合运动时的碰撞情况的发生。并且通过限定自转关节300的旋转轴线与手术器械20的轴线交点为主动不动点A，以能够较为方便地完成主动不动点A的设置，通过空间定位机构100、平面运动机构200及自转关节300的联动就可以实现手术器械20同一姿态的无穷组解，使得运动学求解简单。
空间定位机构100的结构形式具有多种，一种优选实施方式，如图1以及图2所示，关节机构包括至少两个转动关节，其中至少一个转动关节的旋转轴线与自转关节300的旋转轴线之间相垂直。在具体设置时，转动关节的数目可以为两个、三个或是三个以上，在这些转动关节中可以有一个转动关节的旋转轴线与自转关节300的旋转轴线之间相垂直，还可以有两个转动关节的旋转轴线与自转关节300的旋转轴线之间相垂直。
在上述机械臂10中，关节机构包括至少两个转动关节，两个转动关节分别运动，以带动自转关节300、平面运动机构200及手术器械20随之转动，实现自转关节300、平面运动机构200及手术器械20在空间内的大范围运动。通过限定转动关节中至少一个转动关节的旋转轴线与自转关节300的旋转轴线之间相垂直，以能够带动自转关节300、平面运动机构200及手术器械20沿着与自转关节300的旋转轴线相垂直的旋转轴线进行转动，便于控制自转关节300、平面运动机构200及手术器械20在空间内的大范围运动。当然，至少两个转动关节的旋转轴线也可以与自转关节300的旋转轴线不相垂直，而至少两个转动关节的旋转轴线的设置方式可以根据机械臂10的实际情况进行确定。
关节机构的结构形式具有多种，一种优选实施方式，关节机构包括两个转动关节和一个移动关节，如图1所示，关节机构包括第一转动关节121、第二转动关节122和第一移动关节131，第一转动关节121和第二转动关节122的旋转轴线相垂直，第一移动关节131设置在第一转动关节121和第二转动关节122之间，并且第一移动关节131的移动方向与第一转动关节121的旋转轴线相平行。如图2所示，关节机构包括第一转动关节121、第二转动关节122和第一移动关节131，第一转动关节121和第二转动关节122的旋转轴线相垂直，第一移动关节131设置在基座110和第一转动关节121之间，并且第一移动关节131的移动方向与第一转动关节121的旋转轴线相平行，在具体设置时时，第一移动关节131的移动方向与第一转动关节121的旋转轴线可以完全重合，第一移动关节131的移动方向与第一转动关节121的旋转轴线还可以错位平行设置。
在上述机械臂10中，第一转动关节121、第一移动关节131、第二转动关节122安装于基座110上，第一移动关节131的移动方向与第一转动关节121的旋转轴线相平行，第一转动关节121和第二转动关节122的旋转轴线相垂直，并且第一转动关节121和第二转动关节122分别与自转关节300的旋转轴线相垂直，空间定位机构100运动时，第一转动关节121和第二转动关节122的转动可以实现空间定位机构100在与自转关节300的旋转轴线相垂直的两个方向上的转动，以带动自转关节300、平面运动机构200及手术器械20随之转动，使得主动不动点A以垂直于自转关节300旋转轴线的两个方向为旋转轴线进行的转动；第一移动关节131的移动可以实现空间定位机构100在与自转关节300的旋转轴线相垂直方向上的移动，以带动自转关节300、平面运动机构200及手术器械20随之移动，使得主动不动点A在垂直于自转关节300旋转轴线的方向上移动，因此，通过限定空间定位机构100的结构为上述第一转动关节121和第二转动关节122和第一移动关节131，以较为方便快捷地实现主动不动点A在空间大范围定位，并且结构简单，易于动作控制。当然，第一转动关节121和第二转动关节122的旋转轴线也可以不相垂直，并且，第一转动关节121和第二转动关节122的旋转轴线也可以与自转关节300的旋转轴线不相垂直，而第一转动关节121和第二转动关节122的旋转轴线、第一移动关节131的移动方向的设置方式可以根据机械臂10的实际情况进行确定。
如图1以及图2所示，具体地，空间定位机构100包括第一连杆141、第二连杆142以及第三连杆143这三个连杆，基座110以及三个连杆中相邻的两者之间通过移动关节或转动关节相连接，三个连杆中离基座110最远的第三连杆143通过自转关节300连接于平面运动机构200。如图1所 示，基座110和第一连杆141通过第一转动关节121相连接，第一连杆141和第二连杆142之间通过第一移动关节131相连接，第二连杆142和第三连杆143之间通过第二转动关节122相连接。如图2所示，基座110和第一连杆141通过第一移动关节131相连接，第一连杆141和第二连杆142之间通过第一转动关节121相连接，第二连杆142和第三连杆143之间通过第二转动关节122相连接。
在上述机械臂10中，如图1所示，空间定位机构100运动时，第一转动关节121转动，带动第一连杆141随之转动，使得直接或间接连接于第一连杆141的第一移动关节131、第二连杆142、第二转动关节122以及第三连杆143随之转动，第三连杆143带动直接或间接连接于其的自转关节300、平面运动机构200及手术器械20随之转动，使得主动不动点A以垂直于自转关节300旋转轴线的第一方向为旋转轴线进行转动；第一移动关节131移动，带动第二连杆142随之移动，使得直接或间接连接于第二连杆142的第二转动关节122以及第三连杆143随之移动，第三连杆143带动直接或间接连接于其的自转关节300、平面运动机构200及手术器械20随之移动，使得主动不动点A在垂直于自转关节300旋转轴线的第一方向上进行移动；第二转动关节122转动，带动第三连杆143随之转动，第三连杆143带动直接或间接连接于其的自转关节300、平面运动机构200及手术器械20随之转动，使得主动不动点A以垂直于自转关节300旋转轴线的第二方向为旋转轴线进行转动，第一方向和第二方向相垂直，以实现使得主动不动点A以垂直于自转关节300旋转轴线的两个方向为旋转轴线进行的转动。
如图2所示，空间定位机构100运动时，第一移动关节131移动，带动第一连杆141随之移动，使得直接或间接连接于第一连杆141的第一转动关节121、第二连杆142、第二转动关节122、第三连杆143、自转关节300、平面运动机构200及手术器械20随之移动，使得主动不动点A在垂直于自转关节300旋转轴线的第一方向上进行移动；第一转动关节121转动，带动第二连杆142随之转动，使得直接或间接连接于第二连杆142的第二转动关节122、第三连杆143、自转关节300、平面运动机构200及手术器械20随之转动，使得主动不动点A以垂直于自转关节300旋转轴线的第一方向为旋转轴线进行转动；第二转动关节122转动，带动第三连杆143随之转动，第三连杆143带动直接或间接连接于其的自转关节300、平面运动机构200及手术器械20随之转动，使得主动不动点A以垂直于自转关节300旋转轴线的第二方向为旋转轴线进行转动，第一方向和第二方向相垂直，以实现使得主动不动点A以垂直于自转关节300旋转轴线的两个方 向为旋转轴线进行的转动。
空间定位机构100的结构形式具有多种，一种优选实施方式，如图3所示，关节机构包括第三转动关节123、第四转动关节124以及第五转动关节125这三个关节，并且第三转动关节123、第四转动关节124以及第五转动关节125这三个关节依次安装，这三个关节中离自转关节300最远的第三转动关节123安装于基座110，这三个关节中靠近基座110的第三转动关节123和第四转动关节124的旋转轴线相垂直，这三个关节中远离基座110的第四转动关节124和第五转动关节125的旋转轴线相平行。
如图3所示，具体地，空间定位机构100还包括第四连杆144、第五连杆145及第六连杆146这三个连杆，基座110以及三个连杆中相邻的两者之间通过转动关节相连接，并且这三个连杆中离基座110最远的第六连杆146通过自转关节300连接于平面运动机构200。在具体设置时，基座110和第四连杆144之间通过第三转动关节123相连接，第四连杆144和第五连杆145之间通过第四转动关节124相连接，第五连杆145和第六连杆146之间通过第五转动关节125相连接。
在上述机械臂10中，空间定位机构100运动时，第三转动关节123转动和第四转动关节124的转动均能够实现空间定位机构100在以自转关节300的旋转轴线相垂直的两个方向为旋转轴线进行转动，以带动自转关节300、平面运动机构200及手术器械20随之转动，使得主动不动点A以垂直于自转关节300旋转轴线的两个方向为旋转轴线进行的转动；第五转动关节125转动可以实现空间定位机构100在以与自转关节300的旋转轴线相垂直的方向为旋转轴线进行转动，以带动自转关节300、平面运动机构200及手术器械20随之转动，使得主动不动点A在垂直于自转关节300旋转轴线的方向上转动；因此，通过限定空间定位机构100的结构为上述三个关节，以较为方便快捷地实现主动不动点A在空间大范围定位，并且结构简单，易于动作控制。当然，第三转动关节123和第四转动关节124的旋转轴线也可以不相垂直，并且，第三转动关节123和第四转动关节124的旋转轴线也可以与自转关节300的旋转轴线不相垂直，而第三转动关节123、第四转动关节124以及第五转动关节125的旋转轴线的设置方式可以根据机械臂10的实际情况进行确定。
空间定位机构100的结构形式具有多种，如图4所示，一种优选实施方式，关节机构120包括第六转动关节126、第七转动关节127这两个转动关节和第二移动关节132、第三移动关节133这两个移动关节，第二移动关节132和第三移动关节133相邻设置，并且第二移动关节132和第三移动关节133的移动方向之间相垂直，第三移动关节133的移动方向与第 六转动关节126的旋转轴线相平行，第二移动关节132和第三移动关节133的一侧与基座110之间设置第六转动关节126，第二移动关节132和第三移动关节133的另一侧设置第七转动关节127，第六转动关节126和第七转动关节127的旋转轴线相垂直。
如图4所示，具体地，空间定位机构100还包括第七连杆147、第八连杆148及第九连杆149以及一个第十连杆150这四个连杆，基座110和这四个连杆之间通过移动关节或转动关节相连接，并且四个连杆中离基座110最远的第十连杆150通过自转关节300连接于平面运动机构200。在具体设置时，基座110和第七连杆147之间通过第六转动关节126相连接，第七连杆147和第八连杆148之间通过第二移动关节132相连接，第八连杆148和第九连杆149之间通过第三移动关节133相连接，第九连杆149和第十连杆150之间通过第七转动关节127相连接。
在上述机械臂10中，空间定位机构100运动时，第六转动关节126和第七转动关节127的转动均能够实现空间定位机构100以与自转关节300的旋转轴线相垂直方向为旋转轴线进行转动，以带动自转关节300、平面运动机构200及手术器械20随之转动，使得主动不动点A以垂直于自转关节300旋转轴线的两个方向为旋转轴线进行的转动；第二移动关节132和第三移动关节133的移动可以实现空间定位机构100在与自转关节300的旋转轴线相垂直方向上移动，以带动自转关节300、平面运动机构200及手术器械20随之移动，使得主动不动点A在垂直于自转关节300旋转轴线的方向上移动；因此，通过限定空间定位机构100的结构为上述两个转动关节和两个移动关节，以较为方便快捷地实现主动不动点A在空间大范围定位，并且结构简单，易于动作控制。当然，第六转动关节126和第七转动关节127的旋转轴线也可以不相垂直，并且，第二移动关节132和第三移动关节133的移动方向也可以不相垂直，而第六转动关节126和第七转动关节127的旋转轴线、第二移动关节132和第三移动关节133的移动方向的设置方式可以根据机械臂10的实际情况进行确定。
平面运动机构200的结构形式具有多种，一种优选实施方式，如图1以及图5所示，平面运动机构200包括第一平面连杆211、第二平面连杆212、第三平面连杆213、第四平面连杆214这四个连杆和第一平面转动关节221、第二平面转动关节222、第三平面转动关节223这三个转动关节，第一平面连杆211、第二平面连杆212、第三平面连杆213、第四平面连杆214依次设置，并且相邻两个连杆之间通过一转动关节连接，四个连杆中位于边缘位置的第一平面连杆211通过自转关节300连接于空间定位机构100的末端，并且四个连杆中位于边缘位置的第四平面连杆214与手术器 械20相连接，第一平面转动关节221、第二平面转动关节222、第三平面转动关节223的旋转轴线相平行，并且第一平面转动关节221、第二平面转动关节222、第三平面转动关节223均与自转关节300的旋转轴线相垂直。在具体设置时，第一平面连杆211、第一平面转动关节221、第二平面连杆212、第二平面转动关节222、第三平面连杆213、第三平面转动关节223、第四平面连杆214依次相连接。
具体地，主动不动点A的运动控制满足如下约束关系：
Figure PCTCN2022085605-appb-000002
Figure PCTCN2022085605-appb-000003
Figure PCTCN2022085605-appb-000004
其中，α为第一平面连杆211和第二平面连杆212之间的夹角，β为第二平面连杆212和第三平面连杆213之间的夹角，γ为第三平面连杆213和第四平面连杆214之间的夹角，a-c依次为第二平面连杆212、第三平面连杆213、第四平面连杆214的长度，d为第二平面连杆212靠近第一平面连杆211的端部与主动不动点A之间的距离。
在上述机械臂10中，平面运动机构200运动时，第一平面转动关节221转动，带动第二平面连杆212、第二平面转动关节222、第三平面连杆213、第三平面转动关节223、第四平面连杆214及手术器械20随之转动，以带动主动不动点A在垂直于自转关节300旋转轴线的平面内转动；第二平面转动关节222转动，带动第二平面连杆212、第三平面连杆213、第三平面转动关节223、第四平面连杆214及手术器械20随之转动，使得主动不动点A在垂直于自转关节300旋转轴线的平面内转动；第三平面转动关节223转动，带动第二平面连杆212、第二平面转动关节222、第三平面连杆213、第三平面转动关节223、第四平面连杆214及手术器械20随之转动，使得主动不动点A在垂直于自转关节300旋转轴线的平面内转动；因此，通过限定平面运动机构200的结构为上述平面四杆机构，以较为方便快捷地实现主动不动点A在平面运动机构200所在平面上的精细定位，并且结构简单，易于动作控制。在确定出主动不动点A后，第一平面转动关节221、第二平面转动关节222、第三平面转动关节223中的组合联动，带动平面运动机构200以垂直于自转关节300旋转轴线的方向为旋转轴线围绕主动不动点A转动。
为了便于手术器械20的安装，具体地，如图1所示，第四平面连杆214通过第一平面移动关节230与手术器械20相连接，并且第一平面移动关节230的移动方向与第一平面转动关节221的旋转轴线相垂直。
在上述机械臂10中，通过限定第一平面移动关节230连接第四平面连杆214和手术器械20，并且第一平面移动关节230的移动方向与第一平面转动关节221的旋转轴线相垂直，以在保证主动不动点A位置不变的情况下在手术中通过控制第一平面移动关节230的移动实现手术器械20在创口内的移动，便于进行手术操作。
为了便于定位主动不动点A，一种优选实施方式，机械臂10还包括激光发生模块，该激光发生模块设置在第一平面连杆211上，激光发生模块与自转关节300同轴设置，激光发生模块用于产生激光，该激光照射手术器械20上的定位标记，以表征出主动不动点A。
在上述机械臂10中，手术器械20的器械杆表面涂覆有定位标记，激光发生模块沿自转关节300的旋转轴线方向发出激光，激光照射到的定位标记区域即为主动不动点A的位置，以能够较为方便快捷地确认主动不动点A。
平面运动机构200的结构形式具有多种，一种优选实施方式，如图6所示，平面运动机构200包括第五平面连杆215、第六平面连杆216、第七平面连杆217这三个依次相连的连杆、滑块240以及第四平面转动关节224、第五平面转动关节225这两个转动关节，滑块240与第四平面转动关节224连接为一体，滑块240连接第五平面连杆215并且沿着接第五平面连杆215滑动，第四平面转动关节224连接于第六平面连杆216，第五平面转动关节225分别连接相邻的第六平面连杆216和第七平面连杆217，第五平面连杆215可以与自转关节300直接相连，第四平面转动关节224和第五平面转动关节225的旋转轴线相平行，并且第四平面转动关节224和第五平面转动关节225的旋转轴线均与自转关节300的旋转轴线，第四平面转动关节224和第五平面转动关节225的旋转轴线均与滑块240的移动方向相垂直。
如图7所示，平面运动机构200包括第七平面连杆217、第五平面连杆215、第六平面连杆216这三个依次相连的连杆、滑块240以及第四平面转动关节224、第五平面转动关节225这两个转动关节，滑块240与第四平面转动关节224连接为一体，滑块240连接第五平面连杆215并且沿着接第五平面连杆215滑动，第四平面转动关节224连接于第六平面连杆216，第五平面转动关节225分别连接相邻的第六平面连杆216和第五平面连杆215，第五平面连杆215还可以通过第六平面连杆216、滑块240以及第四平面转动关节224间接与手术器械20相连，第四平面转动关节224和第五平面转动关节225的旋转轴线相平行，并且第四平面转动关节224和第五平面转动关节225的旋转轴线均与自转关节300的旋转轴线，第四 平面转动关节224和第五平面转动关节225的旋转轴线均与滑块240的移动方向相垂直。
在上述机械臂10中，如图6所示，平面运动机构200运动时，滑块240滑动，带动第四平面转动关节224、第六平面连杆216、第五平面转动关节225、第七平面连杆217及手术器械20随之移动，以使得主动不动点A在垂直于自转关节300旋转轴线的平面内移动；第五平面转动关节225转动，带动第六平面连杆216、第七平面连杆217及手术器械20随之运动，使得主动不动点A在垂直于自转关节300旋转轴线的平面内转动；如图7所示，第五平面转动关节225转动，带动第五平面连杆215、滑块240、第四平面转动关节224、第六平面连杆216及手术器械20随之运动，使得主动不动点A在垂直于自转关节300旋转轴线的平面内转动；滑块240滑动，带动第四平面转动关节224、第六平面连杆216及手术器械20随之移动，以使得主动不动点A在垂直于自转关节300旋转轴线的平面内移动；因此，通过限定平面运动机构200的结构，以较为方便快捷地实现主动不动点A在平面运动机构200所在平面上的精细定位，并且结构简单，易于动作控制。在确定出主动不动点A后，第四平面转动关节224、第五平面转动关节225中的组合联动，带动平面运动机构200以垂直于自转关节300旋转轴线的方向为旋转轴线围绕主动不动点A转动。
值得注意的是，上文中的关节可通过电机驱动谐波减速器、行星减速器、RV减速器或其他齿轮传动，也可通过DD马达直驱。上文中的移动关节可通过电机驱动丝杆螺母机构升降、直线电机直驱、电机驱动钢丝绳拉动等实现。
如图8以及图5所示，另外，本发明还提供了一种如上述任一项技术方案的机械臂10的控制方法，包括：
步骤S801，控制空间定位机构100运动，以使得自转关节300的旋转轴线通过戳卡创口；在具体设置时，对空间定位机构100中关节机构进行零力控制，带动空间定位机构100中关节机构、自转关节300、平面运动机构200以及手术器械20运动，以确保自转关节300的旋转轴线通过戳卡创口。
步骤S802，控制平面运动机构200运动，以使得手术器械20的轴线通过戳卡创口；在具体设置时，保持空间定位机构100不动，对平面运动机构200零力控制，平面运动机构200运动带动手术器械20随之运动，在运动至手术器械20的轴线通过戳卡创口时精调主动不动点A的位置至与创口重合。
步骤S803，控制自转关节300以及平面运动机构200转动，以围绕主 动不动点A旋转手术器械20，此时，主动不动点A约束在最优位置，满足上述主动不动点A的运动控制约束关系。
在上述机械臂10的控制方法中，首先，通过步骤S801，控制空间定位机构100中关节机构的关节相对基座110运动，以带动自转关节300、平面运动机构200及手术器械20随之转动，使得自转关300节、平面运动机构200及手术器械20在空间内的大范围运动，以实现主动不动点A在空间大范围定位，使得自转关节300的旋转轴线通过戳卡创口；接着，通过步骤S802，控制平面运动机构200运动，平面运动机构200在垂直于自转关节300旋转轴线方向的平面内运动，以带动手术器械20随之运动，使得主动不动点A在平面运动机构200所在平面上移动，以实现主动不动点A在平面运动机构200所在平面上的精细定位，以使得手术器械20的轴线通过戳卡创口，将主动不动点A定位至与创口重合；最后，通过步骤S803，控制自转关节300转动，自转关节300绕其旋转轴线转动，带动平面运动机构200及手术器械20随之转动，使得在保证主动不动点A不动的情况下手术器械20绕主动不动点A以自转关节300的旋转轴线为旋转轴的单自由度旋转，控制平面运动机构200转动，带动手术器械20随之转动，使得在保证主动不动点A不动的情况下手术器械20绕主动不动点A以垂直于自转关节300的旋转轴线的方向为旋转轴的单自由度旋转。上述机械臂10的控制方法能够较为方便地精准地定位出不动点，并且保证手术器械20绕主动不动点A的转动无需空间定位机构100运动就能够实现，减少了多臂组合运动时的碰撞情况的发生。
如图1所示，一种优选实施方式，当机械臂10中平面运动机构200的末端通过第一平面移动关节230连接手术器械20时，在控制自转关节300以及平面运动机构200运动之后，还包括：
控制第一平面移动关节230运动，以过主动不动点A操作手术器械。
在上述机械臂10的控制方法中，在步骤S803之后，通过控制第一平面移动关节230移动，以调节手术器械20在垂直于自转关节300的轴线方向上的位置，便于进行手术操作。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (16)

  1. 一种机械臂，其特征在于，包括空间定位机构、平面运动机构及连接所述空间定位机构和所述平面运动机构的自转关节，其中：
    所述空间定位机构包括基座及关节机构，所述关节机构包括依次安装的多个关节，且位于所述关节机构首端的所述关节安装于所述基座；位于所述关节机构末端的所述关节与所述自转关节连接；
    所述平面运动机构的末端与手术器械相连接，且所述平面运动机构所在平面的垂线与所述自转关节的旋转轴线相垂直；
    所述自转关节的旋转轴线与所述手术器械的轴线交点为主动不动点。
  2. 根据权利要求1所述的机械臂，其特征在于，所述关节机构包括至少两个转动关节，其中至少一个所述转动关节的旋转轴线与所述自转关节的旋转轴线之间相垂直。
  3. 根据权利要求2所述的机械臂，其特征在于，所述关节机构包括两个所述转动关节和一个移动关节，所述移动关节设置在两个所述转动关节之间或所述转动关节与所述基座之间，所述移动关节的移动方向与一个所述转动关节的旋转轴线相平行，两个所述转动关节的旋转轴线相垂直。
  4. 根据权利要求3所述的机械臂，其特征在于，所述空间定位机构还包括三个连杆，所述基座以及三个所述连杆中相邻的两者之间通过所述移动关节或所述转动关节相连接，且三个所述连杆中离所述基座最远的所述连杆通过所述自转关节连接于所述平面运动机构。
  5. 根据权利要求2所述的机械臂，其特征在于，所述关节机构包括三个转动关节，三个所述转动关节依次安装，且离所述自转关节最远的所述转动关节安装于所述基座，且靠近所述基座的两个转动关节的旋转轴线之间相垂直，远离所述基座的两个转动关节的旋转轴线相平行。
  6. 根据权利要求5所述的机械臂，其特征在于，所述空间定位机构还包括三个连杆，所述基座以及三个所述连杆中相邻的两者之间通过所述转动关节相连接；且三个所述连杆中离所述基座最远的所述连杆通过所述自转关节连接于所述平面运动机构。
  7. 根据权利要求2所述的机械臂，其特征在于，所述关节机构包括两个转动关节和两个移动关节，两个所述移动关节相邻设置；两个所述移动关节的移动方向互相垂直；两个所述移动关节的一侧与所述基座之间设置一个所述转动关节，且另一侧设置另一个所述转动关节，两个所述转动关节的旋转轴线相垂直；相邻于所述基座设置的所述转动关节的旋转轴线与远离于所述基座设置的移动关节的移动方向相平行。
  8. 根据权利要求7所述的机械臂，其特征在于，所述空间定位机构还包括四个连杆，所述基座以及四个所述连杆中相邻的两者之间通过所述移动关节或所述转动关节相连接；且四个所述连杆中离所述基座最远的所述连杆通过所述自转关节连接于所述平面运动机构。
  9. 根据权利要求1所述的机械臂，其特征在于，所述平面运动机构包括四个连杆和三个转动关节，四个所述连杆依次设置，且相邻两个所述连杆之间通过一个所述转动关节连接，四个所述连杆中位于边缘位置的一个所述连杆通过所述自转关节连接于所述空间定位机构的末端，且另一个所述连杆与所述手术器械相连接，三个所述转动关节的旋转轴线相平行，且均与所述自转关节的旋转轴线相垂直。
  10. 根据权利要求9所述的机械臂，其特征在于，所述主动不动点的运动控制满足如下约束关系：
    Figure PCTCN2022085605-appb-100001
    Figure PCTCN2022085605-appb-100002
    Figure PCTCN2022085605-appb-100003
    其中，α、β、γ依次为从所述平面运动机构的首端到末端相邻两个所述连杆之间的夹角，a、b、c依次为从所述平面运动机构中相邻于首端到末端三个连杆的长度，d为所述平面运动机构中相邻于首端的连杆靠近首端的端部与所述主动不动点之间的距离。
  11. 根据权利要求1所述的机械臂，其特征在于，所述平面运动机构包括三个连杆、滑块以及两个转动关节；所述三个连杆依次设置；所述滑块与一个所述转动关节连接为一体；另一个所述转动关节分别连接于相邻的两个所述连杆，与所述滑块相连的所述连杆直接连接于所述自转关节或间接连接于手术器械，两个所述转动关节的旋转轴线相平行，且均与所述自转关节的旋转轴线、所述滑块的移动方向相垂直。
  12. 根据权利要求1所述的机械臂，其特征在于，所述平面运动机构的末端通过移动关节与所述手术器械相连接，所述移动关节的移动方向与所述自转关节的旋转轴线相垂直。
  13. 根据权利要求12所述的机械臂，其特征在于，还包括设置在所述平面运动机构上的激光发生模块，所述激光发生模块与所述自转关节同轴设置；所述激光发生模块用于产生照射所述手术器械上的定位标记的激光，以表征出所述主动不动点。
  14. 根据权利要求13所述的机械臂，其特征在于，所述定位标记涂覆在所述手术器械的器械杆的表面；所述定位标记被所述激光照射到的区域为所述主动不动点的位置。
  15. 一种如权利要求1-14任一项所述的机械臂的控制方法，其特征在于，包括：
    控制空间定位机构运动，以使得自转关节的旋转轴线通过戳卡创口；
    控制平面运动机构运动，以使得手术器械的轴线通过戳卡创口；
    控制自转关节以及平面运动机构运动，以围绕主动不动点操作手术器械。
  16. 根据权利要求15所述的机械臂的控制方法，其特征在于，当所述机 械臂中所述平面运动机构的末端通过移动关节连接手术器械时，在所述控制自转关节以及平面运动机构运动之后，还包括：
    控制所述移动关节运动，以过主动不动点操作手术器械。
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