WO2024027298A1 - 手术操作臂和手术机器人 - Google Patents

手术操作臂和手术机器人 Download PDF

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Publication number
WO2024027298A1
WO2024027298A1 PCT/CN2023/096475 CN2023096475W WO2024027298A1 WO 2024027298 A1 WO2024027298 A1 WO 2024027298A1 CN 2023096475 W CN2023096475 W CN 2023096475W WO 2024027298 A1 WO2024027298 A1 WO 2024027298A1
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WO
WIPO (PCT)
Prior art keywords
gear
output end
linear
encoder
operating arm
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/CN2023/096475
Other languages
English (en)
French (fr)
Inventor
王泽睿
曹逢雨
廖和生
徐友正
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.)
Cornerstone Technology Shenzhen Ltd
Original Assignee
Cornerstone Technology Shenzhen Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Cornerstone Technology Shenzhen Ltd filed Critical Cornerstone Technology Shenzhen Ltd
Priority to JP2025504264A priority Critical patent/JP7801726B2/ja
Priority to EP23849008.0A priority patent/EP4555962A4/en
Publication of WO2024027298A1 publication Critical patent/WO2024027298A1/zh
Priority to US19/039,731 priority patent/US20250169912A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • A61B34/70—Manipulators 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient

Definitions

  • This application relates to the technical field of medical devices, and in particular to a surgical operating arm and a surgical robot.
  • Surgical robots are robots that can perform operations on behalf of doctors through remote control. Because the operation of surgical robots is stable, they can reduce the risk of surgical errors and reduce the mental and physical stress of doctors. They are widely used in minimally invasive surgeries.
  • the purpose of some embodiments of the present application is to provide a surgical operating arm and a surgical robot to avoid the interference problem of multiple operating arms during the surgical process, and at the same time ensure the control accuracy of the surgical instruments by the surgical robot.
  • the embodiment of the present application provides a surgical operating arm, which includes a linear drive mechanism, a linear transmission mechanism, a linear movement mechanism, a deceleration mechanism and a first detection component.
  • the linear drive mechanism has a rotating output end; the linear transmission mechanism includes a rotatable transmission parts and mating parts that are threadedly connected to the transmission parts.
  • the transmission parts can rotate around themselves.
  • the transmission parts are connected to the output end of the linear drive mechanism.
  • the transmission parts are driven by the linear drive mechanism to perform rotational movements.
  • the linear movement mechanism includes a moving block and a linear guide.
  • the moving block is fixedly connected to the matching parts of the linear transmission mechanism, and the moving block moves on the linear guide part;
  • the reduction mechanism has an input end and an output end, and the input end of the reduction mechanism is fixedly arranged relative to the transmission part of the linear transmission mechanism, and the transmission part Rotate and drive the input end of the deceleration mechanism to move;
  • the first detection component is provided at the output end of the deceleration mechanism, and is used to detect the rotation speed and/or angle and/or position of the output end of the deceleration mechanism.
  • the transmission ratio between the input end and the output end of the reduction mechanism is greater than 1.
  • the transmission ratio i between the input end and the output end of the reduction mechanism satisfies: 10 ⁇ i ⁇ 50.
  • the moving block moves a complete stroke in the linear moving mechanism, and the rotation angle of the output end of the reduction mechanism is less than 360°.
  • the first detection component is configured as an absolute encoder.
  • the absolute encoder includes an encoder fixed part of the absolute encoder and an encoder moving part of the absolute encoder.
  • the encoder moving part is fixedly provided on the deceleration unit. At the output end of the mechanism, the fixed part of the encoder detects the rotational speed and/or angle and/or position of the moving part of the encoder.
  • the moving block moves a complete stroke in the linear moving mechanism, and the rotation angle of the output end of the reduction mechanism is greater than 360°.
  • the first detection component is configured as an incremental encoder.
  • the incremental encoder includes an encoder fixed part of the incremental encoder and an encoder moving part of the incremental encoder.
  • the incremental encoder The encoder moving part of the encoder is fixedly arranged at the output end of the reduction mechanism, and the encoder fixed part of the incremental encoder detects the rotational speed and/or angle and/or position of the encoder moving part of the incremental encoder.
  • the surgical operating arm further includes a second detection component, and the second detection component detects the rotation speed and/or angle of the output end of the linear drive mechanism.
  • the reduction mechanism includes a worm gear and a worm, the worm and the transmission member are relatively fixedly arranged, the worm meshes with the worm gear, the worm gear is the output end of the reduction mechanism, and the first detection component detects the rotation speed and/or angle of the worm gear and/or Location.
  • the reduction mechanism includes at least two sets of gear sets.
  • the reduction mechanism includes a first-stage gear set and a second-stage gear set.
  • the first-stage gear set includes a first gear and a second gear.
  • the first gear is coaxially fixed with the transmission member of the linear transmission mechanism,
  • the second gear meshes with the first gear.
  • the diameter of the second gear is larger than the diameter of the first gear.
  • the second gear set includes a third gear and a fourth gear.
  • the third gear is coaxially fixed with the second gear.
  • the third gear The diameter of the fourth gear is smaller than the diameter of the second gear, the fourth gear meshes with the third gear, the diameter of the fourth gear is larger than the diameter of the third gear, and the fourth gear is the output end of the reduction mechanism.
  • the reduction mechanism includes at least two sets of planetary gear sets.
  • the reduction mechanism includes a first planetary gear set and a second planetary gear set.
  • the first planetary gear set includes a first sun gear and a plurality of first planet gears.
  • the first sun gear is the same as the transmission member of the linear transmission mechanism.
  • the shaft is fixedly arranged, the first planet gear meshes with the first sun gear for transmission, the diameter of the first planet gear is larger than the diameter of the first sun gear, a plurality of first planet gears are connected to the first planet carrier, and the second planetary gear set includes a second The sun gear and a plurality of second planet gears, the second sun gear is coaxially fixed with the output end of the first planet carrier, the second planet gear meshes with the second sun gear for transmission, and the diameter of the second planet gear is larger than that of the second sun gear. diameter, a plurality of second planet wheels are connected to a second planet carrier, and the output end of the second planet carrier is the output end of the reduction mechanism.
  • the input end of the reduction mechanism is directly fixedly connected or indirectly fixedly connected with the transmission member of the linear transmission mechanism, or is integrally arranged.
  • the second aspect of the embodiment of the present application also provides a surgical robot, including: a surgical operating arm as described above; an instrument driver The component is fixedly connected to the moving block of the surgical operating arm; the surgical instrument is connected to the instrument driving component; and the surgical connecting arm is movably connected to the end of the surgical operating arm away from the instrument driving component.
  • the surgical operating arm and surgical robot provided by the embodiments of the present application use a linear drive mechanism to drive the transmission member to rotate and drive the matching member to linearly displace along the axial direction of the transmission member, so that the moving block connected to the matching member also displaces accordingly.
  • the input end of the reduction mechanism is relatively fixed to the transmission member, and the first detection component detects the rotation speed and/or angle and/or position of the output end of the reduction mechanism, so that the linear position of the moving block on the linear guide is Corresponds one-to-one with the rotational position on the output end of the reduction mechanism, thereby achieving precise adjustment of the position of the moving block by using the rotation angle or position on the output end of the reduction mechanism as a reference for the linear drive mechanism to drive the transmission member to rotate.
  • the detection component is set in the non-linear transmission area of the surgical operating arm, saving space for the linearly moving part of the surgical operating arm.
  • the volume of the surgical operating arm is to prevent mutual interference between multiple surgical operating arms in the surgical robot, while ensuring the control accuracy of surgical instruments and improving the safety of operations performed by the surgical robot.
  • Figure 1 shows a schematic structural diagram of a surgical operating arm provided by some embodiments of the present application
  • Figure 2 shows a partial structural schematic diagram of a surgical operating arm provided by some embodiments of the present application
  • Figure 3 shows a schematic structural diagram of the deceleration mechanism of the surgical operating arm provided by other embodiments of the present application.
  • Figure 4 shows a partial enlarged view of the deceleration mechanism of the surgical operating arm provided by some embodiments of the present application
  • Figure 5 shows a partial cross-sectional view of a surgical operating arm provided by some embodiments of the present application
  • Figure 6 shows a schematic structural diagram of the surgical operating arm provided by some embodiments of the present application from another perspective
  • Figure 7 shows a partial structural diagram of a surgical robot provided by some embodiments of the present application.
  • Figure 1 shows a schematic structural diagram of a surgical operating arm provided by an embodiment of the present application.
  • the first aspect of the embodiment of the present application provides a surgical operating arm 10, which includes a linear driving mechanism 100, a linear transmission mechanism 200, a linear moving mechanism 300, a deceleration mechanism 400 and a first detection component 500.
  • the linear driving mechanism 100 has a rotating output end;
  • the linear transmission mechanism 200 includes a rotatable transmission member 210 and a matching member 220 that is threadedly connected to the transmission member 210.
  • the transmission member 210 can rotate around itself, and the transmission member 210 is connected to the output end of the linear drive mechanism 100.
  • the transmission member 210 is driven by the linear drive mechanism 100 to rotate;
  • the linear movement mechanism 300 includes a moving block 310 and a linear guide 320.
  • the moving block 310 is fixedly connected to the mating member 220 of the linear transmission mechanism 200.
  • the moving block 310 is in the linear guide.
  • the deceleration mechanism 400 has an input end and an output end.
  • the input end of the deceleration mechanism 400 is relatively fixed to the transmission member 210 of the linear transmission mechanism 200.
  • the transmission member 210 rotates and drives the input end of the deceleration mechanism 400 to move;
  • the detection component 500 is disposed at the output end of the deceleration mechanism 400 to detect the rotation speed and/or angle and/or position of the output end of the deceleration mechanism 400 .
  • the linear drive mechanism 100 can be a brush motor or a brushless motor, or other servo motors or any other device that can drive the transmission member 210 of the linear drive mechanism 200 to rotate.
  • the linear drive mechanism 100 can also be in manual mode.
  • the driving mechanism that is, the manner in which the transmission member 210 of the linear transmission mechanism 200 is manually controlled to rotate is also within the protection scope of this application.
  • the linear drive mechanism 100 is a motor
  • the output end of the linear drive mechanism 100 can be the output shaft or rotor of the motor.
  • the transmission member 210 of the linear transmission mechanism 200 may be a screw rod or a screw, or the transmission member 210 of the linear transmission mechanism 200 may be a worm or any other structure that can be threadedly connected to the transmission member 210 .
  • the moving block 310 and the linear guide 320 in the linear moving mechanism 300 can be slide blocks and sliding blocks.
  • the combined structure of the rail can also be a combined structure of the moving block 310 and the guide rod.
  • any other structure that can be used for linear movement guidance is also within the protection scope of this application.
  • the reduction mechanism 400 may be a worm reduction structure, a gear reduction structure, a planetary gear reduction structure, or other structures.
  • the reduction mechanism 400 may also be other structures in which gears mesh with racks, worms mesh with racks, etc.
  • the reduction mechanism 400 It can be a one-stage reduction mechanism, or a two-stage or multi-stage reduction mechanism. It can be understood that in the reduction mechanism 400, by detecting the rotational speed and/or angle and/or position of the output end, and combining the transmission ratio of the input end and the output end, the corresponding rotational speed and/or rotation speed of the input end can be calculated or matched. or angle and/or position.
  • the output end of the deceleration mechanism 400 is used as a reference, and the rotation speed of the output end of the deceleration mechanism 400 is measured through the first detection component 500. and/or angle and/or position are detected, so that the rotation speed and/or angle and/or position of the input end of the corresponding deceleration mechanism 400 can be calculated through the transmission ratio of the deceleration mechanism 400.
  • the input of the corresponding deceleration mechanism 400 The rotation speed and/or angle and/or position of the end is the rotation speed and/or angle and/or position of the transmission member 210, so that the corresponding value of the moving block 310 is calculated through the rotation speed and/or angle and/or position of the transmission member 210.
  • target linear position so that the rotational position of the output end of the reduction mechanism 400 corresponds one-to-one with the linear position of the moving block 310 on the linear guide 320, so that when adjusting the position of the moving block 310 to the target linear position, only
  • the output end of the deceleration mechanism 400 is used as a reference.
  • the linear drive mechanism 100 drives the transmission member 210 to rotate and drives the fitting member 220 to linearly displace along the axial direction of the transmission member 210, thereby causing the moving block connected to the fitting member 220 to 310 also undergoes displacement.
  • the input end of the deceleration mechanism 400 is relatively fixed to the transmission member 210, and the first detection component 500 detects the rotation speed and/or angle and/or position of the output end of the deceleration mechanism 400, so that The linear position of the moving block 310 on the linear guide 320 corresponds to the rotational position on the output end of the reduction mechanism 400, so that the rotation angle or position on the output end of the reduction mechanism 400 is used as the linear drive mechanism 100 to drive the transmission member. 210 rotation of the reference to achieve precise adjustment of the position of the moving block 310.
  • the detection component is set in the non-linear transmission area of the surgical operating arm 10, saving space in the linearly moving part of the surgical operating arm 10 and eliminating the need for
  • a detection device is provided in the linear transmission area of the surgical operating arm 10, which reduces the volume of the surgical operating arm 10 to a certain extent, thereby preventing mutual interference between multiple surgical operating arms 10 in the surgical robot, and at the same time ensuring that the surgical instruments 30 are
  • the control accuracy improves the safety of surgeries performed by surgical robots.
  • the transmission ratio between the input end and the output end of the reduction mechanism 400 is greater than 1. It can be understood that according to the transmission ratio between the input end and the output end of the reduction mechanism 400, through calculation, it can be obtained that when the moving block 310 moves on the linear guide The angle and/or position at which the output end of the reduction mechanism 400 rotates when the member 320 moves a preset distance and reaches the target linear position; when the transmission ratio between the input end and the output end of the reduction mechanism 400 is greater than 1, that is, the reduction mechanism 400 The rotation speed of the output end is slower than the rotation speed of the input end, and/or, within the same time, the rotation angle of the output end of the reduction mechanism 400 is smaller relative to the rotation angle of the input end, and/or, within the same time, The rotated position of the output end of the reduction mechanism 400 is smaller than the rotated position of the input end.
  • the transmission ratio is less than or equal to 1.
  • the angle and/or position of the output end of the reduction mechanism 400 is smaller, so that when the position of the moving block 310 is adjusted with the output end of the reduction mechanism 400 as a reference, the The location will be more precise.
  • the transmission member 210 is driven to rotate through the linear drive mechanism 100 , assuming that the transmission member 210 will move the moving block 310 It takes 10 turns to move to the target linear position.
  • the output end of the deceleration mechanism 400 only rotates 1 turn. Therefore, if the output end of the deceleration mechanism 400 is used as a reference, when the first detection component 500 detects the deceleration component When the output end of 400 rotates once, the linear drive mechanism 100 stops. At this time, the position of the moving block 310 can accurately reach the target linear position, thereby achieving precise adjustment of the position of the moving block 310.
  • the transmission ratio i between the input end and the output end of the reduction mechanism 400 satisfies 10 ⁇ i ⁇ 50.
  • the transmission ratio of the reduction mechanism 400 can be set to satisfy 10 ⁇ i ⁇ 50, so that the rotation angle and/or position of the output end of the reduction mechanism 400 corresponds to each linear position of the moving block 310, and at the same time, the transmission ratio can be adjusted to a certain extent. The proportion of the reduction mechanism 400 in the entire surgical operating arm 10 is reduced.
  • the transmission ratio between the input end and the output end of the reduction mechanism 400 may also be less than 10 or greater than 50 according to actual conditions.
  • the moving block 310 moves a complete stroke in the linear moving mechanism 300, and the rotation angle of the output end of the reduction mechanism 400 is less than 360°.
  • each linear position of the moving block 310 on the linear guide 320 is There is a corresponding rotation position on the output end of the reduction mechanism 400. That is to say, when it is necessary to adjust the moving block 310 to a certain target linear position of the linear guide 320, it only needs to be driven by a linear drive.
  • the mechanism 100 drives the transmission member 210 to rotate, causing the output end of the reduction mechanism 400 to rotate to a rotation position corresponding to the target linear position, thereby adjusting the position of the moving block 310 without having to adjust the position of the moving block 310 multiple times. calculation, thereby simplifying the process of position adjustment of the moving block 310.
  • Figure 2 is a partial structural schematic diagram of a surgical operating arm provided by some embodiments of the present application.
  • the first detection component 500 is configured as an absolute encoder.
  • the absolute encoder includes an encoder fixed part 510 of the absolute encoder and an encoder moving part 520 of the absolute encoder.
  • the moving part of the encoder is fixedly arranged at the output end of the deceleration mechanism 400, and the fixed part of the encoder detects the rotational speed and/or angle and/or position of the moving part of the encoder.
  • the absolute encoder has the characteristics of absolutely unique position, anti-interference, and no need for power-off memory.
  • the code disk of the absolute encoder has multiple engraved lines, and each engraved line corresponds to deceleration. A rotational position of the output end of the mechanism 400. Therefore, when detecting the output end of the reduction mechanism 400 through an absolute encoder, it is only necessary to calculate the transmission ratio during the initial detection so that the rotational position on the reduction mechanism 400 is consistent with the moving block.
  • the linear position of 310 on the linear guide 320 corresponds one-to-one.
  • the engraved lines on the code plate of the absolute encoder also correspond to the linear position of the moving block 310 on the linear guide 320.
  • the linear drive mechanism 100 stops driving, the moving block 310 can be moved to the target straight line position corresponding to the engraved line without having to calculate the position of the moving block 310 multiple times, thus saving the time of calculating the position of the moving block and simplifying the calculation.
  • the process of position adjustment of the moving block 310 it is only necessary to detect the moving part of the encoder located on the output end of the deceleration mechanism 400 through the fixed part of the encoder, and when it rotates to correspond to a certain engraved line on the code disk, the linear drive mechanism 100 stops driving, the moving block 310 can be moved to the target straight line position corresponding to the engraved line without having to calculate the position of the moving block 310 multiple times, thus saving the time of calculating the position of the moving block and simplifying the calculation.
  • the process of position adjustment of the moving block 310 it is only necessary to detect the moving part of the encoder located on the output end of the deceleration mechanism 400 through the fixed part of the encoder, and when it rotates to correspond to a certain engraved
  • the absolute encoder can directly read the position of the moving block 310 on the linear guide 320 Accurate position, so there is no need to detect the position of the moving block 310 before adjusting the position of the moving block 310, which simplifies the position adjustment process of the moving block 310 and improves the adjustment efficiency.
  • the moving block 310 moves a complete stroke in the linear moving mechanism 300, and the rotation angle of the output end of the reduction mechanism 400 is greater than 360°.
  • the rotation angle of the output end of the deceleration mechanism 400 is greater than 360°.
  • the rotational position of the output end of the deceleration mechanism 400 is in line with the moving block 310.
  • the linear positions on the guide 320 are not in a one-to-one correspondence. Therefore, every time the position of the moving block 310 is adjusted, the first detection component 500 needs to be used to detect the rotational speed and/or the output end of the reduction mechanism 400.
  • the first detection component 500 is configured as an incremental encoder.
  • the encoder includes an encoder fixed part of the incremental encoder and an encoder moving part of the incremental encoder.
  • the encoder moving part of the incremental encoder is fixedly arranged at the output end of the reduction mechanism 400.
  • the incremental encoder The fixed part of the encoder detects the rotational speed and/or angle and/or position of the moving part of the encoder of the incremental encoder.
  • an incremental encoder refers to an encoder that converts angular displacement or linear displacement into periodic electrical signals, and converts the electrical signals into pulses for output. Because incremental encoders can achieve infinite multi-turn Accumulation and measurement, therefore when the moving block 310 moves a complete stroke in the linear moving mechanism 300, no matter how large the rotation angle of the output end of the reduction mechanism 400 is, the rotation speed and/or angle of the output end of the reduction mechanism 400 can be calculated. /or position detection, thereby realizing the control of the position of the moving block 310. However, since the incremental encoder does not have a power-off memory function, it needs to be reset to zero after each detection of the output end of the deceleration mechanism 400.
  • Calibration that is, every time the position of the moving block 310 needs to be adjusted, the rotational speed and/or angle and/or position of the output end of the reduction mechanism 400 needs to be detected through the incremental encoder, and By calculating the linear position of the moving block 310, the possibility of the moving block 310 being moved to a linear position other than the target linear position can be reduced, and the probability of a position error of the moving block 310 can be reduced.
  • the rotational speed and/or angle and/or position of the encoder moving part of the incremental encoder may be detected through the encoder fixed part detection of the incremental encoder, thereby using the transmission ratio of the reduction mechanism 400 , calculate the rotational speed and/or angle and/or position of the input end of the reduction mechanism 400, that is, the transmission member 210, and finally obtain the target linear position of the moving block 310 through calculation.
  • the encoder sensor can be used. Of course, other infrared sensors, ultrasonic sensors, etc. can also be used.
  • Equipment used for position detection and/or speed detection and/angle detection; whether it is the encoder moving part of the above-mentioned absolute encoder or the encoder moving part of the incremental encoder, gratings or magnets can be used, or other Components that can be detected by the corresponding fixed part of the encoder, that is, whether it is an absolute encoder or an incremental encoder, either a magnetic encoder or a grating encoder can be used.
  • the surgical operating arm 10 further includes a second detection component 600 .
  • the second detection component 600 detects the rotation speed and/or angle of the output end of the linear drive mechanism 100 .
  • the rotation speed and/or angle of the output end of the linear drive mechanism 100 can be detected by the second detection component 600, so as to calculate the rotation speed and/or angle of the output end of the reduction mechanism 400 detected by the first detection component 500.
  • the precise transmission ratio of the deceleration mechanism 400 enables accurate calculation of the target linear position of the moving block 310 when adjusting the linear position of the moving block 310, ensuring the accuracy of the position adjustment of the moving block 310.
  • the second detection component 600 may be an encoder or any other component that can detect rotation.
  • Speed and/or angle detection component for example, the second detection component 600 can be a magnetic encoder or a grating encoder, the second detection component 600 can be an absolute encoder or an incremental encoder, of course, the second detection component Component 600 may also be other types of encoders.
  • the second detection component 600 may include an encoder fixed part (not shown in the figure) and an encoder moving part (not shown in the figure), where the encoder The moving part is fixedly connected to the transmission member 210, or the moving part of the encoder is fixedly connected to the input end of the deceleration mechanism 400, or the moving part of the encoder is fixedly connected to the output end of the linear drive mechanism 100, and the fixed part of the encoder detects the movement of the moving part of the encoder.
  • the rotation speed and/or angle thus matching the rotation speed and/or angle of the output end of the reduction mechanism 400 detected by the first detection component 500, are calculated to obtain the precise transmission ratio of the reduction mechanism 400, so as to determine the linear position of the moving block 310
  • the target linear position of the moving block 310 is accurately calculated through the precise transmission ratio to ensure the accuracy of the position adjustment of the moving block 310 and the accuracy of the position adjustment of the moving block 310 .
  • the reduction mechanism 400 includes a worm gear 410 and a worm 420.
  • the worm 420 is relatively fixed to the transmission member 210.
  • the worm 420 meshes with the worm gear 410.
  • the worm gear 410 is the output end of the reduction mechanism 400.
  • a detection component 500 detects the rotation speed and/or angle and/or position of the worm gear 410 .
  • the worm 420 and the transmission member 210 are relatively fixedly arranged, so that when the linear drive mechanism 100 drives the transmission member 210 to rotate, the worm 420 rotates with the transmission member 210, and due to the mutual meshing of the worm gear 410 and the worm 420 , thereby driving the worm gear 410 to rotate.
  • the worm gear 410 is used as a reference to drive the transmission member 210 to rotate through the linear drive mechanism 100, so that the worm gear 410 rotates to the target straight line with the moving block 310.
  • the position corresponds to the position, thereby achieving precise control of the position of the moving block 310.
  • the reduction mechanism 400 includes at least two sets of gear sets. It can be understood that the reduction mechanism 400 may include two or more gear sets.
  • the reduction assembly 400 may include a primary reduction gear set and a secondary reduction gear set, or may include a primary reduction gear set and a secondary reduction gear set.
  • Reduction gear set and three-stage reduction gear set the specific number and stages of gear sets can be determined according to the actual situation.
  • at least two sets of gear sets in the reduction mechanism 400 are used to further increase the transmission ratio between the input end and the output end of the reduction mechanism 400, so that the moving block 310 is moved using the output end of the reduction mechanism 400 as a reference. In the process of adjusting the position, the position of the moving block 310 can be controlled more accurately.
  • Figure 3 is a schematic structural diagram of a deceleration mechanism of a surgical operating arm provided by other embodiments of the present application.
  • the reduction mechanism 400 includes a first-stage gear set 430 and a second-stage gear set 440.
  • the first-stage gear set 430 includes a first gear 431 and a second gear 432.
  • the first gear 431 is fixedly arranged coaxially with the transmission member 210 of the linear transmission mechanism 200.
  • the second gear 432 meshes with the first gear 431.
  • the diameter of the second gear 432 is larger than the diameter of the first gear 431.
  • the second gear set 440 includes a third gear. 441 and fourth gear 442, third gear 441
  • the third gear 441 is fixedly arranged coaxially with the second gear 432.
  • the diameter of the third gear 441 is smaller than the diameter of the second gear 432.
  • the fourth gear 442 meshes with the third gear 441.
  • the diameter of the fourth gear 442 is larger than the diameter of the third gear 441.
  • 442 is the output end of the reduction mechanism 400 .
  • the first gear 431 meshes with the second gear 432
  • the third gear 441 and the second gear 432 are coaxially arranged
  • the third gear 441 meshes with the fourth gear 442, so that the linear drive mechanism 100 drives
  • the first gear 431 rotates with the transmission member 210 and drives the second gear 432 to rotate.
  • the third gear 441 and the second gear 432 are coaxial
  • the third gear 441 rotates accordingly and drives the fourth gear 432 to rotate.
  • the gear 442 rotates, so that by detecting the rotation speed and/or angle and/or position of the fourth gear 442 and calculating the transmission ratio between the gears that mesh with each other, the target linear position of the moving block 310 is obtained.
  • the reduction mechanism 400 is The transmission ratios in the first-stage gear set 430 and the second-stage gear set 440 are both greater than 1, thereby further improving the accuracy of position adjustment of the moving block 310 .
  • the reduction mechanism 400 includes at least two sets of planetary gear sets. It can be understood that in this embodiment, through the two sets of planetary gear sets in the reduction mechanism 400, the transmission ratio between the input end and the output end of the reduction mechanism 400 is further increased, so that the output end of the reduction mechanism 400 is By referring to the process of adjusting the position of the moving block 310, the position of the moving block 310 can be controlled more accurately.
  • Figure 4 is a partial enlarged view of the deceleration mechanism of the surgical operating arm provided by some embodiments of the present application.
  • the reduction mechanism 400 includes a first planetary gear set 450 and a second planetary gear set 460.
  • the first planetary gear set 450 includes a first sun gear 451 and a plurality of first planet gears 452.
  • the first sun gear 451 is coaxially fixed with the transmission member 210 of the linear transmission mechanism 200.
  • the first planet gear 452 meshes with the first sun gear 451 for transmission.
  • the diameter of the first planet gear 452 is larger than the diameter of the first sun gear 451.
  • the first planet gear 452 is connected to the first planet carrier 453.
  • the second planetary gear set 460 includes a second sun gear 461 and a plurality of second planet gears 462.
  • the second sun gear 461 is coaxially fixed with the output end of the first planet carrier 453.
  • the second planet gear 462 meshes with the second sun gear 461 for transmission.
  • the diameter of the second planet gear 462 is larger than the diameter of the second sun gear 461.
  • Several second planet gears 462 are connected to the second planet carrier 463.
  • the second planet carrier The output end of 463 is the output end of the reduction mechanism 400.
  • the first sun gear 451 is coaxially disposed with the transmission member 210 , and the first sun gear 451 meshes with the first planet gear 452 , thereby driving the transmission member 210 in the linear drive mechanism 100
  • the first sun gear 451 will drive the first planet gear 452 to rotate; and, since several first planet gears 452 are connected to the first planet carrier 453, the second sun gear 461 is coaxial with the output end of the first planet carrier 453.
  • the rotation speed and/or angle and/or position of the output shaft of the frame 463 realizes the position adjustment of the moving block 310; and, since the diameter of the first planet wheel 452 is larger than the diameter of the first sun wheel 451, the second planet wheel 462 The diameter is larger than the diameter of the second sun gear 461, so that the transmission ratios in the first-stage planetary gear set and the second-stage planetary gear set are both greater than 1, thereby further improving the accuracy of position adjustment of the moving block 310.
  • the input end of the reduction mechanism 400 is directly fixedly connected, indirectly fixedly connected, or integrally arranged with the transmission member 210 of the linear transmission mechanism 200 .
  • the indirect fixed connection between the input end of the reduction mechanism 400 and the transmission member 210 of the linear transmission mechanism 200 means that the input end of the reduction mechanism 400 and the transmission member 210 are fixed through a coupling;
  • the direct fixed connection of the component 210 means that the input end of the reduction mechanism 400 is directly rigidly connected to the transmission component 210, and the two are interference fit, and there is no need to adopt other connection structures to fix the two, thereby reducing the input end of the reduction mechanism 400.
  • the transmission error with the transmission member 210 improves the transmission accuracy; the input end of the reduction mechanism 400 and the transmission member 210 are integrally arranged, which means that the input end of the reduction mechanism 400 takes at least part of the transmission member 210 as the input end, thereby achieving deceleration to the greatest extent.
  • the synchronous rotation of the input end of the mechanism 400 and the transmission member 210 reduces the transmission error between the input end of the reduction mechanism 400 and the transmission member 210 and improves transmission accuracy.
  • the input end of the reduction mechanism 400 and the transmission member 210 of the linear transmission mechanism 200 are directly or indirectly fixedly connected or integrally arranged, so that the synchronous rotation of the reduction mechanism 400 and the transmission member 210 can be realized, and the operation can be facilitated.
  • the structure of the operating arm 10 is more compact, thereby reducing transmission errors during rotation and improving transmission accuracy.
  • the surgical operating arm 10 further includes a braking assembly 700.
  • the braking assembly 700 is fixed to the transmission member 210.
  • the braking assembly 700 is used to stop or maintain the transmission member 210 in a stopped state.
  • the braking component 700 can be various types of brakes, such as electromagnetic brakes, magnetic powder brakes, etc.
  • the braking component 700 can also be other instruments that can stop or keep the first rotating shaft 120 in a stopped state, such as , brakes, stop valves, etc.
  • the braking assembly 700 by fixing the braking assembly 700 on the transmission member 210, when the moving block 310 reaches the target linear position, the braking assembly 700 causes the transmission member 210 to stop rotating in time to prevent the transmission member 210 from being damaged due to inertia. Affects the position accuracy of the moving block 310.
  • the braking component 700 can also keep the transmission member 210 in a stopped state after the moving block 310 moves to the target linear position, thereby ensuring that the position of the moving block 310 will not be affected by gravity or inertia. changes due to external factors.
  • Figure 5 shows a partial cross-sectional view of a surgical operating arm provided by some embodiments of the present application
  • Figure 6 shows a partial cross-sectional view of a surgical operating arm provided by some embodiments of the present application.
  • the surgical operating arm 10 also includes an arm body 800 having a receiving cavity 810.
  • the arm body 800 is provided with an opening 820 connecting the receiving cavity 810 and the outside of the arm body 800.
  • a straight line The driving mechanism 100 , the reduction mechanism 400 and the first detection component 500 are accommodated in the accommodation cavity 810 , and the linear moving member partially protrudes to the outside of the arm body 800 through the opening 820 to connect with the instrument driving member 20 .
  • Figure 7 is a partial structural schematic diagram of a surgical robot provided by some embodiments of the present application.
  • the second aspect of the embodiment of the present application also provides a surgical robot, including: the above-mentioned surgical operating arm 10; the instrument driving member 20, fixedly connected to the moving block 310 of the surgical operating arm 10; the surgical instrument 30 , is connected with the instrument driving member 20; and the surgical connecting arm 40 is movably connected with the end of the surgical operating arm 10 away from the instrument driving member 20.
  • the surgical operating arm 10 is connected to the instrument driving member 20, thereby improving the displacement accuracy of the instrument driving member 20 in the axial direction of the transmission member 210 to a certain extent and ensuring that the instrument driving member 20 is Stability and safety when driving the surgical instrument 30 for surgery, and because the end of the surgical operating arm 10 away from the instrument driving member 20 is connected to the surgical connecting arm 40, the surgical operating arm 10 can obtain other directions through the surgical connecting arm 40 degree of freedom, so that the instrument driving member 20 can operate more flexibly during the process of driving the surgical instrument 30 for surgery.
  • the plurality of surgical connecting arms 40 are movably connected in sequence, and the end of the surgical operating arm 10 away from the instrument driving member 20 is movably connected to the surgical connecting arm 40 at the end, so that the surgical operating arm 10 can pass through multiple
  • the surgical connecting arm 40 moves in various directions, thereby making the instrument driving member 20 more flexible under the control of the surgical operating arm 10 and improving the reliability and safety of the instrument driving member 20 in driving the surgical instrument 30 for surgery.
  • the linear drive mechanism 100 drives the transmission member 210 to rotate and drives the fitting member 220 to linearly displace along the axial direction of the transmission member 210, thereby causing the moving block connected to the fitting member 220 to 310 also undergoes displacement.
  • the input end of the deceleration mechanism 400 is relatively fixed to the transmission member 210, and the first detection component 500 detects the rotation speed and/or angle and/or position of the output end of the deceleration mechanism 400, so that The linear position of the moving block 310 on the linear guide 320 corresponds one-to-one with the rotational position on the output end of the reduction mechanism 400, so that in the process of adjusting the position of the moving block 310, the rotation position on the output end of the reduction mechanism 400 is adjusted.
  • the position serves as a reference for the linear drive mechanism 100 to drive the transmission member 210 to rotate, thereby achieving precise adjustment of the position of the moving block 310, thereby ensuring the operating accuracy of the surgical instrument 30 and improving the safety of surgery performed by the surgical robot.

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  • Heart & Thoracic Surgery (AREA)
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Abstract

本申请实施例提供的手术操作臂和手术机器人，包括直线驱动机构(100)、直线传动机构(200)、直线移动机构(300)、减速机构(400)和第一检测组件(500)，直线传动机构(200)包括传动件(210)及与传动件(210)螺纹连接的配合件(220)，传动件(210)与直线驱动机构(100)的输出端连接，传动件(210)受直线驱动机构(100)的驱动旋转，直线移动机构(300)包括移动块(310)和直线导向件(320)，移动块(310)与配合件(220)连接，移动块(310)在直线导向件(320)上移动，减速机构(400)的输入端与传动件(210)固定设置；第一检测组件(500)用于检测减速机构(400)的输出端的转动速度和/或角度和/或位置。

Description

手术操作臂和手术机器人
交叉引用
本申请基于申请号为“2022109392154”的申请日为2022年08月05日的名为“手术操作臂和手术机器人”的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以引入方式并入本申请。
技术领域
本申请涉及医疗器械技术领域，特别涉及一种手术操作臂和手术机器人。
背景技术
手术机器人是可以通过远程操控代替医生完成手术的机器人，由于手术机器人的操作稳定，因此，可以减少手术失误的风险，并且还可以减少医生的精神和身体压力，被广泛应用于微创手术中。
由于手术机器人直接涉及病人的生命健康安全，因此，对于手术机器人控制手术器械完成手术的控制要求十分严格。在一些状况下，多个患旁操作臂在手术过程中容易产生干涉。
发明内容
本申请部分实施例的目的在于提供一种在手术操作臂和手术机器人，以避免多个操作臂在手术过程中的干涉问题，同时能够保证手术机器人对手术器械的控制精度。
本申请实施例提供了一种手术操作臂，包括直线驱动机构、直线传动机构、直线移动机构、减速机构和第一检测组件，直线驱动机构具有旋转的输出端；直线传动机构包括可旋转的传动件及与传动件螺纹连接的配合件，传动件可绕自身旋转，传动件与直线驱动机构的输出端连接，传动件受直线驱动机构的驱动做旋转运动；直线移动机构包括移动块和直线导向件，移动块与直线传动机构的配合件固定连接，移动块在直线导向件上移动；减速机构具有输入端和输出端，减速机构的输入端与直线传动机构的传动件相对固定设置，传动件转动并带动减速机构的输入端运动；第一检测组件设置于减速机构的输出端，第一检测组件用于检测减速机构的输出端的转动速度和/或角度和/或位置。
在部分实施例中，减速机构的输入端和输出端的传动比大于1。
在部分实施例中，减速机构的输入端与输出端的传动比i满足：10≤i≤50。
在部分实施例中，移动块在直线移动机构移动一个完整的行程，减速机构的输出端旋转角度小于360°。
在部分实施例中，第一检测组件设置为绝对式编码器，绝对式编码器包括绝对式编码器的编码器定部与绝对式编码器的编码器动部，编码器动部固定设置于减速机构的输出端，编码器定部检测编码器动部的转动速度和/或角度和/或位置。
在部分实施例中，移动块在直线移动机构移动一个完整的行程，减速机构的输出端的旋转角度大于360°。
在部分实施例中，第一检测组件设置为增量式编码器，增量式编码器包括增量式编码器的编码器定部和增量式编码器的编码器动部，增量式编码器的编码器动部固定设置于减速机构的输出端，增量式编码器的编码器定部检测增量式编码器的编码器动部的转动速度和/或角度和/或位置。
在部分实施例中，手术操作臂还包括有第二检测组件，第二检测组件检测直线驱动机构的输出端的转动速度和/或角度。
在部分实施例中，减速机构包括蜗轮和蜗杆，蜗杆与传动件相对固定设置，蜗杆与蜗轮啮合，蜗轮为减速机构的输出端，第一检测组件检测蜗轮的转动速度和/或角度和/或位置。
在部分实施例中，减速机构包括至少两组齿轮组。
在部分实施例中，减速机构包括第一级齿轮组和第二级齿轮组，第一级齿轮组包括第一齿轮和第二齿轮，第一齿轮与直线传动机构的传动件同轴固定设置，第二齿轮与第一齿轮啮合，第二齿轮的直径大于第一齿轮的直径，第二级齿轮组包括第三齿轮和第四齿轮，第三齿轮与第二齿轮同轴固定设置，第三齿轮的直径小于第二齿轮的直径，第四齿轮与第三齿轮啮合，第四齿轮的直径大于第三齿轮的直径，第四齿轮为减速机构的输出端。
在部分实施例中，减速机构包括至少两组行星齿轮组。
在部分实施例中，减速机构包括第一行星齿轮组和第二行星齿轮组，第一行星齿轮组包括第一太阳轮和若干第一行星轮，第一太阳轮与直线传动机构的传动件同轴固定设置，第一行星轮与第一太阳轮啮合传动，第一行星轮的直径大于第一太阳轮的直径，若干第一行星轮连接有第一行星架，第二行星齿轮组包括第二太阳轮和若干第二行星轮，第二太阳轮与第一行星架的输出端同轴固定设置，第二行星轮与第二太阳轮啮合传动，第二行星轮的直径大于第二太阳轮的直径，若干第二行星轮连接有第二行星架，第二行星架的输出端为减速机构的输出端。
在部分实施例中，减速机构的输入端与直线传动机构的传动件直接固定连接或间接固定连接或一体设置。
本申请实施例第二方面还提供一种手术机器人，包括：如上述手术操作臂；器械驱动 件，固定连接于手术操作臂的移动块上；手术器械，与器械驱动件连接；以及手术连接臂，与手术操作臂远离器械驱动件的一端活动连接。
在部分实施例中，手术连接臂为多个，多个手术连接臂依次活动连接，其中，手术操作臂远离器械驱动件的一端与位于端部的手术连接臂活动连接。
本申请实施例提供的手术操作臂和手术机器人，通过直线驱动机构驱动传动件转动并带动配合件沿传动件的轴向发生直线位移，从而使连接于配合件上的移动块也随之发生位移，同时，通过减速机构的输入端与传动件相对固定设置，并通过第一检测组件检测减速机构的输出端的转动速度和/或角度和/或位置，使移动块在直线导向件上的直线位置与减速机构的输出端上的转动位置一一对应，从而通过以减速机构的输出端上的转动角度或位置作为直线驱动机构驱动传动件转动的参照，实现对移动块的位置的精准调节，在此过程中，将检测组件设置在手术操作臂的非直线传动的区域，节省手术操作臂直线移动的部分的空间，无需在在手术操作臂的直线传动的区域设置检测器件，在一定程度上降低手术操作臂的体积，以防止手术机器人中的多个手术操作臂之间的互相干涉，同时保证了对手术器械的控制精度，提高通过手术机器人进行手术的安全性。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单的介绍，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1示出了本申请一些实施例提供的手术操作臂的结构示意图；
图2示出了本申请一些实施例提供的手术操作臂的部分结构示意图；
图3示出了本申请另一些实施例提供的手术操作臂的减速机构的结构示意图；
图4示出了本申请又一些实施例提供的手术操作臂的减速机构的局部放大图；
图5示出了本申请一些实施例提供的手术操作臂的局部剖视图；
图6示出了本申请一些实施例提供的手术操作臂另一视角的结构示意图；
图7示出了本申请一些实施例提供的手术机器人的局部结构示意图。
具体实施方式
下面将详细描述本申请的各个方面的特征和示例性实施例，为了使本申请的目的、技 术方案及优点更加清楚明白，以下结合附图及具体实施例，对本申请进行进一步详细描述。应理解，此处所描述的具体实施例仅被配置为解释本申请，并不被配置为限定本申请。对于本领域技术人员来说，本申请可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本申请的示例来提供对本申请更好的理解。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
图1示出了本申请实施例提供的手术操作臂的结构示意图。
如图1所示，本申请实施例第一方面提供一种手术操作臂10，包括直线驱动机构100、直线传动机构200、直线移动机构300、减速机构400和第一检测组件500，直线驱动机构100具有旋转的输出端；直线传动机构200包括可旋转的传动件210及与传动件210螺纹连接的配合件220，传动件210可绕自身旋转，传动件210与直线驱动机构100的输出端连接，传动件210受直线驱动机构100的驱动做旋转运动；直线移动机构300包括移动块310和直线导向件320，移动块310与直线传动机构200的配合件220固定连接，移动块310在直线导向件320上移动；减速机构400具有输入端和输出端，减速机构400的输入端与直线传动机构200的传动件210相对固定设置，传动件210转动并带动减速机构400的输入端运动；第一检测组件500设置于减速机构400的输出端，检测减速机构400的输出端的转动速度和/或角度和/或位置。
直线驱动机构100可以为有刷电机或无刷电机，也可以为其他的伺服电机等任何可以驱动直线传动机构200的传动件210转动的设备，当然，该直线驱动机构100也可以为手动模式的驱动机构，即，通过人为控制直线传动机构200的传动件210转动的方式也在本申请的保护范围内。对应的，当直线驱动机构100为电机时，直线驱动机构100的输出端可以为电机的输出轴或者转子。
直线传动机构200的传动件210可以为丝杆，也可以为螺杆，或者，直线传动机构200的传动件210还可以为蜗杆或者其他任何可以与传动件210螺纹连接的结构。
可以理解的是，直线移动机构300中的移动块310和直线导向件320可以为滑块和滑 轨的组合结构，也可以为移动块310和导杆的组合结构，当然，其他任何可用于直线移动导向的结构也在本申请的保护范围内。
减速机构400可以为蜗轮蜗杆减速结构，也可以为齿轮减速、行星齿轮减速等结构，减速机构400还可以为其他的齿轮与齿条啮合的结构、蜗杆与齿条啮合的结构等，减速机构400可以为一级减速机构，也可以为二级或者多级减速机构。可以理解的是，减速机构400中，通过对输出端的转动速度和/或角度和/或位置进行检测，并结合输入端和输出端的传动比，可以计算或匹配得到对应的输入端的转动速度和/或角度和/或位置。
可以理解的是，在本申请实施例中，在对移动块310的位置进行调节的过程中，以减速机构400的输出端为参照，通过第一检测组件500对减速机构400的输出端的转动速度和/或角度和/或位置进行检测，从而可以通过减速机构400的传动比，计算得到对应的减速机构400的输入端的转动速度和/或角度和/或位置，该对应的减速机构400的输入端的转动速度和/或角度和/或位置即为传动件210的转动速度和/或角度和/或位置，从而通过传动件210的转动速度和/或角度和/或位置计算得到移动块310对应的目标直线位置，从而使减速机构400的输出端的转动位置与移动块310在直线导向件320上的直线位置一一对应，从而在将移动块310的位置调节至目标直线位置时，只需要以减速机构400的输出端为参照，使该减速机构400的输出端到达与该目标直线位置相对应的转动位置，即可实现对移动块310的位置的精准调节。
在本申请实施例提供的手术操作臂10中，通过直线驱动机构100驱动传动件210转动并带动配合件220沿传动件210的轴向发生直线位移，从而使连接于配合件220上的移动块310也随之发生位移，同时，通过减速机构400的输入端与传动件210相对固定设置，并通过第一检测组件500检测减速机构400的输出端的转动速度和/或角度和/或位置，使移动块310在直线导向件320上的直线位置与减速机构400的输出端上的转动位置一一对应，从而通过以减速机构400的输出端上的转动角度或位置作为直线驱动机构100驱动传动件210转动的参照，实现对移动块310的位置的精准调节，在此过程中，将检测组件设置在手术操作臂10的非直线传动区域，节省手术操作臂10直线移动的部分的空间，无需在手术操作臂10的直线传动的区域设置检测器件，在一定程度上降低手术操作臂10的体积，以防止手术机器人中的多个手术操作臂10之间的互相干涉，同时保证了对手术器械30的控制精度，提高通过手术机器人进行手术的安全性。
在部分实施例中，减速机构400的输入端和输出端的传动比大于1。可以理解的是，根据减速机构400的输入端与输出端的传动比，通过计算，可以得到当移动块310在直线导 向件320上移动预设距离并到达目标直线位置时，减速机构400的输出端转动的角度和/或位置；当减速机构400的输入端与输出端的传动比大于1时，即减速机构400的输出端的转动速度相对于输入端的转动速度而言更加缓慢，和/或，相同时间内，减速机构400的输出端的转动角度相对于输入端的转动角度而言更小，和/或，相同时间内，减速机构400的输出端的转过的位置相对于输入端转过的位置更小，此时，当移动块310在直线导向件320上移动一个完整行程时，相较于传动比小于或等于1而言，传动比大于1时的减速机构400的输出端转过的角度和/或位置更小，从而在以减速机构400的输出端为参照对移动块310的位置进行调节时，移动块310的位置将更加精确。
例如，当减速机构400中的传动比为10，且需要将移动块310的位置调节至预设的目标直线位置时，通过直线驱动机构100驱动传动件210转动，假设传动件210将移动块310移动至目标直线位置时需要转动10转，在此过程中，减速机构400的输出端仅转动1转，因此，如果以减速机构400的输出端为参照，当第一检测组件500检测到减速组件400的输出端转过1转，停止直线驱动机构100，此时移动块310的位置可以准确的到达目标直线位置，从而实现对移动块310的位置的精准调节。
可以理解的是，当减速机构400的输入端与输出端的传动比为10时，相较于传动件210的转过的角度而言，在传动件上移动的配合件移动的行程较大，而减速机构400的输出端的转过的角度更小。
在部分实施例中，减速机构400的输入端与输出端的传动比i满足10≤i≤50。在本实施例中，由于移动块310在传动件210的轴向的行程较长，因此，在以减速机构400的输出端的转动角度和/位置为参照对移动块310的直线位置进行调节时，可以通过设置减速机构400的传动比满足10≤i≤50，从而在使减速机构400的输出端的转动角度和/或位置与移动块310的每一个直线位置一一对应的同时，可以在一定程度上缩小减速机构400在整个手术操作臂10的占比。
作为另一个具体的实施例，在实际的应用中，根据实际情况，减速机构400的输入端和输出端的传动比也可以小于10或者大于50。
在部分实施例中，移动块310在直线移动机构300移动一个完整的行程，减速机构400的输出端旋转角度小于360°。在本实施例中，当移动块310在直线导向件320上移动一个完整的行程，减速机构400的输出端的旋转角度小于360°时，移动块310在直线导向件320上的每一个直线位置均在减速机构400的输出端上存在与之对应的转动位置，也就是说，当需要将移动块310调节到直线导向件320的某一个目标直线位置处时，仅需通过直线驱动 机构100驱动传动件210转动，使减速机构400的输出端转动至与该目标直线位置对应的转动位置处，即可实现对移动块310的位置调节，而无需多次对移动块310的位置进行计算，从而简化了对移动块310的位置调节的过程。
图2为本申请一些实施例提供的手术操作臂的部分结构示意图。
如图2所示，在部分实施例中，第一检测组件500设置为绝对式编码器，绝对式编码器包括绝对式编码器的编码器定部510与绝对式编码器的编码器动部520，编码器动部固定设置于减速机构400的输出端，编码器定部检测编码器动部的转动速度和/或角度和/或位置。
可以理解的是，绝对式编码器具有位置绝对唯一、抗干扰以及无需掉电记忆等特点，在一些实施例中，绝对式编码器的码盘上具有多道刻线，每道刻线对应减速机构400的输出端的一个转动位置，因此，在通过绝对式编码器对减速机构400的输出端进行检测时，仅需在初次检测时通过传动比计算，使减速机构400上的转动位置与移动块310在直线导向件320上的直线位置一一对应，此时，绝对式编码器的码盘上的刻线与移动块310在直线导向件320上的直线位置也一一对应，因此在后续对移动块310的位置调节过程中，只需要通过编码器定部检测位于减速机构400的输出端上的编码器动部，在其转动至与码盘上的某一刻线对应时，使直线驱动机构100停止驱动，即可将移动块310移动至与该刻线对应的目标直线位置，而无需多次对移动块310的位置进行计算，从而节省了对移动块的位置计算的时间，简化了对移动块310的位置调节的过程。
并且，通过将第一检测组件500设置为绝对式编码器，在直线驱动机构100断电后并再次进行开机时，该绝对式编码器可以直接读取到移动块310在直线导向件320上的精确位置，从而在对移动块310的位置进行调节前无需对移动块310的位置进行检测，简化了移动块310的位置调节的过程，提高了调节效率。
在部分实施例中，移动块310在直线移动机构300移动一个完整的行程，减速机构400的输出端的旋转角度大于360°。在本实施例中，由于当移动块310在直线移动机构300移动一个完整的行程，减速机构400的输出端的旋转角度大于360°，此时减速机构400的输出端的转动位置与移动块310在直线导向件320上的直线位置并非一一对应的关系，因此，在每一次对移动块310的位置进行调节的过程中，均需要通过第一检测组件500检测减速机构400的输出端的转动速度和/或角度和/或位置，并通过计算得到移动块310的直线位置，通过上述方式，可以减小移动块310被移动至目标直线位置以外的其他直线位置的可能性，减小移动块310的位置错误的几率。
请继续参照图2，在部分实施例中，第一检测组件500设置为增量式编码器，增量式 编码器包括增量式编码器的编码器定部和增量式编码器的编码器动部，增量式编码器的编码器动部固定设置于减速机构400的输出端，增量式编码器的编码器定部检测增量式编码器的编码器动部的转动速度和/或角度和/或位置。
可以理解的是，增量式编码器是指将角位移或者线性位移转换为周期性的电信号，并将电信号转换为脉冲进行输出的编码器，由于增量式编码器可以实现多圈无限累加和测量，因此当移动块310在直线移动机构300移动一个完整的行程时，无论减速机构400的输出端的旋转角度为多大，都可以实现对减速机构400的输出端的转动速度和/或角度和/或位置的检测，从而实现对移动块310的位置的调控，但是由于增量式编码器不具有断电记忆功能，因此，在每一次对减速机构400的输出端进行检测后均需要归零校准，也就是说，在每次需要对移动块310的位置进行调节时，均需要通过该增量式编码器对减速机构400的输出端的转动速度和/或角度和/或位置进行检测，并通过计算得到该移动块310的直线位置，从而可以减小移动块310被移动至目标直线位置以外的其他直线位置的可能性，减小移动块310的位置错误的几率。
在一些实施例中，可以通过增量式编码器的编码器定部检测检测增量式编码器的编码器动部的转动速度和/或角度和/或位置，从而通过减速机构400的传动比，计算得到减速机构400的输入端也即传动件210的转动速度和/或角度和/或位置，并最终通过计算得到移动块310的目标直线位置。
可以理解的是，无论是上述的绝对式编码器的编码器定部还是增量式编码器的编码器定部，均可以采用编码器传感器，当然，也可以采用其他的红外传感器、超声波传感器等用于位置检测和/或速度检测和/角度检测的设备；无论是上述的绝对式编码器的编码器动部还是增量式编码器的编码器动部，均可以采用光栅或者磁铁，或者其他可以被对应的编码器定部检测到的元件，也就是说，无论是绝对式编码器还是增量式编码器，均可以采用磁式编码器或者光栅编码器中的任意一种。
请继续参照图2，在部分实施例中，手术操作臂10还包括有第二检测组件600，第二检测组件600检测直线驱动机构100的输出端的转动速度和/或角度。通过第二检测组件600可以对直线驱动机构100的输出端的转动速度和/或角度进行检测，从而配合第一检测组件500所检测到的减速机构400的输出端的转动速度和/或角度，计算得到减速机构400的精确传动比，从而在对移动块310的直线位置进行调节时，通过该精确传动比对移动块310的目标直线位置进行精确的计算，保证移动块310的位置调节的精确性。
在部分实施例中，第二检测组件600可以为编码器，也可以为其他任何可以检测旋转 速度和/或角度的检测组件，例如，第二检测组件600可以为磁式编码器或者光栅编码器，第二检测组件600可以为绝对式编码器或者增量式编码器，当然，第二检测组件600还可以为其他型号的编码器。
在一些实施例中，以第二检测组件600为编码器为例，第二检测组件600可以包括编码器定部(图未标识)和编码器动部(图未示出)，其中，编码器动部与传动件210固定连接，或者编码器动部与减速机构400的输入端固定连接，或者编码器动部与直线驱动机构100的输出端固定连接，编码器定部检测编码器动部的转动速度和/或角度，从而配合第一检测组件500所检测到的减速机构400的输出端的转动速度和/或角度，计算得到减速机构400的精确传动比，从而在对移动块310的直线位置进行调节时，通过该精确传动比对移动块310的目标直线位置进行精确的计算，保证移动块310的位置调节的精确性，保证移动块310的位置调节的精确性。
请继续参照图2，在部分实施例中，减速机构400包括蜗轮410和蜗杆420，蜗杆420与传动件210相对固定设置，蜗杆420与蜗轮410啮合，蜗轮410为减速机构400的输出端，第一检测组件500检测蜗轮410的转动速度和/或角度和/或位置。在一些实施例中，通过蜗杆420与传动件210相对固定设置，使直线驱动机构100驱动传动件210转动的过程中，蜗杆420随传动件210发生转动，并由于蜗轮410与蜗杆420的相互啮合，从而带动蜗轮410发生转动，在对移动块310的位置进行调节的过程中，以蜗轮410为参照，通过直线驱动机构100驱动传动件210转动，使蜗轮410转动至与移动块310的目标直线位置对应的位置，从而实现对移动块310的位置的精确控制。
在部分实施例中，减速机构400包括至少两组齿轮组。可以理解的是，减速机构400可以包括两组及两组以上的齿轮组，例如，减速组件400可以包括一级减速齿轮组和二级减速齿轮组，也可以包括一级减速齿轮组、二级减速齿轮组和三级减速齿轮组，具体的齿轮组数量和级数可以根据实际情况确定。在本实施例中，通过减速机构400中的至少两组齿轮组，进一步提高减速机构400的输入端和输出端之间的传动比，从而在以减速机构400的输出端为参照对移动块310的位置进行调节的过程中，可以更加精确的控制移动块310的位置。
图3为本申请另一些实施例提供的手术操作臂的减速机构的结构示意图。
如图3所示，在部分实施例中，减速机构400包括第一级齿轮组430和第二级齿轮组440，第一级齿轮组430包括第一齿轮431和第二齿轮432，第一齿轮431与直线传动机构200的传动件210同轴固定设置，第二齿轮432与第一齿轮431啮合，第二齿轮432的直径大于第一齿轮431的直径，第二级齿轮组440包括第三齿轮441和第四齿轮442，第三齿轮441 与第二齿轮432同轴固定设置，第三齿轮441的直径小于第二齿轮432的直径，第四齿轮442与第三齿轮441啮合，第四齿轮442的直径大于第三齿轮441，第四齿轮442为减速机构400的输出端。
在本实施例中，通过第一齿轮431与第二齿轮432啮合，且第三齿轮441与第二齿轮432同轴设置，第三齿轮441与第四齿轮442啮合，从而在直线驱动机构100驱动传动件210转动时，第一齿轮431随传动件210转动，并带动第二齿轮432转动，由于第三齿轮441与第二齿轮432同轴，从而使第三齿轮441随之转动并带动第四齿轮442转动，从而通过检测第四齿轮442的转动速度和/或角度和/或位置，并通过互相啮合的齿轮之间的传动比计算，得到移动块310的目标直线位置，在此过程中，由于第二齿轮432的直径大于第一齿轮431的直径，第三齿轮441的直径小于第二齿轮432的直径，且第四齿轮442的直径大于第三齿轮441的直径，从而使减速机构400中的第一级齿轮组430和第二级齿轮组440中的传动比均大于1，从而进一步提高移动块310的位置调节的精确性。
在部分实施例中，减速机构400包括至少两组行星齿轮组。可以理解的是，在本实施例中，通过减速机构400中的两组行星齿轮组，进一步提高减速机构400的输入端和输出端之间的传动比，从而在以减速机构400的输出端为参照对移动块310的位置进行调节的过程中，可以更加精确的控制移动块310的位置。
图4为本申请又一些实施例提供的手术操作臂的减速机构的局部放大图。
如图4所示，在部分实施例中，减速机构400包括第一行星齿轮组450和第二行星齿轮组460，第一行星齿轮组450包括第一太阳轮451和若干第一行星轮452，第一太阳轮451与直线传动机构200的传动件210同轴固定设置，第一行星轮452与第一太阳轮451啮合传动，第一行星轮452的直径大于第一太阳轮451的直径，若干第一行星轮452连接有第一行星架453，第二行星齿轮组460包括第二太阳轮461和若干第二行星轮462，第二太阳轮461与第一行星架453的输出端同轴固定设置，第二行星轮462与第二太阳轮461啮合传动，第二行星轮462的直径大于第二太阳轮461的直径，若干第二行星轮462连接有第二行星架463，第二行星架463的输出端为减速机构400的输出端。
在一些实施例中，在本实施例中，通过第一太阳轮451与传动件210同轴设置，且第一太阳轮451与第一行星轮452啮合，从而在直线驱动机构100驱动传动件210转动时，第一太阳轮451将带动第一行星轮452转动；并且，由于若干第一行星轮452连接有第一行星架453，第二太阳轮461与第一行星架453的输出端同轴固定，从而在第一行星轮452转动的过程中，第一行星架453将带动第二太阳轮461转动；并且，由于第二太阳轮461与第二 行星轮462啮合，且若干第二行星轮462连接有第二行星架463，从而使第二行星轮462和第二行星架463在第二太阳轮461的带动下转动，从而通过检测第二行星架463的输出轴的转动速度和/或角度和/或位置，实现对移动块310的位置调节；并且，由于第一行星轮452的直径大于第一太阳轮451的直径，第二行星轮462的直径大于第二太阳轮461的直径，从而使第一级行星轮组和第二级行星轮组中的传动比均大于1，从而进一步提高移动块310的位置调节的精确性。
在部分实施例中，减速机构400的输入端与直线传动机构200的传动件210直接固定连接或间接固定连接或一体设置。
可以理解的是，减速机构400的输入端与直线传动机构200的传动件210的间接固定连接是指减速机构400的输入端与传动件210通过联轴器固定；减速机构400的输入端与传动件210直接固定连接是指减速机构400的输入端与传动件210直接刚性连接，两者过盈配合，且无需采取其他的连接结构将二者进行固定，从而可以减小减速机构400的输入端与传动件210的传动误差，提高传动精度；减速机构400的输入端与传动件210一体设置是指减速机构400的输入端以传动件210的至少部分为输入端，从而在最大程度上实现减速机构400的输入端与传动件210的同步转动，减小减速机构400的输入端与传动件210的传动误差，提高传动精度。
在本实施例中，将减速机构400的输入端与直线传动机构200的传动件210直接固定连接或间接固定连接或一体设置，可以实现减速机构400与传动件210的同步转动，并且可以使手术操作臂10的结构更加紧凑，从而减小转动过程中的传动误差，提高传动精度。
请再次参照图1，在部分实施例中，手术操作臂10还包括制动组件700，制动组件700与传动件210固定，制动组件700用于使传动件210停止或保持停止状态。具体的，该制动组件700可以为各类制动器，例如电磁制动器、和磁粉制动器等等，当然，该制动组件700也可以为其他可以使第一转轴120停止或者保持停止状态的仪器，例如，刹车、止动阀等。
在本实施例中，通过在传动件210上固定设置制动组件700，使移动块310在到达目标直线位置时，通过制动组件700使传动件210及时停止转动，防止传动件210由于惯性而影响移动块310的位置精度，同时，通过该制动组件700还可以在移动块310移动至目标直线位置后使传动件210保持停止状态，从而保证移动块310的位置不会由于重力或者惯性等外界因素而发生改变。
图5示出了本申请一些实施例提供的手术操作臂的局部剖视图，图6示出了本申请一 些实施例提供的手术操作臂另一视角的结构示意图。
如图5和图6所示，在部分实施例中，手术操作臂10还包括具有容纳腔810的臂本体800，臂本体800上开设有连通容纳腔810和臂本体800外部的开口820，直线驱动机构100、减速机构400和第一检测组件500容纳于容纳腔810中，直线移动件通过开口820部分凸伸至臂本体800的外部，以与器械驱动件20连接。
图7为本申请一些实施例提供的手术机器人的局部结构示意图。
如图7所示，本申请实施例第二方面还提供一种手术机器人，包括：如上述手术操作臂10；器械驱动件20，固定连接于手术操作臂10的移动块310上；手术器械30，与器械驱动件20连接；以及手术连接臂40，与手术操作臂10远离器械驱动件20的一端活动连接。
在本申请实施例提供的手术机器人中，手术操作臂10与器械驱动件20连接，从而在一定程度上提高器械驱动件20在传动件210的轴向上的位移精度，保证器械驱动件20在驱动手术器械30进行手术时的稳定性和安全性，并且，由于手术操作臂10远离器械驱动件20的一端与手术连接臂40连接，从而使手术操作臂10可以通过手术连接臂40获得其他方向上的自由度，从而使器械驱动件20在驱动手术器械30进行手术的过程中可以更加灵活的进行操作。
请继续参照图7，为了使器械驱动器在手术操作臂10的控制下更加灵活，在部分实施例中，手术连接臂40为多个，多个手术连接臂40依次活动连接，其中，手术操作臂10远离器械驱动件20的一端与位于端部的手术连接臂40活动连接。可以理解的是，通过多个手术连接臂40依次活动连接，且手术操作臂10远离器械驱动件20的一端与位于端部的手术连接臂40活动连接，从而使该手术操作臂10可以通过多个手术连接臂40沿各个方向活动，从而使器械驱动件20在手术操作臂10的控制下更加灵活，提高该器械驱动件20驱动手术器械30进行手术的可靠性和安全性。
在本申请实施例提供的手术操作臂10中，通过直线驱动机构100驱动传动件210转动并带动配合件220沿传动件210的轴向发生直线位移，从而使连接于配合件220上的移动块310也随之发生位移，同时，通过减速机构400的输入端与传动件210相对固定设置，并通过第一检测组件500检测减速机构400的输出端的转动速度和/或角度和/或位置，使移动块310在直线导向件320上的直线位置与减速机构400的输出端上的转动位置一一对应，从而在对移动块310的位置进行调节的过程中，以减速机构400的输出端上的位置作为直线驱动机构100驱动传动件210转动的参照，实现对移动块310的位置的精准调节，从而保证手术器械30的操作精度，提高通过手术机器人进行手术的安全性。
以上所述，仅为本申请的具体实施方式，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的系统、模块和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。应理解，本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。

Claims (15)

  1. 一种手术操作臂，包括：
    直线驱动机构，具有旋转的输出端；
    直线传动机构，包括可旋转的传动件及与所述传动件螺纹连接的配合件，所述传动件可绕自身旋转，所述传动件与所述直线驱动机构的输出端连接，所述传动件受所述直线驱动机构的驱动做旋转运动；
    直线移动机构，包括移动块和直线导向件，所述移动块与所述直线传动机构的配合件固定连接，所述移动块在所述直线导向件上移动；
    减速机构，具有输入端和输出端，所述减速机构的输入端与所述直线传动机构的所述传动件相对固定设置，所述传动件转动并带动所述减速机构的输入端运动；
    第一检测组件，设置于所述减速机构的输出端，所述第一检测组件用于检测所述减速机构的输出端的转动速度和/或角度和/或位置。
  2. 根据权利要求1所述的手术操作臂，其中，所述减速机构的输入端和所述减速机构的输出端的传动比大于1。
  3. 根据权利要求2所述的手术操作臂，其中，所述减速机构的输入端与输出端的传动比i满足：10≤i≤50。
  4. 根据权利要求1至3中任一项所述的手术操作臂，其中，所述移动块在所述直线移动机构移动一个完整的行程，所述减速机构的输出端旋转角度小于360°。
  5. 根据权利要求4所述的手术操作臂，其中，所述第一检测组件设置为绝对式编码器，所述绝对式编码器包括绝对式编码器的编码器定部与绝对式编码器的编码器动部，所述编码器动部固定设置于所述减速机构的输出端，所述编码器定部检测所述编码器动部的转动速度和/或角度和/或位置。
  6. 根据权利要求1至3中任一项所述的手术操作臂，其中，所述移动块在所述直线移动机构移动一个完整的行程，所述减速机构的输出端的旋转角度大于360°。
  7. 根据权利要求6所述的手术操作臂，其中，所述第一检测组件设置为增量式编码器，所述增量式编码器包括增量式编码器的编码器定部和增量式编码器的编码器动部，所述增量式编码器的编码器动部固定设置于所述减速机构的输出端，所述增量式编码器的编码器定部检测所述增量式编码器的编码器动部的转动速度和/或角度和/或位置。
  8. 根据权利要求7所述的手术操作臂，其中，所述手术操作臂还包括有第二检测组件，所述第二检测组件检测所述直线驱动机构的输出端的转动速度和/或角度。
  9. 根据权利要求1-8中任一所述的手术操作臂，其中，所述减速机构包括蜗轮和蜗杆，所述蜗杆与所述传动件相对固定设置，所述蜗杆与所述蜗轮啮合，所述蜗轮为所述减速机构的输出端，所述第一检测组件检测所述蜗轮的转动速度和/或角度和/或位置。
  10. 根据权利要求1-8任一所述的手术操作臂，其中，所述减速机构包括至少两组齿轮组。
  11. 根据权利要求10所述的手术操作臂，其中，所述减速机构包括第一级齿轮组和第二级齿轮组，所述第一级齿轮组包括第一齿轮和第二齿轮，所述第一齿轮与所述直线传动机构的传动件同轴固定设置，所述第二齿轮与所述第一齿轮啮合，所述第二齿轮的直径大于所述第一齿轮的直径，所述第二级齿轮组包括第三齿轮和第四齿轮，所述第三齿轮与所述第二齿轮同轴固定设置，所述第三齿轮的直径小于所述第二齿轮的直径，所述第四齿轮与所述第三齿轮啮合，所述第四齿轮的直径大于第三齿轮的直径，所述第四齿轮为所述减速机构的输出端。
  12. 根据权利要求1-8中任一项所述的手术操作臂，其中，所述减速机构包括至少两组行星齿轮组。
  13. 根据权利要求12所述的手术操作臂，其中，所述减速机构包括第一行星齿轮组和第二行星齿轮组，所述第一行星齿轮组包括第一太阳轮和若干第一行星轮，所述第一太阳轮与所述直线传动机构的传动件同轴固定设置，所述第一行星轮与所述第一太阳轮啮合传动，所述第一行星轮的直径大于所述第一太阳轮的直径，若干所述第一行星轮连接有第一行星架，所述第二行星齿轮组包括第二太阳轮和若干第二行星轮，所述第二太阳轮与所述第一行星架的输出端同轴固定设置，所述第二行星轮与所述第二太阳轮啮合传动，所述第二行星轮的直径大于所述第二太阳轮的直径，若干所述第二行星轮连接有第二行星架，所述第二行星架的输出端为所述减速机构的输出端。
  14. 根据权利要求1-8中任一所述的手术操作臂，其中，所述减速机构的输入端与所述直线传动机构的所述传动件直接固定连接或间接固定连接或一体设置。
  15. 一种手术机器人，其中，包括：
    如权利要求1-14任意一项所述的手术操作臂；
    器械驱动件，固定连接于所述手术操作臂的所述移动块上；
    手术器械，与所述器械驱动件连接；以及
    手术连接臂，与所述手术操作臂远离所述器械驱动件的一端活动连接。
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