CN111557737A

CN111557737A - Mechanical arm system suitable for ureter lithotripsy soft lens operation

Info

Publication number: CN111557737A
Application number: CN202010248216.5A
Authority: CN
Inventors: 徐靖中; 庞茂; 施晨阳
Original assignee: Hangzhou Fibo Laser High Tech Co ltd
Current assignee: Hangzhou Fibo Laser High Tech Co ltd
Priority date: 2020-01-14
Filing date: 2020-04-01
Publication date: 2020-08-21

Abstract

The application discloses arm system suitable for ureter rubble soft mirror operation includes: the device comprises an operating arm, a first dimension driving device, a second dimension driving device and a pivoting driving device; wherein the first dimension driving means comprises: a first drive motor; the first displacement device comprises a first lead screw and a first nut, and the first lead screw nut can relatively rotate around a first displacement axis; and the first detection device is used for converting the rotation of the first lead screw or the displacement of the first nut into an electric signal and outputting the electric signal. The mechanical arm system has the advantages that the mechanical arm system is suitable for ureter lithotripsy soft lens operation, and resistance received by the driving device can be converted into detectable electric signals.

Description

Mechanical arm system suitable for ureter lithotripsy soft lens operation

Technical Field

The application relates to an operation auxiliary system, in particular to a mechanical arm system suitable for ureter lithotripsy soft lens operation.

Background

Upper urinary tract stones are one of the most frequent diseases of the urinary system, and account for about 40 percent of urinary surgery. Percutaneous nephrolithotripsy (PCNL), characterized by its minimal invasion and high stone clearance, has long been recognized as the gold standard for treating large, multiple or following stones. However, given the complexity of the renal anatomy and stones causing renal pathology, as well as the variability of adjacent organs, PCNL remains unpredictable, with the most critical and difficult being accurate puncture location, and the resulting complications being bleeding and infection. Statistically, the bleeding probability in and after the PCNL operation is about 13.7%, the pleural injury is about 4.5-16%, and the injury of the adjacent organs around is about 0.4%. In addition, multiple passes and multiple stages of lithotripsy therapy are often required for complex stones, further increasing the risk of surgical bleeding and infection.

Ureteroscope (FURS) has developed rapidly in the last decade, and it has become a new generation of treatment for replacing Extracorporeal Shock Wave Lithotripsy (ESWL) and percutaneous nephrolithotomy (PCNL) in the treatment of upper urinary tract stones in combination with holmium laser. FURS is a non-invasive technique that operates through the body's natural pathways, thereby avoiding the risk of PCNL kidney bleeding and infection, and is safer. The soft structure design of the lens body enables the soft lens to reach the whole upper urinary tract renal pelvis renal calyx system, greatly improves the diagnosis and treatment range and reduces the damage to the tissues of the urethra, the ureter and the like of a human body. However, FURS is operationally challenging, mainly manifested by the difficulty in controlling the complexity of the upper urinary tract collecting system and the long learning curve; the used ureter soft lens is expensive, the lens body is easy to damage, and the medical cost is high; the operation of the ureter soft lens cannot be independently finished by one person, and a plurality of assistants are needed to assist in completing perfusion, placing optical fibers, sleeving a stone basket and the like, so that the coordination is poor; the operation posture does not accord with the principle of human engineering, the operation fatigue of operators is high, and the stability and the operation quality are influenced; when the X-ray positioning is needed in the operation, the accumulated radiation injury is caused to the operator; these factors limit their further spread.

On the other hand, the robot-assisted treatment technique plays an important role in the field of laparoscopic treatment in urology surgery. The da vinci surgical robot has been widely used in the surgical fields of gynecology, urology surgery, general surgery, etc. since 2001, the da vinci surgical robot is approved by the U.S. FDA for clinical use. Surgical robots have been used in recent years to address the challenges of fuss in clinical procedures, as surgical robots have significant advantages in improving the ergonomics of minimally invasive/non-invasive surgery.

The mechanical arm auxiliary system of the existing ureter soft lens operation cannot ensure the operation safety because the operation condition cannot be monitored.

Disclosure of Invention

A robotic arm system suitable for use in ureteral lithotripsy procedures, comprising:

the operation arm is used for loading or/and operating a soft lens device;

the first dimension driving device is used for driving the operating arm to move along a first direction;

the second-dimension driving device is used for driving the operating arm to move along a second direction different from the first direction;

the pivoting driving device is used for driving the rotating operation arm to rotate around the first pivot axis;

wherein the first dimension driving means comprises:

a first drive motor including at least a first rotor rotating about a first motor axis;

the first displacement device comprises a first lead screw and a first nut, and the first lead screw nut can relatively rotate around a first displacement axis;

the first transmission device is used for realizing transmission between the first driving motor and the first displacement device so that the first driving motor drives the first lead screw to rotate around the first displacement axis;

and the first detection device is used for converting the rotation of the first lead screw or the displacement of the first nut into an electric signal and outputting the electric signal.

Further, the second dimension driving means includes:

a second drive motor including at least a second rotor rotating about a second motor axis;

the second displacement device comprises a second lead screw and a second nut, and the second lead screw nut can rotate around a second displacement axis relatively;

the second transmission device is used for realizing transmission between the second driving motor and the second displacement device so that the second driving motor drives the second lead screw to rotate around the second displacement axis;

and the second detection device is used for converting the rotation of the second lead screw or the displacement of the second nut into an electric signal and outputting the electric signal.

Further, the third-dimensional driving device includes:

a third drive motor including at least a third rotor rotating about a third motor axis;

the third displacement device comprises a third lead screw and a third nut, and the third lead screw nut can rotate relatively around a third displacement axis;

the third transmission device is used for realizing transmission between the third driving motor and the third displacement device so that the third driving motor drives the third lead screw to rotate around a third displacement axis;

and the third detection device is used for converting the rotation of the third lead screw or the displacement of the third nut into an electric signal and outputting the electric signal.

Further, the pivot driving means includes:

a pivoting drive motor including a pivoting rotor that rotates about a second pivot axis;

and the pivoting detection device is used for converting the rotation of the operating arm into an electric signal and outputting the electric signal.

Further, the first detection device includes:

the first input shaft can be driven by the first lead screw to rotate;

and the first conversion device can convert the rotation of the first input shaft into an electric signal through a magnetic field.

Further, the second detection means includes:

the second input shaft can be driven by the second lead screw to rotate;

and the second conversion device can convert the rotation of the second input shaft into an electric signal through a magnetic field.

Further, the third detection means includes:

the third input shaft can be driven by the third lead screw to rotate;

and the third conversion device can convert the rotation of the third input shaft into an electric signal through a magnetic field.

Further, the pivot detecting device includes:

the pivot input shaft can be driven by the pivot lead screw to rotate;

and the pivoting conversion device can convert the rotation of the pivoting input shaft into an electric signal through a magnetic field.

Further, a mechanical arm system suitable for ureter lithotripsy operation comprises:

and the controller is electrically connected with the first detection device, the second detection device and the pivoting detection device to receive the electric signals output by the first detection device, the second detection device and the pivoting detection device.

Furthermore, the controller is electrically connected with the first driving motor, the second driving motor and the pivoting driving motor to control the first driving motor, the second driving motor and the pivoting driving motor according to the electric signals output by the first detection device, the second detection device and the pivoting detection device.

The application has the advantages that:

provides a mechanical arm system which can convert resistance received by a driving device into a detectable electric signal and is suitable for ureter lithotripsy soft lens operation.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it.

In the drawings:

FIG. 1 is a schematic view of an auxiliary device according to an embodiment of the present application from a first perspective;

FIG. 2 is a schematic diagram illustrating a second perspective view of the auxiliary device shown in FIG. 1;

FIG. 3 is a schematic diagram illustrating a third perspective view of the auxiliary device shown in FIG. 1;

FIG. 4 is a schematic view of the auxiliary device shown in FIG. 1 from a first perspective after removal of the housing;

FIG. 5 is a schematic view of the auxiliary device shown in FIG. 1 from a second perspective with the outer casing removed;

FIG. 6 is a schematic view of the auxiliary device shown in FIG. 1 from a third perspective after the housing has been removed;

FIG. 7 is a schematic view of the auxiliary device shown in FIG. 1 from a fourth perspective after the housing has been removed;

FIG. 8 is a schematic diagram of a first view of a driving portion of the auxiliary device shown in FIG. 1;

FIG. 9 is a schematic diagram of a second view of a driving portion of the auxiliary device shown in FIG. 1;

FIG. 10 is a schematic diagram of a third view of a driving portion of the auxiliary device shown in FIG. 1;

FIG. 11 is a schematic diagram of a fourth view of the driving portion of the auxiliary device shown in FIG. 1;

FIG. 12 is a sectional view of a driving part of the auxiliary device shown in FIG. 1;

FIG. 13 is an exploded view of the arm and its appendages of the auxiliary device of FIG. 1;

FIG. 14 is a schematic view of a portion of the structure of FIG. 13;

FIG. 15 is a schematic view from another perspective of the structure shown in FIG. 14;

FIG. 16 is a schematic view of a soft lens surgical system of the present application;

FIG. 17 is a schematic view of one embodiment of a drive arrangement of the present application;

FIG. 18 is a schematic view of a soft lens apparatus according to the present application;

FIG. 19 is a cross-sectional view of the front end of the soft lens shown in FIG. 18;

FIG. 20 is a schematic structural view of the end member of FIG. 19;

FIG. 21 is a cross-sectional side view of the end member of FIG. 20;

FIG. 22 is a schematic view of a portion of the soft lens apparatus shown in FIG. 18;

FIG. 23 is a schematic view of a pressure optical fiber structure;

FIG. 24 is a schematic cross-sectional view of the embodiment of FIG. 18;

FIG. 25 is a schematic diagram of a feedback device according to an embodiment of the present application;

fig. 26 is a schematic structural diagram of a feedback device according to another embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 to 15, as a specific example of the present application, the assisting apparatus 10 of the present application includes a first dimension driving apparatus 100, a second dimension driving apparatus 200, a pivoting driving apparatus 300, and an operation arm 400. The manipulator arm 400 is used to carry and/or manipulate a soft lens device, which may be either a conventional soft lens device or a soft lens device as provided herein.

The manipulator arm 400 may hold a soft lens device so that the manipulator arm 400 can manipulate the soft lens device. The operations referred to herein include moving the soft lens device to a position, changing a posture, changing a state.

The manipulator arm 400 is primarily intended to act in place of the surgeon's arm and hand to manipulate the soft lens device. For example, the soft lens device is driven to change the position or the posture to be suitable for the operation, and for example, the toggle button and other operable parts of the soft lens device are operated to realize the function of the soft lens device in the operation.

The driving system of the auxiliary device 10 for driving the operation arm 400 includes: a first dimension driving device 100, a second dimension driving device 200, and a pivoting driving device 300.

The first dimension driving device 100 is configured to drive the operation arm 400 to move along the first direction D1. The first dimension driving means 100 mainly realizes driving of the operation arm 400 substantially in the front-rear direction.

As a specific solution, the first dimension driving device 100 includes a first driving motor 101, a first displacement device 102, and a first transmission device 103. Wherein the first drive motor 101 comprises at least a first rotor (not shown) rotating about a first motor axis a 1; the first displacement device 102 includes a first lead screw 102a and a first nut 102b, and the first lead screw 102a can rotate around a first displacement axis b 1.

The first motor axis a1 of the first rotor is parallel to the first displacement axis b1 of the first displacement device 102, but the first motor axis a1 of the first rotor is different from the first displacement axis b1 of the first displacement device 102, i.e. the first motor axis a1 and the first displacement axis b1 are not coincident (not on the same straight line).

The first lead screw 102a is formed to extend substantially along the first displacement axis b1, a lead screw thread is formed on the surface of the first lead screw 102a, and the first nut 102b is sleeved on the first lead screw 102a, so that the first nut 102b can move along the first displacement axis b1 when the first lead screw 102a rotates around the first displacement axis b 1.

The first lead screw 102a of the first displacement device 102 can be driven by the first driving motor 101 to rotate around the first displacement axis b 1; the first transmission device 103 is used for realizing transmission between the first driving motor 101 and the first displacement device 102; the first drive motor 101 and the first lead screw 102a are positioned such that the first motor axis of rotation is parallel to the first displacement axis b 1. The first drive motor 101 is connected to a first transmission 103, the first displacement device 102 is also connected to the first transmission 103, and the first transmission 103 forms a transmission between the first drive motor 101 and the first transmission 103, so that the first drive motor 101 can drive the first displacement device 102.

The first drive motor 101 and the first displacement device 102 are arranged to at least partially coincide in a projection in the first direction D1.

It should be noted that, when any one straight line parallel to the first direction D1 is spatially rotated as a projection straight line, a line segment obtained by projecting the selected object onto the projection straight line is defined as a projection onto the first direction D1, and when there are a plurality of selected objects to be projected, they need to be projected onto the same projection straight line.

Preferably, a ratio of a length of the first driving motor 101 coinciding with the projection of the first displacement device 102 in the first direction D1 to a length of the projection of the first driving motor 101 in the first direction D1 is in a range of 0.75 to 0.98.

As a further scheme, the motor shaft of the first driving motor 101 and the projection of the first lead screw 102a of the first displacement device 102 in the first direction D1 are at least partially overlapped, and the ratio of the length of the overlap of the motor shaft of the first driving motor 101 and the projection of the first lead screw 102a of the first displacement device 102 in the first direction D1 to the projection length of the motor shaft of the first driving motor 101 in the first direction D1 is in the range of 0.75 to 0.98.

Because the first dimension driving device 100 is the most important operation, it is necessary to have a high overlapping ratio to ensure smooth operation.

The first driving motor 101 is located on a side of the first lead screw 102a away from the operation arm 400, and the first transmission device 103 is also located on a side of the first lead screw 102a away from the operation arm 400.

In a specific embodiment, the first driving motor 101 is a stepping motor, which indirectly drives the first displacement device 102 through the first transmission device 103.

As an alternative, the first transmission 103 comprises a gear box in which the transmission speed and direction are switched by meshing gears.

The second dimension driving device 200 is used for driving the operating arm 400 to move along a second direction D2 different from the first direction D1; the second-dimension driving means 200 mainly realizes driving of the operation arm 400 substantially in the vertical direction.

Specifically, the second dimension driving device 200 includes a second driving motor 201, a second displacement device 202, and a second transmission device 203. Wherein the second driving motor 201 comprises at least a second rotor (not shown) rotating around a second motor axis a 2; the second displacement device 202 includes a second lead screw 202a and a second nut (not shown in the drawings, and refer to the embodiment of the first dimension driving device 100), and the second lead screw 202a can rotate around a second displacement axis b 2.

The second motor axis a2 of the second rotor is parallel to the second displacement axis b2 of the second displacement device 202, but the second motor axis a2 of the second rotor is different from the second displacement axis b2 of the second displacement device 202, i.e. the second motor axis a2 and the second displacement axis b2 are not coincident (not on the same straight line).

The second lead screw 202a is formed to extend substantially along the second displacement axis b2, a lead screw thread is formed on the surface of the second lead screw 202a, and a second nut (not shown) is sleeved on the second lead screw 202a, and the second nut (not shown) can move along the second displacement axis b2 when the second lead screw 202a rotates around the second displacement axis b 2.

The second lead screw 202a of the second displacement device 202 can be driven by the second driving motor 201 to rotate around the second displacement axis b 2; the second transmission device 203 is used for realizing transmission between the second driving motor 201 and the second displacement device 202; the second drive motor 201 and the second lead screw 202a are positioned such that the second motor axis of rotation is parallel to the second displacement axis b 2. The second driving motor 201 is connected to a second transmission 203, the second displacement device 202 is also connected to the second transmission 203, and the second transmission 203 forms transmission between the second driving motor 201 and the second transmission 203, so that the second driving motor 201 can drive the second displacement device 202.

The second drive motor 201 and the second displacement device 202 at least partially overlap in projection in the second direction D2 by being arranged.

It should be noted that, by spatially rotating any one straight line parallel to the second direction D2 as a projection straight line, the selected object is projected on the projection straight line to obtain a line segment defined as a projection in the second direction D2, and when there are a plurality of selected objects, they need to be projected on the same projection straight line.

Preferably, a ratio of a length of the projection of the second driving motor 201 and the second displacement device 202 in the second direction D2 to a length of the projection of the second driving motor 201 in the second direction D2 is in a range of 0.5 to 0.8.

As a further alternative, the motor shaft of the second driving motor 201 and the projection of the second lead screw 202a of the second displacement device 202 in the second direction D2 are at least partially overlapped, and the ratio of the overlapping length of the motor shaft of the second driving motor 201 and the projection of the second lead screw 202a of the second displacement device 202 in the second direction D2 to the projection length of the motor shaft of the second driving motor 201 in the second direction D2 is in the range of 0.5 to 0.8.

Since the second-dimension driving device 200 is mainly used for ascending and descending, the ascending and descending are often required to be adjusted before the operation, and are not adjusted during the operation, and even the adjustment is fine adjustment with a small probability, so that the overlapping ratio can be properly reduced.

In a specific embodiment, the second driving motor 201 is a stepping motor, which indirectly drives the second displacement device 202 through the second transmission device 203.

As an alternative, the second transmission 203 comprises a gear box in which the transmission speed and direction are switched by meshing gears.

Specifically, the second-dimension driving device 200 indirectly drives the operating arm 400, and the second-dimension driving device 200 directly drives the lifting seat 501. The mounting end of the extension rod 510a of the support frame 510 is fixedly connected to the lifting base 501 by a connector. The lifting base 501 can be driven by the second-dimension driving device 200 to lift.

The second driving motor 201 is located on a side of the second lead screw 202a away from the lifting base 501, and the second transmission device 203 is also located on a side of the second lead screw 202a away from the lifting base 501.

In view of the heavy weight supported by the second dimension driving device 200 and the long stroke distance, the guiding seat 512 and the guiding rod 513 may be arranged to guide to ensure the smooth running, and the guiding rod 513 passes through the guiding seat 512 and forms a sliding connection with the guiding seat 512, so that the guiding rod 513 can slide and connect with the guiding seat 512

As an extension, a third dimension driving means (not shown) may be provided to drive the manipulation arm 400 to move left and right, and the third dimension driving means may adopt a similar scheme to the first dimension driving means 100 and the second dimension driving means 200.

Although corresponding structures are not shown in the drawings, it is understood from the above first and second dimensional driving

devices

100 and 200 that the third dimensional driving device includes a third driving motor, a third displacement device, and a third transmission device. The third driving motor at least comprises a third rotor rotating around the axis of the third motor; the third displacement device comprises a third lead screw and a third nut, and the third lead screw can rotate around a third displacement axis relatively.

The third motor axis of the third rotor is parallel to the third displacement axis of the third displacement device, but the third motor axis of the third rotor is different from the third displacement axis of the third displacement device, i.e. the third motor axis and the third displacement axis are not coincident (not on the same straight line).

The third lead screw is formed by extending along a third displacement axis approximately, a lead screw thread is formed on the surface of the third lead screw, the third nut is sleeved on the third lead screw, and when the third lead screw rotates around the third displacement axis, the third nut can move along the third displacement axis.

A third lead screw of the third displacement device can be driven by a third driving motor to rotate around a third displacement axis; the third transmission device is used for realizing transmission between the third driving motor and the third displacement device; and the third driving motor and the third lead screw are arranged at positions to enable the rotating shaft of the third motor to be parallel to the third displacement axis. The third driving motor is connected to a third transmission device, the third displacement device is also connected to the third transmission device, and the third transmission device forms transmission between the third driving motor and the third transmission device, so that the third driving motor can drive the third displacement device.

The third driving motor and the third displacement device are at least partially overlapped on the projection of the third direction D3 through arrangement.

It should be noted that, when any one straight line parallel to the third direction D3 is spatially rotated as a projection straight line, a line segment obtained by projecting the selected object onto the projection straight line is defined as a projection onto the third direction D3, and when a plurality of objects to be projected are selected, they need to be projected onto the same projection straight line.

As a preferable scheme, a ratio of a length of a projection of the third driving motor and the third displacement device in the third direction D3 to a length of a projection of the third driving motor in the third direction D3 ranges from 0.3 to 0.8.

As a further scheme, the projection of the motor shaft of the third driving motor and the third lead screw of the third displacement device in the third direction D3 are at least partially overlapped, and the ratio of the overlapping length of the motor shaft of the third driving motor and the projection of the third lead screw of the third displacement device in the third direction D3 to the projection length of the motor shaft of the third driving motor in the third direction D3 is in the range of 0.3 to 0.8. Since left-right movement is not a common surgical action, similar to elevation, the coincidence ratio can be lowered appropriately in turn.

As a specific solution, the third driving motor is a stepping motor, which indirectly drives the third displacement device through the third transmission device.

As an alternative, the third transmission comprises a gear box in which the gear speed and direction are switched by meshing gears.

Specifically, the third displacement axis is perpendicular to the first displacement axis b1, and the second displacement axis b2 is perpendicular to the first displacement axis b 1.

Specifically, the distance from the first motor axis a1 to the first displacement axis b1 is less than the length of the first drive motor 101 in the first direction D1; the distance of the second motor axis a2 to the second displacement axis b2 is less than the length of the second drive motor 201 in the second direction D2; the distance from the third motor axis to the third displacement axis is less than the length of the third drive motor in the third direction D3.

The original motor and lead screw coaxial scheme, the lead screw self has been unstable because of length reason transmission, and the lever effect that plus motor moment brought further aggravates shake and impact.

By adopting the scheme, the driving motor can coincide with the lead screw, the space is saved, and meanwhile, the distance between the axis of the motor and the displacement axis is set to reduce the shake and the impact generated during the transmission of the lead screw, so that the effect of taking the driving motor as a balance weight is achieved, the gravity center of the driving device is more reasonable, and unnecessary acting force and impact during the operation are reduced.

Based on similar principles and designs, the pivot driving device 300 is used to drive the rotating operation arm 400 to rotate about the first pivot axis c 1. Specifically, the pivot driving means 300 includes a pivot driving motor 301, and the pivot driving motor 301 includes a pivot rotor (not shown) rotating about a second pivot axis c 2. Wherein the first pivot axis c1 about which the operation arm 400 rotates is parallel to and different from the second pivot axis c2 about which the pivoting rotor rotates.

As a specific approach, the first pivot axis c1 is parallel to the first motor axis a 1; the first pivot axis c1 is perpendicular to the second motor axis a2, and the first pivot axis c1 may also be perpendicular to the third motor axis.

As a concrete scheme, the pivot driving device 300 further comprises a pivot transmission device 302, and the pivot transmission device 302 is arranged between the pivot driving motor 301 and the operating arm 400 to form transmission. The pivot driving motor 301 and the operating arm 400 are constructed as one body capable of moving synchronously. The dimension of the pivot drive motor 301 in the first direction D1 is greater than the distance between the first pivot axis c1 and the second pivot axis c 2. The pivot driving motor 301 and the first driving motor 101 are respectively located on both sides of the first lead screw 102 a. With this arrangement, the pivot driving apparatus 300 can also serve the purpose of weighting the operation arm 400 to ensure stable operation.

The operation arm 400 includes an arm body 401 and a clamp assembly 402. The arm body 401 includes a mounting portion 401a, a driven portion 401b, and a connecting portion 401 c. Wherein, the clamping component 402 is arranged on the mounting part 401a of the arm body 401, and the driven part 401b is connected to the pivot driving device 300; the connecting portion 401c is provided between the mounting portion 401a and the driven portion 401 b; the extending direction of at least a part of the connecting portion 401c obliquely intersects the first axis about which the operation arm 400 rotates. The clamp member 402 is formed with a clamp wall 402a, the clamp wall 402a being symmetrically formed with respect to at least a center line x, the center line x of the clamp wall 402a coinciding with a first pivot axis c1 about which the operation arm 400 rotates.

In a specific embodiment, the clamping assembly 402 includes a clamping arm 402b, a hook 402c, an adjusting wheel 402d and a positioning seat 402 e; the holding arm 402b is rotatably connected to the arm body 401, the holding arm 402b forms a holding wall 402a, the holding arm 402b can be locked by the hook 402c, the holding arm 402b is connected with an adjusting wheel 402d, the adjusting wheel 402d comprises a cam structure, and the cam structure can enable the hook 402c to be clamped on the cam through rotation of the adjusting wheel 402 d.

In addition, in order to position the soft lens device, the mounting portion 401a is further provided with a positioning seat 402e, and the contour of the positioning seat 402e can be matched with the contour of the operation handle of the soft lens device so as to play a positioning role.

The soft lens device has at least one central axis along which the inflexible part of the lens body of the soft lens device extends substantially, the holding member 402 being able to bring the central axis of the soft lens device into coincidence with the first pivot axis c 1.

The three-section design of the mounting part 401a, the driven part 401b and the connecting part 401c and the inclined arrangement of the driven part 401b enable the soft lens device to pivot around the central axis of the soft lens device, and enable most of the structure of the soft lens device to be exposed out of the operating arm 400, so that the pipeline is convenient to clamp and arrange.

Specifically, the driven portion 401b extends in parallel to a first axis about which the operation arm 400 rotates; the mount portion 401a extends in another linear direction parallel to the first pivot axis c1 about which the operating arm 400 rotates but different from the first pivot axis c 1.

In order to implement the operation function of the robot arm, the operation arm 400 further includes: a toggle piece 403, a toggle motor 404, a wire feeding claw 405, a wire feeding motor 406, a wire feeding screw 407 and a wire feeding nut 408.

Specifically, the operation arm 400 further includes an arm shell 409, the arm shell 409 surrounds the arm body 401 from both sides to protect the arm body 401, the arm body 401 and the arm shell 409 may be made of different materials, the arm body 401 is made of a metal material, the arm shell 409 is made of a plastic material, and the arm shell 409 is similar in shape to the arm body 401 and is provided with a hole through which the toggle member 403, the clamp member 402, and the like are exposed.

Specifically, the arm body 401 is provided with a mounting slot 401d that accommodates the toggle motor 404 and the wire feeding motor 406.

The toggle member 403 is rotatably connected to the mounting portion 401a of the arm body 401 to toggle the toggle button of the soft lens device, and the toggle motor 404 is connected to the toggle member 403 to drive the toggle member 403 to rotate so as to toggle the toggle button of the soft lens device. The toggle motor 404 includes a toggle rotor that rotates about a third pivot axis c 3; the first pivot axis c1 about which the operating arm 400 rotates is perpendicular to the third pivot axis c3 about which the dial rotor rotates. The first pivot axis c1 about which the operating arm 400 rotates is perpendicular to the third pivot axis c3 about which the dial rotor rotates.

The toggle member 403 is configured to be able to be engaged with and thereby to drive a toggle button of the soft lens apparatus, and in particular, the toggle member 403 is configured in a two-claw structure, i.e., a space for the toggle button to be inserted is formed between the two claws.

The upper thread claw 405 and the arm body 401 form sliding connection so as to shift the optical fiber bundle of the soft mirror device; the upper wire motor 406 is connected to the upper wire claw 405 to drive the upper wire claw 405 to slide; specifically, the upper wire motor 406 includes an upper wire rotor that rotates about a fourth pivot axis c 4; the first pivot axis c1 about which the operating arm 400 rotates is perpendicular to the fourth pivot axis c4 about which the upper wire rotor rotates. The upper screw motor 406 drives the upper screw shaft 407 to rotate so as to drive the upper screw nut 408 to move linearly, and a guide device may be provided to guide the upper screw nut 408 so as not to rotate for more stable guiding.

Specifically, the first driving motor 101, the first transmission device 103 and the first displacement device 102 are assembled into a whole, which can slide back and forth relative to the lifting base 501, and this whole is defined as a first sliding assembly 502.

The first sliding assembly 502 further includes a sliding box 503, the first lead screw 102a is mounted inside the sliding box 503 and can rotate relative to the sliding box 503, and meanwhile, the first nut 102b is sleeved on the first lead screw 102 a. The slide box 503 itself is not completely enclosed and is provided with an open gateway for external structural connection to the first nut 102 b.

As a further alternative, a guiding base 504 is disposed above the lifting base 501, the guiding base 504 is fixedly connected to the lifting base 501, and is also fixedly connected to the first nut 102b, so that when the first lead screw 102a is driven to rotate, the first lead screw 102a drives the sliding box 503 to move back and forth (i.e. the first sliding device) due to the fixation of the first nut 102 b.

Preferably, the first sliding means further includes a guide plate 505 for fitting the guide holder 504, and both ends of the guide plate 505 are connected to the sliding housing 503 for the guide portion to be inserted into the guide groove of the guide holder 504.

Specifically, a rotating base 506 is provided on the sliding box 503, and the pivot driving motor 301 and the pivot transmission device 302 are mounted to the rotating base 506. The operating arm 400 is rotatably connected to a rotating base 506. The rotating base 506 is fixedly connected with the sliding box 503, so that the operation arm 400 can move similarly when the lifting base 501 is lifted or the sliding box 503 moves back and forth.

It should be noted that the motor has a rotating rotor, which is well known to those skilled in the art and will not be described herein.

As a specific aspect, the auxiliary device 10 further includes: a housing 507 and a bracket 508. The housing 507 serves to protect and cover the drive system and control system. The support 508 is used to support the housing 507 and components of the drive system and control system.

Specifically, the housing 507 includes a plurality of housing components which constitute the entire housing 507 by assembly and make the housing 507 have a main housing portion 507a, a handle housing portion 507b and a movable housing portion 507 c. Wherein the main housing part 507a forms a large closed space to accommodate a part of the driving system and the control system, and the handle housing part 507b is disposed at the opposite rear of the main housing part 507a for the user to move the push-pull assist device 10. A movable housing portion 507c is provided above the main housing portion 507a for protecting a portion of the drive system or the control system that is located outside the main housing portion 507a and moves relative to the main housing portion 507 a. The movable housing portion 507c and the main housing portion 507a may be provided as separate parts and may be relatively movable, and the handle housing portion 507b and the main housing portion 507a may be provided as a whole having a fixed relative position, which is equivalent to applying a force to the main housing portion 507a when a user applies a force to the handle housing portion 507 b.

The bracket 508 includes: a bottom plate 508a and a frame 508b disposed above the bottom plate 508 a. The frame 508b is relatively fixedly arranged above the bottom plate 508a, the frame 508b encloses a three-dimensional accommodating space by arranging the cross beams and the upright posts, and the shell assembly of the main shell part 507a is mounted on the frame 508b so as to protect the accommodating space. The base plate 508a is used to support and fix part of the components in the drive system and the control system, in addition to the support frame 508 b.

Specifically, the base plate 508a is further provided with a plurality of casters 509 so that the entire device can be moved along the floor, and the casters 509 themselves have a locking function to lock the casters 509 from moving when performing an operation. As another development, other means, such as hydraulic support legs, can be used to support the entire machine during the operation.

As a specific solution, a plurality of PLC controllers 511 are further provided above the bottom plate 508a to realize control of the auxiliary device 10.

As an embodiment, the auxiliary device 10 further comprises a support frame 510, wherein the support frame 510 is used for supporting the softer lens body part of the soft lens. Specifically, the support bracket 510 includes: a telescoping rod 510a, an end piece 510b, and a support 510c, wherein one end of the telescoping rod 510a is mounted to the frame 508b or other structure fixedly connected to the frame 508b, and the other end of the telescoping rod 510a is configured to telescope relative to the other end, and an adjustment device 510 d. The telescopic rod 510a is provided with an end part 510b at one end, the end part 510b is rotatably connected with the support part 510c through a hinge shaft, and an axis c5 of the relative rotation of the end part 510b and the support part 510c is approximately perpendicular to the telescopic direction D4 of the telescopic rod 510 a. The support 510c itself is formed with a clamping hole for clamping, and the size of the clamping hole can be adjusted.

Referring to fig. 16, the arm system of the present application includes an auxiliary device 10 and an operating device 20, the operating device 20 is used for being operated by a user to control the action of the auxiliary device 10, the operating device 20 includes a joystick 21 and a display interface 22, the user can operate the auxiliary device 10 by controlling the joystick 21 to realize the operation of the soft mirror device 30, and the display interface 22 is used for feeding back images or other data information to the user.

In order to ensure safety, the mechanical arm system needs to detect the operation state of the auxiliary device 10 and the soft lens device 30 when the user operates, and particularly, the acting force applied to the patient by the auxiliary device 10 and the soft lens device 30 needs to be controlled within a safe range so as to cause damage to the organ of the patient.

Therefore, the control system of the arm system 1 needs to detect both the auxiliary device 10 and the soft lens device 30. Specifically, the operation state of the driving device in the auxiliary device 10 and the external force received by the soft mirror device 30 are detected.

As one of the solutions, the safety control is realized by detecting the driving motor in each of the above driving devices, and the control method of the auxiliary device of the present application includes:

collecting the current of a driving motor as a detection current;

calculating characteristic parameters of the detection current relative to time;

and when the characteristic parameter of the detected current exceeds a first parameter threshold value, reducing the rotating speed of the driving motor.

The characteristic parameter of the current with respect to time referred to herein includes the slope of the current or the first derivative of the current.

During actual control, the corresponding sampling frequency is set, the time interval between two current value acquisitions is set as a set value, and the difference value obtained by difference value operation is directly carried out on the current values of two adjacent current values at the moment, so that the difference value can be used as the characteristic parameter.

Reducing the rotational speed of the drive motor, it is considered that the rotational speed may be reduced to 0, i.e., the drive motor may be stopped. The scheme for reducing the rotation speed of the driving motor can be used for reducing the current supply of the driving motor, and more specifically, the driving motor is a brushless motor which passes through a driving current consisting of a mos tube, and the rotation speed of the brushless motor can be controlled by controlling the duty ratio of the mos tube.

By adopting the control scheme of the characteristic parameters, the auxiliary device 10 can be prevented from continuously operating and applying force when the soft lens device 30 is blocked, so that the human body is prevented from being damaged. Because, the driving device 10 will tend to increase the load of the driving motor when it encounters resistance, resulting in an increase in the current of the driving motor. The characteristic parameter correlation time is adopted because many injuries are caused by the fact that the displacement speed of the soft lens device 30 is too high and the pressure on the local part is too high in a short time, although the absolute value of the acting force is also one of the parameters which are required to be controlled, if the rate of increasing the acting force is not controlled, the injuries can be caused on the human body even under the condition of small acting force, and because a doctor indirectly operates the soft lens device 30 through the operating device 20, if the feeding speed is not controlled, effective protection is often not performed until the injuries occur, even when the soft lens device is manually operated in the past, the doctor needs to carefully shift to avoid the too fast actions.

As a further aspect, the control method of the present application further includes:

when the characteristic parameter of the detected current exceeds a second parameter threshold value, counting for one time, wherein the counted numerical value is defined as the number of times of overrun;

judging whether the numerical value of the overrun times is larger than or equal to the overrun time threshold value in a preset unit time period;

when the numerical value of the overrun times in the preset unit time period is larger than or equal to the first time threshold value, reducing the rotating speed of the driving motor;

wherein the first parameter threshold is greater than the second parameter threshold.

By adopting the judgment of the number of times of overrun, the judgment can be carried out in advance before the current of the driving motor changes too fast, so that the safety is further protected.

Preferably, the control method of the present application further includes: and resetting the numerical value of the overrun times to zero after the last preset unit time period is finished.

When the number of the overrun times in a preset unit time period is larger than or equal to a first time threshold value, counting once, wherein the counted number is defined as a first type of speed reduction times; and when the first speed reduction times are larger than or equal to the second speed reduction threshold, cutting off the power supply of the driving motor.

And when the first-class speed reduction times are larger than or equal to the second-time threshold, setting the previous maximum characteristic parameter as a new first parameter threshold.

This has the advantage that when the soft-mirror device 30 frequently encounters an obstruction and cannot be overcome by a change, the overrun is marked as a protection event, which indicates that a risk is expected when the protection event is repeated, and the control process is also protected. When a specific control scheme is designed, the sampling frequency for collecting the number of times of overrun can be set, so that the sampling time interval is larger than the current sampling interval, and the collected count can be used as the number of times of overrun.

As a further aspect, the control method further includes: calculating the absolute value of the detection current; when the absolute value of the detected current exceeds a first absolute threshold, reducing the rotating speed of the driving motor; when the absolute value of the detection current is larger than or equal to a second absolute threshold, counting once, wherein the counted numerical value is defined as the number of times of exceeding; judging whether the numerical value of the number of times of exceeding is greater than or equal to the threshold value of the number of times of exceeding within a preset unit time period; when the numerical value of the overrun times is larger than or equal to the overrun time threshold value in the preset unit time period, reducing the rotating speed of the driving motor; wherein the first absolute threshold is greater than the second absolute threshold. And resetting the numerical value of the number of times of the overtime to zero after the last preset unit time period is ended. And when the numerical value of the times of exceeding within a preset unit time period is greater than or equal to the third time threshold value, counting once, wherein the counted numerical value is defined as the second type of speed reduction times. And when the second speed reduction times are larger than or equal to the fourth time threshold value, cutting off the power supply of the driving motor. And when the second type speed reduction times are larger than or equal to the fourth time threshold value, taking the previous maximum characteristic parameter as a new first parameter threshold value.

Similar to the previous solution, the use of the absolute value of the current ensures that the actual force does not exceed the limit.

Alternatively, the judgment and control of the absolute value of the current and the characteristic parameter of the current may be performed in parallel, or only one of them may be selected as the algorithm of the control.

As an alternative, the operating device 20 can have two operating modes, a first mode when entering the ureter, in which case an absolute value control scheme is used, and a second mode when entering the renal pelvis and performing laser lithotripsy, in which case a characteristic parameter control scheme is used.

Preferably, the system prompts the user to encounter resistance by means of images and the like whenever the driving motor is decelerated by the control system.

As an auxiliary control mode, a pressure sensor patch may be added to a transmission part in the driving device, such as a coupler, or a pressure sensor patch may be added to the clamping soft mirror device 30, so as to feed back an acting force, and the feedback judgment and control scheme may refer to the above scheme, except that the current of the driving device is converted into the current of the pressure sensor patch as the judgment object.

Because the current of the driving motor is influenced by the active control and the resistance, the collected current is easy to generate excessive noise, thereby causing the misoperation of control.

Preferably, the above first-dimension driving means, second-dimension driving means and pivoting driving means are provided with a detecting means for performing auxiliary detection.

For the detection devices in the first dimension driving device and the second dimension driving device, the rotation of their respective lead screws or the linear displacement of the nuts are detected, and the rotation and the displacement are converted into electric signals.

In the case of the pivot driving device, the detecting device detects the rotation of the operating arm.

As shown in fig. 17, as a specific scheme, the driving motor 801 is connected to a first gear 803 through a coupling 802, the first gear 803 is meshed with a second gear 804 to form a transmission, the second gear 804 is in a rotation-stopping connection with the lead screw 805 to enable the first gear and the second gear to rotate synchronously, an input shaft 806a of the conversion device 806 is in a rotation-stopping connection with the lead screw 805 or the second gear 804 to enable the input shaft 806a and the lead screw 805 to rotate synchronously, and as an alternative, a coupling 807 can be arranged between the lead screw 805 and the input shaft.

The couplings 802 and 807 can be directly disconnected from transmission when the load is suddenly changed or is overlarge, so that the hardware structure ensures that the driving is not continued when the resistance is overlarge, and the use safety is ensured.

When driving, the driving motor 801 drives the lead screw 805 to rotate, the lead screw 805 thereby drives the input shaft 806a of the conversion device 806 to rotate, and the conversion device 806 is configured as a generator including a rotor and a stator which can rotate relatively and generate corresponding current through the action of the magnetic field. The input shaft 806a is configured to be coupled to the rotor of the generator such that the conversion device 806 generates a current signal when the input shaft 806a rotates.

Because the current signal has no interference caused by actively controlling the applied current or voltage, the current value can reflect the resistance of the driving device more accurately.

For the pivot driving device, the operation arm can be directly rotated synchronously with the switching device to directly reflect the rotation condition of the operation arm.

Alternatively, the linear generator may be fixedly connected to a nut that translates in the driving device so as to move a slider of the linear generator to generate an electrical signal when the nut plate translates. The linear generator may have the same configuration as the linear motor, and only the purpose of the linear motor is changed, that is, the linear motor is not driven by applying a voltage thereto, but is dragged by an external force to generate an electric signal. Of course, a solution using a linear generator is suitable for the pivot drive.

Preferably, the current collected in the above control scheme may be changed into the current collected by the conversion means in the detection means.

As an extension, the control system can collect the current of the drive motor and the current of the conversion device at the same time as a criterion required for control.

As an alternative, the current of the drive motor and the data of the conversion means may be controlled in combination, in particular, the rotation speed of the drive motor is reduced when the ratio of the slope value of the conversion means to the slope value of the current of the drive motor is outside a preset range. Their slope ratio ranges from 0.9 to 1.05.

As an alternative, the generator of the converter device may be supplied with a voltage to be used as a motor to generate a reverse rotation capability, and the generator may be actively decelerated whenever the rotation speed of the screw needs to be reduced.

The above solution solves the problem that the mechanical arm encounters resistance feedback during operation, and actually the resistance received by the soft lens device 30 itself needs to be monitored.

As another aspect of the present application, a soft lens apparatus of the present application is shown in fig. 18 to 22, and the soft lens apparatus 900 includes a lens body 901 and a lever 902.

Specifically, the mirror 901 is disposed on the front side of the control box 902, and the control box 902 is provided with several function interfaces 903.

The scope 901 is divided into a tip portion 904, a connecting portion 905, and a bent portion 906. Wherein, the tip 904 is arranged at the foremost end of the scope 901 to extend into the human body to realize the operation function; the connecting part 905 is arranged at the rearmost end of the mirror body 901 to connect the control part 902; a bend 906 is provided between the leading end 904 and the connecting portion 905.

The scope 901 includes: an illumination component 907, an imaging component 908, a fiber optic component 909, an end piece 910, a serpentine tube 911, a plurality of inner tubes 911, a straight tube 913, and a cladding 914.

The end piece 910 constitutes the tip 904 of the mirror 901 and is provided with a number of through holes 913 to accommodate the illumination element 907, the imaging element 908, the fiber optic element 909 and to form a number of functional channels 915; the snake bone tube 911 forms a bending part 906 of the mirror body 901; the straight tube 913 constitutes a connecting portion 905; the inner tube 911 is disposed inside the snake 911 and straight 913 tubes and connects the through hole 913 of the end piece 910 to the function interface 903 of the control hub 902; the cladding 914 covers the end piece 910, the snake bone tube 911 and the straight tube 913 to form the outer surface of the endoscope 901.

The soft lens apparatus 900 further includes: a pull wire 916 and a pressure fiber 917. Wherein pull wire 916 passes through snake bone tube 911 and is connected to end piece 910 and control hub 902, respectively; a pressure fiber 917 is disposed between the snake bone tube 911 and the protective layer; wherein a reflector 918 is disposed or connected to the front end of the pressure fiber 917.

Preferably, the pressure fibers 917 are disposed at a circumferential position corresponding to the axis of the pull wire 916. Two pull wires 916 are disposed on opposite sides of the snake bone 911 such that the two pull wires 916 are symmetrically disposed about a center line and the pressure fibers 917 are also symmetrically disposed about the center line. A reflector 918 is disposed in the front end. The wall of the snake bone tube 911 is provided with a wire hole 920 for accommodating the pull wire 916. The wire hole 920 is provided inside the wall of the snake bone tube 911. The outside of the wall of the snake bone tube 911 is provided with a positioning groove, and the pressure optical fiber 917 is arranged in the positioning groove. The pressure fiber 917 is disposed in a hose 919.

One of the snake bone tubes 911 is connected with the other snake bone tube 911 in a rotating way around a bending axis w1, and two pull wires 916 are respectively arranged at two sides of the bending axis w 1. Two pressure fibers 917 are respectively disposed on both sides of the bending axis w 1.

The scheme is different from the scheme of directly using an optical fiber pressure sensor, the pressure applied to the reflector 918 is not detected, but the pressure received by the pressure optical fiber 917 during bending causes the light transmission path formed by the optical fiber to change, so that the change of the laser feedback signal is detected, the pressure applied to the side surface of the bending part 906 is known, and the operation safety is ensured.

Because the side of the curved portion 906, especially the side on which the pulling wire 916 is disposed, contacts the organ tissue in general soft lens surgery. And such a solution saves space in the front end, making it possible to have a larger-sized passage or to arrange other sensors.

From a control perspective, the pressure fiber 917 is also provided with a laser light source, and a detector capable of analyzing the light signal is provided, wherein the detector detects the light signal reflected by the laser light source through the reflector 918 and analyzes the change of the light signal so as to feed back the pressure received by the soft mirror device 900 to the system or the user.

The above introduces a scheme in which the control system actively monitors the resistance to prevent an accident from occurring, thereby ensuring the safety of the operation. However, if only the control system actively controls without causing the user to perceive the resistance, there may be a case where the user does not feel the resistance, or the user may cause an operational error in that the system is blocked to continue the operation of applying force to the operation lever.

In order to solve this problem, as an embodiment, a feedback system may be included in the control system, in particular in the operating device 20.

As a specific scheme, the control system comprises: a sensor and a feedback.

The sensor is used for detecting the acting force applied to the soft lens auxiliary device or the soft lens device operated by the soft lens auxiliary device during the operation.

The feedback device is used for outputting acting force to the operating device according to the signal of the sensor so that a user can sense the resistance force applied to the soft lens or the soft lens auxiliary device during operation.

As a specific solution, the devices that can directly or indirectly detect the resistance received by the soft lens device in the above solutions can be used as sensors. Thus, the sensor may be a pressure fiber provided in the soft mirror device, i.e. comprising an optical element, or a device provided with a transducer in an auxiliary device or detecting the current of the driving motor, or a pressure sensitive patch of the driving device, i.e. a semiconductor element. Of course, a combination of both solutions may be used, with sensors being provided in both the soft lens device and the auxiliary device.

In addition, in order to control the feedback device to perform feedback, the control system further comprises a controller for receiving the signal of the sensor and outputting a control signal to the feedback device.

With reference to the above arrangement, when the control system detects a signal representing an increase in resistance, a feedback force is simultaneously applied to the feedback device, thereby allowing the operator to perceive a change in resistance. As a further solution, the feedback device may prompt the user in the form of a vibration lever each time the drive motor is actively slowed down, and in some extreme cases, the feedback device may lock the operating lever, so that the user may perceive that the operation should not be continued, and the operating lever is not changed in position for a period of time, and unlock the position of the operating lever when the data returns to normal.

As one preferable mode, as shown in fig. 23, the feedback device 50 includes a magnetic field device 51 capable of applying a magnetic field to a magnetic member 53 interlocked with the operation lever 52 to apply resistance. The operating rod 52 and the magnetic member 53 are connected by a link 54. The greater the magnetic force of the magnetic field, the greater the feedback force that the operating lever 52 receives, and by controlling the magnetic field direction.

To accommodate for use in a non-magnetic environment, as shown in fig. 24, the feedback 60 includes two feedback motors 61 having output shafts or attachments connected to the output shafts connected by a pull cord 62 to a linkage 63, the linkage 63 being connected to an operating lever 64. The feedback motor 61 is arranged in different orientations, such as four orientations, and the resultant force applied to the link 63 by the pull cord 62 causes the operating lever 64 to feel a feedback force.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The utility model provides a robotic arm system suitable for ureter rubble soft mirror operation which characterized in that:

the mechanical arm system suitable for ureter lithotripsy soft lens operation includes:

the operation arm is used for loading or/and operating a soft lens device;

the pivoting driving device is used for driving the rotating operation arm to rotate around a first pivot axis;

wherein the first dimension driving means comprises:

2. The robotic arm system suitable for ureterolitholithotripsy surgery according to claim 1, wherein:

the second dimension driving device includes:

the second displacement device comprises a second lead screw and a second nut, and the second lead screw nut can relatively rotate around a second displacement axis;

3. The robotic arm system suitable for ureterolitholithotripsy surgery according to claim 2, wherein:

the third dimension driving device includes:

the third transmission device is used for realizing transmission between the third driving motor and the third displacement device so that the third driving motor drives the third lead screw to rotate around the third displacement axis;

4. The robotic arm system suitable for ureterolitholithotripsy surgery according to claim 3, wherein:

the pivot driving device includes:

5. The robotic arm system suitable for ureterolitholithotripsy surgery according to claim 4, wherein:

the first detection device includes:

the first input shaft can be driven by the first lead screw to rotate;

6. The robotic arm system suitable for ureterolitholithotripsy surgery according to claim 5, wherein:

the second detection device includes:

the second input shaft can be driven by the second lead screw to rotate;

7. The robotic arm system suitable for ureterolitholithotripsy surgery according to claim 6, wherein:

the third detection means includes:

the third input shaft can be driven by the third lead screw to rotate;

8. The robotic arm system suitable for ureterolitholithotripsy surgery according to claim 7, wherein:

the pivot detection device includes:

the pivot input shaft can be driven by the pivot lead screw to rotate;

9. The robotic arm system suitable for ureterolitholithotripsy surgery according to claim 8, wherein:

10. The robotic arm system suitable for ureterolitholithotripsy surgery of claim 10, wherein:

the controller is electrically connected with the first driving motor, the second driving motor and the pivoting driving motor to control the first driving motor, the second driving motor and the pivoting driving motor according to electric signals output by the first detection device, the second detection device and the pivoting detection device.