CN101862223A - surgical robot - Google Patents

Abstract

The invention relates to an operating robot comprising a base, a first arm, a second arm, a main shaft, an oscillating arm, a first rotary joint, a second rotary joint, a third rotary joint and a fourth rotary joint. The base is connected with a first arm shaft through the first rotary joint; the first arm is connected with a second arm shaft through the second rotary joint; the second arm is connected with the main shaft through the third rotary joint; the main shaft is connected with an oscillating shaft through the fourth rotary joint; at least one of the first rotary joint, the second rotary joint, the third rotary joint and the fourth rotary joint comprises a motor and a speed reduction box, wherein the speed reduction box is connected with the motor and is used for decreasing the rotation speed outputted by the motor, increasing the moment of force and driving the first arm, the second arm, the main shaft or the oscillating arm to move, and the motor is used for supplying power. The components of the novel operating robot are connected into a whole body by the four rotary joints, thus the novel operating robot has simple structure. In addition, the motor of the rotary joint is matched with the speed reduction box to control, thus the operating robot is easy to operate.

Description

surgical robot

【Technical field】

The invention relates to the field of medical instruments, in particular to a surgical robot.

【Background technique】

With the rapid development of computer and microelectronic technology and medical science, a large number of medical devices have been promoted and applied. Among the numerous medical devices, medical robots of various purposes are being used more and more widely in the medical field. Medical robots have been widely used in neurosurgery, heart repair, gallbladder removal surgery, artificial joint conversion, plastic surgery, urological surgery, etc. While improving the effect and accuracy of surgery, they are also expanding to other fields.

As an important part of the field of medical equipment, surgical robots have been widely used in many operating rooms around the world. These robots provide powerful assistance for surgery with the support of computer and microelectronics technology. At the same time, these machines also require surgeons to operate them.

Most of the existing surgical robots are used for high-precision surgical operations such as the abdominal cavity. They are all guided by high-precision equipment such as endoscopes or microscopes, and the surgeon controls the surgical robot to complete various surgical operations. Famous surgical robots include American Da Vinci surgical robot, RoboDoc orthopedic repair robot and ZEUS robot, domestic "Miaoshou" microsurgery robot and "Li Yuan" brain surgery assistant robot.

However, the aforementioned surgical robot has a complicated structure and is difficult to operate.

【Content of invention】

Based on this, it is necessary to provide a surgical robot with simple structure and easy operation.

A surgical robot, comprising a base, a first arm, a second arm, a main shaft and a swing arm, and a first revolving joint, a second revolving joint, a third revolving joint and a fourth revolving joint; the base passes through the first The rotary joint is connected to the shaft of the first arm, the first arm is connected to the shaft of the second arm through a second rotary joint, the second arm is connected to the shaft of the main shaft through a third rotary joint, and the main shaft The fourth rotary joint is connected to the swing arm shaft; at least one rotary joint of the first rotary joint, the second rotary joint, the third rotary joint or the fourth rotary joint includes a motor, and a reduction box connected to the motor; The motor provides power, and the reduction box reduces the rotational speed output by the motor and increases the torque to drive the movement of the first arm, the second arm, the main shaft or the swing arm.

Preferably, the first rotary joint, the second rotary joint or the fourth rotary joint further includes a harmonic speed reducer, which is connected to the reduction box, reduces the speed output by the reduction box and increases the torque, and drives the first Movement of one arm, second arm, or swing arm.

Preferably, the first rotary joint, the second rotary joint or the fourth rotary joint further includes an electromagnetic clutch, which is arranged between the reduction box and the harmonic reducer, and controls the output of the motor power.

Preferably, the first rotary joint, the second rotary joint or the fourth rotary joint further includes an encoder and a control system, the encoder is arranged between the electromagnetic clutch and the harmonic reducer, and is used to detect the electromagnetic clutch harmonic The angular displacement and angular velocity of the wave reducer, and convert the detected angular displacement and angular velocity into electrical signals, and send them to the control system; the control system processes the received electrical signals, and controls the motor according to the processing results The output speed and torque, and the opening or closing of the electromagnetic clutch.

Preferably, the third rotary joint includes a first drive device, a second drive device and an execution device, and the first drive device and the second drive device are respectively driven through the first drive device or the second drive device by the execution device. The main shaft of the second driving device moves up and down on the vertical axis and/or rotates around the main shaft; the actuator includes: a ball nut, a spline sleeve and a fixing flange, and the fixing flange is fixed inside the second arm, and the two Ball nuts and spline sleeves are respectively arranged at the ends, and the ball nuts and spline sleeves are enveloped; the first driving device and the second driving device respectively include a first motor, a second motor connected in sequence, a first reduction box, The second reduction box, the first electromagnetic clutch, the second electromagnetic clutch, the first synchronous belt, and the second synchronous belt; the first synchronous belt is connected with the ball nut of the actuator, and the second synchronous belt is connected with the Splined sleeve connection for actuator.

Preferably, the first drive device and the second drive device further include a first encoder and a second encoder respectively, and the first encoder and the second encoder are respectively and correspondingly arranged on the first electromagnetic clutch, the second Between the second electromagnetic clutch and the first synchronous belt and the second synchronous belt, it is used to detect the angular displacement and angular velocity of the first electromagnetic clutch, the second electromagnetic clutch and the first synchronous belt and the second synchronous belt.

Preferably, the electromagnetic clutches of the first rotary joint, the second rotary joint, and the fourth rotary joint, and the first electromagnetic clutch and the second electromagnetic clutch of the third rotary joint are in a disengaged state, and the surgical robot is under the action of an external force The first arm, second arm, spindle or swing arm rotates.

Preferably, the encoders of the first rotary joint, the second rotary joint, and the fourth rotary joint, and the first encoder and the second encoder of the third rotary joint are recorded according to the first rotary joint, the second rotary joint , The angular displacement of the third rotary joint and the fourth rotary joint is converted into an electrical signal and sent to the control system; the control system controls the first rotary joint and the second rotary joint according to the electrical signal of the angular displacement The closing or disconnecting of the electromagnetic clutch of the fourth rotary joint controls the operation of the gearbox and the harmonic reducer; and the closing or disconnection of the first electromagnetic clutch and the second electromagnetic clutch of the third rotary joint controls the operation of the first gearbox , the operation of the second reduction box, and fine-tuning the position of the surgical robot.

Preferably, the electromagnetic clutches and motors of the first rotary joint, the second rotary joint, and the fourth rotary joint, and the first electromagnetic clutch, the second electromagnetic clutch, the first motor, and the second motor of the third rotary joint are disconnected Electrically connected; the reduction box, the motor, the first reduction box, the second reduction box, the first motor, and the second motor are in a locked state, and the surgical robot is fixed at a set position.

Preferably, one end of the swing arm is provided with a clamping part, and the clamping part is installed with surgical instruments and performs surgical actions.

The surgical robot sequentially connects the base, the first arm, the second arm, the main shaft and the swing arm shaft through the first rotary joint, the second rotary joint, the third rotary joint and the fourth rotary joint. Or the four-rotation joint includes a motor and a reduction box connected with the motor to provide a power source for the operation of the surgical robot. The brand-new surgical robot design has only four rotary joints connected, and the structure is simple; and through the control of the motors of each rotary joint with the gearbox, the robot runs at a low speed through the gearbox, easy to control, high in motion precision, safe and reliable , the pose of the robot can be precisely adjusted in a small range.

In addition, the optimized surgical robot has a lighter structure; it has five degrees of freedom and a large working space.

The surgical robot with a harmonic reducer further enables the surgical robot to be controlled slowly and further improves the accuracy of the surgical robot; at the same time, the use of a harmonic reducer reduces the load of the robot and thus reduces the size of the robot and weight.

A surgical robot with an electromagnetic clutch can control the closing and disconnection of the electromagnetic clutch through a control system or an external control device, making the surgical robot more convenient.

A surgical robot with an encoder can convert the angular displacement and angular velocity of the electromagnetic clutch and harmonic reducer detected by the encoder into an electrical signal and send it to the control system, which will perform corresponding actions according to the electrical signal , making the surgical robot more intelligent and more precise in positioning.

【Description of drawings】

Fig. 1 is the overall schematic diagram of the surgical robot of an embodiment;

Fig. 2 is a structural schematic diagram of a surgical robot of an embodiment;

Fig. 3 is a schematic structural diagram of a first rotating mechanism of a surgical robot in an embodiment;

Fig. 4 is a schematic structural diagram of a third rotation mechanism of a surgical robot in an embodiment;

【Detailed ways】

Referring to FIGS. 1-2 , FIG. 1 is an overall schematic diagram of the surgical robot of the first embodiment; FIG. 2 is a schematic structural diagram of the surgical robot of the first embodiment. The surgical robot of the first embodiment is a base 10, a first arm 20, a second arm 30, a main shaft 40, and a swing arm 50 which are connected by shafts in sequence; the execution mode of the surgical robot is completed, including passive drag mode, micro Pose adjustment mode and positioning mode. The surgical robot of the first embodiment will be described in detail below.

The base 10, one end of the base 10 is set on the working platform or the horizontal working surface of the operating room to support the weight of the entire surgical robot.

The first arm 20 , one end of the first arm 20 is pivotally connected to the other end of the base 10 through a first rotating joint 100 , for rotating around a vertical axis of the base 10 and on a horizontal plane.

The second arm 30 , one end of the second arm 30 is pivotally connected to the other end of the first arm 20 through the second rotary joint 200 , for rotating around the vertical axis of the first arm 20 and on another horizontal plane.

The main shaft 40 runs through the other end of the second arm 30, and is pivotally connected with the second arm 30 through the third rotary joint 300, for rotating on the vertical axis of the second arm 30, moving up and down along the vertical axis, or the main shaft 40 rotations, coupled movements performed at the same time as moving up and down. The main shaft 40 is preferably a ball screw-spline shaft, which is easy to move up and down or rotate by itself, and has higher precision. A rectangular platform 41 is provided at one end of the main shaft 40 close to the working platform.

The swing arm 50 is pivotally connected to the side surface provided at one end of the rectangular platform 41 of the spindle 40 through the fourth rotary joint 400 , and rotates around the vertical axis of the side surface.

In another embodiment, one end of the swing arm 50 is provided with a clamping portion, and the surgical instrument 60 is affixed to the swing arm 50 through the clamping portion; the clamping portion is equipped with different surgical instruments 60, which can perform different operations. Surgical actions to complete various surgical tasks.

Referring to FIG. 3 , the above-mentioned first rotary joint 100 includes: a motor 110 , a reduction box 120 , an electromagnetic clutch 130 and a harmonic speed reducer 140 .

The motor 110 is embedded in the base 10, and is fixedly installed inside the base 10, and outputs a power source; in one embodiment, the motor 110 is preferably a servo motor, which is a stable power output source.

The reduction box 120 is connected with the motor 110, specifically the output shaft of the motor 110 is connected with the input shaft of the reduction box 120; in one embodiment, the reduction box 120 is a multi-stage reduction box, and the output of the multi-stage reduction box is The rotational speed of the shaft is reduced in different levels, and the torque of the output shaft is increased so that the reduced rotational speed meets the working requirements of the surgical robot.

One end of the electromagnetic clutch 130 is fixedly connected to the reduction box 120, and the other end is fixedly connected to one end of the harmonic reducer 140; the other end of the harmonic reducer 140 is fixedly connected to one end of the first arm 20, and embedded in The interior of one end of the first arm 20 ; further, the harmonic reducer 140 performs a second deceleration to increase the torque so that its speed further meets the working requirements of the surgical robot and improves the performance of the first rotary joint 100 . When the electromagnetic clutch 130 is powered off, the electromagnetic clutch 130 is closed, and the power of the motor 110 is output to the harmonic reducer 140 through the reduction box 120, and the harmonic reducer 140 drives the first arm 20 to surround the base 10 and rotate on a horizontal plane; when the electromagnetic clutch 130 is energized, the electromagnetic clutch 130 is disconnected, and the power output of the motor 110 is disconnected. In another embodiment, when the electromagnetic clutch 130 is energized, the electromagnetic clutch 130 is closed, so as to output the power of the motor 110 to the harmonic reducer 140, so that the first arm 20 rotates; similarly, when the electromagnetic When the clutch 130 is powered off, the electromagnetic clutch 130 is disconnected, and the power output of the motor 110 is disconnected.

Specifically, the above-mentioned harmonic reducer 140 includes: a shaft wave generator 141 , a shaft steel wheel 142 , and a shaft flex wheel 143 connected in sequence. One end of the shaft wave generator 141 is connected to the electromagnetic clutch 130, and the other end is connected to one end of the shaft steel wheel 142; The flexspline 143 is connected; the shaft flexspline 143 is disposed inside one end of the first arm 20 and fixedly connected to the first arm 20 .

In one embodiment, the surgical robot further includes a control system (not shown in the figure), and the control system is connected with the motor 110 and the electromagnetic clutch 130 . Meanwhile, the above-mentioned first rotary joint 100 further includes an encoder 150 disposed between the electromagnetic clutch 130 and the harmonic reducer 140 . The encoder 150 is used to detect the angular displacement and angular velocity of the electromagnetic clutch 130 and the harmonic reducer 140, and convert the detected angular displacement and angular velocity into electrical signals and send them to the control system. The control system performs processing according to the received electrical signal, and controls the output speed and torque of the motor 110 and the opening or closing of the electromagnetic clutch 130 according to the processing result.

The structures of the second rotary joint 200 and the fourth rotary joint 400 are the same as those of the first rotary joint 100 , the difference is that the installation methods are different. The second rotary joint 200 pivotally connects the first arm 20 and the second arm 30, so that the second arm 30 rotates horizontally around the vertical axis of the first arm 20; the motor of the second rotary joint 200 is embedded in the second arm 30, and is fixedly connected to the second arm 30; the shaft flexible spline of the harmonic reducer of the second rotary joint 200 is arranged inside the other end of the first arm 20, and is fixedly connected to the first arm 20. The fourth rotary joint 400 is axially connected to the rectangular platform 41 of the spindle 40 and the swing arm 50, so that the swing arm 50 rotates around the vertical axis on the side of the rectangular platform 41; the motor of the fourth rotary joint 400 is embedded in the rectangular platform 41 inside, and fixedly connected to the rectangular platform 41 ; the flexwheel of the harmonic reducer of the fourth rotary joint 400 is embedded in the inside of the swing arm 50 , and fixedly connected to the swing arm 50 .

Referring to Fig. 4, the third rotary joint 300 includes a first drive device 310, a second drive device 320 and an actuator 330 embedded in the other end of the second arm 30; the first drive device 310 and the second drive device 320 respectively pass the actuator The device 330 drives the main shaft 40 through the driving device to move up and down along the vertical axis and rotate around the main shaft 40 , or a coupling motion in which the main shaft 40 moves up and down and rotates simultaneously.

Specifically, the first driving device 310 includes: a first motor 311 , a first reduction box 312 , a first electromagnetic clutch 313 , a first encoder 314 and a first timing belt 315 . The first motor 311 is fixedly installed inside the second arm 30 and outputs a power source; in one embodiment, the first motor 311 is preferably a servo motor, which outputs a stable power source. The first reduction box 312 is connected with the first motor 311, specifically the output shaft of the first motor 311 is connected with the input shaft of the first reduction box 312; in one embodiment, the first reduction box 312 is a multi-stage reduction box , can provide various levels of speed and output torque, in line with the working requirements of surgical robots. One end of the first electromagnetic clutch 313 is affixed to the first reduction box 312, and the other end is affixed to an end of the first synchronous belt 315, and the other end of the first synchronous belt 315 is affixed to an end of the actuator 330; the first The electromagnetic clutch 313 controls the output of the power of the first motor 311, so that the rotation of the first synchronous belt 315 outputs the rotational speed and torque.

In one embodiment, a first encoder 314 is provided between the first electromagnetic clutch 313 and the first synchronous belt 315, and the first encoder 314 detects the angular displacement and angular velocity of the first electromagnetic clutch 313 and the first belt And convert it into a first electrical signal, and send the first electrical signal to the control system, the control system controls the output speed and torque of the first motor 311 according to the received first electrical signal, and controls the opening and closing of the first electromagnetic clutch 313 open or closed.

Similarly, the second driving device 320 has the same structure as the first driving device 310 , the difference is that the second driving device 320 is inverted and fixed inside the second arm 30 . One end of the second synchronous belt 325 of the second driving device 320 is affixed to the second electromagnetic clutch 323, and the other end of the second synchronous belt 325 is affixed to the other end of the actuator 330; The electromagnetic clutch 323 controls the output of the power of the second motor 321 , so that the second synchronous belt 325 rotates to output the speed and torque.

In one embodiment, a second encoder 324 is provided between the second electromagnetic clutch 323 and the second synchronous belt 325, and the second encoder 324 detects the angular displacement and angular velocity of the second electromagnetic clutch 323 and the second belt And convert it into a second electrical signal, and send the second electrical signal to the control system, the control system controls the output speed and torque of the second motor 321 according to the received second electrical signal, and controls the opening and closing of the second electromagnetic clutch 323 open or closed.

The actuator 330 includes: a ball nut 331 , a spline sleeve 333 and a fixing flange 332 . The fixing flange 332 is embedded in the second arm 30 and fixedly connected; the two ends of the fixing flange 332 are respectively provided with a ball nut 331 and a spline sleeve 333 , and envelops the ball nut 331 and the spline sleeve 333 . The ball nut 331 and the spline sleeve 333 are respectively mated and connected through the main shaft 40 of the actuator 330. The main shaft 40 is preferably a ball screw-spline shaft, providing higher rotation and movement precision. Specifically, the ball nut 331 is connected to the other end of the first synchronous belt 315, and the first synchronous belt 315 rotates to transmit the power of the first motor 311 to the ball nut 331, and the ball nut 331 makes the main shaft 40 move along the The vertical axis moves up and down. Similarly, the spline sleeve 333 is connected to the other end of the second synchronous belt 325, and the second synchronous belt 325 rotates to transmit the power of the second motor 321 to the spline sleeve 333, and the spline sleeve 333 makes the spline sleeve 333 The main shaft 40 rotates on its own. Further, through the coordinated rotation of the first synchronous belt 315 and the second synchronous belt 325 , respectively through the kinematic coupling of the ball nut 331 and the spline sleeve 333 , the main shaft 40 is driven to move up and down and to rotate.

The surgical robot includes three working modes, namely: passive dragging mode, micro pose adjustment mode and positioning mode.

When the surgical robot is in the passive dragging mode, the electromagnetic clutches of the first rotary joint 100 , the second rotary joint 200 , and the fourth rotary joint 400 , and the first electromagnetic clutch 313 and the second electromagnetic clutch 323 of the third rotary joint 300 In the separated state, the surgical robot can be passively dragged to the general area requiring surgical operation by rotating the first arm 20 , the second arm 30 , the main shaft 40 or the swing arm 50 under the action of a small external force to achieve coarse Positioning can speed up the operation speed of the operation and improve the work efficiency of the surgical robot. At the same time, the encoders of each rotary joint have recorded the angular displacement of each rotary joint, and the recorded angular displacement signal is sent to the control system.

When the surgical robot executes the micro pose adjustment mode, the encoders of the first rotary joint 100, the second rotary joint 200, and the fourth rotary joint 400, and the first encoder 314 and the second encoder of the third rotary joint 300 324 is converted into an electrical signal according to the angular displacement of each rotary joint recorded earlier, and sent to the control system; the control system controls the electromagnetic clutch of each rotary joint, the first electromagnetic clutch 313 and the second electromagnetic clutch 313 according to the electrical signal of the angular displacement. Closing and disconnecting of the clutch 323, while cooperating with the harmonic reducer of each rotary joint, and the operation of the reduction box, the first reduction box 312 and the second reduction box 322, reduces the operating speed of the surgical robot, which is easy to control and has high motion accuracy High, safe and reliable, the position of the surgical robot can be adjusted in a small range.

When the surgical robot is in the positioning mode, the electromagnetic clutches and motors of each rotary joint, the first electromagnetic clutch 313, the second electromagnetic clutch 323, the first motor 311, and the second motor 321 are electrically disconnected; , the first gear box 312 and the second gear box 322 can be self-locked, the motor, the first motor 311, and the second motor 321 are also in a locked state, and the position and posture of the surgical robot are also precisely fixed, and then the operation is performed by the surgical instrument 60 Work.

The encoders in the above-mentioned rotary joints can be installed in different positions according to different encoders and different working modes, for example, installed on the outside of each rotary joint.

In the second embodiment, its difference from the first embodiment is that there is no encoder and control system; that is, each rotary joint has no encoder or the first encoder 314, the second encoder 324, and accepts the encoder or the first encoder A control system for the signals of the first encoder 314 and the second encoder 324 . The electromagnetic clutches or the first electromagnetic clutch and the second electromagnetic clutch 323 of each rotary joint can be closed or disconnected artificially through an external control device. In the process of performing the operation, the clutch or the first electromagnetic clutch and the second electromagnetic clutch 323 can be controlled by an external control device, so as to achieve power output; and then control the operation of the surgical robot. The surgical robot in the second embodiment has advantages in performing operations that do not require high precision and relatively long operation time. The surgical robot has a simple structure, low cost, and can be widely used.

In the third embodiment, the difference from the first embodiment is that there is no electromagnetic clutch, the first electromagnetic clutch and the second electromagnetic clutch 323; that is, the power output of each rotary joint is controlled by the control system. By controlling the total power supply of the surgical robot, the working movement, fine-tuning and positioning of the surgical robot are controlled.

In the fourth embodiment, the difference from the first embodiment is that there is no electromagnetic clutch, the first electromagnetic clutch and the second electromagnetic clutch 323, the harmonic speed reducer, the encoder, the first encoder 314 and the second encoder 324 And the control system; that is, the motors of each rotary joint provide power sources, reduce the output speed of the motors and increase the torque through the reduction box, and drive the movement of the first arm 20, the second arm 30, the main shaft 40 or the swing arm 50. The surgical robot of the fourth embodiment can perform relatively simple or common operations, and has a very simple structure, is easy to be mass-produced and practical, and can generally improve the medical level of the whole society.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. an operating robot is characterized in that, comprises pedestal, the first arm, second arm, main shaft and swing arm, and first rotary joint, second rotary joint, the 3rd rotary joint and the 4th rotary joint; Described pedestal is connected with described first arm axle by first rotary joint, described the first arm is connected with described second arm axle by second rotary joint, described second arm is connected with described main shaft axle by the 3rd rotary joint, and described main shaft is connected with described arm shaft by the 4th rotary joint;

At least one rotary joint of described first rotary joint, second rotary joint, the 3rd rotary joint or the 4th rotary joint comprises motor, and the reduction box that is connected with motor; Described motor provides power, and described reduction box reduces the rotating speed of described motor output and increases moment, drives the motion of the first arm, second arm, main shaft or swing arm.

2. operating robot according to claim 1, it is characterized in that, described first rotary joint, second rotary joint or the 4th rotary joint also comprise harmonic speed reducer, described harmonic speed reducer is connected with reduction box, reduce the rotating speed of reduction box output and increase moment, and drive the motion of the first arm, second arm or swing arm.

3. operating robot according to claim 2, it is characterized in that, first rotary joint, second rotary joint or the 4th rotary joint also comprise electromagnetic clutch, and described electromagnetic clutch is arranged between reduction box and the harmonic speed reducer, the output of control motor power.

4. operating robot according to claim 3, it is characterized in that, described first rotary joint, second rotary joint or the 4th rotary joint also comprise encoder and control system, described encoder is arranged between electromagnetic clutch and the harmonic speed reducer, be used to detect the corner displacement and the angular velocity of electromagnetic clutch and harmonic speed reducer, and detected corner displacement and angular velocity are converted to the signal of telecommunication, and are sent to described control system;

Described control system is handled according to the signal of telecommunication that receives, according to result, and the rotating speed and the moment of the output of control motor, and the disconnection of electromagnetic clutch or closure.

5. operating robot according to claim 4, it is characterized in that, described the 3rd rotary joint comprises first driving device, second driving device and actuating unit, and described first driving device, second driving device drive the main shaft by described first driving device or second driving device by described actuating unit respectively and vertical axis moves up and down and/or around this main shaft rotation;

Described actuating unit comprises: ball nut, spline housing and mounting flange, described mounting flange are fixed in the second arm inside, and two ends are provided with ball nut and spline housing respectively, and envelope ball nut and spline housing;

Described first driving device, second driving device comprise first motor, second motor that connects successively, first reduction box, second reduction box, first electromagnetic clutch, second electromagnetic clutch and first synchronous belt, second synchronous belt respectively; Described first synchronous belt is connected with the ball nut of described actuating unit, and described second synchronous belt is connected with the spline housing of described actuating unit.

6. operating robot according to claim 5, it is characterized in that, described first driving device, second driving device also comprise first encoder, second encoder respectively, described first encoder, second encoder respectively and corresponding being arranged between first electromagnetic clutch, second electromagnetic clutch and first synchronous belt, second synchronous belt are used to detect the corner displacement and the angular velocity of described first electromagnetic clutch, second electromagnetic clutch and first synchronous belt, second synchronous belt.

7. operating robot according to claim 6, it is characterized in that, the electromagnetic clutch of described first rotary joint, second rotary joint and the 4th rotary joint, first electromagnetic clutch, second electromagnetic clutch that reach the 3rd rotary joint are released state, and the described under external force the first arm of described operating robot, second arm, main shaft or swing arm are rotated.

8. operating robot according to claim 6, it is characterized in that, the encoder of described first rotary joint, second rotary joint and the 4th rotary joint, first encoder, second encoder that reach the 3rd rotary joint are converted to the signal of telecommunication according to the corner displacement of first rotary joint, second rotary joint, the 3rd rotary joint and the 4th rotary joint of record, and are sent to described control system;

Described control system is controlled the closed or disconnection of the electromagnetic clutch of described first rotary joint, second rotary joint and the 4th rotary joint, the operation of control reduction box and harmonic speed reducer according to the signal of telecommunication of described corner displacement; And first electromagnetic clutch of the 3rd rotary joint, second electromagnetic clutch closed or disconnect, the position of described operating robot is finely tuned in the operation of first reduction box, second reduction box.

9. operating robot according to claim 6, it is characterized in that, electromagnetic clutch, the motor of described first rotary joint, second rotary joint and the 4th rotary joint, first electromagnetic clutch, second electromagnetic clutch and first motor, second motor that reach the 3rd rotary joint disconnect and being electrically connected; Described reduction box, motor, first reduction box, second reduction box and first motor, second motor are in the lock state, and described operating robot is fixed on desired location.

10. operating robot according to claim 1, an end of described swing arm is provided with a clamping part, and described clamping part is installed operating theater instruments and is carried out surgical action.

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