# US 2023/0054829 A1 · Operating arm and surgical robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0054829 A1 - Document ID: US20230054829A1 - Status: Published application - Kind: A1 - Application number: 17/792,189 - Filed: 2020-11-28 - Published: 2023-02-23 - Earliest claimed: 2020-02-09 - Assignees: Shenzhen Edge Medical CO., Ltd. - Applicants: Shenzhen Edge Medical CO.,Ltd. - Inventors: Jian Huang; YUANQIAN GAO; JIANCHEN WANG - Web page: https://patentgrep.com/patent/US20230054829A1 ## CPC - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - A61B 2034/306: {Wrists with multiple vertebrae} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An operating arm (100) includes a driving cartridge (1), a link (2), an end instrument (3), and a first group driving wire (4) and a second group driving wire (5) penetrating the link (2). The end instrument (3) includes a connecting assembly (6) connected to the link (2) and an end effector (7) connected to the connecting assembly (6). The driving cartridge (1) includes a base (10) connected to the link (2), a first rotatable shaft (111) arranged on the base (10), and a second rotatable shaft (112) arranged on and rotating coaxially with the first rotatable shaft (111). The first group driving wire (4) starts from the first rotatable shaft (111) and terminates at a first position of the connecting assembly (6). The second group driving wire (5) starts from the second rotatable shaft (112) and terminates at a second position of the connecting assembly (6). ## Claims ### Claim 1 An operating arm, comprising successively connected a driving cartridge, a link, an end instrument, and a first group of driving wire and a second group of driving wire penetrating the link, the end instrument comprising a connecting assembly connected to the link and an end effector connected to the connecting assembly, and the driving cartridge comprising a base connected to the link, and a driving shaft assembly arranged on the base, the driving shaft assembly comprising a first rotatable shaft arranged on the base, and a second rotatable shaft arranged on the first rotatable shaft and coaxially rotated with the first rotatable shaft, a first group driving wire starting from the first rotatable shaft and terminating at a first positon of the connecting assembly, a second group driving wire starting from the second rotatable shaft and terminating at a second position of the connecting assembly, the first position is farther away the link, the second position is nearer to the link, thereby the first group of driving wire and the second group of driving wire driving the end instrument to move in a direction corresponding to a degree of freedom during rotation of the driving shaft assembly. ### Claim 2 (depends on 1) The operating arm of claim 1, wherein the connecting assembly comprises a first connecting unit connected to the end effector, a second connecting unit coupled to the first connecting unit, a third connecting unit coupled to the second connecting unit, a fourth connecting unit coupled to the third connecting unit, and a fifth connecting unit having one end coupled to the fourth connecting unit and the other end connected to the link, a rotation axis of the first connecting unit is parallel with a rotation axis of the third connecting unit, a rotation axis of the second connecting unit is parallel with a rotation axis of the fourth connecting unit, and the rotation axis of the first connecting unit is perpendicular to the rotation axis of the second connecting unit. ### Claim 3 (depends on 2) The operating arm of claim 2, wherein the driving shaft assembly comprises a pitch driving shaft assembly and a yaw driving shaft assembly, the pitch driving shaft assembly comprises a first thick shaft arranged on the base and a first thin shaft arranged on the first thick shaft and coaxially rotated with the first thick shaft, the first group of driving wire comprises a first driving wire and a second driving wire both starting from the first thick shaft with different winding directions, and a third driving wire and a fourth driving wire both starting from the first thin shaft with different winding directions; and the yaw driving shaft assembly comprises a second thick shaft arranged on the base and a second thin shaft arranged on the second thick shaft and coaxially rotated with the second thick shaft, the second group of driving wire comprises a fifth driving wire and a sixth driving wire both starting from the second thick shaft with different winding directions, and a seventh driving wire and an eighth driving wire both starting from the second thin shaft with different winding directions. ### Claim 4 (depends on 3) The operating arm of claim 3, wherein the first driving wire, the second driving wire, the fifth driving wire, and the sixth driving wire all terminate at the first connecting unit; the third driving wire, the fourth driving wire, the seventh driving wire, and the eighth driving wire all terminate at the third connecting unit. ### Claim 5 (depends on 4) The operating arm of claim 4, wherein the pitch driving shaft assembly drives the end instrument to implement pitch degrees of freedom of movement, a length variation of the first driving wire is equal to a sum of a first length variation and a second length variation, the first length variation is a length variation of a portion of the first driving wire between the first connecting unit and the second connecting unit, the second length variation is a length variation of a portion of the first driving wire between the third connecting unit and the fourth connecting unit; a length variation of the second driving wire is equal to a sum of a third length variation and a fourth length variation, the third length variation is a length variation of a portion of the second driving wire between the first connecting unit and the second connecting unit, the fourth length variation is a length variation of a portion of the second driving wire between the third connecting unit and the fourth connecting unit; and a fifth length variation of the third driving wire is equal to a sixth length variation of the fourth driving wire, the fifth length variation is a length variation of a portion of the third driving wire between the third connecting unit and the fourth connecting unit, the sixth length variation is a length variation of a portion of the fourth driving wire between the third connecting unit and fourth connecting unit. ### Claim 6 (depends on 5) The operating arm of claim 5, wherein the first length variation is equivalent to the third length variation, the second length variation is equivalent to the fourth length variation. ### Claim 7 (depends on 5) The operating arm of claim 5, wherein a ratio of a diameter of the first thick shaft and a diameter of the first thin shaft is equivalent to a ratio of the length variation of the first driving wire and the fifth length variation of the third driving wire; or equivalent to a ratio of the length variation of the second driving wire and the sixth length variation of the fourth driving wire. ### Claim 8 (depends on 4) The operating arm of claim 4, wherein the yaw driving shaft assembly drives the end instrument to implement yaw degrees of freedom of movement, a length variation of the fifth driving wire is equal to a sum of a seventh length variation and an eighth length variation, the seventh length variation is a length variation of a portion of the fifth driving wire between the second connecting unit and the third connecting unit, the eighth length variation is a length variation of a portion of the fifth driving wire between the fourth connecting unit and the fifth connecting unit; a length variation of the sixth driving wire is equal to a sum of a ninth length variation and a tenth length variation, the ninth length variation is a length variation of a portion of the sixth driving wire between the second connecting unit and the third connecting unit, the tenth length variation is a length variation of a portion of the sixth driving wire between the fourth connecting unit and the fifth connecting unit; and an eleventh length variation of the seventh driving wire is equivalent to a twelfth length variation of the eighth driving wire, the eleventh length variation is a length variation of a portion of the seventh driving wire between the fourth connecting unit and the fifth connecting unit, and the twelfth length variation is a length variation of a portion of the eighth driving wire between the fourth connecting unit and the fifth connecting unit. ### Claim 9 (depends on 8) The operating arm of claim 8, wherein the seventh length variation is equivalent to the ninth length variation, and the eighth length variation is equivalent to the tenth length variation. ### Claim 10 (depends on 8) The operating arm of claim 8, wherein a ratio of a diameter of the second thick shaft and a diameter of the second thin shaft is equal to a ratio of the length variation of the fifth driving wire and the eleventh length variation of the seventh driving wire; or equal to a ratio of the length variation of the sixth driving wire and the twelfth length variation of the eighth driving wire. ### Claim 11 (depends on 4) The operating arm of claim 4, wherein the first driving wire and the second driving wire are arranged on the first connecting unit and oppositely surrounding an axis of the link, the fifth driving wire and the sixth driving wire are arranged on the first connecting wire and oppositely surrounding the axis of the link. ### Claim 12 (depends on 11) The operating arm of claim 11, wherein the first driving wire and the fifth driving wire form a continuous driving wire, and the second driving wire and the sixth driving wire form a continuous driving wire. ### Claim 13 (depends on 12) The operating arm of claim 12, wherein the first driving wire, the second driving wire, the fifth driving wire, and the sixth driving wire each have a sphere structure at an end of the connecting assembly. ### Claim 14 (depends on 4) The operating arm of claim 4, wherein the third driving wire and the fourth driving wire are arranged on the third connecting unit and oppositely surrounding an axis of the link, the seventh driving wire and the eighth driving wire are arranged on the third connecting unit and oppositely surrounding the axis of the link. ### Claim 15 (depends on 14) The operating arm of claim 14, wherein the third driving wire and the seventh driving wire are at a complete first continuous driving wire; and/or the fourth driving wire and the eighth driving wire are at a complete second continuous driving wire. ### Claim 16 (depends on 15) The operating arm of claim 15, wherein the third connecting unit comprises a first resident hole and a second resident hole arranged between the third driving wire and the seventh driving wire; the first continuous driving wire comprises a first connecting wire connecting the third driving wire and the seventh driving wire, one end of the first connecting wire is connected to the third driving wire, the other end of the first connecting wire extending the first resident hole and the second resident hole is connected to the seventh driving wire. ### Claim 17 (depends on 15) The operating arm of claim 15, wherein the third connecting unit comprises a third resident hole and a fourth resident hole arranged between the fourth driving wire and the eighth driving wire; the second continuous driving wire comprises a second connecting wire connecting the fourth driving wire and the eighth driving wire, one end of the second connecting wire is connected to the fourth driving wire, the other end of the second connecting wire extending the third resident hole and the fourth resident hole is connected to the eighth driving wire. ### Claim 18 (depends on 14) The operating arm of claim 14, wherein the third driving wire, the fourth driving wire, the seventh driving wire, and the eighth driving wire each have a sphere structure at an end of the connecting assembly. ### Claim 19 (depends on 14) The operating arm of claim 14, wherein the first driving wire is adjacent to the third driving wire, the second driving wire is adjacent to the fourth driving wire, the fifth driving wire is adjacent to the seventh driving wire, the sixth driving wire is adjacent to the eighth driving wire respectively, and the third driving wire, the fourth driving wire, the seventh driving wire, and the eighth driving wire are located near a periphery of the third connecting unit. ### Claim 20 A surgical robot, the surgical robot comprising an operating arm, the operating arm comprising successively connected a driving cartridge, a link, an end instrument, and a first group of driving wire and a second group of driving wire penetrating the link, the end instrument comprising a connecting assembly connected to the link and an end effector connected to the connecting assembly, and the driving cartridge comprising a base connected to the link, and a driving shaft assembly arranged on the base, the driving shaft assembly comprising a first rotatable shaft arranged on the base, and a second rotatable shaft arranged on the first rotatable shaft and coaxially rotated with the first rotatable shaft, the first group driving wire starting from the first rotatable shaft and terminating at a first position of the connecting assembly, the second group driving wire starting from the second rotatable shaft and terminating at a second position of the connecting assembly, the first position is farther away the link, the second position is nearer to the link, thereby the first group of driving wire and the second group of driving wire driving the end instrument to move in a direction corresponding to a degree of freedom during rotation of the driving shaft assembly.