Supporting arm for medical robot and auxiliary puncture system

Abstract

The invention provides a supporting arm for a medical robot and an auxiliary puncture system, and belongs to the technical field of medical equipment, specifically, the supporting arm comprises supporting arm assemblies, the first ends of the supporting arm assemblies are provided with first rotating joints, and the two supporting arm assemblies are connected through second rotating joints; a damping assembly; an adjusting assembly; and a locking member. According to the damping supporting arm provided by the embodiment of the invention, in the adjusting process, an operator usually roughly adjusts a puncture robot to a certain position firstly, then fine adjustment is carried out according to an operation position, an operation position and the like, the supporting arm is locked after fine adjustment, and in the process from rough adjustment to fine adjustment, the supporting arm is locked after fine adjustment. The damping assembly can provide rotating damping at the first rotating joint and the second rotating joint, so that the rotating damping provided by the damping assembly can enable the surgical equipment to keep the current position and angle no matter where the puncture robot is rotated to by an operator, and the adjusting efficiency of the position of the surgical equipment is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more particularly, to a support arm and an auxiliary puncture system for a medical robot. Background Art

[0002] During the use of medical devices, a bracket is generally provided to provide support, and the positions of multiple devices or instruments need to be adjusted in various directions. Among them, during a CT-assisted puncture operation, the puncture robot needs to be fixed on the CT scanning bed through a universal adjustment bracket, and the pose (position and attitude) of the puncture robot is adjusted through the universal adjustment bracket. However, during the adjustment process of the existing universal adjustment bracket, it is usually necessary to first adjust the joints of the adjustment bracket by a certain angle, and after the adjustment, the joints will be fixed through a fixing structure to keep the adjustment bracket at a certain angle. Before fixing the adjustment bracket to a certain angle, it is also necessary to perform multiple rough or fine adjustments on the adjustment bracket. The fixing structure can only lock or unlock the joints, and cannot temporarily maintain the position angle of the joints of the adjustment bracket during the adjustment process of the adjustment bracket. The position angle adjustment steps are cumbersome and not convenient for medical staff to operate. Summary of the Invention

[0003] An object of the present application is to provide a support arm and an auxiliary puncture system for a medical robot, aiming to solve the problem that during the process of adjusting the pose of the puncture robot through a universal adjustment bracket in the related art, the joints of the adjustment bracket cannot be temporarily maintained in position, resulting in cumbersome angle adjustment steps and inconvenience for medical staff to operate.

[0004] Additional aspects and advantages of the present application will be partly set forth in the description below, and partly will become apparent from the description, or may be learned by practice of the present application.

[0005] According to a first aspect of the present application, there is provided a support arm for a medical robot, including: An arm assembly, the arm assembly is provided in two groups, the first ends of the two groups of arm assemblies are both provided with a first rotating joint, and the second ends of the two groups of arm assemblies are connected through a second rotating joint. One of the first rotating joints is used for fixedly connecting to the CT scanning bed, and the other first rotating joint is used for connecting to the puncture robot; A damping assembly, the damping assembly is respectively arranged on the first rotating joint and the second rotating joint, and the damping assembly is used for adjusting the rotational damping of the first rotating joint and the second rotating joint; An adjusting assembly, the adjusting assembly is arranged on the second rotating joint and is used for locking the second rotating joint; Locking member, two sets of the locking members are provided and respectively correspond to the two sets of the arm assemblies. The first end of the locking member is connected to the adjusting assembly, and the second end is connected to the first rotary joint. During the process that the adjusting assembly locks the second rotary joint, the adjusting assembly drives the locking member to move and lock the first rotary joint.

[0006] In an exemplary embodiment of the present application, the damping assembly includes a first elastic pre-tightening structure and a first pre-tightening force adjusting structure provided at the first rotary joint. The first elastic pre-tightening structure applies the rotational damping to the first rotary joint through an elastic force, and the first pre-tightening force adjusting structure is used to adjust the magnitude of the elastic force.

[0007] In an exemplary embodiment of the present application, the first elastic pre-tightening structure includes a first elastic member, a first pressing block, and a second pressing block; The first rotary joint member includes a ball head seat and a mounting ball head; One end of the mounting ball head is rotatably installed in the ball head seat, and the other end of the mounting ball head extends out of the ball head seat for connecting a medical device. The first end of the arm assembly is connected to the ball head seat; Both the first pressing block and the second pressing block are slidably installed inside the ball head seat. The first elastic member is arranged between the first pressing block and the second pressing block, and the second pressing block abuts against the spherical surface of the mounting ball head.

[0008] In an exemplary embodiment of the present application, the first pre-tightening force adjusting structure includes a first adjusting member. The first adjusting member is installed on the ball head seat, and the first adjusting member is used to adjust the distance between the first pressing block and the second pressing block to adjust the elastic force generated by the first elastic member on the second pressing block.

[0009] In an exemplary embodiment of the present application, the first adjusting member is a first adjusting set screw, which is threadedly connected to the side surface of the ball head seat. The first adjusting set screw is in mating connection with the first pressing block through a first inclined surface. The distance between the first pressing block and the second pressing block is adjusted by screwing the first adjusting set screw in and out of the first inclined surface.

[0010] In an exemplary embodiment of the present application, the second rotary joint includes an upper swing arm rotating block and a lower swing arm rotating block. The upper swing arm rotating block is rotatably connected to the lower swing arm rotating block. The adjusting assembly is used to adjust the two swing arm rotating blocks to move closer to each other until they abut and lock.

[0011] In an exemplary embodiment of the present application, the adjusting assembly includes an adjusting rod, a slider, and a top block. A threaded section is provided on the adjusting rod, and a knob is threadedly connected to the threaded section. The slider is slidably mounted on the adjusting rod and is in contact connection with the knob. The slider is located on the smooth section of the adjusting rod, and the slider is used to drive the lower swing arm rotating block to move along the axial direction of the adjusting rod. The top block is connected to one end of the adjusting rod away from the threaded section. The top block is used to drive the upper swing arm rotating block to move along the axial direction of the adjusting rod. When the knob rotates on the threaded section, the positions of the adjusting rod and the top block remain unchanged. First, the slider drives the lower swing arm rotating block to move along the axial direction of the adjusting rod towards the upper swing arm rotating block. When the lower swing arm rotating block abuts against the upper swing arm rotating block, the positions of the knob and the slider remain unchanged. Continuing to rotate the knob, the adjusting rod drives the upper swing arm rotating block to move towards the lower swing arm rotating block through the top block until the upper swing arm rotating block and the lower swing arm rotating block are locked.

[0012] In an exemplary embodiment of the present application, the locking member can slide axially within the arm assembly. The first end of one set of the locking members is connected to the slider, and the second end is connected to the second pressing block of one of the first rotating joints. The first end of the other set of the locking members is connected to the top block, and the second end is connected to the second pressing block of the other first rotating joint. During the process of locking the upper swing arm rotating block and the lower swing arm rotating block, the top block and the slider respectively drive the corresponding locking members to slide axially within the arm assembly and apply a locking force on the mounting ball head to the second pressing block.

[0013] In an exemplary embodiment of the present application, the damping assembly further includes a second elastic preloading structure and a second preloading force adjusting structure provided on the second rotating joint. The second elastic preloading structure applies the rotational damping to the second rotating joint through an elastic force, and the second preloading force adjusting structure is used to adjust the magnitude of the elastic force.

[0014] In an exemplary embodiment of the present application, the second elastic preloading structure includes a second elastic member, a pressure adjusting block, and a baffle. The baffle is fixedly connected to the end of the lower swing arm rotating block through a connecting member. The pressure adjusting block is slidably mounted on the connecting member. The second elastic member is located between the pressure adjusting block and the baffle. When the pressure adjusting block presses the second elastic member, the second elastic member applies an elastic force to the baffle, causing the baffle to drive the lower swing arm rotating block to move towards the upper swing arm rotating block, so as to apply a rotational damping between the upper swing arm rotating block and the lower swing arm rotating block.

[0015] In an exemplary embodiment of the present application, the second pre-tightening force adjusting structure includes a second adjusting member, which is installed on the second rotary joint, and the second adjusting member is used to adjust the distance between the pressure adjusting block and the baffle, so as to adjust the elastic force generated by the second elastic member on the baffle.

[0016] In an exemplary embodiment of the present application, the second adjusting member is a second adjusting set screw, which is threadedly connected to the side surface of the upper swing arm rotating block. The second adjusting set screw is in fit connection with the pressure adjusting block through a fourth inclined surface. During the process of screwing in and out of the second adjusting set screw, the distance between the pressure adjusting block and the baffle is adjusted through the fourth inclined surface.

[0017] In an exemplary embodiment of the present application, a friction ring is further included, and the friction ring is arranged between the upper swing arm rotating block and the lower swing arm rotating block, and the friction ring is used to increase the friction force between the upper swing arm rotating block and the lower swing arm rotating block when they are locked.

[0018] In an exemplary embodiment of the present application, the friction ring includes at least one set of inner ring and outer ring. The inner ring is installed on the outer circumference of one of the upper swing arm rotating block and the lower swing arm rotating block, and the outer ring is installed on the inner circumference of the other of the upper swing arm rotating block and the lower swing arm rotating block, and the inner ring and the outer ring are arranged in an interleaved manner.

[0019] In an exemplary embodiment of the present application, the inner ring is installed on the outer circumference of the upper swing arm rotating block, and the outer ring is installed on the inner circumference of the lower swing arm rotating block; Both the inner circle of the inner ring and the outer circle of the outer ring are radially protruded with bumps, and grooves matching the bumps are provided on the outer circumference of the upper swing arm rotating block and the inner circumference of the lower swing arm rotating block.

[0020] According to a second aspect of the present application, an auxiliary puncture system is provided, including the support arm for a medical robot as described above.

[0021] The exemplary embodiments of the present application may have the following partial or all beneficial effects: The support arm for a medical robot provided in the exemplary embodiment of the present application, wherein one first rotary joint is fixed to the operating table or equipment, and a surgical device is connected to the other first rotary joint. The second ends of the two arm assemblies are connected together through a second rotary joint. Damping components are provided on both the two first rotary joints and the second rotary joint. The damping components can provide rotational damping, so that the first rotary joint and the second rotary joint have a certain resistance during rotational adjustment. One of the first rotary joints is used for fixed connection to a CT scan bed, and the other first rotary joint is used for connecting a puncture robot; when adjusting the position and angle of the puncture robot, it can be adjusted by rotating the two first rotary joints and the second rotary joint. During the adjustment process, the operator first roughly adjusts the puncture robot to a certain position, and then makes fine adjustments according to the surgical position, operating position, etc. After the fine adjustment, the damping arm will be locked. During the process from rough adjustment to fine adjustment, the damping components in the damping arm of the present application can provide rotational damping at the first rotary joint and the second rotary joint, so that no matter what position the surgical device is rotated to by the operator, the rotational damping provided by the damping components can keep the puncture robot in its current position and angle. This greatly improves the adjustment efficiency of the position of the puncture robot and avoids the situation that during the adjustment process, the operator still needs to maintain the angles of each joint and even needs a partner to complete the adjustment.

[0022] The damping arm provided in the exemplary embodiment of the present application further includes an adjustment component and a locking member. The adjustment component is arranged on the second rotary joint, and the second rotary joint can be locked through the adjustment component; the locking members are provided in two groups and correspond to the two arm assemblies respectively. The first end of the locking member is connected to the adjustment component, and the second end is connected to the first rotary joint. During the process of the adjustment component locking the second rotary joint, the adjustment component can drive the locking member to move and lock the first rotary joint. After the damping arm is adjusted to a suitable position and angle, only through the adjustment component, the synchronous locking of the first rotary joint and the second rotary joint can be completed, without separately operating and locking the first rotary joint and the second rotary joint, which simplifies the locking steps and improves the locking efficiency.

[0023] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 Shows a schematic structural diagram of a damping support arm in an embodiment of the present application; Figure 2 Shows a schematic structural diagram of a second rotary joint in the damping support arm in an embodiment of the present application; Figure 3 Shows a schematic structural diagram of a first rotary joint in the damping support arm in an embodiment of the present application.

[0026] Explanation of reference numerals: 1. Support arm assembly; 2. First rotary joint; 3. Second rotary joint; 4. Damping assembly; 5. Upper swing arm rotating block; 6. Lower swing arm rotating block; 7. Adjusting rod; 8. Slide block; 9. Top block; 10. Knob; 11. Inner ring; 12. Outer ring; 13. First inner rod; 14. First sleeve; 15. Second inner rod; 16. Second sleeve; 17. Second inclined surface; 18. Third inclined surface; 19. Pressure adjusting block; 20. Second elastic member; 21. Baffle; 22. Connecting member; 23. Second adjusting member; 24. Fourth inclined surface; 25. Mounting ball head; 26. First pressing block; 27. First elastic member; 28. First adjusting member; 29. First inclined surface; 30. Second pressing block. Detailed implementation manners

[0027] Now, example embodiments will be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the figures denote the same or similar structures, and thus their detailed descriptions will be omitted. In addition, the drawings are only schematic illustrations of the present application and are not necessarily drawn to scale.

[0028] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the icon to another component, these terms are used in this specification only for convenience, for example, according to the direction of the example in the drawings. It can be understood that if the device of the icon is turned upside down, the component described as "upper" will become the component described as "lower". When a structure is "on" another structure, it may mean that a structure is integrally formed on another structure, or that a structure is "directly" disposed on another structure, or that a structure is "indirectly" disposed on another structure through another structure.

[0029] The terms "a", "an", "the" and "at least one" are used to denote the presence of one or more elements / components / etc.; the terms "comprising" and "having" are used to mean an open inclusion and refer to the possibility of the existence of additional elements / components / etc. in addition to the listed elements / components / etc.; the terms "first", "second" are used only as labels and are not a limitation on the quantity of their objects. Embodiment 1

[0030] This embodiment provides a specific implementation of the support arm for a medical robot, as Figure 1 shown, including two groups of arm assemblies 1. The first ends of the two groups of arm assemblies 1 are each provided with a first rotary joint 2, and the second ends of the two groups of arm assemblies 1 are connected through a second rotary joint 3. Damping assemblies 4 are provided on both the first rotary joint 2 and the second rotary joint 3. The damping assemblies 4 can adjust the rotational damping of the first rotary joint 2 and the second rotary joint 3, such that when the first rotary joint 2 and the second rotary joint 3 rotate, a certain resistance can be maintained during the rotation process, and the current rotation angle can be maintained when the rotation stops. One of the first rotary joints 2 is used for fixedly connecting to a CT scan bed, and the other first rotary joint 2 is used for connecting to a puncture robot; an adjustment assembly is provided on the second rotary joint 3, and the adjustment assembly can lock the second rotary joint 3; there are two groups of locking members and they correspond to the two groups of arm assemblies 1 respectively. The first ends of the locking members are connected to the adjustment assembly, and the second ends are connected to the first rotary joint 2. During the process of the adjustment assembly locking the second rotary joint 3, the adjustment assembly drives the locking members to move and lock the first rotary joint 2 synchronously, achieving the effect of locking the arm assemblies 1.

[0031] The support arm provided by the present application, one of the first rotary joints 2 is fixed on the CT scanning bed, and can also be on the operating table or other medical devices. The puncture robot is connected to the other first rotary joint 2. The second ends of the two arm assemblies 1 are connected together through the second rotary joint 3. Damping assemblies 4 are provided on both the two first rotary joints 2 and the second rotary joint 3. The damping assemblies 4 can provide rotational damping, so that the first rotary joint 2 and the second rotary joint 3 have a certain resistance during rotational adjustment; when adjusting the pose (position and attitude) of the puncture robot, it can be adjusted by rotating the two first rotary joints 2 and the second rotary joint 3. During the adjustment process, the operator usually first roughly adjusts the puncture robot to a certain position, and then makes fine adjustments according to the surgical position, operating position, etc. After the fine adjustment, the damping arm is locked. During the process from rough adjustment to fine adjustment, the damping assemblies 4 in the damping arm of the present application can provide rotational damping at the first rotary joint 2 and the second rotary joint 3, so that no matter what position the operator rotates the puncture robot to, the rotational damping provided by the damping assemblies 4 can make the puncture robot maintain the current position and angle. This greatly improves the adjustment efficiency of the position of the surgical equipment and avoids the need for the operator to maintain the angles of each joint during the adjustment process, and even requires a partner to complete the adjustment.

[0032] In this embodiment, the damping assembly 4 includes a first elastic preloading structure and a first preloading force adjusting structure provided at the first rotary joint 2. The first elastic preloading structure applies rotational damping to the first rotary joint 2 through elastic force, and the first preloading force adjusting structure is used to adjust the magnitude of the elastic force.

[0033] Further, the first elastic preloading structure includes a first elastic member 27, a first pressing block 26 and a second pressing block 30. The first rotary joint 2 includes a ball head seat and a mounting ball head 25; one end of the mounting ball head 25 is rotatably installed in the ball head seat, and the other end of the mounting ball head 25 extends out of the ball head seat for connecting to a medical device. The first end of the arm assembly 1 is connected to the ball head seat; both the first pressing block 26 and the second pressing block 30 are slidably installed inside the ball head seat. The first elastic member 27 is provided between the first pressing block 26 and the second pressing block 30. The second pressing block 30 abuts against the spherical surface of the mounting ball head 25. The first elastic member 27 between the first pressing block 26 and the second pressing block 30 applies an elastic force to the second pressing block 30, and the second pressing block 30 presses the spherical surface of the mounting ball head 25, so that rotational damping is generated during the rotation of the mounting ball head 25.

[0034] In this embodiment, the first pre-tightening force adjusting structure includes a first adjusting member 28. The first adjusting member 28 is installed on the ball head seat. The first adjusting member 28 is used to adjust the distance between the first pressing block 26 and the second pressing block 30. When the distance between the first pressing block 26 and the second pressing block 30 changes, the compression amount of the first elastic member 27 can be adjusted, and further the elastic force of the first elastic member 27 can be adjusted. When the elastic force of the first elastic member 27 changes, the pressure exerted by the second pressing block 30 on the spherical surface of the mounting ball head 25 also changes, realizing the adjustment of the rotational damping of the mounting ball head 25 rotating in the ball head seat.

[0035] Further, the first adjusting member 28 is a first adjusting set screw. The first adjusting set screw is threadedly connected to the side surface of the ball head seat. The first adjusting set screw is in fit connection with the first pressing block 26 through a first inclined surface 29. The distance between the first pressing block 26 and the second pressing block 30 is adjusted by screwing the first adjusting set screw in and out.

[0036] Specifically, when the first adjusting set screw is screwed into the ball head seat, the end of the first adjusting set screw is under the action of the first inclined surface 29, squeezing the first pressing block 26, causing the first pressing block 26 to move in the direction inclined downward, that is, causing the first pressing block 26 to move axially along the ball head seat in the ball head seat and approach the second pressing block 30. During the movement of the first pressing block 26, the first elastic member 27 is squeezed. The elastic force of the first elastic member 27 on the second pressing block 30 increases, and further the squeezing force of the second pressing block 30 on the spherical surface of the mounting ball head 25 becomes larger, making the rotational damping between the mounting ball head 25 and the ball head seat increase.

[0037] When the first adjusting set screw is screwed out of the ball head seat, the end of the first adjusting set screw gradually withdraws the extrusion of the first pressing block 26 under the action of the first inclined surface 29. The first pressing block 26 moves in the direction away from the second pressing block 30 under the elastic force of the first elastic member 27. The distance between the first pressing block 26 and the second pressing block 30 increases. The elastic force of the first elastic member 27 on the second pressing block 30 decreases, and further the squeezing force of the second pressing block 30 on the spherical surface of the mounting ball head 25 becomes smaller, making the rotational damping between the mounting ball head 25 and the ball head seat decrease.

[0038] In this embodiment, by adjusting the screwing in and out of the first adjusting set screw, the damping magnitude at the first rotating joint 2 can be adjusted. Further, when adjusting the position and angle of the component connected to the boom assembly 1 through the first rotating joint 2, the position can be temporarily held by the resistance of the damping to facilitate the next operation.

[0039] In some other embodiments, the first adjusting member 28 can also be a strut arranged axially, as long as it can realize controlling the distance between the first pressing block 26 and the second pressing block 30.

[0040] In this embodiment, the second rotary joint 3 includes an upper swing arm rotary block 5 and a lower swing arm rotary block 6. The upper swing arm rotary block 5 and the lower swing arm rotary block 6 are rotatably connected. The adjusting assembly is used to adjust the two swing arm rotary blocks to approach each other until they are abutted and locked. Under the adjustment of the adjusting assembly, the upper swing arm rotary block 5 and the lower swing arm rotary block 6 can rotate and approach each other until they are abutted, and can be locked when they are tightened.

[0041] Further, the adjusting assembly includes an adjusting rod 7, a slider 8, and a top block 9. The adjusting rod 7 is provided with a threaded section and a smooth section. A knob 10 is threadedly connected to the threaded section. The slider 8 is slidably mounted on the smooth section of the adjusting rod 7. The slider 8 is in contact connection with the knob 10. The slider 8 is used to drive the lower swing arm rotary block 6 to move along the axial direction of the adjusting rod 7. The top block 9 is connected to one end of the adjusting rod 7 away from the threaded section. The top block 9 is used to drive the upper swing arm rotary block 5 to move along the axial direction of the adjusting rod 7. When the knob 10 rotates on the threaded section, the positions of the adjusting rod 7 and the top block 9 remain unchanged. First, the slider 8 is used to drive the lower swing arm rotary block 6 to move along the axial direction of the adjusting rod 7 towards the upper swing arm rotary block 5. When the lower swing arm rotary block 6 abuts against the upper swing arm rotary block 5, the positions of the knob 10 and the slider 8 remain unchanged. Continuing to rotate the knob 10, the adjusting rod 7 drives the upper swing arm rotary block 5 to move towards the lower swing arm rotary block 6 through the top block 9 until the upper swing arm rotary block 5 and the lower swing arm rotary block 6 are locked.

[0042] Wherein, both the upper swing arm rotary block 5 and the lower swing arm rotary block 6 are sleeved on the adjusting rod 7 and can slide along the axial direction of the adjusting rod 7. The end of the adjusting rod 7 and the top block 9 are rotatably and anti-slidingly connected. When the adjusting rod 7 rotates, the top block 9 will not rotate along with it, but when the adjusting rod 7 moves in the axial direction, the top block 9 moves together to drive the upper swing arm rotary block 5 to move; the adjusting rod 7 and the slider 8 are rotatably and slidably connected. The adjusting rod 7 can rotate with the slider 8 and can also move axially relative to the slider 8.

[0043] In this embodiment, the locking member can slide axially within the support arm assembly 1. There are two sets of locking members, which respectively correspond to the two sets of support arm assemblies 1. The first end of one set of locking members is connected to the slider 8, and the second end is connected to the second pressing block 30 of one of the first rotary joints 2. The first end of the other set of locking members is connected to the top block 9, and the second end is connected to the second pressing block 30 of the other first rotary joint 2. During the process of locking the upper swing arm rotary block 5 and the lower swing arm rotary block 6, the top block 9 and the slider 8 respectively drive the corresponding locking members to slide axially within the support arm assembly 1 and apply a locking force on the mounting ball head 25 to the second pressing block 30. Furthermore, while locking the upper swing arm rotary block 5 and the lower swing arm rotary block 6, the first rotary joint 2 and the second rotary joint 3 are locked synchronously.

[0044] Further, both of the two support arm assemblies 1 include an inner rod and a sleeve. The two inner rods are respectively a first inner rod 13 and a second inner rod 15, and the two sleeves are respectively a first sleeve 14 and a second sleeve 16. The first end of the first sleeve 14 is connected to the first rotary joint 2, and the second end of the first sleeve 14 is connected to the upper swing arm rotating block 5. The first inner rod 13 is slidably disposed within the first sleeve 14. The first end of the first inner rod 13 is connected to the second pressing block 30, and the second end of the first inner rod 13 abuts against the top block 9. The top block 9 is provided with a first groove for receiving the second end of the first inner rod 13. The first groove has a second inclined surface 17. When the top block 9 drives the upper swing arm rotating block 5 to move towards the lower swing arm rotating block 6, the second inclined surface 17 presses against the second end of the first inner rod 13, and under the action of the second inclined surface 17, the first inner rod 13 is driven to drive the second pressing block 30 to press the mounting ball head 25, so as to lock one of the first rotary joints 2.

[0045] The second inner rod 15 is slidably disposed within the second sleeve 16. The first end of the second sleeve 16 is connected to the first rotary joint 2, and the second end of the second sleeve 16 is connected to the lower swing arm rotating block 6. The first end of the second inner rod 15 is connected to the second pressing block 30, and the second end of the second inner rod 15 is connected to the slider 8. The slider 8 is provided with a second groove for receiving the second end of the second inner rod 15. The second groove has a third inclined surface 18. When the slider 8 drives the lower swing arm rotating block 6 to move towards the upper swing arm rotating block 5, the third inclined surface 18 abuts against the second end of the second inner rod 15, and under the action of the third inclined surface 18, the second inner rod 15 is driven to drive the second pressing block 30 to press the mounting ball head 25, so as to lock the other first rotary joint 2.

[0046] Specifically, the first inner rod 13 and the second inner rod 15 form a locking member for locking the first rotary joint 2.

[0047] In this embodiment, the damping assembly 4 further includes a second elastic preloading structure and a second preloading force adjusting structure provided on the second rotary joint 3. The second elastic preloading structure applies rotational damping to the second rotary joint 3 through an elastic force, and the second preloading force adjusting structure is used to adjust the magnitude of the elastic force.

[0048] Further, the second elastic preloading structure includes a second elastic member 20, a pressure adjusting block 19, and a baffle 21. The baffle 21 is fixedly connected to the end of the lower swing arm rotating block 6 through a connecting member 22. The pressure adjusting block 19 is slidably mounted on the connecting member 22. The second elastic member 20 is located between the pressure adjusting block 19 and the baffle 21. When the pressure adjusting block 19 presses the second elastic member 20, the second elastic member 20 applies an elastic force to the baffle 21, causing the baffle 21 to drive the lower swing arm rotating block 6 to move towards the upper swing arm rotating block 5, so as to apply rotational damping between the upper swing arm rotating block 5 and the lower swing arm rotating block 6.

[0049] Specifically, the connecting member 22 is a connecting screw. One end of the connecting screw is fixedly connected to the end of the lower swing arm rotating block 6, the baffle 21 is fixedly connected to the other end of the connecting screw, the pressure adjusting block 19 is slidably mounted on the connecting screw, and the second elastic member 20 is located between the baffle 21 and the pressure adjusting block 19.

[0050] In this embodiment, both the first elastic member 27 and the second elastic member 20 are springs. In some other embodiments, the first elastic member 27 and the second elastic member 20 can also be elastic components such as bellows and rubber tubes.

[0051] The second pre-tightening force adjusting structure includes a second adjusting member 23. The second adjusting member 23 is mounted on the second rotating joint 3. The second adjusting member 23 is used to adjust the distance between the pressure adjusting block 19 and the baffle 21, can adjust the compression amount of the first elastic member 27, and further adjust the elastic force generated by the second elastic member 20 on the baffle 21.

[0052] Specifically, the second adjusting member 23 is a second adjusting set screw, which is threadedly connected to the side surface of the upper swing arm rotating block 5. The second adjusting set screw is in mating connection with the pressure adjusting block 19 through the fourth inclined surface 24. During the process of screwing in and out of the second adjusting set screw, the distance between the pressure adjusting block 19 and the baffle 21 is adjusted through the fourth inclined surface 24, the compression amount of the second elastic member 20 is adjusted, and further the elastic force generated by the second elastic member 20 on the baffle 21 is adjusted.

[0053] In this embodiment, a friction ring is further included. The friction ring is arranged between the upper swing arm rotating block 5 and the lower swing arm rotating block 6. The friction ring is used to increase the friction force between the upper swing arm rotating block 5 and the lower swing arm rotating block 6 when they are locked, so that the locking between the upper swing arm rotating block 5 and the lower swing arm rotating block 6 is more firm.

[0054] Further, the friction ring includes at least one set of inner ring 11 and outer ring 12. The inner ring 11 is mounted on the outer circumference of one of the upper swing arm rotating block 5 and the lower swing arm rotating block 6, and the outer ring 12 is mounted on the inner circumference of the other of the upper swing arm rotating block 5 and the lower swing arm rotating block 6. In this embodiment, the inner ring 11 is mounted on the outer circumference of the upper swing arm rotating block 5, the outer ring 12 is mounted on the inner circumference of the lower swing arm rotating block 6, and the inner ring 11 and the outer ring 12 are arranged in an interlaced manner.

[0055] Further, a convex block protrudes radially from the inner circle of the inner ring 11. A groove is provided on the outer side of the upper swing arm rotating block 5. When the inner ring 11 is sleeved on the upper swing arm rotating block 5, the convex block can be inserted into the groove to realize the installation of the inner ring 11 and the upper swing arm rotating block 5; a convex block protrudes radially from the outer circle of the outer ring 12. A groove is provided on the inner side of the lower swing arm rotating block 6. When the outer ring 12 is embedded in the inner side of the lower swing arm rotating block 6, the convex block can be inserted into the groove to realize the installation of the outer ring 12 and the lower swing arm rotating block 6.

[0056] Working principle: The support arm for a medical robot provided in this application has one first rotary joint 2 fixed on a CT scanning bed, and a puncture robot is connected to the other first rotary joint 2. Under the assistance of CT scanning, a puncture operation is performed. During the operation, it is necessary to adjust the position and posture of the puncture robot through the support arm. After adjusting the position and posture of the puncture robot to the specified position and posture, the puncture operation can be carried out.

[0057] The second ends of the two arm components 1 in the support arm are connected together through a second rotary joint 3. Damping components 4 are provided on both the two first rotary joints 2 and the second rotary joint 3, and the damping components 4 can provide rotational damping.

[0058] The second rotary joint 3 includes an upper swing arm rotary block 5 and a lower swing arm rotary block 6. The upper swing arm rotary block 5 and the lower swing arm rotary block 6 are rotatably connected. An adjusting component is used to adjust the two swing arm rotary blocks to approach each other until they abut and lock. Under the adjustment of the adjusting component, the upper swing arm rotary block 5 and the lower swing arm rotary block 6 can rotate and approach to abut. When they are tightened, they can be locked.

[0059] Both of the two arm components 1 include an inner rod and a sleeve. The two inner rods are respectively a first inner rod 13 and a second inner rod 15, and the two sleeves are respectively a first sleeve 14 and a second sleeve 16. The first end of the first sleeve 14 is connected to the first rotary joint 2, and the second end of the first sleeve 14 is connected to the upper swing arm rotary block 5. The first inner rod 13 is slidably arranged in the first sleeve 14. The first end of the first inner rod 13 is connected to a second pressing block 30, and the second end of the first inner rod 13 abuts against a top block 9. The top block 9 is provided with a first groove for accommodating the second end of the first inner rod 13. The first groove has a second inclined surface 17. When the top block 9 drives the upper swing arm rotary block 5 to move towards the lower swing arm rotary block 6, the second inclined surface 17 abuts against the second end of the first inner rod 13, and under the action of the second inclined surface 17, the first inner rod 13 is driven to drive the second pressing block 30 to press the mounting ball head 25, so as to lock one of the first rotary joints 2.

[0060] The second inner rod 15 is slidably arranged in the second sleeve 16. The first end of the second sleeve 16 is connected to the first rotary joint 2, and the second end of the second sleeve 16 is connected to the lower swing arm rotary block 6. The first end of the second inner rod 15 is connected to the second pressing block 30, and the second end of the second inner rod 15 is connected to a slider 8. The slider 8 is provided with a second groove for accommodating the second end of the second inner rod 15. The second groove has a third inclined surface 18. When the slider 8 drives the lower swing arm rotary block 6 to move towards the upper swing arm rotary block 5, the third inclined surface 18 abuts against the second end of the second inner rod 15, and under the action of the third inclined surface 18, the second inner rod 15 is driven to drive the second pressing block 30 to press the mounting ball head 25, so as to lock the other first rotary joint 2.

[0061] During the locking process, the knob 10 rotates on the threaded section of the adjusting rod 7, pushing the slider 8 to move along the axial direction of the adjusting rod 7, causing the slider 8 to push the lower swing arm rotating block 6 to move. At the same time, the third inclined surface 18 in the second groove of the slider 8 will abut against the second end of the second inner rod 15, and during the continuous movement of the slider 8, the third inclined surface 18 will squeeze the second end of the second inner rod 15, causing the second inner rod 15 to move along its axial direction under the extrusion of the third inclined surface 18. During the axial movement of the second inner rod 15, it squeezes the mounting ball head 25, finally locking the first rotary joint 2.

[0062] After the first rotary joint 2 is locked, when the knob 10 is rotated continuously, the slider 8 no longer moves. At this time, the adjusting rod 7 moves axially under the action of the threaded rotation. During the axial movement of the adjusting rod 7, the top block 9 at its end will move along with it. The top block 9 will drive the upper swing arm rotating block 5 to move towards the lower swing arm rotating block 6, achieving the locking of the upper swing arm rotating block 5 and the lower swing arm at the second rotary joint 3. At the same time, the second inclined surface 17 in the first groove of the top block 9 will abut against the first inner rod 13. As the top block 9 continues to move, the second inclined surface 17 will cause the first inner rod 13 to move along its axial direction. During the axial movement of the first inner rod 13, it will squeeze the mounting ball head 25, locking another first rotary joint 2. Therefore, the entire damping arm can be locked only by rotating the knob 10.

[0063] Embodiment 2 This embodiment provides a specific implementation manner of the auxiliary puncture system, which is implemented by using the support arm for the medical robot in Embodiment 1.

[0064] Those skilled in the art will readily conceive of other implementations of the present application after considering the specification and practicing the embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not claimed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the appended claims.

Claims

1. A support arm for a medical robot, characterized in that, Comprising: Arm assemblies, two sets of the arm assemblies are provided, first rotary joints are provided at the first ends of the two sets of arm assemblies, the second ends of the two sets of arm assemblies are connected through a second rotary joint, one of the first rotary joints is used for fixedly connecting to a CT scanning bed, and the other first rotary joint is used for connecting a puncture robot; Damping assemblies, the damping assemblies are respectively arranged on the first rotary joint and the second rotary joint, and the damping assemblies are used for adjusting the rotational damping of the first rotary joint and the second rotary joint; Adjusting assemblies, the adjusting assemblies are arranged on the second rotary joint and are used for locking the second rotary joint; Locking members, two sets of the locking members are provided and respectively correspond to the two sets of arm assemblies, the first ends of the locking members are connected to the adjusting assemblies, and the second ends are connected to the first rotary joint. During the process of the adjusting assembly locking the second rotary joint, the adjusting assembly drives the locking members to move and lock the first rotary joint.

2. The support arm for a medical robot according to claim 1, characterized in that, The damping assembly includes a first elastic pre-tightening structure and a first pre-tightening force adjusting structure arranged at the first rotary joint. The first elastic pre-tightening structure applies the rotational damping to the first rotary joint through an elastic force, and the first pre-tightening force adjusting structure is used for adjusting the magnitude of the elastic force.

3. The support arm for a medical robot according to claim 2, wherein The first elastic pre-tightening structure includes a first elastic member, a first pressing block, and a second pressing block; The first rotary joint member includes a ball head seat and a mounting ball head; One end of the mounting ball head is rotatably installed in the ball head seat, the other end of the mounting ball head extends out of the ball head seat for connecting a medical device, and the first end of the arm assembly is connected to the ball head seat; The first pressing block and the second pressing block are both slidably installed inside the ball head seat, the first elastic member is arranged between the first pressing block and the second pressing block, and the second pressing block abuts against the spherical surface of the mounting ball head.

4. The support arm for a medical robot according to claim 3, characterized in that, The first pre-tightening force adjusting structure includes a first adjusting member, the first adjusting member is installed on the ball head seat, and the first adjusting member is used for adjusting the distance between the first pressing block and the second pressing block to adjust the elastic force generated by the first elastic member on the second pressing block.

5. The support arm for a medical robot according to claim 4, wherein, The first adjusting member is a first adjusting set screw, which is threadedly connected to the side surface of the ball head seat. The first adjusting set screw is in mating connection with the first pressing block through a first inclined surface. The distance between the first pressing block and the second pressing block is adjusted by the screwing in and out of the first adjusting set screw on the first inclined surface.

6. The support arm for a medical robot according to claim 3, characterized in that, The second rotary joint includes an upper swing arm rotating block and a lower swing arm rotating block, the upper swing arm rotating block is rotatably connected to the lower swing arm rotating block, and the adjusting assembly is used for adjusting the two swing arm rotating blocks to move closer to each other until they abut and lock.

7. The support arm for a medical robot according to claim 6, wherein, The adjusting assembly includes an adjusting rod, a slider, and a top block. A threaded section is provided on the adjusting rod, a knob is threadedly connected to the threaded section, the slider is slidably installed on the adjusting rod, and the slider is in contact connection with the knob. The slider is located on the smooth section of the adjusting rod, and the slider is used for driving the lower swing arm rotating block to move along the axial direction of the adjusting rod; The top block is connected to one end of the adjusting rod away from the threaded section. The top block is used to drive the upper swing arm rotating block to move along the axial direction of the adjusting rod. When the knob rotates on the threaded section, the positions of the adjusting rod and the top block remain unchanged. First, the slider drives the lower swing arm rotating block to move along the axial direction of the adjusting rod towards the upper swing arm rotating block. When the lower swing arm rotating block abuts against the upper swing arm rotating block, the positions of the knob and the slider remain unchanged. Continuing to rotate the knob, the adjusting rod drives the upper swing arm rotating block to move towards the lower swing arm rotating block through the top block until the upper swing arm rotating block and the lower swing arm rotating block are locked.

8. The support arm for a medical robot according to claim 7, characterized in that, The locking member can slide axially within the support arm assembly; The first end of one set of the locking members is connected to the slider, and the second end is connected to the second pressing block of one of the first rotating joints. The first end of the other set of the locking members is connected to the top block, and the second end is connected to the second pressing block of the other first rotating joint; During the process of locking the upper swing arm rotating block and the lower swing arm rotating block, the top block and the slider respectively drive the corresponding locking members to slide axially within the support arm assembly and apply a locking force acting on the mounting ball head to the second pressing block.

9. The support arm for a medical robot according to claim 6, characterized in that, The damping assembly further includes a second elastic preloading structure and a second preloading force adjusting structure provided on the second rotating joint. The second elastic preloading structure applies the rotational damping to the second rotating joint through an elastic force, and the second preloading force adjusting structure is used to adjust the magnitude of the elastic force.

10. The support arm for a medical robot according to claim 9, characterized in that, The second elastic preloading structure includes a second elastic member, a pressure adjusting block, and a baffle. The baffle is fixedly connected to the end of the lower swing arm rotating block through a connecting member. The pressure adjusting block is slidably mounted on the connecting member. The second elastic member is located between the pressure adjusting block and the baffle. When the pressure adjusting block presses the second elastic member, the second elastic member applies an elastic force to the baffle, causing the baffle to drive the lower swing arm rotating block to move towards the upper swing arm rotating block to apply rotational damping between the upper swing arm rotating block and the lower swing arm rotating block.

11. The support arm for a medical robot according to claim 10, characterized in that, The second preloading force adjusting structure includes a second adjusting member. The second adjusting member is mounted on the second rotating joint. The second adjusting member is used to adjust the distance between the pressure adjusting block and the baffle to adjust the elastic force generated by the second elastic member on the baffle.

12. The support arm for a medical robot according to claim 11, characterized in that, The second adjusting member is a second adjusting set screw, which is threadedly connected to the side surface of the upper swing arm rotating block. The second adjusting set screw is in mating connection with the pressure adjusting block through a fourth inclined surface. During the process of screwing in and out of the second adjusting set screw, the distance between the pressure adjusting block and the baffle is adjusted through the fourth inclined surface.

13. The support arm for a medical robot according to claim 6, wherein A friction ring is further included. The friction ring is provided between the upper swing arm rotating block and the lower swing arm rotating block. The friction ring is used to increase the friction force between the upper swing arm rotating block and the lower swing arm rotating block when they are locked.

14. The support arm for a medical robot according to claim 13, wherein, The friction ring includes at least one set of inner ring and outer ring. The inner ring is installed on the outer circumference of one of the upper swing arm block and the lower swing arm block, and the outer ring is installed on the inner circumference of the other of the upper swing arm block and the lower swing arm block, and the inner ring and the outer ring are arranged in an interlaced manner.

15. The support arm for a medical robot according to claim 14, characterized in that, The inner ring is installed on the outer circumference of the upper swing arm block, and the outer ring is installed on the inner circumference of the lower swing arm block; Convex blocks protrude radially from the inner circle of the inner ring and the outer circle of the outer ring, and grooves matching the convex blocks are provided on the outer circumference of the upper swing arm block and the inner circumference of the lower swing arm block.

16. A medical auxiliary puncture system, characterized in that, It includes the support arm for a medical robot according to any one of claims 1-15.

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