Support arm for a medical robot

Abstract

The application provides a support arm for a medical robot, and belongs to the technical field of medical equipment, and specifically comprises: a support arm assembly, the first end of the support arm assembly is provided with a first rotary joint, and the two groups of support arm assemblies are connected through a second rotary joint; and a damping assembly. In the support arm for the medical robot provided in the example embodiment of the application, during the adjustment process, the operator usually first coarsely adjusts the surgical equipment to a certain position, then finely adjusts according to the surgical position, the operation position and the like, and only after the fine adjustment is completed, the support arm is locked. During the coarse adjustment to the fine adjustment, the damping assembly in the support arm can provide rotary damping at the first rotary joint and the second rotary joint, so that no matter what position the surgical equipment is rotated to, the rotary damping provided by the damping assembly can make the surgical equipment maintain the current position and angle, which greatly improves the adjustment efficiency of the position of the surgical equipment.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a support arm for a medical robot. Background Technology

[0002] During the use of medical equipment, supports are generally provided to provide support. Multiple devices or instruments need to be adjusted in various directions. In CT-assisted puncture surgery, the puncture robot needs to be fixed to the CT scanning bed using a universal adjustable support. The robot's position and posture are adjusted using this support. However, existing universal adjustable supports typically require adjusting each joint of the support to a certain angle first. After adjustment, a fixing structure is used to fix each joint to maintain a specific angle. Before fixing the support to a certain angle, multiple coarse or fine adjustments are needed. The fixing structure can only lock or unlock the joints; it cannot temporarily maintain the position and angle of the joints during adjustment. This cumbersome adjustment process is inconvenient for medical personnel. Utility Model Content

[0003] The purpose of this application is to provide a support arm for medical robots, which aims to solve the problem in related technologies where the joints of the universal adjustable bracket cannot be temporarily maintained in position during the adjustment of the posture of the puncture robot, making the angle adjustment steps cumbersome and inconvenient for medical staff to operate.

[0004] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description or may be learned by practice of this application.

[0005] According to a first aspect of this application, a support arm for a medical robot is provided, comprising: The arm assembly is configured in two groups. The first end of each of the two groups of arm assemblies is provided with a first rotary joint. The second ends of the two groups of arm assemblies are connected through a second rotary joint. One of the first rotary joints is used to be fixedly connected to the CT scanning bed, and the other first rotary joint is used to connect to the puncture robot. A damping assembly is provided on the first rotary joint and the second rotary joint respectively, and the damping assembly is used to adjust the rotational damping of the first rotary joint and the second rotary joint; The damping component includes a first elastic preload structure and a first preload adjustment structure disposed at the first rotary joint. The first elastic preload structure applies the rotational damping to the first rotary joint through elastic force, and the first preload adjustment structure is used to adjust the magnitude of the elastic force.

[0006] In one exemplary embodiment of this application, the first elastic pretensioning structure includes a first elastic element, a first pressure block, and a second pressure block; The first rotary joint includes a ball joint seat and a mounting ball joint; One end of the mounting ball head is rotatably mounted inside the ball head seat, and the other end of the mounting ball head extends out of the ball head seat for connecting to medical equipment; the first end of the support arm assembly is connected to the ball head seat. Both the first pressure block and the second pressure block are slidably installed inside the ball head seat, the first elastic element is disposed between the first pressure block and the second pressure block, and the second pressure block abuts against the spherical surface of the ball head.

[0007] In one exemplary embodiment of this application, the first preload adjustment structure includes a first adjustment member, which is mounted on the ball head seat and is used to adjust the distance between the first pressure block and the second pressure block to adjust the elastic force generated by the first elastic member on the second pressure block.

[0008] In one exemplary embodiment of this application, the first adjusting member is a first adjusting screw, which is threadedly connected to the side of the ball head seat. The first adjusting screw and the first pressure block are connected through a first inclined surface. The distance between the first pressure block and the second pressure block is adjusted by screwing the first adjusting screw in and out of the first inclined surface.

[0009] In one exemplary embodiment of this application, the damping assembly further includes a second elastic preload structure and a second preload force adjustment structure disposed on the second rotary joint. The second elastic preload structure applies the rotational damping to the second rotary joint through an elastic force, and the second preload force adjustment structure is used to adjust the magnitude of the elastic force.

[0010] In one exemplary embodiment of this application, the second elastic preload structure includes a second elastic element, a pressure adjusting block, and a baffle. The baffle is fixedly connected to the end of the lower swing arm rotating block via a connector. The pressure adjusting block is slidably mounted on the connector. The second elastic element is located between the pressure adjusting block and the baffle. When the pressure adjusting block presses the second elastic element, the second elastic element applies an elastic force to the baffle, causing the baffle to drive the lower swing arm rotating block to move to the upper swing arm rotating block, thereby applying rotational damping between the upper and lower swing arm rotating blocks.

[0011] In one exemplary embodiment of this application, the second preload adjustment structure includes a second adjustment member, which is mounted on the second rotary joint. The second adjustment member is used to adjust the distance between the pressure adjustment block and the baffle to adjust the elastic force generated by the second elastic member on the baffle.

[0012] In one exemplary embodiment of this application, the second adjusting member is a second adjusting set screw, which is threadedly connected to the side of the upper swing arm rotary block. The second adjusting set screw is connected to the pressure adjusting block through a fourth inclined surface. During the process of the second adjusting set screw being screwed in and out, the distance between the pressure adjusting block and the baffle is adjusted by the fourth inclined surface.

[0013] In one exemplary embodiment of this application, a friction ring is further included. The friction ring is disposed between the upper swing arm block and the lower swing arm block in the second rotary joint. The friction ring is used to increase the friction between the upper swing arm block and the lower swing arm block when the upper swing arm block and the lower swing arm block are locked together.

[0014] In one exemplary embodiment of this application, the friction ring includes at least one set of inner rings and outer rings. The inner ring is installed on the outer circumference of one of the upper swing arm rotor and the lower swing arm rotor, and the outer ring is installed on the inner circumference of the other of the upper swing arm rotor and the lower swing arm rotor, and the inner rings and outer rings are staggered.

[0015] The exemplary embodiments of this application may have some or all of the following beneficial effects: The support arm for a medical robot provided in the example embodiment of this application includes a first rotary joint fixed to an operating table or device, and a second first rotary joint connected to a surgical device. The second ends of the two support arm assemblies are connected together via a second rotary joint. Damping components are provided on both the first and second rotary joints to provide rotational damping, ensuring resistance during rotational adjustment. One first rotary joint is fixedly connected to a CT scanning table, and the other first rotary joint is connected to a puncture robot. Adjusting the position and angle of the puncture robot can be achieved by rotating the two first and second rotary joints. In the adjustment process, the surgeon first roughly adjusts the puncture robot to a certain position, and then makes fine adjustments according to the surgical position and operation position. Only after fine adjustment is the support arm of the medical robot locked. During the process from rough adjustment to fine adjustment, the damping component in the support arm of the medical robot of this application can provide rotational damping at the first and second rotational joints. This allows the puncture robot to maintain its current position and angle regardless of the position to which the surgeon rotates the surgical equipment. This greatly improves the efficiency of adjusting the position of the puncture robot and avoids the need for the surgeon to maintain the angle of each joint during the adjustment process, or even the need for a partner to complete the adjustment.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0018] Figure 1 A schematic diagram of the structure of a support arm for a medical robot according to an embodiment of this application is shown; Figure 2 A schematic diagram of the structure of the second rotary joint in the support arm of a medical robot according to an embodiment of this application is shown; Figure 3 A schematic diagram of the structure of the first rotary joint in the support arm of a medical robot according to an embodiment of this application is shown.

[0019] Explanation of reference numerals in the attached figures: 1. Support arm assembly; 2. First rotary joint; 3. Second rotary joint; 4. Damping assembly; 5. Upper swing arm pivot block; 6. Lower swing arm pivot block; 7. Adjusting rod; 8. Slider; 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 element; 21. Baffle; 22. Connector; 23. Second adjusting element; 24. Fourth inclined surface; 25. Mounting ball head; 26. First pressure block; 27. First elastic element; 28. First adjusting element; 29. ​​First inclined surface; 30. Second pressure block. Detailed Implementation

[0020] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many 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 exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed descriptions will be omitted. Furthermore, the drawings are merely illustrative of this application and are not necessarily drawn to scale.

[0021] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples in the accompanying drawings. It is understood that if the device of the icon is flipped so that it is upside down, the component described as "upper" will become the component described as "lower." When a structure is "upper" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0022] The terms “a,” “one,” “the,” and “at least one” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects. Example

[0023] This embodiment provides a specific implementation of a support arm for a medical robot, such as... Figure 1As shown, the device includes two sets of support arm assemblies 1. The first end of each set of support arm assemblies 1 is provided with a first rotary joint 2. The second ends of the two sets of support arm assemblies 1 are connected through a second rotary joint 3. A damping assembly 4 is provided on both the first rotary joint 2 and the second rotary joint 3. The damping assembly 4 can adjust the rotational damping of the first rotary joint 2 and the second rotary joint 3, so that the first rotary joint 2 and the second rotary joint 3 can maintain a certain resistance during rotation and maintain the current rotation angle when rotation stops. One of the first rotary joints 2 is used to be fixedly connected to the CT scanning bed, and the other first rotary joint 2 is used to connect to the puncture robot.

[0024] The support arm provided in this application has one first rotary joint 2 fixed to a CT scanning bed, or an operating table or other medical equipment, and the other first rotary joint 2 connected to a puncture robot. The second ends of the two support arm assemblies 1 are connected together via a second rotary joint 3. Damping components 4 are provided on both first rotary joints 2 and second rotary joints 3, providing rotational damping so that the first rotary joints 2 and 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 second rotary joints 3. During the adjustment process... Operators typically begin by roughly adjusting the puncture robot to a certain position, and then make fine adjustments based on the surgical location and operating position. Only after fine adjustments are the support arm locked. During the process from rough adjustment to fine adjustment, the damping component 4 in the support arm of this application can provide rotational damping at the first rotational joint 2 and the second rotational joint 3. This ensures that no matter what position the surgeon rotates the surgical device to, the rotational damping provided by the damping component 4 can keep the surgical device in its current position and angle. This greatly improves the efficiency of adjusting the position of the surgical device and avoids the need for the surgeon to maintain the angle of each joint during the adjustment process, or even the need for a partner to complete the adjustment.

[0025] In this embodiment, the damping component 4 includes a first elastic preload structure and a first preload force adjustment structure disposed at the first rotary joint 2. The first elastic preload structure applies rotational damping to the first rotary joint 2 through elastic force, and the first preload force adjustment structure is used to adjust the magnitude of the elastic force.

[0026] Furthermore, the first elastic pre-tightening structure includes a first elastic element 27, a first pressure block 26, and a second pressure 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 mounted inside the ball head seat, and the other end of the mounting ball head 25 extends out of the ball head seat for connecting medical equipment. The first end of the support arm assembly 1 is connected to the ball head seat. The first pressure block 26 and the second pressure block 30 are both slidably mounted inside the ball head seat. The first elastic element 27 is disposed between the first pressure block 26 and the second pressure block 30. The second pressure block 30 abuts against the spherical surface of the mounting ball head 25. The first elastic element 27 between the first pressure block 26 and the second pressure block 30 applies an elastic force to the second pressure block 30. The second pressure block 30 compresses the spherical surface of the mounting ball head 25, causing the mounting ball head 25 to generate rotational damping during rotation.

[0027] In this embodiment, the first preload adjustment structure includes a first adjustment member 28, which is mounted on the ball head seat. The first adjustment member 28 is used to adjust the distance between the first pressure block 26 and the second pressure block 30. When the distance between the first pressure block 26 and the second pressure block 30 changes, the compression amount of the first elastic member 27 can be adjusted, thereby adjusting the elastic force of the first elastic member 27. When the elastic force of the first elastic member 27 changes, the pressure of the second pressure block 30 acting on the spherical surface of the mounting ball head 25 will also change, thereby realizing the adjustment of the rotational damping of the mounting ball head 25 rotating in the ball head seat.

[0028] Furthermore, the first adjusting member 28 is a first adjusting screw, which is threadedly connected to the side of the ball head seat. The first adjusting screw and the first pressure block 26 are connected through the first inclined surface 29. The distance between the first pressure block 26 and the second pressure block 30 is adjusted by screwing the first adjusting screw in and out.

[0029] Specifically, when the first adjusting screw is screwed into the ball head seat, the end of the first adjusting screw, under the action of the first inclined surface 29, presses the first pressure block 26, causing the first pressure block 26 to move in the direction of downward inclination. That is, the first pressure block 26 moves closer to the second pressure block 30 in the ball head seat along the axial direction of the ball head seat. During the movement of the first pressure block 26, the first elastic element 27 is pressed, and the elastic force of the first elastic element 27 on the second pressure block 30 increases, thereby increasing the pressing force of the second pressure block 30 on the spherical surface of the mounting ball head 25, and increasing the rotational damping between the mounting ball head 25 and the ball head seat.

[0030] When the first adjusting screw is screwed outward from the ball head seat, the end of the first adjusting screw gradually withdraws from the pressure on the first pressure block 26 under the action of the first inclined surface 29. The first pressure block 26 moves away from the second pressure block 30 under the action of the elastic force of the first elastic member 27. The distance between the first pressure block 26 and the second pressure block 30 increases, and the elastic force of the first elastic member 27 on the second pressure block 30 decreases. This reduces the pressure of the second pressure block 30 on the spherical surface of the mounting ball head 25, thereby reducing the rotational damping between the mounting ball head 25 and the ball head seat.

[0031] In this embodiment, by adjusting the screwing in and out of the first adjusting screw, the damping at the first rotating joint 2 can be adjusted. Thus, when adjusting the position and angle of the component connected to the support arm assembly 1 through the first rotating joint 2, the position can be temporarily maintained by the resistance of the damping, so as to facilitate the next operation.

[0032] In some other embodiments, the first adjusting member 28 may also be a support rod arranged along the axial direction, as long as it can control the distance between the first pressing block 26 and the second pressing block 30.

[0033] In this embodiment, the second rotary joint 3 is provided with an adjustment component, which can lock the second rotary joint 3; two sets of locking members are provided and correspond to the two sets of support arm assemblies 1 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 2. During the process of the adjustment component locking the second rotary joint 3, the adjustment component drives the locking member to move and lock the first rotary joint 2 simultaneously, thereby achieving the effect of locking the support arm assembly 1.

[0034] 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 adjustment 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 adjustment component, the upper swing arm rotary block 5 and the lower swing arm rotary block 6 can rotate to approach and abut, and lock when they abut.

[0035] Further, the adjustment assembly includes an adjustment rod 7, a slider 8, and a top block 9. The adjustment rod 7 has 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 adjustment rod 7, and the slider 8 is in contact with the knob 10. The slider 8 is used to drive the lower swing arm block 6 to move along the axial direction of the adjustment rod 7. The top block 9 is connected to the end of the adjustment rod 7 away from the threaded section. The top block 9 is used to drive the upper swing arm block 5 to move along the axial direction of the adjustment rod 7. When the knob 10 rotates on the threaded section, the positions of the adjustment rod 7 and the top block 9 remain unchanged. First, the slider 8 drives the lower swing arm block 6 to move along the axial direction of the adjustment rod 7 to the upper swing arm block 5. When the lower swing arm block 6 abuts against the upper swing arm block 5, the positions of the knob 10 and the slider 8 remain unchanged. Continuing to rotate the knob 10, the adjustment rod 7 drives the upper swing arm block 5 to move to the lower swing arm block 6 through the top block 9, until the upper swing arm block 5 and the lower swing arm block 6 are locked together.

[0036] The upper swing arm block 5 and the lower swing arm block 6 are both 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 is rotatably and non-sliply connected to the top block 9. When the adjusting rod 7 rotates, the top block 9 will not rotate with it. However, when the adjusting rod 7 moves axially, the top block 9 moves with it, thereby driving the upper swing arm 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.

[0037] In this embodiment, the locking member can slide axially within the support arm assembly 1. There are two sets of locking members, corresponding to the two sets of support arm assemblies 1 respectively. The first end of one set of locking members is connected to the slider 8, and the second end is connected to the second pressure 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 pressure block 30 of the other first rotary joint 2. During the process of locking the upper swing arm rotating block 5 and the lower swing arm rotating 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 acting on the mounting ball head 25 to the second pressure block 30. Thus, while locking the upper swing arm rotating block 5 and the lower swing arm rotating block 6, the first rotary joint 2 and the second rotary joint 3 are locked simultaneously.

[0038] Furthermore, both support arm assemblies 1 include inner rods and sleeves. The two inner rods are a first inner rod 13 and a second inner rod 15, and the two sleeves are 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 in the first sleeve 14. The first end of the first inner rod 13 is connected to the second pressure 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 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 rotating block 5 to move to the lower swing arm rotating 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 drives the second pressure block 30 to press and install the ball head 25, so that one of the first rotary joints 2 is locked.

[0039] 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 pressure 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 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 rotating block 6 to move to 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 drives the second pressure block 30 to press and tighten the mounting ball head 25, so that the other first rotary joint 2 is locked.

[0040] Specifically, the first inner rod 13 and the second inner rod 15 form a locking element for locking the first rotary joint 2.

[0041] In this embodiment, the damping component 4 further includes a second elastic preload structure and a second preload force adjustment structure disposed on the second rotary joint 3. The second elastic preload structure applies rotational damping to the second rotary joint 3 through elastic force, and the second preload force adjustment structure is used to adjust the magnitude of the elastic force.

[0042] Furthermore, the second elastic pre-tightening structure includes a second elastic element 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 via a connector 22. The pressure adjusting block 19 is slidably mounted on the connector 22. The second elastic element 20 is located between the pressure adjusting block 19 and the baffle 21. When the pressure adjusting block 19 presses the second elastic element 20, the second elastic element 20 applies an elastic force to the baffle 21, causing the baffle 21 to drive the lower swing arm rotating block 6 to move to the upper swing arm rotating block 5, thereby applying rotational damping between the upper swing arm rotating block 5 and the lower swing arm rotating block 6.

[0043] Specifically, the connector 22 is a connecting screw, one end of which 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.

[0044] In this embodiment, both the first elastic element 27 and the second elastic element 20 are springs. In other embodiments, the first elastic element 27 and the second elastic element 20 can also be elastic components such as bellows or rubber tubes.

[0045] The second preload adjustment structure includes a second adjustment member 23, which is mounted on the second rotary joint 3. The second adjustment member 23 is used to adjust the distance between the pressure adjustment block 19 and the baffle 21, and can adjust the compression amount of the first elastic member 27, thereby adjusting the elastic force generated by the second elastic member 20 on the baffle 21.

[0046] Specifically, the second adjusting member 23 is the second adjusting screw, which is threaded to the side of the upper swing arm rotating block 5. The second adjusting screw and the pressure adjusting block 19 are connected through the fourth inclined surface 24. During the process of the second adjusting screw being screwed in and out, the distance between the pressure adjusting block 19 and the baffle 21 is adjusted through the fourth inclined surface 24, thereby adjusting the compression amount of the second elastic member 20 and thus adjusting the elastic force generated by the second elastic member 20 on the baffle 21.

[0047] In this embodiment, a friction ring is also included. The friction ring is disposed 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 between the upper swing arm rotating block 5 and the lower swing arm rotating block 6 when the upper swing arm rotating block 5 and the lower swing arm rotating block 6 are locked, so that the locking between the upper swing arm rotating block 5 and the lower swing arm rotating block 6 is more secure.

[0048] Furthermore, the friction ring includes at least one set of inner rings 11 and outer rings 12. The inner ring 11 is installed 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 installed 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 installed on the outer circumference of the upper swing arm rotating block 5, and the outer ring 12 is installed on the inner circumference of the lower swing arm rotating block 6, and the inner ring 11 and the outer ring 12 are arranged alternately.

[0049] Furthermore, the inner ring 11 has a radially protruding protrusion on its inner ring, and the outer side of the upper swing arm rotating block 5 is provided with a groove. When the inner ring 11 is fitted onto the upper swing arm rotating block 5, the protrusion can be inserted into the groove to realize the installation of the inner ring 11 and the upper swing arm rotating block 5. The outer ring 12 has a radially protruding protrusion on its outer ring, and the inner side of the lower swing arm rotating block 6 is provided with a groove. When the outer ring 12 is embedded in the inner side of the lower swing arm rotating block 6, the protrusion can be inserted into the groove to realize the installation of the outer ring 12 and the lower swing arm rotating block 6.

[0050] Working principle: The support arm provided in this application has one first rotation joint 2 fixed to a CT scanning bed and the other first rotation joint 2 connected to a puncture robot. The puncture surgery is performed with the assistance of CT scanning. During the surgery, the position and posture of the puncture robot need to be adjusted by the support arm. The puncture surgery can only be performed after the position and posture of the puncture robot are adjusted to the specified position and posture.

[0051] The second ends of the two support arm assemblies 1 in the support arm are connected together by the second rotary joint 3. Damping assemblies 4 are provided on both the first rotary joints 2 and the second rotary joint 3. The damping assemblies 4 can provide rotational damping.

[0052] The second rotary joint 3 includes an upper swing arm pivot block 5 and a lower swing arm pivot block 6. The upper swing arm pivot block 5 and the lower swing arm pivot block 6 are rotatably connected. An adjustment component is used to adjust the two swing arm pivot blocks to approach each other until they abut and lock. Under the adjustment of the adjustment component, the upper swing arm pivot block 5 and the lower swing arm pivot block 6 can rotate to approach and abut, and when they abut, they can be locked.

[0053] Both support arm assemblies 1 include inner rods and sleeves. The two inner rods are a first inner rod 13 and a second inner rod 15, and the two sleeves are 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, and the first end of the first inner rod 13 is connected to the second pressure block 30. The second end of the first inner rod 13 abuts against the top block 9. The top block 9 has 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 rotating block 5 to move to the lower swing arm rotating block 6, the second inclined surface 17 abuts against the second end of the first inner rod 13. Under the action of the second inclined surface 17, the first inner rod 13 drives the second pressure block 30 to press and tighten the mounting ball head 25, thereby locking one of the first rotary joints 2.

[0054] 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 pressure 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 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 rotating block 6 to move to 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 drives the second pressure block 30 to press and tighten the mounting ball head 25, so that the other first rotary joint 2 is locked.

[0055] 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. This causes the slider 8 to push the lower swing arm block 6 to move. At the same time, the third inclined surface 18 in the second groove on the slider 8 will abut against the second end of the second inner rod 15. As the slider 8 continues to move, the third inclined surface 18 will press the second end of the second inner rod 15, causing the second inner rod 15 to move along its axial direction under the pressure of the third inclined surface 18. During the axial movement of the second inner rod 15, the mounting ball head 25 is pressed, ultimately locking the first rotary joint 2.

[0056] After the first rotary joint 2 is locked, when the knob 10 is rotated, the slider 8 no longer moves. At this time, the adjusting rod 7 is rotated axially by the screw thread. 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 to the lower swing arm rotating block 6, thereby locking 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 of the first groove on 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 axis. During the axial movement of the first inner rod 13, it will press the mounting ball head 25, locking the other first rotary joint 2. Therefore, the entire support arm can be locked by simply rotating the knob 10.

[0057] Other embodiments of this application will readily conceive of by those skilled in the art upon consideration of the specification and practice of the embodiments thereof. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not claimed in this application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

Claims

1. A support arm for a medical robot, characterized in that, include: The arm assembly is configured in two groups. The first end of each of the two groups of arm assemblies is provided with a first rotary joint. The second ends of the two groups of arm assemblies are connected through a second rotary joint. One of the first rotary joints is used to be fixedly connected to the CT scanning bed, and the other first rotary joint is used to connect to the puncture robot. A damping assembly is provided on the first rotary joint and the second rotary joint respectively, and the damping assembly is used to adjust the rotational damping of the first rotary joint and the second rotary joint; The damping component includes a first elastic preload structure and a first preload adjustment structure disposed at the first rotary joint. The first elastic preload structure applies the rotational damping to the first rotary joint through elastic force, and the first preload adjustment structure is used to adjust the magnitude of the elastic force.

2. The support arm for a medical robot according to claim 1, characterized in that, The first elastic preload structure includes a first elastic element, a first pressure block, and a second pressure block; The first rotary joint includes a ball joint seat and a mounting ball joint; One end of the mounting ball head is rotatably mounted inside the ball head seat, and the other end of the mounting ball head extends out of the ball head seat for connecting to medical equipment; the first end of the support arm assembly is connected to the ball head seat. Both the first pressure block and the second pressure block are slidably installed inside the ball head seat, the first elastic element is disposed between the first pressure block and the second pressure block, and the second pressure block abuts against the spherical surface of the ball head.

3. The support arm for a medical robot according to claim 2, characterized in that, The first preload adjustment structure includes a first adjustment member, which is mounted on the ball head seat and is used to adjust the distance between the first pressure block and the second pressure block to adjust the elastic force generated by the first elastic member on the second pressure block.

4. The support arm for a medical robot according to claim 3, characterized in that, The first adjusting component is a first adjusting screw, which is threaded to the side of the ball head seat. The first adjusting screw and the first pressure block are connected through a first inclined surface. The distance between the first pressure block and the second pressure block is adjusted by screwing the first adjusting screw in and out of the first inclined surface.

5. The support arm for a medical robot according to claim 1, characterized in that, The damping assembly further includes a second elastic preload structure and a second preload force adjustment structure disposed on the second rotary joint. The second elastic preload structure applies the rotational damping to the second rotary joint through elastic force, and the second preload force adjustment structure is used to adjust the magnitude of the elastic force.

6. The support arm for a medical robot according to claim 5, characterized in that, The second elastic preload structure includes a second elastic element, a pressure adjusting block, and a baffle. The baffle is fixedly connected to the end of the lower swing arm block in the second rotary joint via a connector. The pressure adjusting block is slidably mounted on the connector. The second elastic element is located between the pressure adjusting block and the baffle. When the pressure adjusting block presses the second elastic element, the second elastic element applies an elastic force to the baffle, causing the baffle to drive the lower swing arm block to move to the upper swing arm block, thereby applying rotational damping between the upper and lower swing arm blocks.

7. The support arm for a medical robot according to claim 6, characterized in that, The second preload adjustment structure includes a second adjustment member, which is mounted on the second rotary joint. The second adjustment member is used to adjust the distance between the pressure adjustment block and the baffle to adjust the elastic force generated by the second elastic member on the baffle.

8. The support arm for a medical robot according to claim 7, characterized in that, The second adjusting component is a second adjusting screw, which is threaded to the side of the upper swing arm rotating block. The second adjusting screw is connected to the pressure adjusting block through a fourth inclined surface. During the process of the second adjusting screw being screwed in and out, the distance between the pressure adjusting block and the baffle is adjusted by the fourth inclined surface.

9. The support arm for a medical robot according to claim 1, characterized in that, It also includes a friction ring, which is disposed between the upper swing arm block and the lower swing arm block in the second rotary joint. The friction ring is used to increase the friction between the upper swing arm block and the lower swing arm block when the upper swing arm block and the lower swing arm block are locked together.

10. The support arm for a medical robot according to claim 9, characterized in that, The friction ring includes at least one set of inner rings and outer rings. 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. The inner rings and outer rings are arranged alternately.

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