A medical auxiliary tool

Abstract

The present invention discloses a medical auxiliary tool, in particular a medical mechanical arm device, which can be pivotally connected with a first connecting mechanism and a second connecting mechanism of the medical auxiliary tool, and the mechanical arm device includes a locking mechanism, which is used to lock the mechanical arm device with the first connecting mechanism and the second connecting mechanism; the locking mechanism includes an actuating member, a first pushing member, a second pushing member and a pivot, and the pivot is used to connect the first pushing member and the second pushing member. The use of the mechanical arm device can at least simplify the locking operation of the mechanical arm device and improve the operating efficiency.

Description

Technical Field

[0001] The invention belongs to the field of medical auxiliary tools, and in particular relates to a medical mechanical arm device. Background Art

[0002] During surgery, sometimes for the convenience of operation, it is necessary to use a bracket to fix medical devices such as ultrasound, endoscopes, surgical forceps, ablation needles, navigation brackets, etc. The existing solution is generally to use a mechanical bracket to lock the medical device in the operating position by manually turning the knob. However, this solution requires the doctor to hold the front end of the medical device with one hand while turning the knob with the other hand. Sometimes it is not flexible and may hinder the surgical space and affect the user experience. Moreover, the mechanical bracket will fall directly without the doctor applying force, which is not conducive to the fixation of the medical device and other operations, affecting the operating efficiency. In addition, the current mechanical bracket locking operation is complicated and requires multiple lockings, which makes it difficult to improve the efficiency of position fixation. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] In a first aspect, the present invention provides a medical mechanical arm device, which can be pivotally connected to a first connecting mechanism and a second connecting mechanism of a medical auxiliary tool, characterized in that the mechanical arm device comprises:

[0005] The first arm comprises a first shell and a first push rod, wherein the first push rod is at least partially located in the first shell; the first end of the first arm is pivotally connected to the first connecting mechanism, and the second end of the first arm is pivotally connected to the second connecting mechanism; a locking mechanism is used to lock the first arm with the first connecting mechanism and the second connecting mechanism; the locking mechanism comprises an actuating member, a first pushing member, a second pushing member and a pivot, and the pivot is used to connect the first pushing member and the second pushing member; the second end is rotatably connected to the second connecting mechanism through the locking mechanism, and when the mechanical arm device is in the operating position, the actuating member is rotated, the first pushing member on the pivot pushes the first connecting end of the first push rod, and the first push rod pushes the first joint of the first connecting mechanism, so that the first joint abuts against the second joint of the first connecting mechanism; the second pushing member on the pivot pushes the third joint of the second connecting mechanism, so that the third joint abuts against the fourth joint of the second connecting mechanism.

[0006] By adopting the above technical solution, when the robot arm device is in the operating position, one locking mechanism can lock three joints at the same time, reducing the frequency of locking operations and improving operating efficiency. In particular, when the robot arm device has no more than three joints, the posture of the end effector can be quickly fixed by one-key locking.

[0007] According to another embodiment of the present invention, the pivot includes a first limit member. When the robotic arm device is in the operating position, the actuator cooperates with the first limit member to push the first pushing member and the second pushing member closer to each other on the pivot to respectively push the first joint member and the third joint member.

[0008] According to another embodiment of the present invention, the first pushing member and the second pushing member are fixedly connected to the pivot, and when the robotic arm device is in the operating position, the pivot rotates under the drive of the actuator, so that the first pushing member and the second pushing member rotate radially to push the first joint member and the third joint member respectively.

[0009] According to another embodiment of the present invention, the robotic arm device also includes a second arm, the second arm includes a second shell and a second push rod, and the second push rod is at least partially located in the second shell; the second connecting mechanism is connected to the locking mechanism through the second arm, so that the fourth end of the second arm is rotatably connected to the second end through the locking mechanism; when the robotic arm device is in the operating position, the second pushing member on the pivot pushes the third connecting end of the second push rod, and the second push rod pushes the third joint component, so that the third joint component abuts against the fourth joint component of the second connecting mechanism.

[0010] According to another embodiment of the present invention, the second end is provided with a first channel, the first connecting end extends into the first channel, and the first pushing member is at least partially disposed in the first channel.

[0011] According to another embodiment of the present invention, the second end is provided with a first channel, the first connecting end extends into the first channel, and the first pushing member is at least partially provided in the first channel; the fourth end is provided with a second channel, the third connecting end extends into the second channel, and the second pushing member is at least partially located in the second channel.

[0012] According to another embodiment of the present invention, the first connection end prevents the first pushing member from moving toward the second pushing member, and the third connection end prevents the second pushing member from moving toward the first pushing member.

[0013] According to another embodiment of the present invention, the first channel and the second channel are coaxially arranged.

[0014] According to another embodiment of the present invention, the first pushing member and / or the first connecting end include a first inclined surface or a first curved surface so as to push the first push rod to abut the first joint member; the second pushing member and / or the third connecting end include a second inclined surface or a second curved surface so as to push the second push rod to abut the third joint member.

[0015] According to another embodiment of the present invention, the actuating member is rotatably disposed on the second end and is immovable in the axial direction of the pivot shaft.

[0016] In a second aspect, the present invention provides a medical auxiliary tool that can be connected to an end effector, including the mechanical arm device, the first connecting mechanism, and the second connecting mechanism.

[0017] According to another embodiment of the present invention, the medical auxiliary tool further comprises a control system and a drive system, wherein the control system controls the drive system to rotate the actuator. In this way, the actuator can be electrically actuated, freeing the doctor's hands and improving the convenience of using the tool.

[0018] According to another embodiment of the present invention, the medical auxiliary tool also includes an auxiliary mechanism, which includes an elastic member, a fixing mechanism, a rotating mechanism and a supporting member, the two ends of the elastic member are respectively fixed to the fixing mechanism and the rotating mechanism, and the fixing mechanism and the rotating mechanism are fixed to the supporting member; the fixing mechanism or the rotating mechanism is connected to the robotic arm device.

[0019] In a second aspect, the present invention provides a medical auxiliary tool that can be connected to an end effector, characterized in that the medical auxiliary tool includes a mechanical arm device, a first connecting mechanism, and a second connecting mechanism; the mechanical arm device includes a first arm and a locking mechanism, and the first arm is pivotally connected to the first connecting mechanism and the second connecting mechanism; the locking mechanism is used to lock the first arm with the first connecting mechanism and the second connecting mechanism; the medical auxiliary tool also includes an auxiliary mechanism, and the auxiliary mechanism includes an elastic member, a fixing mechanism, a rotating mechanism and a supporting member, and the two ends of the elastic member are respectively fixed to the fixing mechanism and the rotating mechanism, and the fixing mechanism and the rotating mechanism are fixed to the supporting member; the fixing mechanism or the rotating mechanism is connected to the mechanical arm device.

[0020] By adopting the above technical solution, whether fixing or adjusting the end effector, the auxiliary mechanism can offset part of the deadweight of the robotic arm device and the end effector, so that the doctor can hold it more easily and operate the robotic arm device more conveniently.

[0021] According to another embodiment of the present invention, the auxiliary mechanism further includes a second limiting member to limit the elastic member within a specific size range.

[0022] According to another embodiment of the present invention, the elastic member is a clockwork spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of a medical auxiliary tool according to an embodiment of the present invention.

[0024] Figure 2 It is a cross-sectional schematic diagram of a medical auxiliary tool.

[0025] Figure 3 A schematic diagram of the auxiliary mechanism.

[0026] Figure 4 Schematic diagram of the internal structure of the auxiliary mechanism.

[0027] Figure 5 This is a schematic diagram of the parts coordination of the robotic arm device.

[0028] Figure 6 Schematic diagram of another embodiment of the locking mechanism.

[0029] Figure 7 (a) is a schematic diagram of the first state of the second connecting mechanism cooperating with the robotic arm device.

[0030] Figure 7 (b) is a schematic diagram of a second state in which the second connecting mechanism cooperates with the robotic arm device. DETAILED DESCRIPTION

[0031] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0032] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0033] In the description of this embodiment, it should be noted that the terms "upper", "inner", "bottom", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the inventive product is usually placed when in use, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. "Including" and / or "having" used in the specification means that components, steps, operations and / or elements do not exclude the existence or addition of one or more other components, steps, operations and / or elements.

[0034] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0035] In the description of this embodiment, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. The term "abutment" should be understood in a broad sense. For example, it can be direct abutment, or indirect abutment through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0036] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] Figure 1-7 A medical auxiliary tool is shown, which includes a robotic arm device 1, which includes a first arm 10, a locking mechanism 17 and a second arm 11 rotatably connected to the first arm 10 through the locking mechanism 17. The first arm 10 can be connected to an end effector (such as ultrasound, an endoscope, surgical forceps, an ablation needle, a navigation bracket, etc.) through a first connecting mechanism 12 of the medical auxiliary tool.

[0038] See also Figure 1 , 2As shown in Figures 5 and 6, the first connecting mechanism 12 includes a first joint 121, a second joint 122 and a first connecting member 123. The first joint 121 can be fixedly connected to the end effector through the first connecting member 123. The first joint 121 and the first connecting member 123 can be formed as one piece, or can be connected through threads, buckles, etc. The first connecting member 123 and the end effector can be connected through buckles, threads, etc. The first joint 121 and the second joint 122 can move relative to each other to adjust the posture and orientation of the end effector. Preferably, the first joint 121 has a pivot head, and the second joint 122 has a pivot groove that cooperates with the pivot head. The pivot head of the first joint 121 can rotate in the pivot groove of the second joint 122 and be limited in the pivot groove. The pivot groove is provided with an opening so that the pivot head can be connected to the first connecting member 123 through the opening. Preferably, the pivot head is a ball head.

[0039] See also Figure 2 , 5 As shown, the first arm 10 includes a first housing 101 and a first push rod 102, the first push rod 102 is at least partially located in the first housing 101, and the first end 103 of the first arm 10 is connected to the second joint 122. When the end effector is adjusted to the operating position, under the action of the locking mechanism 17, the first joint 121 is clamped and abutted by the first push rod 102 and the second joint 122, such as the pivot head of the first joint 121 is clamped and abutted by the second connecting end 1022 of the first push rod 102 and the inner wall of the pivot groove of the second joint 122, so that the positions of the first push rod 102, the first joint 121, and the second joint 122 are relatively fixed, thereby locking the end effector in the operating position. The second end 104 of the first arm 10 is provided with a first channel 105, and the first connecting end 1021 of the first push rod 102 extends into the first channel 105. The second arm 11 includes a second housing 111 and a second push rod 112 . The second push rod 112 is at least partially located in the second housing 111 . A second channel 115 is provided at a fourth end 114 of the second arm 11 . A third connecting end 1121 of the second push rod 112 extends into the second channel 115 .

[0040] like Figure 1 , 2As shown in Figures 5 and 7, the medical auxiliary tool also includes a second connecting mechanism 16, which can fix the robot arm device 1 to a fixed end such as an operating bed or a trolley, and the second connecting mechanism 16 is pivotally connected to the third end 113 of the second arm 11. The second connecting mechanism 16 includes a third joint 161, a fourth joint 162 and a fifth connecting member 163, and the third joint 161 can fix the robot arm device 1 to a fixed end such as an operating bed or a trolley through the fifth connecting member 163. The third joint 161 and the fifth connecting member 163 can be formed integrally, or can be connected by threads, buckles, etc. The third joint 161 and the fourth joint 162 can move relative to each other to adjust the posture and orientation of the end effector. Preferably, the third joint component 161 has a pivot head, and the fourth joint component 162 has a pivot slot matched with the pivot head, the pivot head of the third joint component 161 can rotate in the pivot slot of the fourth joint component 162 and be limited in the pivot slot, and the pivot slot is provided with an opening, so that the pivot head can be connected to the fifth connecting member 163 through the opening. Preferably, the pivot head is a ball head.

[0041] See also Figure 1 , 2 As shown in Figures 5 and 7, the third end 113 of the second arm 11 is connected to the fourth joint 162. When the end effector is adjusted to the operating position, under the action of the locking mechanism 17, the third joint 161 is clamped and abutted by the second push rod 112 and the fourth joint 162. For example, the pivot head of the third joint 161 is clamped and abutted by the fourth connecting end 1122 of the second push rod 112 and the inner wall of the pivot groove of the fourth joint 162, so that the positions of the second push rod 112, the third joint 161 and the fourth joint 162 are relatively fixed, thereby locking the robot arm device 1 in the operating position.

[0042] See also Figure 2 , 5As shown, the second end 104 of the first arm 10 is rotatably connected to the fourth end 114 of the second arm 11 through a locking mechanism 17. The locking mechanism 17 includes a first pusher 171, a second pusher 172 and a pivot 173. The first pusher 171 and the second pusher 172 are connected through the pivot 173 and can rotate and move on the pivot 173. One end of the pivot 173 has a thread that cooperates with the actuator 174, and the other end has a first stopper 1731. The first pusher 171 and the second pusher 172 are arranged between the first stopper 1731 and the actuator 174 to prevent the first pusher 171 and the second pusher 172 from being separated from the pivot 173. The first pusher 171 is at least partially located in the first channel 105, and the second pusher 172 is at least partially located in the second channel 115. Preferably, the first channel 105 and the second channel 115 are coaxially arranged. When the end effector is in the operating position, the actuator 174 can be rotated on the pivot 173, and the actuator 174 cooperates with the first limiter 1731 to squeeze the first pusher 171 and the second pusher 172 closer to each other, and finally the first pusher 171 abuts against the first connection end 1021 to push the second connection end 1022 of the first push rod 102 to abut against the first joint 121, and the first connection end 1021 prevents the first pusher 171 from moving toward the second pusher 172; the second pusher 172 abuts against the third connection end 1121 to push the fourth connection end 1122 of the second push rod 112 to abut against the third joint 161, and the third connection end 1121 prevents the second pusher 172 from moving toward the first pusher 171. Preferably, the first pusher 171 includes a first inclined surface or a first curved surface 1711, so as to push the first push rod 102 to abut against the first joint 121. Preferably, the second pusher 172 includes a second inclined surface or a second curved surface 1721, so as to push the second push rod 112 to abut against the third joint 161. The first inclined surface or the first curved surface 1711 and the second inclined surface or the second curved surface 1721 face different directions. More preferably, the first connecting end 1021 and the third connecting end 1121 may also include an inclined surface or a curved surface that cooperates with the first pusher 171 and the second pusher 172. Preferably, the actuator 174 is a nut.

[0043] When the position of the end effector needs to be adjusted, the actuator 174 is rotated in the opposite direction to unlock the first push member 171, the second push member 172, the first push rod 102, the second push rod 112, the first connecting mechanism 12, and the second connecting mechanism 16, so that the first connecting mechanism 12 and the first arm 10, the first arm 10 and the second arm 11, and the second arm 11 and the second connecting mechanism 16 can rotate freely respectively.

[0044] Alternative, such as Figure 6 As shown (see Figure 5As shown in the view at an angle X, the first push member 171', the second push member 172' and the actuator 174 of the locking mechanism 17 are fixedly connected to the pivot 173', and one of the first push member 171' and the first connecting end 1021' of the first push rod 102' includes an inclined surface or an eccentric curved surface. When the end effector is in the operating position, the actuator 174 is rotated to drive the first push member 171' to rotate radially, so that the other of the first push member 171' and the first connecting end 1021' abuts against the inclined surface or the eccentric curved surface to push the first push rod 102' to abut against the first joint member 121. Similarly, one of the second pusher 172' and the third connection end 1121' of the second push rod 112' includes an inclined surface or an eccentric curved surface. When the end effector is in the operating position, the actuator 174 is rotated to drive the second pusher 172' to rotate radially, so that the other of the second pusher 172' and the third connection end 1121' abuts against the inclined surface or the eccentric curved surface, so as to push the second push rod 112' to abut against the third joint 161, and finally lock the end effector in the operating position. Preferably, the actuator 174 can be a rod.

[0045] Alternatively, the robot arm device 1 may only include the second arm 11, and the fourth end 114 of the second arm 11 is rotatably connected to the first connection mechanism 12 via the locking mechanism 17. Specifically, when the end effector is locked in the operating position, the first pusher 171 / 171' abuts against the first joint 121, that is, the second joint 122 replaces the role and function of the second end 104 of the first arm 10, and the first joint 121 at least partially extends into the channel arranged on the second joint 122 where the first pusher 171 / 171' is placed.

[0046] Alternatively, the robot arm device 1 may only include the first arm 10, and the second end 104 of the first arm 10 is rotatably connected to the second connection mechanism 16 via the locking mechanism 17. Specifically, when the end effector is locked in the operating position, the second pusher 172 / 172' abuts against the third joint 161, that is, the fourth joint 162 replaces the role and function of the fourth end 114 of the second arm 10, and the third joint 161 at least partially extends into the channel arranged on the fourth joint 162 where the second pusher 172 / 172' is placed.

[0047] Alternatively, the robot arm device 1 may further include a third arm, and the provision of the locking mechanism 17 may ensure that the robot arm device 1 uses as few locking components as possible to lock the end effector in the operating position.

[0048] like Figure 1 , 2As shown, the medical auxiliary tool also includes a driving system, and the driving mechanism 15 of the driving system can drive the actuator 174 to rotate through the transmission mechanism 14 of the driving system. The driving mechanism 15 includes a motor 151 and a driving wheel 152. The transmission mechanism 14 includes a belt 141 and a driven wheel 142. Through the transmission of the belt 141, the driving wheel 152 drives the driven wheel 142 to rotate, and the driven wheel 142 drives the actuator 174 to rotate. Preferably, the actuator 174 is rotatably arranged on the second end 104 or the fourth end 114, and it cannot move in the axial direction of the pivot 173 / 173'. The driving mechanism 15 can be connected to the robot arm device 1 through the fourth connecting member 153, preferably, connected to the second arm 11. Alternatively, the actuator 174 can be directly actuated by the driving mechanism to lock the end effector in the operating position.

[0049] Alternatively, the driving mechanism may include a push rod, a linear motor, a hydraulic motor or a pneumatic motor, etc., and the transmission mechanism may include a chain, a connecting rod, a pneumatic rod, a hydraulic rod, a gear or a gear reduction box, etc.

[0050] like Figure 1 , 2 As shown, the medical auxiliary tool also includes an auxiliary mechanism 18, which is connected to the robot arm device 1 to assist the rotation operation of the robot arm device 1, offset part of the self-weight of the robot arm device 1 and the end effector, so that the doctor can operate more easily. Figure 1-4As shown, the auxiliary mechanism 18 includes an elastic member 181, a fixing mechanism 186, and a rotating mechanism 182. The two ends of the elastic member 181 are fixed to the fixing mechanism 186 and the rotating mechanism 182 respectively; preferably, the elastic member 181 is fixed to the fixing mechanism 186 and the rotating mechanism 182 by a clamp or a screw; the fixing mechanism 186 and the rotating mechanism 182 are fixed to the support member 185. Preferably, the fixing mechanism 186 and the rotating mechanism 182 are arranged in parallel on the support member 185. The fixing mechanism 186 is connected to the mechanical arm device 1 through the second connecting member 183, and the rotating mechanism 182 is connected to the second connecting mechanism 16 through the third connecting member 184. The mechanical arm device 1 can rotate around the rotating mechanism 182 to tighten or release the elastic member 181. Preferably, the fixing mechanism 186 is connected to the second arm 11. Optionally, the rotating mechanism 182 is not limited to being connected to the second connecting mechanism 16, and can also be connected to other components, as long as it is ensured that the mechanical arm device 1 can rotate around the rotating mechanism 182 and the second connecting mechanism 16. When the robot arm device 1 is in the initial position, under the self-weight of the robot arm device 1, the elastic member 181 is curled and tightened to prevent the robot arm device 1 from completely falling down, which is not conducive to the doctor's operation. For example, the end of the robot arm device 1 connected to the end effector is close to the ground, which is not conducive to the connection operation of the end effector. When the robot arm device 1 is lifted by the doctor, the elastic member 181 is released, and its own retraction force reduces the force applied to the robot arm device 1 by the doctor, compensating for the gravity of the robot arm device 1 and the front-end instrument, which is convenient for lifting the robot arm device 1. Preferably, under the rotation of the rotating mechanism 182, the plane where the elastic member 181 is curled is parallel to the axial direction of the robot arm, such as Figure 2 As shown. Alternatively, the rotating mechanism 182 can be connected to the second arm 11, and the fixing mechanism 186 can be connected to the second connecting mechanism 16 or other components. Preferably, the elastic member 181 is a spring. Preferably, the rotating mechanism 182 or the fixing mechanism 186 is connected to the non-end area of ​​the mechanical arm device, such as Figure 1 shown.

[0051] Preferably, the auxiliary mechanism 18 further includes a second limiting member 187 to limit the maximum expansion size of the elastic member 181 to prevent the volume from being too large.

[0052] The medical auxiliary tool also includes a control system, which at least includes a switch for controlling the drive system to achieve locking or releasing of the end effector position by the locking mechanism 17. The switch may include but is not limited to a button, a foot switch, a handle, a touch screen, a voice-activated switch, and the like.

[0053] Preferably, the working process of the medical auxiliary tool of the present invention is as follows:

[0054] One end of the robot arm device 1 is fixed to a fixed end such as an operating table or a trolley through a second connecting mechanism 16, and the other end is connected to an end effector, such as ultrasound, an endoscope, surgical forceps, an ablation needle, a navigation bracket, etc. To fix the end effector, the doctor holds the front end or the end effector of the robot arm device 1 and adjusts the posture and orientation of the end effector to the target position. The doctor holds the end effector still and operates the switch of the drive system. The drive system rotates the actuator 174 in the forward direction, so that the first and second pushers of the locking mechanism 17 push the first push rod 102 / 102' of the first arm 10 and the second push rod 112 / 112' of the second arm 11 respectively, thereby locking the first arm 10 and the second arm 11. At the same time, the first push rod 102 / 102' pushes the first joint 121, so that the pivot head of the first joint 121 is clamped and abutted by the second connection end 1022 and the inner wall of the pivot slot of the second joint 122, so that the position of the first arm 10 and the first connection mechanism 12 is relatively fixed, and then the end effector is locked in the operating position; the second push rod 112 / 112' pushes the third joint 161, so that the pivot head of the third joint 161 is clamped and abutted by the fourth connection end 1122 and the inner wall of the pivot slot of the fourth joint, so that the position of the second connection mechanism 16 and the second arm 11 is relatively fixed. After locking the first arm 10, the second arm 11, the first connection mechanism 12, and the second connection mechanism 16, the doctor can let go, and the end effector can still maintain its original position and posture. If the position and posture of the end effector need to be adjusted, the doctor holds the front end or the end effector of the robot arm device 1 and operates the switch of the drive system again. Then the drive system reversely rotates the actuator 174 to unlock the locking mechanism 17, and then unlocks the first push member 171 / 171', the second push member 172 / 172', the first push rod 102 / 102', the second push rod 112 / 112', the first connecting mechanism 12, and the second connecting mechanism 16, so that the first connecting mechanism 12 and the first arm 10, the first arm 10 and the second arm 11, and the second arm 11 and the second connecting mechanism 16 can rotate freely respectively. At this time, the doctor can adjust the end effector to other positions and postures. Whether fixing or adjusting the end effector, the auxiliary mechanism 18 can offset part of the weight of the robot arm device 1 and the end effector, so that the doctor can hold it more easily. Figure 7 As shown in (a) and 7 (b), it shows the coordination status of the second connecting mechanism 16 and the robot arm device 1 when the end effector is in different orientations and postures.

[0055] Although the present invention has been illustrated and described with reference to certain preferred embodiments of the present invention, it should be understood by those skilled in the art that the above is a further detailed description of the present invention in conjunction with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A medical mechanical arm device, which can be pivotally connected to a first connecting mechanism and a second connecting mechanism of a medical auxiliary tool, characterized in that: The robotic arm device comprises: A first arm, comprising a first housing and a first push rod, wherein the first push rod is at least partially located in the first housing; a first end of the first arm is pivotally connected to the first connecting mechanism, and a second end of the first arm is pivotally connected to the second connecting mechanism; A locking mechanism, which is used to lock the first arm with the first connecting mechanism and the second connecting mechanism; the locking mechanism includes an actuating member, a first pushing member, a second pushing member and a pivot, and the pivot is used to connect the first pushing member and the second pushing member; The second end is rotatably connected to the second connecting mechanism through the locking mechanism. When the robotic arm device is in the operating position, the actuator is rotated, and the first pushing member on the pivot pushes the first connecting end of the first push rod. The first push rod pushes the first joint of the first connecting mechanism, so that the first joint is abutted against the second joint of the first connecting mechanism; the second pushing member on the pivot pushes the third joint of the second connecting mechanism, so that the third joint is abutted against the fourth joint of the second connecting mechanism.

2. The medical robot arm device according to claim 1, characterized in that: The pivot includes a first limit member. When the robotic arm device is located in the operating position, the actuator cooperates with the first limit member to push the first pushing member and the second pushing member closer to each other on the pivot to push the first joint member and the third joint member respectively.

3. The medical robot arm device according to claim 1, characterized in that: The first pushing member and the second pushing member are fixedly connected to the pivot. When the robotic arm device is in the operating position, the pivot rotates under the drive of the actuator, so that the first pushing member and the second pushing member rotate radially to push the first joint member and the third joint member respectively.

4. The medical robot arm device according to any one of claims 1 to 3, characterized in that: The robotic arm device also includes a second arm, which includes a second shell and a second push rod, and the second push rod is at least partially located in the second shell; the second connecting mechanism is connected to the locking mechanism through the second arm, so that the fourth end of the second arm is rotatably connected to the second end through the locking mechanism; when the robotic arm device is in the operating position, the second pushing member on the pivot pushes the third connecting end of the second push rod, and the second push rod pushes the third joint component, so that the third joint component abuts against the fourth joint component of the second connecting mechanism.

5. The medical robot arm device according to any one of claims 1 to 3, characterized in that: The second end is provided with a first channel, the first connecting end extends into the first channel, and the first pushing member is at least partially disposed in the first channel.

6. The medical robot arm device according to claim 4, characterized in that: The second end is provided with a first channel, the first connecting end extends into the first channel, and the first pushing member is at least partially provided in the first channel; the fourth end is provided with a second channel, the third connecting end extends into the second channel, and the second pushing member is at least partially located in the second channel.

7. The medical robot arm device according to claim 6, characterized in that: The first connection end prevents the first pushing member from moving toward the second pushing member, and the third connection end prevents the second pushing member from moving toward the first pushing member.

8. The medical robot arm device according to claim 6 or 7, characterized in that: The first channel is coaxially arranged with the second channel.

9. The medical robot arm device according to claim 4, characterized in that: The first pushing member and / or the first connecting end include a first inclined surface or a first curved surface to push the first push rod to abut the first joint member; the second pushing member and / or the third connecting end include a second inclined surface or a second curved surface to push the second push rod to abut the third joint member.

10. The medical robot arm device according to any one of claims 1 to 3, 6 and 7, characterized in that: The actuating member is rotatably disposed on the second end and cannot move in the axial direction of the pivot.

11. A medical auxiliary tool that can be connected to an end effector, characterized in that: The medical auxiliary tool comprises a first connecting mechanism, a second connecting mechanism and a robot arm device as claimed in any one of claims 1 to 10.

12. The medical auxiliary tool according to claim 11, characterized in that: The medical auxiliary tool further includes a control system and a driving system, wherein the control system controls the driving system to rotate the actuating member.

13. The medical auxiliary tool according to claim 11, characterized in that: The medical auxiliary tool also includes an auxiliary mechanism, which includes an elastic member, a fixing mechanism, a rotating mechanism and a supporting member, the two ends of the elastic member are respectively fixed to the fixing mechanism and the rotating mechanism, and the fixing mechanism and the rotating mechanism are fixed to the supporting member; the fixing mechanism or the rotating mechanism is connected to the robotic arm device.

14. The medical auxiliary tool according to claim 13, characterized in that: The auxiliary mechanism further includes a second limiting member to limit the maximum expansion size of the elastic member.

15. The medical auxiliary tool according to claim 13, characterized in that: The elastic member is a clockwork spring.

16. A medical auxiliary tool that can be connected to an end effector, characterized in that: The medical auxiliary tool comprises a mechanical arm device, a first connecting mechanism, and a second connecting mechanism; The mechanical arm device comprises: a first arm including a first housing and a first push rod, wherein the first push rod is at least partially located in the first housing, and a first end of the first arm is pivotally connected to the first connecting mechanism; a second arm including a second housing and a second push rod, the second push rod being at least partially located in the second housing, the third end of the second arm being pivotally connected to the second connecting mechanism; A locking mechanism, comprising an actuating member, a first pushing member, a second pushing member and a pivot, wherein the pivot is used to connect the first pushing member and the second pushing member; the locking mechanism is capable of locking the first arm with the first connecting mechanism, and locking the second arm with the second connecting mechanism; When the mechanical arm device is in the operating position, the actuating member is rotated, the first pushing member on the pivot pushes the first connecting end of the first push rod, and the first push rod pushes the first joint member of the first connecting mechanism, so that the first joint member abuts against the second joint member of the first connecting mechanism; the second pushing member on the pivot pushes the third connecting end of the second push rod, and the second push rod pushes the third joint member of the second connecting mechanism, so that the third joint member abuts against the fourth joint member of the second connecting mechanism; The first connecting mechanism is connected to the end effector.

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