Medical robotic arm

Abstract

The application relates to a mechanical arm, an emergency unlocking device is arranged on a mechanical arm body, a brake assembly comprises a driving part, a brake part and a reset part, the driving part is drivingly assembled with the brake part, the driving part is used for driving the brake part to move to an unlocking position of the brake assembly, so that the brake assembly is converted to an unlocking state; the reset part is drivingly assembled with the brake part, the reset part is used for driving the brake part to move to a brake position of the brake assembly, so that the brake assembly is converted to a brake state; the unlocking assembly is non-contact drivingly matched with the brake part, the unlocking assembly is used for driving the brake part to move to the unlocking position of the brake assembly by using a non-contact force, so that the brake assembly is converted to the unlocking state. In the process of the emergency unlocking state in the brake state, a non-contact force is adopted, the mode does not cause damage to the structure of the mechanical arm, such as an opening setting part, and therefore the original design rigidity of medical instruments such as the mechanical arm can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a medical mechanical arm. BACKGROUND

[0002] The surgical robot is a comprehensive system integrating multiple modern high-tech means. The surgical robot is widely used and has a large number of applications in clinical surgery. Surgeons can operate the surgical robot to perform surgery away from the operating table, which is completely different from the traditional surgical concept. In the field of minimally invasive surgery, the surgical robot is a revolutionary surgical tool. The medical mechanical arm of the surgical robot is usually integrated with an emergency locking function. In the actual application of the surgical robot, once the medical mechanical arm of the surgical robot is in a locked state, the medical mechanical arm cannot move freely and needs to be manually unlocked. The existing medical mechanical arm usually needs to damage the mechanical structure of the medical mechanical arm, for example, an unlocking structure is arranged by opening a hole in the shell of the medical mechanical arm. However, the opening design reduces the rigidity performance of the shell of the medical mechanical arm, and the rigidity performance needs to be compensated by increasing the thickness of the shell, which affects the weight and cost of the surgical robot. SUMMARY

[0003] Therefore, it is necessary to provide a medical mechanical arm aiming at the above-mentioned technical problems.

[0004] A medical mechanical arm, comprising:

[0005] a mechanical arm body;

[0006] an emergency unlocking device arranged on the mechanical arm body, the emergency unlocking device comprising a brake assembly and an unlocking assembly, the brake assembly having an unlocking state and a brake state, the brake assembly comprising a driving part, a brake part and a reset part; wherein the driving part is drivingly assembled with the brake part, the driving part being configured to drive the brake part to move to an unlocking position of the brake assembly, so that the brake assembly is switched to the unlocking state; the reset part is drivingly assembled with the brake part, the reset part being configured to drive the brake part to move to a brake position of the brake assembly, so that the brake assembly is switched to the brake state; and the unlocking assembly is non-contactingly drivingly matched with the brake part, the unlocking assembly being configured to drive the brake part to move to the unlocking position of the brake assembly by using a non-contact force, so that the brake assembly is switched to the unlocking state.

[0007] In one of the embodiments, the reset part is configured to be assembled on the mechanical arm body, and the reset part is configured to drive the brake part to move relative to the mechanical arm body;

[0008] Alternatively, the brake assembly comprises a base component for being assembled on the mechanical arm body, and the reset component is assembled on the base component and is used to drive the brake component to move relative to the base component.

[0009] In one of the embodiments, the brake assembly comprises:

[0010] A limiting component connected with the brake component, and used to limit the movement range of the brake component.

[0011] In one of the embodiments, the brake assembly comprises a magnetic component connected with the brake component, the driving component is a first magnetic force generating component, the driving component is magnetically driven to be assembled with the magnetic component, and the driving component is used to drive the brake component to move to the unlocking position by magnetic force; and / or,

[0012] The reset component is an elastic component, the reset component is elastically driven to be assembled with the brake component, and the reset component is used to drive the brake component to move to the braking position by elastic force.

[0013] In one of the embodiments, the magnetic component is directly connected with the brake component, the driving component drives the magnetic component and the brake component to move to the unlocking position along a first movement track, and the reset component drives the magnetic component and the brake component to move to the braking position along the first movement track.

[0014] In one of the embodiments, the brake assembly comprises:

[0015] At least two reset components, the at least two reset components are respectively arranged at two ends of the brake component along the first movement track; and / or,

[0016] At least two magnetic components, the at least two magnetic components are respectively arranged at two ends of the brake component along the first movement track.

[0017] In one of the embodiments, the magnetic component is indirectly driven to be assembled with the brake component through a transmission component, the driving component drives the magnetic component to move along a second movement track, the magnetic component drives the brake component to move to the unlocking position along a third movement track through the transmission component, the reset component drives the magnetic component to move along the second movement track, and the magnetic component drives the brake component to move to the braking position along the third movement track through the transmission component.

[0018] In one of the embodiments, the transmission component adopts a linkage mechanism, the driving component is used to drive the linkage mechanism to move, and indirectly drives the brake component to move to the unlocking position through the linkage mechanism; and / or,

[0019] The reset component is used to drive the linkage mechanism to move, and indirectly drives the brake component to move to the brake position through the linkage mechanism.

[0020] In one of the embodiments, the linkage mechanism comprises a first linkage and a second linkage, one end of the first linkage and the second linkage is hinged with the magnetic component, the other end of the first linkage is hinged with the brake component, and the other end of the second linkage is used to be hinged with the robot body.

[0021] In one of the embodiments, the brake assembly comprises:

[0022] A guide component is used to form the third movement track;

[0023] A moving component is movably assembled on the guide component along the third movement track, and the moving component is connected with the brake component.

[0024] In one of the embodiments, the unlocking assembly comprises:

[0025] A second magnetic force generating component is used to generate magnetic force, and the second magnetic force generating component is used to drive the brake component to move to the unlocking position by magnetic force.

[0026] In one of the embodiments, the unlocking assembly comprises:

[0027] At least two fixed magnets are arranged side by side, and the magnetic poles of the adjacent two fixed magnets are oppositely directed;

[0028] A moving magnet is arranged at one end of the two fixed magnets and is inclined relative to the two fixed magnets, wherein the two magnetic poles of the moving magnet can be switched relative to the different fixed magnets to generate or eliminate magnetic force.

[0029] In one of the embodiments, the unlocking assembly comprises:

[0030] A fixed base is movably assembled on the fixed base;

[0031] A rotating component is rotatably assembled on the fixed base, and the rotating component is drivingly connected with the moving magnet to switch the direction of the two magnetic poles of the moving magnet.

[0032] In one embodiment, the mechanical arm body comprises:

[0033] At least two arm segments, adjacent arm segments are connected by joint drive, the emergency unlocking device cooperates with the joint drive.

[0034] In one embodiment, at least one of the arm segments is provided with a guide groove, and the reset component is arranged in the guide groove, and the reset component is used to drive the brake component to move along the guide groove.

[0035] In the above medical mechanical arm, the driving assembly structure composed of the driving component, the reset component and the brake component realizes three-position control of unlocking and braking, that is, the unlocking state of the medical mechanical arm and other medical devices in the normal working state, the braking state in the abnormal state, and the emergency unlocking state in the braking state. In the process of emergency unlocking state in the braking state, non-contact force is used. This way will not damage the structure of the medical mechanical arm, such as the opening setting component, so it can meet the original design rigidity of the medical mechanical arm and other medical devices. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The braking state diagram of the emergency unlocking device provided in one embodiment of the application is shown in the figure;

[0037] Figure 2 The unlocking state diagram of the emergency unlocking device provided in one embodiment of the application is shown in the figure;

[0038] Figure 3 The partial structure diagram of the brake component provided in one embodiment of the application is shown in the figure;

[0039] Figure 4 The assembly structure diagram of the brake component provided in one embodiment of the application is shown in the figure;

[0040] Figure 5 The structure diagram of the emergency unlocking device provided in the second embodiment of the application is shown in the figure;

[0041] Figure 6 The unlocking state diagram of the emergency unlocking device provided in the third embodiment of the application is shown in the figure;

[0042] Figure 7 The unlocking state diagram of the transmission component is shown in the figure; Figure 6

[0043] The unlocking principle diagram of the emergency unlocking device is shown in the figure; Figure 8 Figure 6

[0044] Figure 9 ​​Braking state schematic view of the emergency unlocking device provided in the third embodiment of the present application;

[0045] Figure 10 Braking state schematic view of the transmission component as shown in Figure 9 ;

[0046] Figure 11 Braking principle schematic view of the emergency unlocking device as shown in Figure 9 ;

[0047] Figure 12 Structure schematic view of the limiting component provided in the third embodiment of the present application;

[0048] Figure 13 Structure schematic view of the guiding component and the moving component provided in the third embodiment of the present application;

[0049] Figure 14 Assembly sectional view of the guiding component and the moving component provided in the third embodiment of the present application;

[0050] Figure 15 Structure schematic view of the unlocking assembly provided in an embodiment of the present application;

[0051] Figure 16 State schematic view of the unlocking assembly as shown in Figure 15 , in which the magnetic force is eliminated;

[0052] Figure 17 Principle schematic view of the unlocking assembly as shown in Figure 15 , in which the magnetic force is eliminated;

[0053] Figure 18 State schematic view of the unlocking assembly as shown in Figure 15 , in which the magnetic force is generated;

[0054] Figure 19 Principle schematic view of the unlocking assembly as shown in Figure 15 , in which the magnetic force is generated;

[0055] Figure 20 Unlocking state schematic view of the emergency unlocking device provided in the fourth embodiment of the present application;

[0056] Figure 21 Structure schematic view of the medical mechanical arm provided in an embodiment of the present application;

[0057] Figure 22 Use state schematic view of the medical mechanical arm provided in an embodiment of the present application.

[0058] Corresponding reference signs:

[0059] 1000, emergency unlocking device; 2000, medical mechanical arm;

[0060] 1100, brake assembly; 1200, unlocking assembly;

[0061] 1110, driving part; 1120, brake part; 1130, reset part;

[0062] 1140, base part; 1150, limiting part; 1160, magnetic part;

[0063] 1170, transmission part; 1180, guide part; 1190, moving part;

[0064] 1100a, first movement track; 1100b, second movement track; 1100c, third movement track;

[0065] 1171, first connecting rod; 1172, second connecting rod;

[0066] 1210, fixed magnet; 1220, moving magnet; 1230, fixed base; 1240, rotating part;

[0067] 2100, arm segment; 2200, joint driver;

[0068] 2110, guide groove. DETAILED DESCRIPTION

[0069] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described herein and by persons skilled in the art without departing from the spirit and scope of the present application, and it is therefore intended that all such changes and modifications be included within the scope of the present application.

[0070] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0071] In addition, the terms "first", "second", etc. are used herein only to describe different instances, and are not used to denote or imply relative importance or a number of indications of the technical features indicated. Thus, the technical features defined with "first", "second" can explicitly or implicitly include at least one of the technical features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0072] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0073] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0074] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes, and are not the only embodiment.

[0075] Referring to Figure 1 , Figure 2 and Figure 21As shown, an embodiment of the present application provides a medical robot arm 2000, which comprises a robot arm body and the emergency unlocking device 1000 arranged on the robot arm body. The emergency unlocking device 1000 comprises a brake assembly 1100 and an unlocking assembly 1200, the brake assembly 1100 has an unlocking state and a brake state, and the brake assembly 1100 comprises a driving component 1110, a brake component 1120 and a reset component 1130; wherein the driving component 1110 is drivingly assembled with the brake component 1120, the driving component 1110 is used to drive the brake component 1120 to move to the unlocking position of the brake assembly 1100, so that the brake assembly 1100 is converted to the unlocking state; the reset component 1130 is drivingly assembled with the brake component 1120, the reset component 1130 is used to drive the brake component 1120 to move to the brake position of the brake assembly 1100, so that the brake assembly 1100 is converted to the brake state; and the unlocking assembly 1200 is non-contact drivingly matched with the brake component 1120, the unlocking assembly 1200 is used to drive the brake component 1120 to move to the unlocking position of the brake assembly 1100 by using non-contact force, so that the brake assembly 1100 is converted to the unlocking state.

[0076] The emergency unlocking device 1000 can realize unlocking and braking of the target object based on the unlocking state and the brake state of the brake assembly 1100, and the target object can be a movable medical instrument such as the medical robot arm 2000. The emergency unlocking device 1000 is used to be assembled with the medical instrument such as the medical robot arm 2000, and the brake component 1120 of the brake assembly 1100 can move to a specific position according to the requirement, for example, the brake assembly 1100 has an unlocking position and a brake position, the brake component 1120 moves to the unlocking position to be converted to the unlocking state of the brake assembly 1100, and the brake component 1120 moves to the brake position to be converted to the brake state of the brake assembly 1100. Therefore, the conversion between the unlocking state and the brake state of the emergency unlocking device 1000 is realized by controlling the movement of the brake component 1120.

[0077] It should be noted that the unlocking position and the braking position of the brake assembly 1100 are not fixed, and the unlocking position and the braking position need to be determined according to the assembly relationship between the emergency unlocking device 1000 and the target object. As long as the brake component 1120 of the brake assembly 1100 can be moved to the unlocking position to release the interference with the target object and enable the target object to operate normally, and similarly, the brake component 1120 of the brake assembly 1100 can be moved to the braking position to interfere with the target object and prevent the target object from operating, a person skilled in the art can determine the unlocking position and the braking position of the brake assembly 1100 according to the actual situation to meet the actual unlocking and braking requirements, which is not limited here.

[0078] Specifically referring to Figure 1 As shown in the figure, the driving component 1110 and the brake component 1120 are drivingly assembled. The driving assembly can be achieved in various forms of force. When the medical robot arm 2000 and other medical instruments are operating normally, for example, in a powered state, the driving component 1110 can drive the brake component 1120 to move to the unlocking position of the brake assembly 1100, as shown in Figure 1 The control component 1100 can control the brake component 1120 to move downward, so that the brake component 1120 is away from the specific position of the target object, and the brake assembly 1100 is converted to the unlocking state. At this time, the medical robot arm 2000 and other medical instruments will not be braked by the emergency unlocking device 1000.

[0079] Continuing to refer to Figure 1 As shown in the figure, the reset component 1130 and the brake component 1120 are drivingly assembled. The driving assembly can be achieved in various forms of force. When the medical robot arm 2000 and other medical instruments are not operating normally, for example, in a non-powered state, a fault state or an emergency state, the reset component 1130 can drive the brake component 1120 to move to the braking position of the brake assembly 1100, as shown in Figure 1 The control component 1100 can control the brake component 1120 to move upward, so that the brake component 1120 contacts the specific position of the target object, and the brake assembly 1100 is converted to the braking state. At this time, the medical robot arm 2000 and other medical instruments will be braked by the emergency unlocking device 1000.

[0080] At the same time, referring to Figure 2 As shown in the figure, the unlocking assembly 1200 and the brake component 1120 can be drivingly assembled in a non-contact manner. When the medical robot arm 2000 and other medical instruments have been braked in a non-powered state, a fault state or an emergency state (i.e., the emergency unlocking device 1000 is in a braking state), the staff can use the unlocking assembly 1200 to contact the braking state, i.e., the unlocking assembly 1200 can drive the brake component 1120 to move to the unlocking position of the brake assembly 1100 by a non-contact force, as shown inFigure 2 The middle control brake component 1120 moves downward, and the brake component 1120 moves away from the specific position of the target object, so that the brake assembly 1100 is converted to the unlocking state, and the medical robot arm 2000 and other medical devices are not braked by the emergency unlocking device 1000.

[0081] As shown in Figure 1 and Figure 2 The brake component 1120 can adopt various structural forms, such as rod-shaped structure, disc-shaped structure, block-shaped structure, regular structure, and other irregular structures. The brake component 1120 can adopt a friction braking mode or a blocking pin braking mode. The specific position of the brake component 1120 contacting or moving away from the target object can be determined according to the assembly relationship between the emergency unlocking device 1000 and the target object. For example, the specific position of the target object can be the position between adjacent arm segments 2100 of the medical robot arm 2000 or the motor disc of the joint drive 2200 of the medical robot arm 2000. As long as the brake component 1120 can achieve braking or unbraking of the target object by contacting or moving away from the specific position of the target object, the structure of the brake component 1120 and the specific position of the contact or movement away can be determined by the person skilled in the art according to the requirements, which is not limited herein.

[0082] Therefore, the driving assembly structure composed of the driving component 1110, the reset component 1130, and the brake component 1120 realizes three-position control of unlocking and braking, that is, the unlocking state of the medical robot arm 2000 and other medical devices in the normal working state, the braking state in the abnormal state, and the emergency unlocking state in the braking state. In actual work, the medical robot arm 2000 and other medical devices can be kept in the unlocking state by the emergency unlocking device 1000 in the normal working state, allowing the medical robot arm 2000 and other medical devices to operate normally. Once the medical robot arm 2000 and other medical devices are in a non-powered, fault, or emergency state, the emergency unlocking state is immediately converted to the braking state to prohibit the operation of the medical robot arm 2000 and other medical devices for emergency treatment.

[0083] In the emergency handling process, the staff can use the emergency unlocking device 1000 to unlock the medical robot arm 2000 and other medical instruments after troubleshooting, so that the medical robot arm 2000 and other medical instruments can operate normally. However, if the medical robot arm 2000 and other medical instruments are in a state of causing harm to the patient during braking, such as clamping the patient's tissue, causing the patient pain, etc., in order to immediately relieve the harm to the patient, the staff can also use the unlocking assembly 1200 to quickly convert the emergency unlocking device 1000 from the braking state to the unlocking state immediately and actively, so as to achieve emergency unlocking, so that the medical robot arm 2000 and other medical instruments can quickly resume operation according to the needs, and relieve the harm to the patient. Moreover, the process of actively converting the emergency unlocking device 1000 from the braking state to the unlocking state adopts a non-contact force, which will not cause damage to the structure of the medical robot arm 2000, such as opening a hole in the component, etc., so as to meet the original design rigidity of the medical robot arm 2000 and other medical instruments.

[0084] In one embodiment, the braking assembly 1100 includes a limiting component 1150 connected with the braking component 1120, and the limiting component 1150 is used to limit the movement range of the braking component 1120, as shown in Figure 1 and Figure 2 When the driving component 1110 drives the braking component 1120 to move to the unlocking position of the braking assembly 1100, the limiting component 1150 can limit the movement range of the braking component 1120 within a predetermined range, so as to ensure that the braking component 1120 can stop accurately after moving to the unlocking position, and will not continue to move beyond the unlocking position, which will not cause unlocking failure. When the reset component 1130 drives the braking component 1120 to move to the braking position of the braking assembly 1100, the limiting component 1150 can limit the movement range of the braking component 1120 within a predetermined range, so as to ensure that the braking component 1120 can stop accurately after moving to the braking position, and will not continue to move beyond the braking position, which will not cause braking failure. When the unlocking assembly 1200 drives the braking component 1120 to move to the unlocking position of the braking assembly 1100 by using a non-contact force, the limiting component 1150 can limit the movement range of the braking component 1120 within a predetermined range, so as to ensure that the braking component 1120 can stop accurately after moving to the unlocking position, and will not continue to move beyond the unlocking position, which will not cause unlocking failure.

[0085] The limiting component 1150 can adopt various structural forms, and the limiting component 1150 is a single component or a plurality of components matched to form, for example, the limiting component 1150 is a single baffle. When the limiting component 1150 is connected with the brake component 1120, the brake component 1120 moves to a predetermined position, and the limiting component 1150 can form a limit with the target object or other matching structure to limit the movement of the brake component 1120, or as shown in Figure 3 and Figure 4 for example, the limiting component 1150 is a protrusion connected to the brake component 1120 and a groove formed on the target object or other matching structure. The protrusion and the groove are matched to form a limit when the brake component 1120 moves to a predetermined position. The specific structural form of the limiting component 1150 can be set by those skilled in the art according to the needs, which is not limited here.

[0086] Moreover, as shown in Figure 1 and Figure 2 the driving component 1110 and the reset component 1130 are both drivingly assembled with the brake component 1120, and the driving component 1110, the reset component 1130 and the brake component 1120 constitute an integral driving assembly structure. The driving component 1110, the reset component 1130 and the brake component 1120 can be directly assembled on the medical robot arm 2000 and other medical devices, i.e., the target object. For example, in one embodiment, the reset component 1130 can be assembled on the medical robot arm 2000. The driving component 1110 drives the brake component 1120 to move, and the reset component 1130 drives the brake component 1120 to move relative to the medical robot arm 2000. At this time, the reset component 1130 is connected with the medical robot arm 2000, and the driving component 1110, the reset component 1130 and the brake component 1120 can use the target object as a support base. Optionally, a guide groove 2110 can be formed on the medical robot arm 2000, and the reset component 1130 is assembled in the guide groove 2110. The reset component 1130 drives the brake component 1120 to move along the guide groove 2110.

[0087] Alternatively, the driving component 1110, the resetting component 1130 and the braking component 1120 can be indirectly assembled on the medical instrument such as the medical mechanical arm 2000, for example, in one of the embodiments, the braking assembly 1100 comprises a base component 1140, the driving component 1110, the resetting component 1130 and the braking component 1120 can use the base component 1140 as a support base, the base component 1140 can be used to be assembled on the medical mechanical arm 2000, the driving component 1110 drives the braking component 1120 to move, the resetting component 1130 is assembled on the base component 1140, the resetting component 1130 drives the braking component 1120 to move relative to the base component 1140, optionally, a guide groove 2110 can be formed on the base component 1140, the resetting component 1130 is assembled in the guide groove 2110, and the resetting component 1130 is used to drive the braking component 1120 to move along the guide groove 2110.

[0088] The skilled in the art can select whether to directly assemble the driving component 1110, the resetting component 1130 and the braking component 1120 on the target object according to the actual needs, which is not limited here.

[0089] The driving component 1110 can drive the braking component 1120 to move in various driving forms, such as screw mechanism driving, gear mechanism driving, transmission belt driving, elastic driving, electrostatic force driving and magnetic force driving, etc., for example, when magnetic force driving is adopted, the braking assembly 1100 comprises a magnetic component 1160, the magnetic component 1160 is connected with the braking component 1120, the driving component 1110 is a first magnetic force generating component, the first magnetic force generating component can generate magnetic force, including conventional magnetic force and electromagnetic force, the driving component 1110 is magnetically driven with the magnetic component 1160, the driving component 1110 is used to drive the magnetic component 1160 to move by magnetic force, the movement of the magnetic component 1160 will drive the braking component 1120 to move to the unlocking position, wherein the magnetic force of the first magnetic force generating component can drive the braking component 1120 by magnetic attraction or magnetic pushing, the skilled in the art can limit the relative position relationship between the first magnetic force generating component and the braking component 1120 according to the needs to meet the driving of the braking component 1120, which is not limited here.

[0090] The reset component 1130 can also adopt various driving forms to drive the brake component 1120 to move, such as a screw mechanism, a gear mechanism, a transmission belt, an elastic force, an electrostatic force, a magnetic force, etc. For example, when the elastic force is adopted, the reset component 1130 can be an elastic component, which is assembled with the brake component 1120 by the elastic force, and is used to drive the brake component 1120 to move to the brake position by the elastic force. The elastic component is passively applied with the elastic force, and thus one end of the elastic component can be connected to the medical instrument such as the medical robot arm 2000 or the base component 1140 of the brake assembly 1100 according to the actual structure. Alternatively, the elastic component can be installed in the guide groove 2110, for example, one end of the elastic component is connected to the groove bottom of the guide groove 2110, and the other end of the elastic component is directly connected to the brake component 1120 or indirectly connected to the brake component 1120 through the magnetic component 1160, so as to drive the brake component 1120 to move to the brake position by the elastic force.

[0091] The magnetic component 1160 and the brake component 1120 can adopt various assembly forms, for example, the two components can be directly connected or indirectly connected. In one embodiment, as shown in FIGS. 11B and 11C, the magnetic component 1160 is directly connected to the brake component 1120, and thus the magnetic component 1160 and the brake component 1120 can move synchronously. Therefore, the driving component 1110 can drive the magnetic component 1160 and the brake component 1120 to move to the unlock position along the first movement track 1100a, and the reset component 1130 can also drive the magnetic component 1160 and the brake component 1120 to move to the brake position along the first movement track 1100a. The first movement track 1100a can be a straight track or a curved track, which can be set according to the requirements, and is not limited herein. Figure 1 Figure 2 The number of the reset component 1130 and the magnetic component 1160 can be selected according to the requirements. As shown in FIGS. 11B and 11C, the reset component 1130 and the magnetic component 1160 can be one-to-one, one-to-two, two-to-one, or two-to-two.

[0092] The number of the reset component 1130 and the magnetic component 1160 can be selected according to the requirements. As shown in FIGS. 11B and 11C, the reset component 1130 and the magnetic component 1160 can be one-to-one, one-to-two, two-to-one, or two-to-two. Figure 5 ​As shown, in one of the embodiments, the brake assembly 1100 comprises at least two reset components 1130, which are respectively arranged at two ends of the brake component 1120 along the first movement track 1100a, for example, the number of the reset components 1130 is two, and two reset components 1130 are respectively arranged at two ends of the brake component 1120 along the first movement track 1100a. The brake assembly 1100 can also comprise at least two magnetic components 1160, which are respectively arranged at two ends of the brake component 1120 along the first movement track 1100a, for example, the number of the magnetic components 1160 is two, and two magnetic components 1160 are respectively arranged at two ends of the brake component 1120 along the first movement track 1100a. At this time, the unlocking assembly 1200 can be in contactless driving cooperation with different magnetic components 1160 at multiple positions, achieving multi-position unlocking in space, especially when one of the positions interferes with other workers or other equipment or structures, etc. Another position can be selected to implement unlocking, which can improve the flexibility of unlocking.

[0093] In addition, referring to Figures 6 to 11 As shown, in one of the embodiments, the magnetic component 1160 can be indirectly driven and assembled with the brake component 1120 through the transmission component 1170. The transmission component 1170 can transmit the force of the magnetic component 1160 to the brake component 1120, achieving indirect driving of the brake component 1120 by the magnetic component 1160. Specifically, the driving component 1110 can drive the magnetic component 1160 to move along the second movement track 1100b, and then the magnetic component 1160 will indirectly drive the brake component 1120 to move along the third movement track 1100c to the unlocking position through the transmission component 1170. The reset component 1130 can also drive the magnetic component 1160 to move along the second movement track 1100b, and the magnetic component 1160 will indirectly drive the brake component 1120 to move along the third movement track 1100c to the brake position through the transmission component 1170.

[0094] The second movement track 1100b and the third movement track 1100c belong to two different track routes, for example, the second movement track 1100b and the third movement track 1100c are arranged at an angle, which can be 60 degrees, 90 degrees, etc., and the second movement track 1100b and the third movement track 1100c can respectively provide different movement tracks for the magnetic component 1160 and the brake component 1120 to move on, and the second movement track 1100b or the third movement track 1100c can adopt a straight track or a curved track, which can be set by those skilled in the art according to requirements, and is not limited here.

[0095] The transmission component 1170 can adopt a screw mechanism drive, a gear mechanism drive, a transmission belt drive, etc., and in one embodiment, the transmission component 1170 adopts a connecting rod mechanism, the driving component 1110 is used to drive the connecting rod mechanism to move and indirectly drive the brake component 1120 to move to the unlocking position through the connecting rod mechanism, and the reset component 1130 is used to drive the connecting rod mechanism to move and indirectly drive the brake component 1120 to move to the brake position.

[0096] The connecting rod mechanism can be composed of different numbers of connecting rods, for example, in one embodiment, the connecting rod mechanism includes a first connecting rod 1171 and a second connecting rod 1172, one end of the first connecting rod 1171 and the second connecting rod 1172 is hinged with the magnetic component 1160, the other end of the first connecting rod 1171 is hinged with the brake component 1120, and the other end of the second connecting rod 1172 is used to be hinged with the medical mechanical arm 2000.

[0097] Continuing to refer to Figures 6 to 8 When unlocking is needed, the driving component 1110 can drive the magnetic component 1160 to move left along the second movement track 1100b, and then the magnetic component 1160 will pull the first connecting rod 1171 and the second connecting rod 1172, so that the first connecting rod 1171 and the second connecting rod 1172 are contracted, and the contraction of the first connecting rod 1171 and the second connecting rod 1172 will lower the height of the brake component 1120, so that the brake component 1120 moves downward along the third movement track 1100c, moves to the unlocking position and converts to the unlocking state.

[0098] Continuing to refer to Figures 9 to 11As shown, when braking is needed, the reset component 1130 can drive the magnetic component 1160 to move right along the second movement track 1100b, and then the magnetic component 1160 will push the first connecting rod 1171 and the second connecting rod 1172 to form expansion, and the expansion of the first connecting rod 1171 and the second connecting rod 1172 will lift the height of the brake component 1120, so that the brake component 1120 moves upward along the third movement track 1100c, moves to the brake position and converts to the brake state.

[0099] The connecting rod mechanism composed of the first connecting rod 1171 and the second connecting rod 1172 cooperates with the magnetic driving mode to enrich the implementation forms of the unlocking, and the emergency unlocking device 1000 composed of the connecting rod mechanism and the magnetic driving mode can be applied not only in the friction plate brake but also in the gear pin brake, thereby expanding the use scenarios. Moreover, since the magnetic component 1160 and the brake component 1120 move on different movement tracks, the assembly between the magnetic component 1160 and the brake component 1120 can be more compact, the space is fully utilized, and thus the overall volume of the emergency unlocking device 1000 is more compact.

[0100] Referring to Figure 12 As shown, the limiting component 1150 is a baffle arranged on the brake component 1120. When the magnetic component 1160 moves right, pushes the first connecting rod 1171 and the second connecting rod 1172 to form expansion, and the first connecting rod 1171 and the second connecting rod 1172 drive the brake component 1120 to reach the brake position, the baffle will stop the first connecting rod 1171 to prevent the first connecting rod 1171 and the second connecting rod 1172 from continuously expanding and driving the brake component 1120 to exceed the brake position.

[0101] Referring to Figure 13 and Figure 14 As shown, the brake assembly 1100 includes a guide component 1180 and a moving component 1190. The guide component 1180 is used to form the third movement track 1100c, and the moving component 1190 is movably arranged on the guide component 1180 along the third movement track 1100c. The moving component 1190 is connected with the brake component 1120, so that the moving component 1190 can limit the brake component 1120 to strictly move along the third movement track 1100c when the brake component 1120 moves, thereby ensuring that the brake component 1120 moves between the unlocking position and the brake position.

[0102] In one of the embodiments, the non-contact force includes at least one of magnetic force, electrostatic force and universal force, and the skilled person can adopt a suitable force form according to the requirement and provide a device for generating the corresponding force, which is not limited here.

[0103] In one of the embodiments, the unlocking assembly 1200 includes a second magnetic force generating component for generating magnetic force, including conventional magnetic force and electromagnetic force, and the second magnetic force generating component is used to drive the brake component 1120 to move to the unlocking position by magnetic force, wherein the magnetic force of the second magnetic force generating component can drive the brake component 1120 by magnetic attraction or magnetic pushing, and the skilled person can define the relative position relationship between the second magnetic force generating component and the brake component 1120 according to the requirement to meet the driving of the brake component 1120, which is not limited here.

[0104] Referring to Figure 15 In one of the embodiments, the unlocking assembly 1200 includes a moving magnet 1220 and at least two fixed magnets 1210, two adjacent fixed magnets 1210 are arranged side by side and the magnetic poles of the two adjacent fixed magnets 1210 face opposite directions, the moving magnet 1220 is located at one end of the two fixed magnets 1210 and the moving magnet 1220 is arranged obliquely relative to the two fixed magnets 1210, wherein the two magnetic poles of the moving magnet 1220 can be switched relative to different fixed magnets 1210 to generate or eliminate magnetic force.

[0105] According to the principle of magnetic flux continuity and the principle of magnetic field superposition, referring to Figure 16 and Figure 17 As shown, the magnetic lines of force come out from the N pole of the fixed magnet 1210, pass through the closed path to return to the S pole of the other fixed magnet 1210, and the superposition of the magnetic induction intensity of the plurality of fixed magnets 1210 can enhance the magnetism, at this time, the N pole of the moving magnet 1220 faces left and the S pole faces right, which can make the fixed magnet 1210 and the moving magnet 1220 form a closed loop, the magnetic lines of force do not pass through the iron block, the unlocking assembly 1200 does not generate magnetic force, and there is no attracting or pushing force. Referring to Figure 18 and Figure 19 As shown, when the moving magnet 1220 is rotated, the N pole of the moving magnet 1220 faces right and the S pole faces left, at this time, the whole magnetic line of force path will change, the magnetic lines of force come out from the N pole, pass through the magnetic component 1160 to return to the S pole, and the unlocking assembly 1200 will generate magnetic force to form magnetic attraction or pushing on the magnetic component 1160.

[0106] Continuing to refer to Figure 15As shown, in one embodiment, the unlocking assembly 1200 includes a fixed base 1230 and a rotating component 1240, two fixed magnets 1210 are fixedly assembled on the fixed base 1230, the rotating component 1240 is rotatably assembled on the fixed base 1230, and the rotating component 1240 is drivingly connected with the moving magnet 1220 for converting the orientation of the two magnetic poles of the moving magnet 1220.

[0107] The unlocking assembly 1200 can be independent of the braking assembly 1100, and is used in cooperation with the braking assembly 1100 only when unlocking is needed, or refer to Figure 20 As shown, the unlocking assembly 1200 can also be integrated with the braking assembly 1100, for example, when the braking assembly 1100 is assembled by the base component 1140, the driving component 1110, the braking component 1120, the reset component 1130, the magnetic component 1160 and the transmission component 1170, etc., the base component 1140 can be assembled by slotting the driving component 1110, the braking component 1120, the reset component 1130, the magnetic component 1160 and the transmission component 1170, and the base component 1140 can also be assembled by slotting the unlocking assembly 1200.

[0108] In one embodiment, the mechanical arm body includes at least two arm segments 2100, and adjacent arm segments 2100 are drivingly connected through joint drives 2200, for example, the arm segment 2100 is five segments, and the five arm segments 2100 have four joint drives 2200, the emergency unlocking device 1000 can cooperate with at least one joint drive 2200, and three-position control of the joint drive 2200 is realized by using the emergency unlocking device 1000. In one embodiment, at least one arm segment 2100 is provided with a guide groove 2110, the reset component 1130 is assembled in the guide groove 2110, and the reset component 1130 is used to drive the braking component 1120 to move along the guide groove 2110.

[0109] In one of the embodiments, the mechanical arm body includes five arm segments 2100, which are sequentially connected and driven by joint drives 2200 between adjacent arm segments 2100, and four joint drives 2200 are needed to form the assembly of the entire mechanical arm body. The five arm segments 2100 in the proximal-to-distal direction are sequentially a first arm segment, a second arm segment, a third arm segment, a fourth arm segment, and a fifth arm segment, and the first arm segment is arranged on the platform or base to form the assembly of the entire mechanical arm body. The emergency unlocking device 1000 can be arranged on the second arm segment, and the joint drive 2200 between the first arm segment and the second arm segment is driven and controlled by the emergency unlocking device 1000. When the emergency unlocking device 1000 is on the second arm segment, it can be quickly and conveniently unlocked, and an operation position for convenient operation is provided.

[0110] The skilled in the art can select a suitable position to install the emergency unlocking device 1000 according to the needs, which is not limited here.

[0111] Referring to Figure 22 A surgical robot including the medical mechanical arm 2000 is shown, which includes the medical mechanical arm 2000, a surgical trolley, a navigation trolley, a medical mechanical arm 2000, a display, a navigation sensor, a patient bed, etc. The mechanical arm is responsible for completing surgical osteotomy operations, the surgical trolley provides mechanical support and electrical systems, the navigation trolley runs navigation algorithms to complete surgical planning and visualizes display on the display, the navigation sensor recognizes the pose and provides it to the navigation algorithm, and the patient bed is used to support the patient.

[0112] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not exist, they should be considered as within the scope of the present disclosure.

[0113] The above-described embodiments only express several embodiments of the present application, which are described in detail and specifically, but should not be understood as limiting the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A robot arm, characterized in that, The mechanical arm comprises: a mechanical arm body; an emergency unlocking device arranged on the mechanical arm body, the emergency unlocking device comprising a brake assembly and an unlocking assembly, the brake assembly having an unlocking state and a brake state, the brake assembly comprising a driving component, a brake component and a reset component; wherein the driving component is drivingly assembled with the brake component, the driving component being configured to drive the brake component to move towards an unlocking position of the brake assembly, so as to switch the brake assembly to the unlocking state; the reset component is drivingly assembled with the brake component, the reset component being configured to drive the brake component to move towards a brake position of the brake assembly, so as to switch the brake assembly to the brake state; the unlocking assembly is non-contactingly drivingly assembled with the brake component, the unlocking assembly being configured to drive the brake component to move towards the unlocking position of the brake assembly by using a non-contact force, so as to switch the brake assembly to the unlocking state; the brake assembly comprises a magnetic component connected with the brake component, the driving component being a first magnetic force generating component, the driving component being magnetically drivingly assembled with the magnetic component, the driving component being configured to drive the brake component to move towards the unlocking position by using a magnetic force; the magnetic component is indirectly drivingly assembled with the brake component through a transmission component, the driving component being configured to drive the magnetic component to move along a second movement trajectory, the magnetic component being configured to drive the brake component to move along a third movement trajectory towards the unlocking position through the transmission component, the reset component being configured to drive the magnetic component to move along the second movement trajectory, the magnetic component being configured to drive the brake component to move along the third movement trajectory towards the brake position through the transmission component.

2. The robot arm of claim 1, wherein, the reset component is configured to be assembled on the mechanical arm body, the reset component being configured to drive the brake component to move relative to the mechanical arm body; alternatively, the brake assembly comprises a base component configured to be assembled on the mechanical arm body, the reset component being assembled on the base component, the reset component being configured to drive the brake component to move relative to the base component.

3. The robotic arm of claim 1, wherein, the brake assembly comprises: a limiting component connected with the brake component, the limiting component being configured to limit a movement range of the brake component.

4. The robotic arm of claim 1, wherein, the reset component is an elastic component, the reset component being elastically drivingly assembled with the brake component, the reset component being configured to drive the brake component to move towards the brake position by using an elastic force.

5. The robotic arm of claim 1, wherein, at least one of the second movement trajectory and the third movement trajectory is configured as a straight line trajectory or a curved line trajectory.

6. The robot arm of claim 5, wherein, the second movement trajectory and the third movement trajectory are configured as straight line trajectories, the second movement trajectory and the third movement trajectory being arranged at an angle.

7. The robot arm of claim 6, wherein, the second movement trajectory and the third movement trajectory are perpendicular to each other.

8. The robotic arm of claim 1, wherein, the transmission component adopts a linkage mechanism, the driving component being configured to drive the linkage mechanism to move, and indirectly drive the brake component to move towards the unlocking position through the linkage mechanism; and / or, The reset component is used to drive the linkage mechanism to move, and indirectly drives the brake component to move to the brake position through the linkage mechanism.

9. The robot arm of claim 8, wherein, The linkage mechanism comprises a first linkage and a second linkage, one end of the first linkage and the second linkage is hinged with the magnetic component, the other end of the first linkage is hinged with the brake component, and the other end of the second linkage is used to be hinged with the robot body.

10. The robotic arm of claim 8, wherein, The brake assembly comprises: A guide component is used to form the third movement track; A moving component is movably assembled on the guide component along the third movement track, and the moving component is connected with the brake component.

11. The robotic arm of claim 1, wherein, The unlocking assembly comprises: A second magnetic force generating component is used to generate magnetic force, and the second magnetic force generating component is used to drive the brake component to move to the unlocking position by using magnetic force.

12. The robotic arm of claim 11, wherein, The unlocking assembly comprises: At least two fixed magnets, two adjacent fixed magnets are arranged side by side, and the magnetic poles of the two adjacent fixed magnets face opposite directions; A moving magnet is located at one end of the two fixed magnets and is arranged obliquely relative to the two fixed magnets, wherein the two magnetic poles of the moving magnet can be switched relative to different fixed magnets to generate or eliminate magnetic force.

13. The robotic arm of claim 12, wherein, The unlocking assembly comprises: A fixed base, two fixed magnets are fixedly assembled on the fixed base; A rotating component is rotatably assembled on the fixed base, and the rotating component is drivingly connected with the moving magnet to switch the directions of the two magnetic poles of the moving magnet.

14. The robotic arm of claim 1, wherein, The robot body comprises: At least two arm segments, adjacent arm segments are drivingly connected through joint drives, and the emergency unlocking device cooperates with the joint drives.

15. The robotic arm of claim 14, wherein, At least one arm segment is provided with a guide groove, and the reset component is assembled in the guide groove, and the reset component is used to drive the brake component to move along the guide groove.

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