Mechanical arm intersegment connection device, surgical mechanical arm with same and surgical robot

Abstract

The application discloses a mechanical arm intersegment connecting device, a surgical mechanical arm and a surgical robot with the same, and relates to the technical field of medical surgical equipment. The mechanical arm comprises a basic segment and an execution segment. The mechanical arm intersegment connecting device comprises a first connecting mechanism arranged at the end of the basic segment and a second connecting mechanism arranged at the beginning of the execution segment. The second connecting mechanism can be embedded in the first connecting mechanism, so that the execution segment is detachably connected to the basic segment and the execution segment is electrically connected to the basic segment. The mechanical arm intersegment connecting device, the surgical mechanical arm and the surgical robot with the same can realize mechanical connection and electrical connection between the execution segment and the basic segment of the mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical surgical equipment, in particular to a mechanical arm section connecting device, a surgical mechanical arm and a surgical robot having the same. BACKGROUND

[0002] The current surgical robot often adopts the mode of driving surgical instruments by mechanical arms. In actual surgery, multiple different surgical instruments are often used. Due to different operation methods, multiple surgical instruments are generally set on multiple execution mechanical arms in advance. During the surgery, the execution mechanical arms are replaced on the basic mechanical arms to achieve rapid replacement of the surgical instruments. However, the execution section and the basic section of the mechanical arm not only need to be connected mechanically, but also need to be electrically connected one by one through multiple wires to achieve power supply and control of the execution section of the mechanical arm. The corresponding connection between the multiple wires will slow down the disassembly and connection speed between the basic section and the execution section of the mechanical arm to a great extent, which will waste the time and energy of the doctors and operators, and further affect the speed and safety of the surgical operation. SUMMARY

[0003] The purpose of the present application is to provide a mechanical arm section connecting device which can realize mechanical connection between the execution section and the basic section of the mechanical arm and complete electrical connection between them.

[0004] The above-mentioned purpose of the present application can be realized by the following technical scheme:

[0005] The present application provides a mechanical arm section connecting device, wherein the mechanical arm at least includes a basic section and an execution section, and the mechanical arm section connecting device comprises:

[0006] a first connecting mechanism arranged at the end of the basic section;

[0007] a second connecting mechanism arranged at the beginning of the execution section;

[0008] The second connecting mechanism can be slidably buckled on the first connecting mechanism, so that the execution section is detachably connected on the basic section, and the execution section is electrically connected with the basic section.

[0009] In a preferred embodiment, the first connecting mechanism comprises a first mechanical connecting unit and a first electrical connecting unit, and the second connecting mechanism comprises a second mechanical connecting unit and a second electrical connecting unit.

[0010] The second mechanical connection unit can be slidably embedded in the first mechanical connection unit. During the process of the second mechanical connection unit being slidably embedded in the first mechanical connection unit, the second electrical connection unit can extend into the first electrical connection unit so that the execution segment and the basic segment are connected and electrically connected.

[0011] In a preferred embodiment, the first mechanical connection unit includes two limiting members, which are disposed opposite to each other on the end face of the base segment. The limiting members extend radially outward to form a limiting portion, and a limiting groove is formed between the limiting portion and the end face of the base segment.

[0012] In a preferred embodiment, the second mechanical connection unit includes two connectors, which are disposed opposite to each other on the starting end face of the execution segment. The connectors extend radially inward to form a connecting portion, and a connecting groove is formed between the connecting portion and the starting end face of the execution segment. The connecting portion can be slidably inserted into the limiting groove, and the limiting portion can be slidably inserted into the connecting groove, so that the execution segment can be detachably connected to the base segment.

[0013] In a preferred embodiment, the first electrical connection unit includes:

[0014] Multiple basic segment conductors;

[0015] A basic segment conductive element is connected to the end face of the basic segment and located between the two limiting elements. The basic segment conductive element has a plurality of parallel conductive holes, which are insulated from each other. One end of each of the basic segment wires is electrically connected to the multiple conductive holes, and the other ends of the multiple basic segment wires converge into a single strand and are electrically connected within the basic segment.

[0016] In a preferred embodiment, the second electrical connection unit includes:

[0017] Multiple execution segment wires;

[0018] An execution segment conductive element is connected to the beginning end face of the execution segment and located between the two connecting elements. The execution segment conductive element has a plurality of parallel conductive pins. The plurality of conductive holes are insulated from each other. One end of a plurality of execution segment wires is electrically connected to a plurality of conductive pins in a corresponding manner. The other ends of the plurality of execution segment wires converge into a single strand and are electrically connected within the execution segment.

[0019] During the process of the connecting part slidingly inserted into the limiting groove, a plurality of conductive pins are inserted into a plurality of conductive holes in a corresponding manner, so as to electrically connect the execution segment and the basic segment.

[0020] In a preferred embodiment, the first electrical connection unit further comprises a first fixing member, and the base segment conductor is connected to the end surface of the base segment through the first fixing member.

[0021] The second electrical connection unit further comprises a second fixing member, and the execution segment conductor is connected to the start end surface of the execution segment through the second fixing member.

[0022] In the state that the plurality of conductive pins are inserted into the plurality of conductive pin holes one by one, the base segment conductor is embedded in the accommodation space.

[0023] In a preferred embodiment, the second mechanical connection unit further comprises a clamping member, which is arranged on the start end surface of the execution segment and located between the two connection members.

[0024] In a preferred embodiment, the second connection mechanism slides from the radial front side of the first connection mechanism to the radial rear side of the first connection mechanism, and the clamping portion is embedded in the two clamping grooves to complete the sliding buckling of the second connection mechanism and the first connection mechanism.

[0025] In a preferred embodiment, an observation port is formed between the two connection members at the edge of the start end surface of the execution segment, and the observation port is used to observe the connection process between the first electrical connection unit and the second electrical connection unit.

[0026] In a preferred embodiment, the second mechanical connection unit further comprises a cover, which is detachably arranged on the observation port.

[0027] The purpose of the present application is to provide a surgical mechanical arm that can realize rapid connection of a mechanical arm.

[0028] The above-mentioned purpose of the present application can be realized by using the following technical solutions:

[0029] The present application provides a surgical mechanical arm, which comprises the mechanical arm segment connection device as described above, and further comprises:

[0030] A first telescopic arm;

[0031] A second telescopic arm, which is slidably arranged on the first telescopic arm.

[0032] A first rotating arm is rotatably arranged on the second telescopic arm, and a first connecting mechanism of the inter-robot arm segment connecting device is arranged at the end of the first rotating arm;

[0033] A connecting joint is arranged at the starting end of the second connecting mechanism of the inter-robot arm segment connecting device, and the connecting joint is connected to the first rotating arm through the inter-robot arm segment connecting device;

[0034] A second rotating arm is rotatably arranged on the connecting joint;

[0035] A third rotating arm is rotatably arranged on the second rotating arm;

[0036] A fourth rotating arm is rotatably arranged on the third rotating arm;

[0037] A fifth rotating arm is rotatably arranged on the fourth rotating arm, and at least one surgical instrument is arranged at the end of the fifth rotating arm, and the first telescopic arm, the second telescopic arm, the first rotating arm, the second rotating arm, the third rotating arm, the fourth rotating arm, and the fifth rotating arm are linked to control the position of the surgical instrument.

[0038] The purpose of the present application is to provide a surgical robot with a multi-end quick connection surgical robot arm.

[0039] The above-mentioned purpose of the present application can be realized by using the following technical scheme:

[0040] The present application provides a surgical robot, which comprises at least one surgical robot arm as described above, and further comprises:

[0041] A support table is internally formed with a first limiting hole;

[0042] A lifting column is movably arranged in the first limiting hole;

[0043] A rotating arm is rotatably arranged on the lifting column, and the rotating arm is internally formed with a second limiting hole;

[0044] A telescopic arm is movably arranged in the second limiting hole, and the surgical robot arm is arranged at the end of the telescopic arm;

[0045] Among them, the lifting column is used to control the height of the surgical robot arm, and the rotating arm and the telescopic arm are used to control the position of the surgical robot arm.

[0046] The characteristics and advantages of the present application are:

[0047] The mechanical arm section connecting device, the surgical mechanical arm and the surgical robot having the same have integrated first and second connecting mechanisms, the first connecting mechanism is arranged on a basic section of the mechanical arm, and the second connecting mechanism is arranged on an execution section of the mechanical arm, so that when the first and second connecting mechanisms are embedded and connected, mechanical connection and electrical connection between the execution section and the basic section are realized, thereby effectively improving the replacement speed of the execution section and reducing the waste of time in the surgical process. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0049] Figure 1 The use scenario of the mechanical arm section connecting device of the present application is shown.

[0050] Figure 2 The first connecting mechanism structure of the mechanical arm section connecting device of the present application is shown.

[0051] Figure 3 The second connecting mechanism structure of the mechanical arm section connecting device of the present application is shown.

[0052] Figure 4 The first mechanical connection unit structure of the mechanical arm section connecting device of the present application is shown.

[0053] Figure 5 The second mechanical connection unit structure of the mechanical arm section connecting device of the present application is shown.

[0054] Figure 6 The first electrical connection unit structure of the mechanical arm section connecting device of the present application is shown.

[0055] Figure 7 Another view of the first electrical connection unit structure of the mechanical arm section connecting device of the present application is shown.

[0056] Figure 8 The second electrical connection unit structure of the mechanical arm section connecting device of the present application is shown.

[0057] Figure 9 Another view of the second electrical connection unit structure of the mechanical arm section connecting device of the present application is shown.

[0058] Figure 10Figure 1 is a schematic diagram of an observation port structure of a mechanical arm segment connection device according to the present application.

[0059] Figure 11 Figure 2 is a schematic diagram of a cover structure of a mechanical arm segment connection device according to the present application.

[0060] Figure 12 Figure 3 is a schematic diagram of a surgical mechanical arm according to the present application.

[0061] Figure 13 Figure 4 is a schematic diagram of a surgical robot according to the present application. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. It should be noted that when an element is referred to as "arranged on" another element, it can be directly on the other element or there can be a middle element. When an element is referred to as "connected" to another element, it can be directly connected to the other element or there can be a middle element. The terms "arranged", "connected", and "connected" should be interpreted broadly, for example, they can be mechanical connection or electrical connection, or internal connection of two elements, or direct connection or indirect connection through a middle medium. For those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0063] Referring to Figures 1 to 3 As shown, the embodiment of the present application provides a mechanical arm segment connection device, which includes at least a basic segment A and an execution segment B. The mechanical arm segment connection device includes: a first connection mechanism 1 arranged at the end of the basic segment A; a second connection mechanism 2 arranged at the beginning of the execution segment B; wherein the second connection mechanism 2 can be slidably connected to the first connection mechanism 1, so that the execution segment B is detachably connected to the basic segment A, and the execution segment B is electrically connected to the basic segment A.

[0064] The mechanical arm section connecting device of the embodiment of the present application has integrated first connecting mechanism 1 and second connecting mechanism 2, the first connecting mechanism 1 is arranged on the basic section A of the mechanical arm, the second connecting mechanism 2 is arranged on the execution section B of the mechanical arm, thereby, when the first connecting mechanism 1 and the second connecting mechanism 2 are embeddedly connected, mechanical connection between the execution section B and the basic section A can be realized, and electrical connection between the execution section B and the basic section A can be realized, so that the speed of replacing the execution section B is effectively improved, and the waste of time in the surgical process is reduced.

[0065] Specifically, in a preferred embodiment, referring to Figure 2 and Figure 3 , the first connecting mechanism 1 includes a first mechanical connecting unit 11 and a first electrical connecting unit 12, and the second connecting mechanism 2 includes a second mechanical connecting unit 21 and a second electrical connecting unit 22; wherein the second mechanical connecting unit 21 can be slidably embedded in the first mechanical connecting unit 11, and during the process that the second mechanical connecting unit 21 is slidably embedded in the first mechanical connecting unit 11, the second electrical connecting unit 22 can be inserted into the first electrical connecting unit 12, so as to connect and electrically connect the execution section B and the basic section A.

[0066] The first mechanical connecting unit 11 and the first electrical connecting unit 12 are arranged on the basic section A of the mechanical arm, and the relative positions between the first mechanical connecting unit 11 and the first electrical connecting unit 12 are fixed. At the same time, the second mechanical connecting unit 21 and the second electrical connecting unit 22 are arranged on the execution section B of the mechanical arm, and the relative positions between the second mechanical connecting unit 21 and the second electrical connecting unit 22 are fixed. Thus, when the execution section B and the basic section A are mechanically connected through the first mechanical connecting unit 11 and the second mechanical connecting unit 21, the first electrical connecting unit 12 and the second electrical connecting unit 22 also contact each other and realize circuit passage, so as to electrically connect the execution section B and the basic section A.

[0067] Specifically, the first mechanical connecting unit 11 and the second mechanical connecting unit 21 have a mutual guiding structure. Referring to Figure 4 , in a preferred embodiment, the first mechanical connecting unit 11 includes two limiting members 111, the two limiting members 111 are oppositely arranged on the end face of the basic section A, the limiting member 111 extends to the radial outer side to form a limiting portion 111a, and the limiting portion 111a and the end face of the basic section A form a limiting groove 111b.

[0068] Referring to Figure 5As shown, in a preferred embodiment, the second mechanical connection unit 21 includes two connectors 211, which are disposed opposite to each other on the starting end face of the execution segment B. The connectors 211 extend radially inward to form a connecting portion 211a. A connecting groove 211b is formed between the connecting portion 211a and the starting end face of the execution segment B. The connecting portion 211a can be slidably inserted into the limiting groove 111b, and the limiting portion 111a can be slidably inserted into the connecting groove 211b, so that the execution segment B can be detachably connected to the basic segment A.

[0069] During the mechanical connection between execution segment B and basic segment A, the limiting member 111 and the connecting member 211 achieve structural cooperation. Specifically, the limiting groove 111b and the connecting part 211a are interlocked, and the limiting part 111a and the connecting groove 211b are also interlocked. This allows the limiting member 111 to guide the sliding of the connecting member 211, making it easier for the operator to perceive and control the installation position of execution segment B during replacement, and further improving the efficiency of disassembly and assembly of execution segment B.

[0070] The first electrical connection unit 12 and the second electrical connection unit 22 have an integrated structure that cooperates with each other. Please refer to [link / reference]. Figure 6 and Figure 7 As shown, in a preferred embodiment, the first electrical connection unit 12 includes: a plurality of basic segment conductors 121; and a basic segment conductive element 122, which is connected to the end face of the basic segment A and located between two limiting elements 111 (e.g., Figure 2 As shown), a plurality of conductive holes 123 are formed on the basic segment conductive member 122, which are insulated from each other. One end of a plurality of basic segment wires 121 is electrically connected to the plurality of conductive holes 123 in a corresponding manner, and the other ends of the plurality of basic segment wires 121 converge into one and are electrically connected in the basic segment A.

[0071] Please see Figure 8 and Figure 9 As shown, in a preferred embodiment, the second electrical connection unit 22 includes: a plurality of execution segment wires 221; an execution segment conductive member 222, which is connected to the starting end face of the execution segment B and located between two connectors 211. A plurality of parallel conductive pins 223 are formed on the execution segment conductive member 222, and the plurality of conductive holes 123 are mutually insulated. One end of each of the plurality of execution segment wires 221 is electrically connected to the plurality of conductive pins 223, and the other ends of the plurality of execution segment wires 221 converge into one and are electrically connected within the execution segment B. During the process of the connecting part 211a slidingly inserting into the limiting groove 111b, the plurality of conductive pins 223 are inserted into the plurality of conductive holes 123 one by one, so that the execution segment B and the basic segment A are electrically connected.

[0072] The basic segment conductor 122 fixes the positions of the plurality of basic segment wires 121 in advance, and the plurality of basic segment wires 121 can be gathered into a single cable and connected in the basic segment A, so that the basic segment wires 121 are effectively concentrated. Similarly, the execution segment conductor 222 fixes the positions of the plurality of execution segment wires 221 in advance, and the plurality of execution segment wires 221 can be gathered into a single cable and connected in the execution segment B, so that the execution segment wires 221 are also effectively concentrated. Thus, the disorder degree of the wires in the robot arm is greatly reduced. At the same time, the conductive jacks 123 on the basic segment conductor 122 and the conductive pins 223 on the execution segment conductor 222 are one-to-one corresponding and plugged, which eliminates the trouble of pairing connection between the wires during the installation of the execution segment B, and greatly improves the electrical connection efficiency between the execution segment B and the basic segment A.

[0073] To further improve the insulation performance of the wire electrical connection, please refer to Figure 6 and Figure 7 In a preferred embodiment, the first electrical connection unit 12 further includes a first fixing member 124, and the basic segment conductor 122 is connected to the end face of the basic segment A through the first fixing member 124. Please refer to Figure 8 and Figure 9 The second electrical connection unit 22 further includes a second fixing member 224, and the execution segment conductor 222 is connected to the start end face of the execution segment B through the second fixing member 224. The two sides of the second fixing member 224 are curved and extended upward to form insulation portions 225, and the insulation portions 225 on the two sides of the second fixing member 224 form a containing space, and the plurality of conductive pins 223 are located in the containing space. In the state that the plurality of conductive pins 223 are one-to-one corresponding and inserted into the plurality of conductive jacks 123, the basic segment conductor 122 is embedded in the containing space.

[0074] The first fixing member 124 is used to install the basic segment conductor 122, and the second fixing member 224 is used to install the execution segment conductor 222, which can further separate the conductive member from the internal structure of the robot arm. At the same time, the two sides of the second fixing member 224 form the insulation portions 225, and the basic segment conductor 122 is wrapped in the insulation portions 225, which further improves the insulation effect of the conductive member and ensures the stability of the electrical connection between the execution segment B and the basic segment A.

[0075] To provide the stability of the mechanical connection between the execution segment B and the basic segment A, please refer to Figure 4 and Figure 5As shown, in a preferred embodiment, the second mechanical connecting unit 21 further comprises a clamping member 213, which is arranged on the end face of the beginning end of the execution section B and between the two connecting members 211. The clamping member 213 is formed with two oppositely arranged clamping grooves 213a. One end of each of the two limiting members 111 is formed with a clamping portion 111c. The clamping portions 111c of the two limiting members 111 can be correspondingly embedded in the two clamping grooves 213a, so that the execution section B can be detachably connected to the base section A.

[0076] When the base section A and the execution section B are installed, the second connecting mechanism 2 is slid from the radial front side of the first connecting mechanism 1 to the radial rear side of the first connecting mechanism 1 until the clamping portions 111c of the two limiting members 111 are correspondingly embedded in the two clamping grooves 213a, so as to complete the sliding buckling of the second connecting mechanism 2 and the first connecting mechanism 1, thereby installing the base section A and the execution section B together.

[0077] In order to ensure the operational convenience of the electrical connection between the execution section B and the base section A, please refer to Figure 10 As shown, in a preferred embodiment, an observation opening 214 is formed between the two connecting members 211 at the edge of the end face of the beginning end of the execution section B, which is used for observing the connecting process between the first electrical connecting unit 12 and the second electrical connecting unit 22. During the installation of the execution section B on the base section A, the operator can observe the insertion condition between the base section conducting member 122 and the execution section conducting member 222 through the observation opening 214, so as to ensure that the conducting insertion pin 223 and the conducting insertion hole 123 are correctly correspondingly inserted, thereby improving the accuracy of the electrical connection.

[0078] In order to further improve the sealing property of the mechanical arm, please refer to Figure 11 As shown, in a preferred embodiment, the second mechanical connecting unit 21 further comprises a cover 215, which is detachably arranged on the observation opening 214.

[0079] Please refer to Figure 12As shown, the embodiment of the present application further provides a surgical mechanical arm 3 comprising the mechanical arm section connecting device as described above, the surgical mechanical arm 3 further comprises: a first telescopic arm 31; a second telescopic arm 32 slidably arranged on the first telescopic arm 31; a first rotating arm 33 rotatably arranged on the second telescopic arm 32, the first connecting mechanism of the mechanical arm section connecting device is arranged at the end of the first rotating arm 33; a connecting joint 34, the second connecting mechanism of the mechanical arm section connecting device is arranged at the starting end of the connecting joint 34, the connecting joint 34 is connected to the first rotating arm 33 through the mechanical arm section connecting device; a second rotating arm 35 rotatably arranged on the connecting joint 34; a third rotating arm 36 rotatably arranged on the second rotating arm 35; a fourth rotating arm 37 rotatably arranged on the third rotating arm 36; a fifth rotating arm 38 rotatably arranged on the fourth rotating arm 37, at least one surgical instrument 39 is arranged at the end of the fifth rotating arm 38, the first telescopic arm 31, the second telescopic arm 32, the first rotating arm 33, the second rotating arm 35, the third rotating arm 36, the fourth rotating arm 37 and the fifth rotating arm 38 are linked to control the position of the surgical instrument 39.

[0080] Please refer to Figure 13 As shown, the embodiment of the present application further provides a surgical robot 4 comprising at least one surgical mechanical arm 3 as described above, the surgical robot 4 further comprises: a support table 41, a first limiting hole is formed in the inside of the support table 41; a lifting column 42 movably arranged in the first limiting hole; a rotating arm 43 rotatably arranged on the lifting column 42, a second limiting hole is formed in the inside of the rotating arm 43; a telescopic arm 44 movably arranged in the second limiting hole, the surgical mechanical arm 3 is arranged at the end of the telescopic arm 44; wherein the lifting column 42 is used to control the height of the surgical mechanical arm 3, the rotating arm 43 and the telescopic arm 44 are used to control the position of the surgical mechanical arm 3.

[0081] The above merely shows the embodiments of the present application, and the person skilled in the art can make various modifications or changes to the embodiments of the present application according to the content disclosed in the application. Unless otherwise defined, all the technical and scientific terms used herein have the same meaning as understood by the person skilled in the art. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

Claims

1. A mechanical arm intersegment connection device, the mechanical arm comprising at least a base segment and an execution segment, characterized in that, The mechanical arm section connection device comprises: A first connecting mechanism is arranged at the end of the basic section, and the first connecting mechanism comprises a first mechanical connecting unit, the first mechanical connecting unit comprises two limiting members, the limiting members extend to the radial outside to form limiting portions, the limiting portions and the end face of the end of the basic section form limiting grooves, and one end of the limiting members is provided with a clamping portion; A second connecting mechanism is arranged at the beginning end of the execution section, and the second connecting mechanism comprises a second mechanical connecting unit, the second mechanical connecting unit can be slidably embedded on the first mechanical connecting unit, the second mechanical connecting unit comprises two connecting members and a clamping member, the connecting members extend to the radial inside to form connecting portions, the connecting portions and the end face of the beginning end of the execution section form connecting grooves, the clamping member is provided with a clamping groove, the connecting portions can be slidably embedded in the limiting grooves, the limiting portions can be slidably embedded in the connecting grooves, and the clamping portion of the limiting members can be correspondingly embedded in the clamping groove, so that the execution section is detachably connected on the basic section. The second connecting mechanism can be slidably buckled on the first connecting mechanism, so that the execution section is detachably connected on the basic section, and the execution section is electrically connected with the basic section.

2. The mechanical arm segment connecting device according to claim 1, wherein The first connecting mechanism comprises a first electrical connecting unit, and the second connecting mechanism comprises a second electrical connecting unit. During the process that the second mechanical connecting unit is slidably embedded on the first mechanical connecting unit, the second electrical connecting unit can be inserted into the first electrical connecting unit, so that the execution section and the basic section are connected and electrically connected.

3. The mechanical arm segment connecting device according to claim 2, wherein The two limiting members are oppositely arranged on the end face of the end of the basic section.

4. The mechanical arm segment connecting device according to claim 3, wherein The two connecting members are oppositely arranged on the end face of the beginning end of the execution section.

5. The mechanical arm segment connecting device according to claim 4, wherein The first electrical connecting unit comprises: A plurality of basic section wires; A basic section conductive member is connected on the end face of the end of the basic section and located between the two limiting members, the basic section conductive member is provided with a plurality of parallel arranged conductive jacks, the plurality of conductive jacks are mutually insulated, one end of the plurality of basic section wires is electrically connected on the plurality of conductive jacks in one-to-one correspondence, and the other end of the plurality of basic section wires converges into a strand and is electrically connected in the basic section.

6. The mechanical arm segment connecting device according to claim 5, wherein The second electrical connecting unit comprises: A plurality of execution section wires; An execution section conductive member is connected on the end face of the beginning end of the execution section and located between the two connecting members, the execution section conductive member is provided with a plurality of parallel arranged conductive jacks, the plurality of conductive jacks are mutually insulated, one end of the plurality of execution section wires is electrically connected on the plurality of conductive jacks in one-to-one correspondence, and the other end of the plurality of execution section wires converges into a strand and is electrically connected in the execution section. During the process that the connecting portions are slidably embedded in the limiting grooves, the plurality of conductive jacks are inserted into the plurality of conductive jacks in one-to-one correspondence, so that the execution section and the basic section are electrically connected.

7. The mechanical arm segment connecting device according to claim 6, wherein The first electric connection unit further comprises a first fixing member, and the basic segment conductive member is connected to the end surface of the basic segment through the first fixing member; The second electric connection unit further comprises a second fixing member, and the execution segment conductive member is connected to the start end surface of the execution segment through the second fixing member, the two sides of the second fixing member are curved and extended upward to form insulation parts, the insulation parts on the two sides of the second fixing member form a containing space, and a plurality of conductive pins are located in the containing space; In a state where the plurality of conductive pins are inserted into the plurality of conductive sockets one by one, the basic segment conductive member is embedded in the containing space.

8. The mechanical arm segment connecting device of claim 4, wherein The clamping member is arranged on the start end surface of the execution segment and located between the two connecting members, the clamping grooves are arranged oppositely, and the clamping parts of the two limiting members are embedded in the two clamping grooves correspondingly.

9. The mechanical arm segment connecting device according to claim 8, wherein The second connecting mechanism slides from the radial front side of the first connecting mechanism to the radial rear side of the first connecting mechanism, and the clamping parts are embedded in the two clamping grooves correspondingly to complete the sliding buckling of the second connecting mechanism and the first connecting mechanism.

10. The mechanical arm segment connecting device of claim 4, wherein, An observation port is formed between the two connecting members at the edge of the start end surface of the execution segment, and the observation port is used for observing the connection process between the first electric connection unit and the second electric connection unit.

11. The mechanical arm segment connecting device according to claim 10, wherein The second mechanical connection unit further comprises a cover which is detachably arranged on the observation port.

12. A surgical robotic arm, comprising: The surgical robot comprises at least one surgical mechanical arm as claimed in claim 12, and further comprises: a first telescopic arm; a second telescopic arm which is slidably arranged on the first telescopic arm; a first rotating arm which is rotatably arranged on the second telescopic arm, a first connecting mechanism of the mechanical arm segment connection device is arranged at the end of the first rotating arm; a connecting joint, a second connecting mechanism of the mechanical arm segment connection device is arranged at the start end of the connecting joint, and the connecting joint is connected to the first rotating arm through the mechanical arm segment connection device; a second rotating arm which is rotatably arranged on the connecting joint; a third rotating arm which is rotatably arranged on the second rotating arm; a fourth rotating arm which is rotatably arranged on the third rotating arm; a fifth rotating arm which is rotatably arranged on the fourth rotating arm, at least one surgical instrument is arranged at the end of the fifth rotating arm, and the first telescopic arm, the second telescopic arm, the first rotating arm, the second rotating arm, the third rotating arm, the fourth rotating arm and the fifth rotating arm are linked to control the position of the surgical instrument.

13. A surgical robot, characterized in that, The surgical robot comprises at least one surgical mechanical arm as claimed in claim 12, and further comprises: a support table, a first limiting hole is formed in the support table; a lifting column which is movably arranged in the first limiting hole; a rotating arm which is rotatably arranged on the lifting column, a second limiting hole is formed in the rotating arm; a telescopic arm which is movably arranged in the second limiting hole, and the surgical mechanical arm is arranged at the end of the telescopic arm; The lifting column is used for controlling the height of the surgical mechanical arm, and the rotating arm and the telescopic arm are used for controlling the position of the surgical mechanical arm.

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