Quick change interface, end joint arm, robotic arm system, and treatment cart

Abstract

The application provides a quick-change interface, an end joint arm, a mechanical arm system and a treatment trolley. The quick-change interface comprises a shell, a plurality of clamping blocks, a switching mechanism, and a first opening is arranged on the shell. The plurality of clamping blocks are arranged in the shell and surround a first axis, and a clamping space is formed between the plurality of clamping blocks, which corresponds to the first opening. The switching mechanism is at least partially arranged in the shell and comprises a first elastic member and a driving part. The first elastic member is connected to the shell and the plurality of clamping blocks. The driving part is used to drive the plurality of clamping blocks to move in a direction of approaching each other, so that the clamping space is reduced, and the first elastic member also stores elastic potential energy. The instrument arm is detachably mounted on the end joint arm by using the quick-change interface, which is beneficial to reducing the size of the mechanical arm system and improving the flexibility of the mechanical arm system.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a quick-change interface, an end articulated arm, a robotic arm system, and a treatment trolley. Background Technology

[0002] Surgical robots are currently widely used because they can perform complex surgical procedures using minimally invasive methods. Single-arm robots are a common type of surgical robot, typically consisting of one curved arm and four instrument arms. At least some of the four instrument arms are fixedly mounted on the curved arm. This results in a large size for single-arm robots, hindering their movement and reducing their flexibility. Furthermore, the fixed mounting of the instrument arms to the curved arm also makes sterile bag assembly difficult and time-consuming. Summary of the Invention

[0003] The purpose of this invention is to provide a quick-change interface, an end articulated arm, a robotic arm system, and a treatment trolley, which aim to improve the flexibility of robot use.

[0004] To achieve the above objectives, the present invention provides a quick-swap interface, comprising:

[0005] A housing, wherein the housing is provided with a first opening;

[0006] Multiple clamping blocks are disposed within the housing and arranged around a first axis, forming a clamping space between the multiple clamping blocks, the clamping space corresponding to the first opening; and...

[0007] The switching mechanism is at least partially disposed within the housing and includes a first elastic element and a drive unit. The first elastic element connects the housing and the plurality of clamping blocks. The drive unit is used to drive the plurality of clamping blocks to move in a direction close to the first axis to reduce the clamping space and also to allow the first elastic element to store elastic potential energy.

[0008] Optionally, the driving unit is disposed within the housing and includes a base and a plurality of transmission blocks; the base is movably disposed within the housing; the plurality of transmission blocks are all connected to the end of the base near the first opening, and the plurality of transmission blocks are arranged at intervals around the first axis such that the plurality of transmission blocks are correspondingly disposed with the plurality of clamping blocks, the side of each transmission block near the first axis is an inclined surface, and the distance of the inclined surface from the first axis gradually decreases along the direction from the first opening to the base; the inclined surface of each transmission block contacts the corresponding clamping block;

[0009] When the base moves in a direction close to the first opening, each of the transmission blocks drives the corresponding clamping block to move in a direction close to the first axis through the inclined plane, so that all the clamping blocks move closer to each other. When the base moves in a direction away from the first opening, the first elastic element releases elastic potential energy.

[0010] Optionally, the drive unit further includes a second elastic element that connects the base and the housing; the drive unit is configured such that when the base moves in a direction away from the first opening, the second elastic element deforms and stores elastic potential energy.

[0011] Optionally, the housing is further provided with a second opening; the drive unit also includes an operating member, which is connected to the base, and a portion of the operating member extends out of the housing from the second opening; the operating member is used to drive the base to move under the action of an external force.

[0012] Optionally, the drive unit further includes a first connector, the operating member is rotatably connected to the housing, the operating member is also rotatably connected to the first connector, and the first connector is rotatably connected to the base.

[0013] Optionally, the quick-change interface further includes a first electrical connection portion, which is at least partially disposed inside the switching mechanism and corresponds to the clamping space.

[0014] To achieve the above objectives, the present invention also provides an end articulated arm, including an articulated arm body and a quick-change interface as described above, wherein the quick-change interface is disposed on the articulated arm body.

[0015] Optionally, the articulated arm body has a second axis, and the quick-change interface is disposed on the surface of the articulated arm body near the second axis; the first opening of the quick-change interface is arranged parallel to the second axis, or the first opening of the quick-change interface is arranged perpendicular to the second axis.

[0016] Optionally, the articulated arm body includes a first sub-arm and a second sub-arm. At least a portion of the first sub-arm is an arc-shaped structure with an arc trajectory. The first sub-arm also has an inner cavity extending along the arc trajectory. One end of the first sub-arm has a third opening communicating with the inner cavity. The second sub-arm extends along the arc trajectory and is movably connected to the cavity wall of the first sub-arm, so that a portion of the second sub-arm can enter and exit the inner cavity from the third opening. At least one quick-change interface is provided on the first sub-arm and the second sub-arm, respectively.

[0017] Optionally, the end joint arm further includes a locking member for locking or releasing the first sub-arm and the second sub-arm. When the locking member locks the first sub-arm and the second sub-arm, the first sub-arm and the second sub-arm remain relatively stationary. When the locking member releases the locking member, the second sub-arm and the first sub-arm can move relative to each other.

[0018] To achieve the above objectives, the present invention also provides a robotic arm system, including a robotic arm and an end articulated arm as described above, the robotic arm including a connector; the clamping space is used to accommodate the connector, and a plurality of the clamping blocks are used to clamp the connector.

[0019] Optionally, the robotic arm system further includes a sterile bag, which includes a separate first sub-sterile bag and a second sub-sterile bag. The first sub-sterile bag is used to be fitted onto the end articulated arm, and the second sub-sterile bag is used to be fitted onto the robotic arm. The first sub-sterile bag is also used to seal the connection with the second sub-sterile bag.

[0020] Optionally, the quick-change interface further includes a first electrical connection portion, which is at least partially disposed inside the switching mechanism; the connector includes a second electrical connection portion, which is used to electrically connect with the first electrical connection portion; the instrument arm further includes an instrument controller, which is disposed on the instrument arm body and electrically connected with the second electrical connection portion.

[0021] Optionally, the robotic arm includes a device controller, which includes a wireless power supply and a wireless communication element, the wireless power supply being electrically connected to the wireless communication element.

[0022] To achieve the above objectives, the present invention also provides a treatment cart, including a cart body, a joint, and a robotic arm system as described above, wherein the end articulated arm is mounted on the cart body via the joint.

[0023] Compared with the prior art, the quick-change interface, end articulated arm, robotic arm system, and treatment cart of the present invention have the following advantages:

[0024] The aforementioned quick-change interface includes a housing, multiple clamping blocks, and a switching mechanism. The housing is a hollow structure with a first opening. The multiple clamping blocks are disposed within the housing and arranged around a first axis, forming a clamping space that corresponds to the first opening. The switching mechanism is at least partially disposed within the housing and includes a first elastic element and a driving unit. The first elastic element connects the housing and the multiple clamping blocks. The driving unit drives the multiple clamping blocks to move along a direction close to the first axis, thereby reducing the clamping space. It also allows the first elastic element to store elastic potential energy. When the first elastic element releases its elastic potential energy, it drives the multiple clamping blocks to move away from the first axis, thereby increasing the clamping space. The quick-change interface can be installed on the articulated arm body of the robot's end effector arm, and is used to cooperate with the docking connector of the robotic arm. Specifically, when the docking connector is inserted into the clamping space from the first opening, and the plurality of clamping blocks move in a direction closer to each other to reduce the clamping space, the plurality of clamping blocks can clamp the docking connector, connecting the robotic arm to the articulated arm body. When the plurality of clamping blocks move in a direction further away from each other, the plurality of clamping blocks can release the docking connector, allowing the docking connector to detach from the quick-change interface from the first opening, thereby detaching the robotic arm from the end effector arm. Such a quick-change interface not only realizes the detachable connection between the robotic arm and the end effector arm, but also makes the disassembly of the two relatively simple and convenient, which is beneficial to reducing the size of the robot and improving the robot's operational flexibility. Attached Figure Description

[0025] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0026] Figure 1 This is a schematic diagram of the structure of a quick-switch interface provided by the present invention according to an embodiment;

[0027] Figure 2 This is a schematic diagram of the quick-change interface provided by the present invention according to an embodiment, wherein part of the housing structure has been removed from the diagram;

[0028] Figure 3 This is a schematic diagram of the quick-change interface provided by an embodiment of the present invention. The diagram omits some of the housing structure. Figure 3 and Figure 2 The observation directions are different;

[0029] Figure 4 This is a schematic diagram of the base and transmission block of the quick-change interface according to an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the quick-change interface provided by the present invention according to an embodiment. The shell part of the structure is removed in the figure, and the quick-change interface is in a clamping state.

[0031] Figure 6 This is a schematic diagram of the quick-change interface provided by the present invention according to an embodiment. The shell part of the structure is removed in the figure, and the quick-change interface is in the open state.

[0032] Figure 7 This is a schematic diagram of the structure of the end articulated arm provided by the present invention according to an embodiment;

[0033] Figure 8 This is a partial structural schematic diagram of the end articulated arm provided according to an embodiment of the present invention. In the diagram, the quick-change interface is connected to the articulated arm body by screws.

[0034] Figure 9 This is a partial structural diagram of the end articulated arm provided according to an embodiment of the present invention, in which the quick-change interface is connected to the articulated arm body by a snap-fit.

[0035] Figure 10 This is a partial structural schematic diagram of the end articulated arm provided according to an embodiment of the present invention, in which the first opening is perpendicular to the second axis of the articulated arm body;

[0036] Figure 11 This is a partial structural schematic diagram of the end articulated arm provided according to an embodiment of the present invention. In the diagram, the first opening is parallel to the second axis of the articulated arm body, and a portion of the housing of the quick-change interface has been removed.

[0037] Figure 12 This is a partial structural schematic diagram of an end articulated arm according to an embodiment of the present invention. In the diagram, the second sub-arm extends partially from the third opening of the first sub-arm into the third inner cavity.

[0038] Figure 13 This is a partial structural schematic diagram of the end articulated arm provided by the present invention according to an embodiment, showing the third inner cavity of the first sub-arm and the guide slide.

[0039] Figure 14 This is a schematic diagram of the robotic arm system provided by the present invention according to an embodiment, wherein the sterile bag is not shown in the figure;

[0040] Figure 15 This is a schematic diagram of the structure of the robotic arm of the robotic arm system provided by the present invention according to an embodiment;

[0041] Figure 16This is a functional schematic diagram of a robotic arm system provided by the present invention according to an embodiment, wherein the quick-change interface is provided with a first electrical interface, and the docking head is provided with a second electrical interface;

[0042] Figure 17 This is a functional schematic diagram of a robotic arm system provided according to an embodiment of the present invention, wherein the quick-change interface does not have a first electrical interface and the docking head does not have a second electrical interface;

[0043] Figure 18 This is a schematic diagram of the robotic arm system provided by the present invention according to an embodiment, showing a sterile bag;

[0044] Figure 19 This is a schematic diagram of the structure of the first sub-sterile bag of the robotic arm system provided by the present invention according to an embodiment. The first sub-sterile bag in the figure includes a first isolation plate.

[0045] Figure 20 This is a schematic diagram of the second sub-sterile bag of the robotic arm system provided by the present invention according to an embodiment, wherein the second sub-sterile bag in the diagram includes a second isolation plate and a third isolation plate;

[0046] Figure 21 This is an assembly diagram of a robotic arm system provided by the present invention according to an embodiment, wherein the first sub-sterile bag is not shown in the diagram;

[0047] Figure 22 This is a schematic diagram of a treatment cart provided according to an embodiment of the present invention, in which sterile bags are not shown. Detailed Implementation

[0048] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0049] like Figures 1 to 6As shown, one of the objectives of this invention is to provide a quick-change interface 1000, which includes a housing 1100, clamping blocks 1200, and a switching mechanism 1300. The housing 1100 is a hollow structure, meaning it has an inner cavity, referred to as the first inner cavity (not shown in the figure). The housing 1100 also has a first opening 1101, which communicates with the first inner cavity. Multiple clamping blocks 1200 are disposed within the first inner cavity and arranged around a first axis, forming a clamping space that corresponds to the first opening 1101. The switching mechanism 1300 is at least partially disposed within the housing 1100. The switching mechanism 1300 includes a first elastic element and a driving part 1320. The first elastic element connects the housing 1100 and the multiple clamping blocks 1200. The drive unit 1320 is used to drive a plurality of clamping blocks 1200 to move in a direction close to the first axis, so that the plurality of clamping blocks 1200 move closer to each other and reduce the clamping space. It also causes the first elastic member to store elastic potential energy. When the first elastic member releases the elastic potential energy, the first elastic member drives the plurality of clamping blocks 1200 to move in a direction away from the first axis, so that the plurality of clamping blocks 1200 move further away from each other and increase the clamping space.

[0050] It should be noted that the "first axis" here is a virtual axis. The distance from the first axis to any clamping block 1200 is greater than zero. Therefore, when multiple clamping blocks 1200 are arranged around the first axis, they are not on the same straight line, thus forming a clamping space among them. "The clamping space corresponds to the first opening 1101" means that on a plane parallel to the first opening 1101, the projection of the clamping space at least partially coincides with the projection of the first opening 1101, so that the target object (e.g., the connector 6000 mentioned later) can enter the first inner cavity from the first opening 1101 and be inserted into the clamping space. In a preferred implementation, the clamping space is arranged coaxially with the first opening 1101.

[0051] The quick-change interface 1000 has a clamping state and an open state. When the target object enters the clamping space, the drive unit 1320 drives all the clamping blocks 1200 to move, so that the clamping space is reduced until the quick-change interface 1000 switches to the clamping state, thereby enabling the multiple clamping blocks 1200 to clamp the target object. Conversely, the first elastic member drives the clamping blocks 1200 to move, so that the clamping space is increased until the quick-change interface 1000 switches to the open state, allowing the multiple clamping blocks 1200 to release the clamped target object.

[0052] The quick-change interface 1000 can be applied to robotic arm systems. Specifically, such as... Figure 14 As shown, the robotic arm system 10 includes an end-effector arm 100 and a surgical arm 200. The end-effector arm 100 includes a quick-change interface 1000. The surgical arm 200 includes a docking connector 6000 (e.g., Figure 15 As shown, the connector 6000 can be quickly inserted into or detached from the clamping space via the first opening 1101, meaning the robotic arm 200 is detachably connected to the end articulated arm 100. This allows the robotic arm 200 to be detached from the end articulated arm 100 when the robot needs to be moved, reducing the robot's size, minimizing the space required for movement, and improving the robot's flexibility.

[0053] The detailed structure of the quick-switch interface 1000 will be described below. It should be noted that the following description is only an optional structure of the quick-switch interface 1000, not a mandatory structure, and should not be construed as an undue limitation on the present invention.

[0054] Alternatively, please refer to Figures 2 to 4 All the clamping blocks 1200 can have the same shape, and the number of clamping blocks 1200 is, for example, three. The three clamping blocks 1200 are arranged at intervals, and the line connecting the center points of the three clamping blocks 1200 forms an isosceles triangle. More preferably, the three clamping blocks 1200 are in the same plane, and the plane containing the three clamping blocks 1200 is parallel to the plane containing the first opening 1101. This is beneficial to improving the clamping force of the multiple clamping blocks 1200 on the target object. In this case, the first axis can be a straight line passing through the center of the circumcircle of the isosceles triangle and perpendicular to the plane containing the triangle.

[0055] The first elastic element includes a plurality of sub-elastic elements 1311. The number of sub-elastic elements 1311 is an integer multiple of the number of clamping blocks 1200, that is, the number of sub-elastic elements 1311 is equal to the number of clamping blocks 1200, or the number of sub-elastic elements 1311 is two times, three times, etc., the number of clamping blocks 1200. In an exemplary embodiment, the number of sub-elastic elements 1311 is twice the number of clamping blocks 1200. In other words, as... Figure 3 , Figure 5 and Figure 6 As shown, when there are three clamping blocks 1200, there are six sub-elastic elements 1311, and each clamping block 1200 is connected to the housing 1100 through two sub-elastic elements 1311. It can be understood that the sub-elastic elements 1311 can be springs, and the two sub-elastic elements 1311 connected to the same clamping block 1200 are parallel to each other.

[0056] by Figure 3 , Figure 5 and Figure 6Taking the orientation shown as an example, the base of the isosceles triangle formed by the lines connecting the center points of the three clamping blocks 1200 is arranged in the left-right direction. The two clamping blocks 1200 located on the base of the isosceles triangle are called the first clamping block 1200a and the second clamping block 1200b, where the first clamping block 1200a is located to the left of the second clamping block 1200b. The other clamping block 1200 is called the third clamping block 1200c. Two sub-elastic members 1311 connected to the first clamping block 1200a are arranged on the upper and lower sides of the first clamping block 1200a, and the left ends of these two sub-elastic members 1311 are connected to the housing 1100. The two sub-elastic members 1311 connected to the second clamping block 1200b are respectively arranged on the upper and lower sides of the second clamping block 1200b, and the right ends of these two sub-elastic members 1311 are connected to the housing 1100. Two sub-elastic elements 1311 connected to the third clamping block 1200c are respectively arranged on the left and right sides of the third clamping block 1200c, and the upper ends of the two sub-elastic elements 1311 are connected to the housing 1100.

[0057] Please continue to refer to this. Figures 2 to 4 The drive unit 1320 is disposed in the first inner cavity and includes a base 1321, a second elastic member 1322, and a plurality of transmission blocks 1323. The base 1321 is movably disposed in the first inner cavity. The second elastic member 1322 connects the base 1321 and the housing 1100. The plurality of transmission blocks 1323 are all disposed on one end of the base 1321 near the first opening 1101. The plurality of transmission blocks 1323 are arranged at intervals around a first axis, such that the plurality of transmission blocks 1323 correspond to the plurality of clamping blocks 1200. Preferably, the number of transmission blocks 1323 is equal to the number of clamping blocks 1200, and the transmission blocks 1323 and clamping blocks 1200 are arranged in a one-to-one correspondence. The side of each transmission block 1323 near the first axis is an inclined surface 1323a, and the distance from the inclined surface 1323a to the first axis gradually decreases along the direction from the first opening 1101 to the base 1321. Figure 5 As shown, the inclined surface 1323a of the transmission block 1323 contacts the corresponding clamping block 1200. The quick-change interface 1000 is configured such that when the base 1321 moves in a direction close to the first opening 1101, each transmission block 1323 drives the clamping block 1200 it contacts to move in a direction close to the first axis via its inclined surface 1323a, so that all the clamping blocks 1200 move closer to each other. When the base 1321 moves in a direction away from the first opening 1101, all the sub-elastic elements 1311 release elastic potential energy (i.e., the first elastic element releases elastic potential energy).

[0058] In a preferred embodiment, the base 1321 moves away from the first opening 1101 under the action of an external force to open the quick-change interface 1000 and deform the second elastic element 1322 to store elastic potential energy. When the external force is removed, the second elastic element 1322 releases its elastic potential energy and drives the base 1321 to move closer to the first opening 1101, so that the quick-change interface 1000 is in a clamped state. In this embodiment, it is preferable that when the quick-change interface 1000 is in the clamped state, the second elastic element 1322 is in a free state (i.e., the second elastic element 1322 is not deformed and does not store elastic potential energy). In this way, by selecting a second elastic element 1322 with a suitable elastic coefficient, the quick-change interface 1000 can be kept in the clamped state when not subjected to external force. The second elastic element 1322 is, for example, a spring, and is arranged in a direction perpendicular to the first opening 1101.

[0059] As previously stated, when the quick-change interface 1000 is in the clamping state, multiple sub-elastic elements 1311 store elastic potential energy (i.e., the first elastic element stores elastic potential energy). Therefore, these multiple sub-elastic elements tend to release their elastic potential energy and drive the clamping block 1200 to move in a direction away from the first axis. As is well known, forces are mutual. Once the clamping block 1200 moves in a direction away from the first axis, each clamping block 1200 will drive the base 1321 to move in a direction away from the first opening 1101 via the corresponding inclined surface 1323a. Therefore, a second elastic element 1322 with a sufficiently large elastic coefficient should be selected so that the second elastic element 1322 in its free state can abut against the base 1321, preventing the sub-elastic elements 1311 from releasing their elastic potential energy.

[0060] In this embodiment of the invention, the "external force" refers to a force other than that from the drive unit 1300. In some cases, the external force can be provided by a power device such as a motor or a telescopic cylinder; in other cases, the external force can be provided by the operator, that is, the base 1321 is manually driven by the operator. When the external force is provided by the operator, the housing 1100 is further provided with a second opening 1102 communicating with the first inner cavity, and the drive unit 1300 also includes an operating member 1324. The operating member 1324 is connected to the base 1321, and a portion of the operating member 1324 extends from the second opening 1102 to the outside of the housing 1100. The operating member 1324 is used to receive the external force provided by the operator and drive the base 1321 to move under the action of the external force. In this embodiment, the plane where the second opening 1102 is located intersects the plane where the first opening 1101 is located.

[0061] More in detail, such as Figure 2 and Figure 3As shown, the operating member 1324 is rotatably connected to the fixed shaft 1325, which is fixedly connected to the housing 1100. That is, the operating member 1324 is rotatably connected to the housing 1100 via the fixed shaft 1325. The drive unit 1300 also includes a first connecting member 1326, which is connected to a rotating shaft 1327. The rotating shaft 1327 is rotatably mounted on the base 1321, meaning the first connecting member 1326 is rotatably connected to the base 1321 via the rotating shaft 1327. The first connecting member 1326 is also rotatably connected to the operating member 1324. Specifically, there are two fixed shafts 1325, arranged on opposite sides of the base 1321, and both fixed shafts 1325 are fixedly connected to the housing 1100, thus keeping the two fixed shafts 1325 relatively stationary with respect to the housing 1100. The line connecting the two fixed shafts 1325 is parallel to both the plane containing the first opening 1101 and the plane containing the second opening 1102. The operating element 1324 may include a force-bearing block 1324a, a first connecting rod 1324b, a crossbeam 1324c, and two second connecting rods 1324d. The force-bearing block 1324a is at least partially located outside the housing 1100, and is connected to the crossbeam 1324c via the first connecting rod 1324b. The extension direction of the crossbeam 1324c is parallel to both the plane containing the first opening 1101 and the plane containing the second opening 1102. Both ends of the crossbeam 1324c are connected to the two second connecting rods 1324d, which are respectively arranged on opposite sides of the base 1321. Each connecting rod 1324d is rotatably connected to a corresponding fixed shaft 1325. The crossbeam 1324c is rotatably connected to a first connecting member 1326. Please combine Figures 2 to 4 The rotating shaft 1327 is at least partially located within the housing 1100. Therefore, a clearance groove 1328 is provided on the side wall of the housing 1100 facing the force-bearing block 1324a. The clearance groove 1328 extends in a direction perpendicular to the first opening 1101. The first connecting member 1326 is connected to the rotating shaft 1327 at the clearance groove 1328. By providing the clearance groove 1328, the interference of the base 1321 on the movement of the first connecting member 1326 can be reduced.

[0062] Next, combined Figure 5 and Figure 6 The process of switching between the locked and open states of the quick-change interface 1000 is explained. Figure 5 In the middle, the quick-change interface 1000 is in the locked state, so all the sub-elastic elements 1311 are in the stretched state and store elastic potential energy, while the second elastic element 1322 is in the free state. Figure 6 In the middle, the quick-change interface is in the open state, so the second elastic element 1322 is in the compressed state and stores elastic potential energy.

[0063] The process of switching the quick-change interface 1000 from the locked state to the open state is as follows: The operator applies an external force in the direction of arrow F to the force block 1324a of the operating member 1324 to drive the operating member 1324 to rotate clockwise. The operating member 1324 pushes the base 1321 to move away from the first opening 1101 through the first connector 1325. As a result, the force applied by the transmission block 1323 to the corresponding clamping block 1200 through the inclined surface 1323a decreases. This causes the sub-elastic member 1311 to release elastic potential energy and drive the clamping block 1200 to move away from the first axis. As a result, the distance between the multiple clamping blocks 1200 gradually increases, resulting in a corresponding increase in the clamping space, and the quick-change interface 1000 switches to the open state. Figure 6 The open state is shown. At this time, under the action of the external force applied by the operator, the second elastic element 1322 cannot release elastic potential energy.

[0064] The process of switching the quick-change interface 1000 from the open state to the locked state is as follows: the operator releases the force block 1324a (i.e., cancels the external force), the second elastic element 1322 begins to release elastic potential energy, and drives the base 1321 to move in the direction close to the first opening 1101, while simultaneously driving the operating element 1324 to rotate counterclockwise and reset. During the movement of the base 1321 in the direction close to the first opening 1101, the transmission block 1323 pushes the corresponding clamping block 1200 to move in the direction close to the first axis through the inclined plane 1323a, and stretches and stores elastic potential energy in the sub-elastic element 1311. As a result, the distance between the multiple clamping blocks 1200 gradually decreases, reducing the clamping space, and the quick-change interface 1000 switches to the locked state. Figure 5 The locked state is shown.

[0065] Please refer to this carefully. Figure 3 In some embodiments, the quick-change interface 1000 further includes a first electrical connection portion 1400, which is at least partially disposed inside the switching mechanism 1300 and corresponds to the clamping space.

[0066] Specifically, the base 1321 has an inner cavity, referred to as the second inner cavity. The base 1321 has a fourth opening 1321a communicating with the second inner cavity at one end near the first opening 1101. The fourth opening 1321a, the second inner cavity, and the clamping space can be arranged coaxially. A first electrical connection portion 1400 is disposed in the second inner cavity. Correspondingly, the target object, such as the connector 6000, includes a second electrical connection portion 6100, which can enter the second inner cavity from the fourth opening 1321a and be electrically connected to the first electrical connection portion 1400. Optionally, the first electrical connection portion 1400 may include an electrical pin, such that the first electrical connection portion 1400 engages with the second electrical connection portion 6100 on the connector 6000.

[0067] Furthermore, such as Figure 7 As shown, this embodiment of the invention also provides an end articulated arm 100. The end articulated arm 100 includes an arm body 2000 and a quick-change interface 1000 as described above, the quick-change interface 1000 being disposed on the arm body 2000. Thus, the end articulated arm 100 can be detachably connected to the instrument arm 200 via the quick-change interface 1000.

[0068] In this embodiment, the quick-change interface 1000 can be disposed on the articulated arm body 2000 in any suitable manner. In some embodiments, such as Figure 8 As shown, the quick-change interface 1000 is connected to the articulated arm body 2000 via screws 4000. In other embodiments, such as Figure 9 As shown, the quick-change interface 1000 includes a first snap-fit ​​member 1001 disposed on the housing 1100, and the end articulated arm 100 includes a second snap-fit ​​member 2001 disposed on the articulated arm body 2000. The second snap-fit ​​member 2001 cooperates with the first snap-fit ​​member 1001, so that the quick-change interface 1000 and the articulated arm body 2000 are connected by a snap-fit. This connection method facilitates quick assembly and disassembly of the quick-change interface 1000, making equipment maintenance and repair easier. It can be understood that when the quick-change interface 1000 and the articulated arm body 2000 are detachably connected, an appropriate number of quick-change interfaces 1000 can be provided on the articulated arm body 2000 according to actual needs.

[0069] The articulated arm body 2000 has a second axis. Here, if at least a portion of the articulated arm body 2000 is an arc-shaped structure, then the second axis is the central axis of the arc-shaped structure. If at least a portion of the articulated arm body 2000 is an elliptical arc-shaped structure, then the second axis is the central axis of the elliptical arc-shaped structure, that is, the second axis is a straight line passing through the center point of the ellipse containing the elliptical arc and perpendicular to the plane containing the elliptical arc.

[0070] A quick-change interface 1000 is disposed on the surface of the articulated arm body 2000 near the second axis. Typically, the articulated arm body 2000 has multiple quick-change interfaces 1000, which are arranged at equal intervals around the second axis. Preferably, the central angle between two adjacent quick-change interfaces 1000 is 90°, facilitating the overall layout of the device. Taking an arc-shaped structure of the articulated arm body 2000 as an example... Figure 10As shown, if the radius of the articulated arm body 2000 is small, it is preferable that the first opening 1101 of the quick-change interface 1000 is arranged perpendicular to the second axis. This way, when installing the instrument arm 200, the connector 6000 of the instrument arm 200 can be inserted into the clamping space along a direction parallel to the second axis, and when disassembling the instrument arm 200, the connector 6000 can be pulled out from the quick-change interface 1000 along a direction parallel to the second axis, reducing interference between multiple instrument arms 200 and facilitating operation. When the radius of the articulated arm body 2000 is sufficiently large, such as... Figure 11 As shown, the first opening 1101 of the quick-change interface 1000 can also be arranged parallel to the second axis, so that the instrument arm 200 can be assembled and disassembled in a direction perpendicular to the second axis.

[0071] Please refer to this again. Figure 12 and Figure 13 The articulated arm body 2000 includes a first sub-arm 2100 and a second sub-arm 2200. At least a portion of the first sub-arm 2100 is an arcuate structure; optionally, the first sub-arm 2100 can be entirely arcuate. The arcuate structure has an arcuate trajectory. The first sub-arm 2100 also has an inner cavity, referred to as a third inner cavity 2110, which extends along the arcuate trajectory. One end of the first sub-arm 2100 also has a third opening (not shown in the figure) communicating with the third inner cavity 2110. The second sub-arm 2200 extends along an arcuate trajectory, such that the second sub-arm 2200 is also an arcuate structure. The second sub-arm 2200 is movably connected to the cavity wall of the first sub-arm 2100, and a portion of the second sub-arm 2200 can enter and exit the third inner cavity 2110 through the third opening. In other words, the second sub-arm 2200 can be at least partially housed in the third cavity 2110 to reduce the volume of the end articulated arm 100, improve the robot's flexibility, and reduce interference between the articulated arm body 2000 and the patient's body positioning.

[0072] Optionally, the cavity wall of the first sub-arm 2100 is provided with a guide slide 2111 extending along an arc trajectory, and the second sub-arm 2200 may be provided with a slide groove (not shown in the figure). The second sub-arm 2200 is slidably connected to the guide slide 2111 through the slide groove, so that the second sub-arm 2200 moves along the guide slide 2111. Alternatively, the third inner cavity 2110 is provided with an arc-shaped lead screw guide rail (not shown in the figure), and the second sub-arm 2200 is provided with a lead screw nut, which is connected to the lead screw guide rail, and the second sub-arm 2200 moves along the lead screw guide rail.

[0073] Furthermore, the end articulated arm 100 also includes a locking member 3000, which is used to selectively lock or release the first sub-arm 2100 and the second sub-arm 2200. When the locking member 3000 locks the first sub-arm 2100 and the second sub-arm 2200, the first sub-arm 2100 and the second sub-arm 2200 remain relatively stationary. When the locking member 3000 releases the locking of the first sub-arm 2100 and the second sub-arm 2200, relative movement can occur between the first sub-arm 2100 and the second sub-arm 2200.

[0074] Optionally, the locking member 3000 includes a spring pin 3100 and a locking hole 3200. One of the first sub-arm 2100 and the second sub-arm 2200 is provided with a spring pin 3100, and the other is provided with a locking hole 3200. When at least one spring pin 3100 is inserted into the corresponding locking hole 3200, the locking member 3000 locks the first sub-arm 2100 and the second sub-arm 2200; when all spring pins 3100 are disengaged from the locking holes 3200, the locking member 3000 releases the locking of the first sub-arm 2100 and the second sub-arm 2200. In a non-limiting embodiment, the spring pin 3100 is disposed on the second sub-arm 2200, and the locking hole 3200 is disposed on the first sub-arm 2100.

[0075] Optionally, the number of spring pins 3100 is at least two, and the number of locking holes 3200 is at least two, for example, the number of both spring pins 3100 and locking holes 3200 is two. Taking the number of spring pins 3100 and locking holes 3200 as an example, the two locking holes 3200 are arranged at intervals along the extension direction of the first sub-arm 2100, and the distance between the two locking holes 3200 is L1. The two spring pins 3100 are arranged at intervals along the extension direction of the second sub-arm 2200, and the distance between the two spring pins 3100 is L2, where L1 equals L2. When at least a portion of the second sub-arm 2200, for example, all of it, returns to the third inner cavity 2110, the two spring pins 3100 are respectively inserted into the two locking holes 1320 to lock the first sub-arm 2100 and the second sub-arm 2200. When the portion of the second sub-arm 2200 that extends out of the third inner cavity 2110 is fully extended, one spring pin 3100 is located outside the third inner cavity 2110, and the other spring pin 3100 is partially located inside the third inner cavity 2110. The spring pin 3100 partially located inside the third inner cavity 2110 can be inserted into the locking hole 3200 near the third opening 2110, thereby locking the first sub-arm 2100 and the second sub-arm 2200. It is understood that the operator can disengage the spring pin 2110 from the locking hole 3200 by pressing it.

[0076] At least one quick-change port 1000 is provided on the first sub-arm 2100 and the second sub-arm 2200 respectively. In this embodiment of the invention, the first sub-arm 2100 is generally a semi-circular arc structure, and the portion of the second sub-arm 2200 that extends out of the third inner cavity is a 1 / 4 arc structure. That is, when the second sub-arm 2200 extends out of the third inner cavity, the articulated arm body 2000 is a 3 / 4 arc structure. Optionally, three quick-change ports 1000 are provided on the first sub-arm 2100, and one quick-change port 1000 is provided on the second sub-arm 2200. More preferably, the second sub-arm 2200 is detachably connected to the corresponding quick-change port 1000. The advantage of this is that when the third inner cavity of the first sub-arm 2100 has a sufficiently long length but a small cross-section, the second sub-arm 2200 can be completely retracted into the third inner cavity 2110 by removing the quick-change port 1000 on the second sub-arm 2200.

[0077] Furthermore, such as Figure 14 As shown, this embodiment of the invention also provides a robotic arm system 10. The robotic arm system 10 includes a surgical arm 200 and an end-articular arm 100. As... Figure 15 As shown, the instrument arm 200 includes a connector 6000. The clamping space of the quick-change interface 1000 is used to accommodate the connector 6000, and multiple clamping blocks 1200 are used to clamp the connector 6000. That is, the instrument arm 200 is detachably connected to the end articulated arm 100 through the cooperation of the connector 6000 and the quick-change interface 1000.

[0078] Optionally, when the quick-connect interface 1000 includes a first electrical connection portion 1400, such as Figure 16 As shown, the connector 6000 includes a second electrical connection portion 6100, which is used for electrical connection with the first electrical connection portion 1400. Those skilled in the art will understand that the instrument arm 200 also includes an instrument arm body 5000 and an instrument controller 7000. Both the connector 6000 and the instrument controller 7000 are disposed on the instrument arm body 5000, and the second electrical connection portion 6100 is electrically connected to the instrument controller 7000. This arrangement is because the instrument arm body 5000 is typically small, which is not conducive to the arrangement of various cables and signal transmission lines. In this embodiment of the invention, by providing the first electrical connection portion 1400 in the quick-connect interface 1000 and the second electrical connection portion 6100 in the connector 6000, all cables and signal transmission lines can be arranged on the end articulated arm 100. Then, through the connection of the first electrical connection portion 1400 and the second electrical connection portion 6100, the electrical connection between various cables and signal transmission lines and the instrument controller 7000 is achieved. Furthermore, this setup also helps simplify the sterile bag 300 (e.g. Figure 18The installation (as shown) facilitates the establishment of a sterile barrier. In this embodiment, the robotic arm system includes a first power mechanism (not shown in the figure), which can be mounted on the end articulated arm 100, thus, as... Figure 16 As shown, the distal articular arm 100 can transmit driving force to the instrument controller 7000 via a first power mechanism and through a first electrical connection 1400 and a second electrical connection 6100, thereby driving the instruments connected to the instrument arm 200 to perform corresponding operations. The instruments include endoscopes and surgical instruments.

[0079] Alternatively, when the quick-change interface 1000 does not include the first electrical connection, the preferred device controller 7000 includes a wireless power supply and a wireless communication element (not shown). The wireless power supply is, for example, a rechargeable battery. The wireless power supply is electrically connected to the wireless communication element and supplies power to the wireless communication element, which is used to communicate with the robot's control mechanism for information transmission. It is understood that the device controller 7000 also includes a second power mechanism, which is electrically connected to the device mounted on the device controller 7000 and provides driving force to the device. Figure 17 As shown, the wireless power supply is also connected to and supplies power to the second power mechanism, enabling the power mechanism to provide driving force to the instrument. This setup reduces wiring to simplify the structure of the instrument arm 200, and since electrical connections are no longer included, it further reduces the design complexity of the sterile bag 300, improves the installation efficiency of the sterile bag 300, and facilitates the establishment of a sterile barrier.

[0080] It should be noted that the connector 6000 can be fixedly connected to the instrument arm body 5000, or it can be detachably connected to the instrument body 210 in any suitable manner.

[0081] Furthermore, such as Figure 18 As shown, the robotic arm system 10 also includes a sterile bag 300, which is used to cover the end articulated arm 100 and the instrument arm 200 to create a sterile barrier.

[0082] like Figure 18 As shown, the sterile bag 300 includes a separate first sub-sterile bag 8000 and a second sub-sterile bag 9000. The first sub-sterile bag 8000 is used to be fitted onto the distal articulated arm 100, and the second sub-sterile bag 9000 is used to be fitted onto the instrument arm 200. The first sub-sterile bag 8000 and the second sub-sterile bag 9000 are sealed together.

[0083] It should be noted that when the quick-change interface 1000 includes the first electrical connection part 1400 and the docking connector 6000 of the instrument arm 200 includes the second electrical connection part 6100, such as Figures 19 to 20As shown, the first sub-sterile bag 8000 includes a first sub-bag body 8100 and a first isolation plate 8200. The first isolation plate 8200 is disposed on the first sub-bag body 8100 and serves as a power network isolation plate. The second sub-sterile bag 9000 includes a second sub-bag body 9100, a second isolation plate 9200, and a third isolation plate 9300. Both the second isolation plate 9200 and the third isolation plate 9300 are disposed on the second sub-bag body 9100. The second isolation plate 9200 serves as an instrument isolation plate, and the third sub-isolation plate 9300 serves as a power network isolation plate. During assembly, the first isolation plate 8200 is aligned with the quick-change interface 1000, the third isolation plate 9300 is aligned with the connector 6000 and is used to cooperate with the first isolation plate 8200, and the second isolation plate 9200 is aligned with the instrument controller 7000 and is used to cooperate with the instrument. When the quick-change interface 1000 does not include the first electrical connection part, the connector 6000 of the instrument arm 200 does not include the second electrical connection part 6100, but the instrument controller 7000 includes a wireless power supply and wireless communication elements, the first sub-sterile bag 9100 does not include the first isolation plate, and the second sub-sterile bag 9000 only includes the second isolation plate 9200. The separate sterile bag 300 design makes the sterile bag 300 simple and convenient to install, effectively shortening the preoperative preparation time and improving efficiency.

[0084] Figure 21 An assembly diagram of the robotic arm system 10 is shown, with only one robotic arm 200 shown. Taking the quick-change interface 1000 detachably connected to the articulated arm body 2000 and the connector 6000 detachably connected to the robotic arm body 5000 as an example, the assembly process of the robotic arm system 10 may include the following steps:

[0085] Step S10: Connect a predetermined number (e.g., four) of quick-change interfaces 1000 to the articulated arm body 2000.

[0086] Step S20: Attach the first sub-sterile bag 8000 onto the end joint arm 100 and seal the end of the first sub-bag body 8100. It can be understood that if the first sub-sterile bag 8000 includes a first isolation plate 8200, each first isolation plate 8200 is correspondingly set with a quick-change interface 1000.

[0087] Step S30: Attach the second sub-sterile bag 9000 onto the instrument arm 200 and seal the end of the second sub-bag body 9100. The second isolation plate 9200 is correspondingly configured with the instrument controller 7000. If the second sub-sterile bag 9000 also includes a third isolation plate 9300, the third isolation plate 9300 is correspondingly configured with the connector 6000.

[0088] Step S40: Switch the quick-change interface 1000 to the open state and insert the connector 6000 of the instrument arm 200 into the clamping space.

[0089] Step S50: Switch the quick-change interface 1000 to the locking state and seal the second sub-sterile bag 9000 with the first sub-sterile bag 8000.

[0090] Depending on the number of robotic arms 200, repeat steps S30, S40 and S50 until the assembly of the robotic arm system 10 is completed.

[0091] The disassembly process of the robotic arm system 10 may include the following steps:

[0092] Step S100: Switch a quick-change interface 1000 to the open state and pull out the instrument arm 200 connected to the quick-change interface 1000.

[0093] Repeat step S100 until all the instrument arms 200 are removed from the end articulated arms.

[0094] Step S200: Remove the second sub-sterile bag 9000 from the instrument arm 200.

[0095] Step S300: Disassemble the connector 6000 on the instrument arm body 7000.

[0096] Step S400: Remove the first sub-sterile bag 8000 from the end articulated arm 100.

[0097] Step S500: Disassemble the quick-release interface 1000 on the articulated arm body 2000.

[0098] It should be noted that the sequence numbers of the above steps are only used to distinguish each step and do not restrict the execution order of the steps. For example, during the assembly process of the robotic arm system 10, step S20 can be executed first, followed by step S30, or step S30 can be executed first, followed by step S20. During the disassembly process of the robotic arm system 10, steps S200, S300, S400, and S500 can be executed sequentially, or steps S200 and S400 can be executed first, followed by steps S300 and S500. This embodiment of the invention does not limit this.

[0099] Furthermore, such as Figure 22As shown, this embodiment of the invention also provides a treatment cart 1. The treatment cart 1 includes a cart body 20, a connecting portion (not shown in the figure), and a robotic arm system 10 as described above. The end articulated arm 100 of the robotic arm system 10 is connected to the cart body 20 via the connecting portion. The cart body 20 is used to carry a target object, such as a patient. The cart body 400 is movable to move the robotic arm system 10. Since the end articulated arm 100 is connected to the instrument arm 200 via a quick-change interface 1000, the instrument arm 200 is detachable, facilitating the movement and transportation of the treatment cart 1 in confined spaces.

[0100] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention, and if such modifications and variations fall within the scope of the claims of the present invention and their equivalents, then the present invention also includes such modifications and variations.

Claims

1. A quick change interface, characterized by, The quick-change interface comprises: a housing, the housing being provided with a first opening; a plurality of clamping blocks arranged in the housing and around a first axis, the plurality of clamping blocks forming a clamping space therebetween, the clamping space corresponding to the first opening; and a switching mechanism arranged at least partially in the housing and comprising a first elastic member and a driving portion, the first elastic member connecting the housing and the plurality of clamping blocks, the driving portion being configured to drive the plurality of clamping blocks to move in a direction close to the first axis so as to reduce the clamping space and store elastic potential energy in the first elastic member. The driving portion is arranged at least partially in the housing and comprises a base and a plurality of transmission blocks. The base is movably arranged in the housing, and the plurality of transmission blocks are connected to one end of the base close to the first opening, the plurality of transmission blocks being arranged around the first axis and corresponding to the plurality of clamping blocks, the side of each transmission block close to the first axis being a slope, the distance from the slope to the first axis gradually decreasing in a direction from the first opening to the base, and the slope of each transmission block being in contact with the corresponding clamping block. When the base moves in a direction close to the first opening, each transmission block drives the corresponding clamping block to move in a direction close to the first axis through the slope, and when the base moves in a direction away from the first opening, the first elastic member releases the elastic potential energy. The driving portion further comprises a second elastic member connecting the base and the housing. The driving portion is configured to deform the second elastic member and store elastic potential energy when the base moves in a direction away from the first opening. The housing is further provided with a second opening, the driving portion further comprises an operating member connected to the base, and part of the operating member extends out of the housing from the second opening, the operating member being configured to drive the base to move under the action of an external force.

2. The quick change interface of claim 1, wherein, The driving portion further comprises a first connecting member, the operating member is rotatably connected to the housing, the operating member is further rotatably connected to the first connecting member, and the first connecting member is rotatably connected to the base.

3. The quick change interface of claim 2, wherein, The quick-change interface further comprises a first electrical connection portion arranged at least partially inside the switching mechanism and corresponding to the clamping space.

4. Quick change interface according to any of claims 1-3, characterized in that, The quick-change interface comprises:

5. An end jointed arm characterized by, a joint arm body and the quick-change interface according to any one of claims 1-4, the quick-change interface being arranged on the joint arm body.

6. The end-of-arm as defined in claim 5, wherein, The joint arm body has a second axis, the quick-change interface being arranged on a surface of the joint arm body close to the second axis, the first opening of the quick-change interface being arranged parallel to the second axis, or the first opening of the quick-change interface being arranged perpendicular to the second axis.

7. The end-of-arm as defined in claim 5, wherein, The joint arm body comprises a first sub-arm and a second sub-arm, at least a part of the first sub-arm is a circular arc structure, the circular arc structure has a circular arc track; the first sub-arm further has an inner cavity, the inner cavity extends along the circular arc track, one end of the first sub-arm has a third opening in communication with the inner cavity; the second sub-arm extends along the circular arc track, and the cavity wall of the first sub-arm is movably connected with the second sub-arm, so that a part of the second sub-arm can enter and exit the inner cavity from the third opening; at least one quick-change interface is arranged on the first sub-arm and the second sub-arm respectively.

8. The end-of-arm as defined in claim 7, wherein, The end joint arm further comprises a locking member for locking or releasing the locking of the first sub-arm and the second sub-arm, when the locking member locks the first sub-arm and the second sub-arm, the first sub-arm and the second sub-arm remain relatively static, when the locking member releases the locking of the first sub-arm and the second sub-arm, the second sub-arm can move relatively with the first sub-arm.

9. A robotic arm system, comprising: The mechanical arm system comprises an instrument arm and an end joint arm as claimed in any one of claims 5-8, the instrument arm comprises a docking head; the clamping space is used for accommodating the docking head, and the plurality of clamping blocks are used for clamping the docking head.

10. The robotic arm system of claim 9, wherein, The mechanical arm system further comprises a sterile bag, the sterile bag comprises a split first sub-sterile bag and a second sub-sterile bag, the first sub-sterile bag is used for sleeving on the end joint arm, the second sub-sterile bag is used for sleeving on the instrument arm, and the first sub-sterile bag is further used for sealing connection with the second sub-sterile bag.

11. The robotic arm system of claim 9, wherein, The quick-change interface further comprises a first electrical connection part, the first electrical connection part is at least partially arranged inside the switching mechanism; the docking head comprises a second electrical connection part, the second electrical connection part is used for electrical connection with the first electrical connection part; the instrument arm further comprises an instrument controller, the instrument controller is arranged on the instrument arm body and is electrically connected with the second electrical connection part.

12. The robotic arm system of claim 9, wherein, The instrument arm comprises an instrument controller, the instrument controller comprises a wireless power supply and a wireless communication element, the wireless power supply is electrically connected with the wireless communication element.

13. A treatment cart, characterized by The mechanical arm system comprises a trolley body, a joint part and an end joint arm as claimed in any one of claims 9-12, the end joint arm is arranged on the trolley body through the joint part.

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