A surgical robotic arm

Abstract

The application belongs to the technical field of medical devices and relates to a surgical mechanical arm. The surgical mechanical arm comprises a base, the base comprising a mounting seat and a clamping device and a locking device both arranged on the mounting seat; the clamping device comprising a first handle, a second handle, a first clamping assembly and a second clamping assembly, the first handle being used to drive the first clamping assembly to clamp or release both ends of a surgical bed in a first direction, and the second handle being used to drive the second clamping assembly to clamp or release both ends of the surgical bed in a second direction; when the first clamping assembly and the second clamping assembly clamp the surgical bed respectively, the first handle abuts against the second handle, and the locking device locks the first handle to limit the movement of the second handle. The application can quickly adapt to surgical beds of different sizes, effectively reduce the adjustment time, improve the surgical efficiency and has high reliability.

Description

Technical Field

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

[0002] Interventional vascular surgery is a minimally invasive, image-guided diagnostic and treatment method with advantages such as minimal trauma, ease of operation, accurate intervention site, and rapid postoperative healing. Because interventional vascular surgery involves radiation exposure to the surgeon, one solution is to use a robotic vascular intervention system for remote surgery. The conventional approach involves using a surgical robotic arm, with its initial installation position tailored to different clinical needs.

[0003] Most existing surgical robotic arms are gantry structures, with the entire gantry mounted on the operating table. The bottom ends of the gantry are fixed to the side rails on both sides of the operating table. Most existing surgical robotic arms are fixed to the operating table by screws. Due to the difficulty in adjustment and the need for special tools, it is difficult to move the robotic arms between operating tables and the operating table, and the adjustment time is long. Summary of the Invention

[0004] This application provides a surgical robotic arm device to solve the problems of difficulty in disassembling surgical robotic arms and difficulty in adapting them to different operating tables in the prior art.

[0005] To address the aforementioned technical problems, this application provides a surgical robotic arm, employing the technical solution described below: A surgical robotic arm includes: a base; the base includes a mounting seat, and a clamping device and a locking device both disposed on the mounting seat; The clamping device includes a first handle, a second handle, a first clamping assembly, and a second clamping assembly. The first handle is used to drive the first clamping assembly to clamp or release both ends of the operating table in a first direction, and the second handle is used to drive the second clamping assembly to clamp or release both ends of the operating table in a second direction. When the first clamping assembly and the second clamping assembly clamp the operating table respectively, the first handle abuts against the second handle, and the locking device locks the first handle to restrict the movement of the second handle.

[0006] Furthermore, the locking device includes a braking element, which is mounted on the mounting base. A limiting element is provided on the side of the first handle adjacent to the locking device. When the first clamping assembly clamps the operating table, the limiting element abuts against the braking element, and the braking element restricts the movement of the limiting element.

[0007] Furthermore, the locking device further includes a first power component, a first sensor, and a first positioning component; the first sensor and the first power component are both mounted on the mounting base, the braking component is connected to the power output end of the first power component, and the limiting component is provided with a first limiting groove; the first positioning component is mounted on the first clamping assembly or the first handle, and when the first clamping assembly clamps the operating table, the first sensor senses the first positioning component, the first power component drives the braking component to move toward the limiting component, and the braking component passes into the first limiting groove; or The locking device further includes a fixed base and a first elastic element. The fixed base is disposed on the mounting base. The two ends of the first elastic element are respectively connected to the fixed base and the braking element. The limiting element is provided with a second limiting groove. When the first handle drives the first clamping assembly, the limiting element pushes the braking element to move in the direction of the first elastic element. When the first clamping assembly clamps the operating table, the first elastic element pushes the braking element to pass into the second limiting groove.

[0008] Furthermore, when the locking device includes the fixed base and the first elastic element, the surgical robotic arm also includes an unlocking assembly, which includes an unlocking buckle, a slider, and a second elastic element; One side of the unlocking buckle is slidably connected to the fixed base, and the other side of the unlocking buckle is fixedly connected to the braking member. When the unlocking buckle slides away from the limiting member, the unlocking buckle drives the braking member to disengage from the second limiting groove. The two ends of the second elastic member are respectively connected to the mounting base and the slider. When the braking member disengages from the second limiting groove, the second elastic member drives the slider to abut against the unlocking buckle to restrict the unlocking buckle from moving towards the limiting member. The second handle is used to drive the slider to move closer to the mounting base to release the unlocking latch.

[0009] Furthermore, the surgical robotic arm also includes a lateral fixation device, which is located on the side of the mounting base away from the clamping device, and the lateral fixation device and the clamping device are clamped and fixed to opposite sides of the operating table; The lateral fixing device includes a mounting plate, a movable component, and an adjusting component. The mounting plate is connected to the mounting base, and the movable component is slidably disposed on the mounting plate. The adjusting component is disposed on the mounting plate and is used to clamp or release the movable component. The adjusting component includes a clamping plate and a handle. One end of the clamping plate is rotatably mounted on the mounting plate, and the other end is used to abut against the movable component; the handle is rotatably mounted on the mounting plate and is used to drive the clamping plate to rotate toward or away from the movable component in order to clamp or release the movable component.

[0010] Furthermore, the handle includes a hand-held portion and a cam, the hand-held portion being connected to the cam, and the cam being rotatably mounted on the mounting plate; the cam includes a first side and a second side, the first side gradually thickening along the clamping rotation direction, and the second side gradually thinning along the clamping rotation direction; The handheld part rotates along the clamping rotation direction, driving the first side to abut against the clamping plate. The clamping plate rotates toward the movable component. When the second side abuts against the clamping plate, the clamping plate clamps the movable component.

[0011] Furthermore, the adjusting assembly includes a third elastic element, the two ends of which are respectively connected to the mounting plate and the side of the clamping plate away from the movable assembly; and / or The clamping plate has a groove on the side away from the handle; and / or The adjusting assembly further includes an adjusting rod, which is rotatably disposed on the side of the mounting plate away from the handle, and one end of the adjusting rod near the clamping plate abuts against the movable assembly; and / or The adjustment assembly further includes a stop, which is movably mounted on the mounting plate. When the handle drives the clamping plate to clamp the movable assembly, the stop is used to prevent the handle from rotating in the opposite direction of the clamping rotation; and / or The active component is equipped with a scale.

[0012] Furthermore, the movable component includes a sliding plate, a fixed plate, an adjusting member, and a first knob assembly. The sliding plate is slidably mounted on the mounting plate and is adjustable horizontally relative to the mounting plate. The fixed plate is located at the end of the sliding plate away from the mounting plate. The adjusting member is slidably mounted on the fixed plate and is adjustable vertically. The first knob assembly is threadedly connected to the adjusting member and is used to cooperate with the adjusting member to clamp or release the fixed plate.

[0013] Furthermore, the surgical robotic arm also includes a height adjustment mechanism mounted on the mounting base; the height adjustment mechanism includes a housing of a four-bar linkage and a telescopic assembly; the telescopic assembly is used to adjust the supporting force of the height adjustment mechanism; The telescopic assembly includes a gas spring, a second power component, a connecting component, and a second guide rail. The two ends of the gas spring are respectively connected to the two opposite ends of the four-bar linkage of the housing. The second power component and the second guide rail are sequentially arranged inside the housing. The power output end of the second power component slides on the second guide rail. The two ends of the connecting component are respectively connected to the power output end of the second power component and the starting end of the gas spring.

[0014] Furthermore, the telescopic assembly also includes a lead screw and a connecting seat, the lead screw being disposed at one end of the housing; the connecting seat being rotatably connected to the lead screw, and the end of the gas spring being connected to the connecting seat.

[0015] Compared with the prior art, the embodiments of this application have the following advantages: by controlling the first clamping component and the second clamping component respectively through the first handle and the second handle, the two ends of the operating table in the first direction and the second direction can be clamped, without the need for additional tools, and the operation is simple, convenient for changing operating tables, and can quickly adapt to operating tables of different sizes, effectively reducing adjustment time and improving surgical efficiency; on the other hand, when installing the surgical robotic arm, since the first handle abuts against the second handle, locking the first handle can restrict the movement of the second handle, thereby achieving the purpose of preventing the first handle and the second handle from moving, avoiding the situation where the clamping device releases the operating table due to accidental contact with the first handle or the second handle during the operation, thus improving the reliability of the surgical robotic arm. Attached Figure Description

[0016] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of one embodiment of the surgical robotic arm provided in this application; Figure 2 yes Figure 1 Side view; Figure 3 yes Figure 2 Sectional view at point AA; Figure 4 yes Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the structure of one embodiment of the clamping device, the first fixed shaft, and the second fixed shaft provided in this application; Figure 6 This is a schematic diagram of the structure when the mounting base, clamping device (without a second link) and locking device provided in this application are locked. Figure 7 yes Figure 6 Enlarged view of point B in the middle; Figure 8 This is another embodiment of the mounting base, clamping device, and locking device provided in this application, and is a structural schematic diagram when unlocked; Figure 9 yes Figure 8 Sectional view at point BB; Figure 10 yes Figure 9 Enlarged view of point C in the middle; Figure 11 yes Figure 8 A schematic diagram of the structure during locking; Figure 12 yes Figure 11 Sectional view at CC; Figure 13 This is an exploded view of one embodiment of the first knob assembly provided in this application; Figure 14 This is a schematic diagram of the structure of one embodiment of the height adjustment mechanism provided in this application; Figure 15 yes Figure 14 Sectional view at point DD; Figure 16 This is a schematic diagram of the structure of one embodiment of the telescopic component provided in this application.

[0018] Reference numerals: 1. Base; 11. Mounting seat; 111. First fixed shaft; 112. Second fixed shaft; 12. Clamping device; 121. First handle; 1211. First connecting rod; 1212. Second connecting rod; 122. Second handle; 1221. Third connecting rod; 1222. Fourth connecting rod; 123. First clamping assembly; 1231. Vertical clamping cam; 124. Second clamping assembly; 1241. Horizontal clamping cam; 125. Limiting element; 1251. First limiting groove; 1252. Second limiting groove; 13. Locking device; 131. Braking component; 132. First power component; 133. First sensor; 134. First positioning component; 135. Second sensor; 136. Second positioning component; 137. Fixing base; 1371. First through groove; 138. First elastic component; 139. First guide rail; 14. Unlocking assembly; 141. Unlocking buckle; 1411. First inclined surface; 1412. Locking groove; 142. Slider; 1421. Second through groove; 1422. Second inclined surface; 143. Second elastic component; 15. Housing ; 16. Second knob assembly; 2. Lateral fixing device; 21. Mounting plate; 211. Rotating groove; 22. Movable assembly; 221. Scale; 222. Slide plate; 223. Fixing plate; 224. Adjusting component; 225. First knob assembly; 2251. Rotating rod; 2252. Fourth elastic element; 2253. Rotating block; 2254. Fixing block; 2255. Insert rod; 23. Adjusting assembly; 231. Clamping plate; 2311. Groove; 232. Handle; 2321. Handhold; 2322. Cam; 23 23. First side; 2324. Second side; 2325. Pin hole; 233. Third elastic element; 234. Adjusting rod; 235. Adjusting block; 236. Locking rod; 237. Stop; 2371. Rotating part; 2372. Elastic positioning pin; 3. Height adjustment mechanism; 31. Housing; 32. Telescopic assembly; 321. Gas spring; 322. Second power element; 323. Connecting element; 324. Second guide rail; 325. Third sensor; 326. Third positioning element; 327. Lead screw; 328. Connecting seat. Detailed Implementation

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0020] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0022] This application provides a surgical robotic arm, such as... Figure 1 , 2 As shown in Figures 5, 6, 8, and 11, the surgical robotic arm includes: a base 1; the base 1 includes a mounting seat 11, and a clamping device 12 and a locking device 13, both disposed on the mounting seat 11; the clamping device 12 includes a first handle 121, a second handle 122, a first clamping assembly 123, and a second clamping assembly 124; the first handle 121 is used to drive the first clamping assembly 123 to clamp or release both ends of the operating table in a first direction, and the second handle 122 is used to drive the second clamping assembly 124 to clamp or release both ends of the operating table in a second direction; when the first clamping assembly 123 and the second clamping assembly 124 clamp the operating table respectively, the first handle 121 abuts against the second handle 122, and the locking device 13 locks the first handle 121 to restrict the movement of the second handle 122.

[0023] The working principle of a surgical robotic arm provided in this application embodiment is as follows: When installing the surgical robotic arm, firstly, the second clamping assembly 124 is driven by the second handle 122 to clamp the two ends of the operating table in the second direction. Then, the first clamping assembly 123 is driven by the first handle 121 to clamp the two ends of the operating table in the first direction. Finally, the locking device 13 locks the first handle 121. Since the first handle 121 abuts against the second handle 122, locking the first handle 121 can restrict the movement of the second handle 122. Alternatively, the first handle 121 and the second handle 122 can be moved simultaneously so that the first clamping assembly 123 clamps the two ends of the operating table in the first direction and the second clamping assembly 124 clamps the two ends of the operating table in the second direction. Finally, the first handle 121 is locked by the locking device 13.

[0024] When disassembling the surgical robotic arm, firstly, the locking device 13 releases the lock on the first handle 121. Then, the first clamping assembly 123 is driven by the first handle 121 to release the two ends of the operating table in the first direction. Finally, the second clamping assembly 124 is driven by the second handle 122 to release the two ends of the operating table in the second direction. At this time, the second handle 122 abuts against the first handle 121. When installing the surgical robotic arm again, the second handle 122 is driven by the second clamping assembly 124 to clamp the two ends of the operating table in the second direction. Alternatively, after the locking device 13 releases the lock on the first handle 121, the first handle 121 and the second handle 122 are moved simultaneously so that the first clamping assembly 123 releases the two ends of the operating table in the first direction and the second clamping assembly 124 releases the two ends of the operating table in the second direction.

[0025] The beneficial effects of the surgical robotic arm provided in this application embodiment are as follows: by controlling the first clamping component 123 and the second clamping component 124 through the first handle 121 and the second handle 122 respectively, the two ends of the operating table in the first direction and the second direction are clamped, without the need for additional tools, and the operation is simple, which facilitates the transfer and changing of operating tables. It can quickly adapt to operating tables of different sizes, effectively reduce adjustment time, and improve surgical efficiency.

[0026] On the other hand, when installing the surgical robotic arm, since the first handle 121 abuts against the second handle 122, locking the first handle 121 can restrict the movement of the second handle 122, thereby preventing the first handle 121 and the second handle 122 from moving. This avoids the situation where the clamping device 12 is released from the operating table due to accidental contact with the first handle 121 or the second handle 122 during the operation, thus improving the reliability of the surgical robotic arm.

[0027] In this embodiment, the first direction and the second direction are the height direction and the horizontal direction, respectively.

[0028] In some embodiments, such as Figure 5 As shown, the mounting base 11 is further provided with a first fixed shaft 111 and at least one second fixed shaft 112. The first clamping assembly 123 includes at least one vertical clamping cam 1231. The first handle 121 includes a first connecting rod 1211 and a second connecting rod 1212. The first connecting rod 1211 is rotatably connected to the first fixed shaft 111. The vertical clamping cam 1231 is rotatably connected to the second fixed shaft 112. The vertical clamping cam 1231 is an inclined cam. The upper surface of the inclined cam gradually thickens along the vertical clamping rotation direction. When the first clamping assembly 123 clamps, the highest point of the vertical clamping cam 1231 abuts against the operating table. The second connecting rod 1212 is hinged to the first connecting rod 1211 and the vertical clamping cam 1231 respectively.

[0029] The second clamping assembly 124 includes at least one horizontal clamping cam 1241, and the second handle 122 includes a third link 1221 and a fourth link 1222. The third link 1221 is rotatably connected to the first fixed shaft 111, and the horizontal clamping cam 1241 is rotatably connected to the second fixed shaft 112. When the second clamping assembly 124 clamps, the side of the horizontal clamping cam 1241 abuts against the operating table. The fourth link 1222 is hinged to the third link 1221 and the horizontal clamping cam 1241 respectively.

[0030] When the first clamping assembly 123 and the second clamping assembly 124 clamp the operating table respectively, the first connecting rod 1211 abuts against the third connecting rod 1221, and the locking device 13 locks the second connecting rod 1212.

[0031] When installing the surgical robotic arm, the third link 1221 rotates counterclockwise around the first fixed axis 111, driving the fourth link 1222 to move, thereby driving the horizontal clamping cam 1241 to rotate counterclockwise around the second fixed axis 112 until the side of the horizontal clamping cam 1241 abuts against the operating table, completing the horizontal clamping of the second clamping assembly 124; as the second clamping assembly 124 completes clamping, the third link 1221 no longer abuts against the first link 1211, causing the first handle 1 21. Unlock; The first connecting rod 1211 rotates counterclockwise around the first fixed shaft 111, driving the second connecting rod 1212 to move, thereby driving the vertical clamping cam 1231 to rotate counterclockwise around the second fixed shaft 112, so that the highest point of the vertical clamping cam 1231 abuts against the operating table, completing the vertical clamping of the first clamping assembly 123, and the first connecting rod 1211 abuts against the third connecting rod 1221; Finally, the locking device 13 locks the second connecting rod 1212.

[0032] When disassembling the surgical robotic arm, the locking device 13 releases the lock on the second link 1212, unlocking the first handle 121. The first link 1211 rotates clockwise around the first fixed axis 111, causing the second link 1212 to move, thereby causing the vertical clamping cam 1231 to rotate clockwise around the second fixed axis 112. The highest point of the vertical clamping cam 1231 gradually separates from the operating table, releasing the vertical clamping of the first clamping assembly 123. As the first link 1211 is released, the third link 1221 unlocks. The third link 1221 rotates clockwise around the first fixed axis 111, causing the fourth link 1222 to move, thereby causing the horizontal clamping cam 1241 to rotate clockwise around the second fixed axis 112. The side wall of the horizontal clamping cam 1241 gradually separates from the operating table, thereby releasing the horizontal clamping of the second clamping assembly 124.

[0033] Furthermore, the first connecting rod 1211 is provided with a first magnetic suction element (not shown), and the third connecting rod 1221 is provided with a second magnetic suction element (not shown). When the first clamping assembly 123 and the second clamping assembly 124 clamp the operating table respectively, the first magnetic suction element and the second magnetic suction element are magnetically connected. Through the first magnetic suction element and the second magnetic suction element, the first connecting rod 1211 and the third connecting rod 1221 are kept as one unit to effectively prevent the first connecting rod 1211 and the third connecting rod 1221 from moving; and after the first connecting rod 1211 and the third connecting rod 1221 are kept as one unit, the first connecting rod 1211 and the third connecting rod 1221 can be moved together to simultaneously achieve vertical clamping and horizontal pressing, or simultaneously release vertical clamping and horizontal pressing.

[0034] Furthermore, such as Figure 5 , 6 As shown in Figure 7, the locking device 13 includes a braking element 131, which is mounted on the mounting base 11. A limiting element 125 is provided on the side of the first handle 121 near the locking device 13. When the first clamping assembly 123 clamps the operating table, the limiting element 125 abuts against the braking element 131, and the braking element 131 restricts the movement of the limiting element 125.

[0035] In this embodiment, the movement of the limiting member 125 is restricted by the braking member 131. Since the limiting member 125 is provided on the first handle 121, the movement of the first handle 121 is restricted.

[0036] Specifically, the limiting member 125 is provided on the second connecting rod 1212; when the second connecting rod 1212 is locked by the limiting member 125, the first connecting rod 1211 cannot drive the vertical pressing cam 1231 to rotate clockwise around the second fixed axis 112 through the second connecting rod 1212 to release the operating table.

[0037] like Figure 6 and Figure 7 As shown, in one embodiment, the locking device 13 further includes a first power component 132, a first sensor 133, and a first positioning component 134; the first sensor 133 and the first power component 132 are both disposed on the mounting base 11, the braking component 131 is connected to the power output end of the first power component 132, and the limiting component 125 is provided with a first limiting groove 1251; the first positioning component 134 is disposed on the first clamping assembly 123 or the first handle 121, when the first clamping assembly 123 clamps the operating table, the first sensor 133 senses the first positioning component 134, and the first power component 132 drives the braking component 131 to move toward the limiting component 125, and the braking component 131 passes into the first limiting groove 1251.

[0038] In this embodiment, the first clamping assembly 123 or the first handle 121 drives the first positioning member 134. When the first clamping assembly 123 clamps the operating table, the first sensor 133 senses the first positioning member 134, and the first power member 132 drives the brake member 131, so that the brake member 131 enters the first limiting groove 1251, thereby locking the first handle 121. The first power member 132 is electrically connected to the external unlocking key. When the external unlocking key is pressed, the first power member 132 is activated, so that the first power member 132 drives the brake member 131 to move away from the first limiting groove 1251.

[0039] In this embodiment, the first positioning member 134 is disposed on the vertical clamping cam 1231.

[0040] In this embodiment, the first sensor 133 is a photoelectric sensor.

[0041] In this embodiment, the first power component 132 is a lead screw motor.

[0042] In this embodiment, the braking element 131 is a pin.

[0043] like Figure 7 As shown, the locking device 13 further includes a second sensor 135 and a second positioning member 136. The second sensor 135 is disposed on the mounting base 11, and the second positioning member 136 is disposed on the side of the braking member 131 adjacent to the second sensor 135. When the braking member 131 is inserted into the first limiting groove 1251, the second sensor 135 senses the second positioning member 136.

[0044] In this embodiment, the second sensor 135 and the second positioning member 136 confirm whether the braking member 131 has entered the first limiting groove 1251, so as to prevent the braking member 131 from being inaccurately positioned, which would affect the locking of the first handle 121.

[0045] In this embodiment, the second sensor 135 is a photoelectric sensor.

[0046] Furthermore, the locking device 13 also includes a first guide rail 139, which is disposed on the mounting base 11, and the braking member 131 is slidably disposed on the first guide rail 139. In this embodiment, the braking member 131 is slidably disposed on the first guide rail 139 to limit the sliding path of the braking member 131, prevent the braking member 131 from deviating when moving, and ensure that the braking member 131 passes into the first limiting groove 1251.

[0047] like Figures 8 to 12As shown, in another embodiment, the locking device 13 further includes a fixed base 137 and a first elastic member 138. The fixed base 137 is disposed on the mounting base 11. The two ends of the first elastic member 138 are respectively connected to the fixed base 137 and the braking member 131. The limiting member 125 is provided with a second limiting groove 1252. When the first handle 121 drives the first clamping assembly 123, the limiting member 125 pushes the braking member 131 to move in the direction of the first elastic member 138. When the first clamping assembly 123 clamps the operating table, the first elastic member 138 pushes the braking member 131 to pass into the second limiting groove 1252.

[0048] Specifically, such as Figure 12 As shown, when the first handle 121 drives the first clamping assembly 123, the first connecting rod 1211 rotates counterclockwise around the first fixed shaft 111, driving the second connecting rod 1212 to move. The second connecting rod 1212 drives the limiting member 125 to move, so that the limiting member 125 gradually abuts against the brake member 131, pushing the brake member 131 to move towards the first elastic member 138, causing the first elastic member 138 to be squeezed and deformed. When the highest point of the vertical clamping cam 1231 abuts against the operating table, completing the vertical clamping of the first clamping assembly 123, the second limiting groove 1252 aligns with the brake member 131, so that the limiting member 125 no longer abuts against the brake member 131. Under the elastic potential energy of the first elastic member 138, the first elastic member 138 pushes the brake member 131 into the second limiting groove 1252, realizing the locking of the second connecting rod 1212.

[0049] like Figure 9 , 10As shown in Figure 12, further, when the locking device 13 includes the fixed base 137 and the first elastic member 138, the surgical robotic arm also includes an unlocking assembly 14. The unlocking assembly 14 includes an unlocking buckle 141, a slider 142, and a second elastic member 143. One side of the unlocking buckle 141 is slidably connected to the fixed base 137, and the other side of the unlocking buckle 141 is fixedly connected to the braking member 131. When the unlocking buckle 141 slides away from the limiting member 125, the unlocking buckle 141 drives the braking member 131 to disengage from the second limiting groove 1252. The two ends of the second elastic member 143 are respectively connected to the mounting base. When the brake member 131 disengages from the second limiting groove 1252, the second elastic member 143 drives the slider 142 to abut against the unlocking buckle 141 to restrict the unlocking buckle 141 from moving towards the limiting member 125, thus keeping the brake member 131 disengaged from the second limiting groove 1252. The second handle 122 is used to drive the slider 142 to move towards the mounting base 11, releasing the abutment between the slider 142 and the unlocking buckle 141, releasing the unlocking buckle 141, and restoring the brake member 131 to the state of being inserted into the second limiting groove 1252.

[0050] In this embodiment, when disassembling the surgical robotic arm, such as Figure 12 As shown, pushing the unlocking buckle 141 upward causes the unlocking buckle 141 to move the braking member 131 away from the limiting member 125, causing the braking member 131 to disengage from the second limiting groove 1252 of the limiting member 125, thereby unlocking the first handle 121; when the second handle 122 drives the second clamping assembly 124 to release the operating table, the second handle 122 drives the slider 142 to move towards the mounting base 11, thereby canceling the contact between the slider 142 and the unlocking buckle 141, and under the elastic potential energy of the first elastic member 138, the first elastic member 138 pushes the braking member 131 and the unlocking buckle 141 back into place.

[0051] like Figure 9 , 10 As shown, the slider 142 is slidably mounted on the fixed base 137 at one end away from the brake member 131. The fixed base 137 has a first through groove 1371 extending through both the upper and lower ends. The slider 142 has a second through groove 1421 extending through both the upper and lower ends. The second through groove 1421 covers the first through groove 1371 in the orthographic projection of the fixed base 137, that is, the slider 142 partially blocks the first through groove 1371. The unlocking buckle 141 is slidably mounted in the first through groove 1371 and is perpendicular to the slider 142. The unlocking buckle 141 moves toward the slider 142. After the end of the unlocking buckle 141 abuts against the side wall of the second through groove 1421, the unlocking buckle 141 pushes the slider 142 toward the second elastic member 143, so that the projection of the second through groove 1421 onto the fixed base 137 does not cover the first through groove 1371, that is, the slider 142 no longer blocks the first through groove 1371. The end of the unlocking buckle 141 protrudes from the second through groove 1421. The second elastic member 143 pushes the slider 142 back to its original position. The projection of the second through groove 1421 onto the fixed base 137 covers the first through groove 1371, that is, the slider 142 again partially blocks the first through groove 1371, so that the end of the unlocking buckle 141 abuts against the top surface of the slider 142, causing the braking member 131 to disengage from the second limiting groove 1252.

[0052] Reference Figure 9 When the second handle 122 drives the second clamping assembly 124 to release the operating table, the second handle 122 pushes the slider 142 to move towards the second elastic member 143, so that the projection of the second through groove 1421 on the fixed base 137 does not cover the first through groove 1371, that is, the slider 142 no longer blocks the first through groove 1371, the end of the unlocking buckle 141 separates from the slider 142, and the first elastic member 138 pushes the braking member 131 and the unlocking buckle 141 to reset.

[0053] Specifically, the third link 1221 rotates clockwise around the first fixed axis 111, causing the fourth link 1222 to move. At the same time, the side of the fourth link 1222 abuts against the slider 142, causing the slider 142 to move towards the second elastic element 143.

[0054] like Figure 10 As shown, further, the end of the unlocking buckle 141 is provided with a first inclined surface 1411, and one end of the unlocking buckle 141 is also provided with a locking groove 1412. The locking groove 1412 and the first inclined surface 1411 are spaced apart on the side of the unlocking buckle 141 away from the brake member 131. The side wall of the second through groove 1421 is provided with a second inclined surface 1422 inclined towards the brake member 131. When the unlocking buckle 141 slides away from the limiting member 125, the first inclined surface 1411 is used to abut against the second inclined surface 1422. When the second elastic member 143 drives the slider 142 to abut against the unlocking buckle 141, the slider 142 is engaged with the locking groove 1412.

[0055] In this embodiment, when the unlocking buckle 141 slides away from the limiting member 125, the first inclined surface 1411 abuts against the second inclined surface 1422. As the unlocking buckle 141 moves, the first inclined surface 1411 gradually pushes the slider 142 towards the second elastic member 143 through the second inclined surface 1422. When the first inclined surface 1411 of the unlocking buckle 141 passes the second inclined surface 1422, the unlocking buckle 141 no longer applies pressure to the second elastic member 143, causing the second elastic member 143 to push the slider 142 back to its original position. At the same time, as the unlocking buckle 141 moves, the locking groove 1412 abuts against the top surface of the slider 142, thereby disengaging the braking member 131 from the second limiting groove 1252 and fixing it in place. The first inclined surface 1411 and the second inclined surface 1422 are provided to facilitate the movement of the slider 142 by the unlocking buckle 141, and the locking groove 1412 is provided to fix the position of the unlocking buckle 141.

[0056] like Figures 1 to 4 As shown, the surgical robotic arm further includes a lateral fixation device 2, which is located on the side of the mounting base 11 away from the clamping device 12. The lateral fixation device 2 and the clamping device 12 are clamped and fixed to opposite sides of the operating table. The lateral fixation device 2 includes a mounting plate 21, a movable component 22, and an adjustment component 23. The mounting plate 21 is connected to the mounting base 11, and the movable component 22 is slidably disposed on the mounting plate 21. The adjustment component 23 is disposed on the mounting plate 21 and is used to clamp or release the movable component 22. The adjustment component 23 includes a clamping plate 231 and a handle 232. One end of the clamping plate 231 is rotatably disposed on the mounting plate 21, and the other end is used to abut against the movable component 22. The handle 232 is rotatably disposed on the mounting plate 21 and is used to drive the clamping plate 231 to rotate toward or away from the movable component 22 to clamp or release the movable component 22.

[0057] In this embodiment, the movable component 22 and the clamping device 12 are clamped and fixed to opposite sides of the operating table. When it is necessary to adjust the position of the movable component 22, the handle 232 is rotated in the opposite direction of the clamping rotation direction. Figure 1 (Rotating counterclockwise or outward along the horizontal plane) causes the clamping plate 231 to rotate away from the movable component 22, thereby releasing the movable component 22 and allowing it to slide onto the mounting plate 21; when the movable component 22 moves to the desired position, rotate the handle 232 in the clamping rotation direction (in... Figure 1 The clamping plate 231 rotates clockwise or inward along the horizontal plane to rotate toward the movable component 22, thereby clamping the movable component 22 and fixing it. The position adjustment of the movable component 22 is easily achieved by the handle 232 and the clamping plate 231, which improves surgical efficiency and makes the surgical robotic arm suitable for various operating tables.

[0058] Furthermore, the lateral fixation device 2 also includes a base plate (not shown), which is connected to the mounting plate 21, and the movable component 22 is slidably disposed between the base plate and the mounting plate 21; the base plate can prevent the movable component 22 from falling off the mounting plate 21, thereby improving the reliability of the surgical robotic arm.

[0059] like Figure 4 As shown, the handle 232 further includes a hand-held portion 2321 and a cam 2322. The hand-held portion 2321 is connected to the cam 2322, and the cam 2322 is rotatably mounted on the mounting plate 21. The cam 2322 includes a first side surface 2323 and a second side surface 2324. The first side surface 2323 gradually thickens along the clamping rotation direction, and the second side surface 2324 gradually thins along the clamping rotation direction. The hand-held portion 2321 rotates along the clamping rotation direction, driving the first side surface 2323 to abut against the clamping plate 231. The clamping plate 231 rotates toward the movable component 22. When the second side surface 2324 abuts against the clamping plate 231, the clamping plate 231 clamps the movable component 22.

[0060] In this embodiment, since the first side 2323 gradually thickens along the clamping rotation direction, while the second side 2324 gradually thins along the clamping rotation direction, the intersection of the two sides is the highest point of the cam 2322. When the second side 2324 abuts against the clamping plate 231, the clamping plate 231 clamps the movable component 22, that is, under the drive of the handheld part 2321, it rotates past the highest point of the cam 2322, which plays a role in preventing loosening and preventing the cam 2322 from easily rotating in the opposite direction of the clamping rotation direction when the handheld part 2321 is accidentally touched, thereby preventing the movable component 22 from being released.

[0061] Furthermore, the adjustment component 23 includes a third elastic element 233, the two ends of which are respectively connected to the mounting plate 21 and the side of the clamping plate 231 away from the movable component 22.

[0062] In this embodiment, the third elastic element 233 is used to pull up the clamping plate 231 when the handle 232 is rotated in the opposite direction of the clamping rotation direction, thereby realizing the function of quickly releasing the movable component 22.

[0063] Furthermore, the clamping plate 231 has a groove 2311 on the side away from the handle 232.

[0064] In this embodiment, the groove 2311 is provided so that the side of the clamping plate 231 adjacent to the movable component 22 is wavy, so as to enhance the surface friction of the clamping plate 231 and effectively clamp the movable component 22.

[0065] Furthermore, the adjustment assembly 23 also includes an adjustment rod 234, which is rotatably disposed on the side of the mounting plate 21 away from the handle 232, and the end of the adjustment rod 234 near the clamping plate 231 abuts against the movable assembly 22.

[0066] In this embodiment, after the handle 232 drives the clamping plate 231 to clamp the movable component 22, the movable component 22 is further pushed by the adjusting rod 234. The two opposite sides of the movable component 22 are clamped by the adjusting rod 234 and the clamping plate 231 to fix the movable component 22.

[0067] Furthermore, the adjustment assembly 23 also includes an adjustment block 235 and a locking rod 236. The adjustment block 235 is located between the adjustment rod 234 and the movable assembly 22. The locking rod 236 is rotatably disposed on the side of the mounting plate 21 away from the handle 232. The locking rod 236 is spaced apart from the adjustment rod 234, and one end of the locking rod 236 near the clamping plate 231 is threadedly connected to the adjustment block 235.

[0068] In this embodiment, the adjusting rod 234 first pushes the adjusting block 235 to a suitable position, and then the locking rod 236 fixes the position of the adjusting block 235. The position of the adjusting block 235 is adjusted to generate a suitable clamping force.

[0069] In this embodiment, the adjusting rod 234 is a screw.

[0070] In this embodiment, the locking rod 236 is a screw.

[0071] like Figure 4 As shown, the adjustment component 23 further includes a stop 237, which is movably disposed on the mounting plate 21. When the handle 232 drives the clamping plate 231 to clamp the movable component 22, the stop 237 is used to block the handle 232 from rotating in the opposite direction of the clamping rotation direction.

[0072] Specifically, the mounting plate 21 is provided with a rotating groove 211, one end of the handle 232 is located in the rotating groove 211, and the other end of the handle 232 extends out of the rotating groove 211; the stop 237 is rotatably disposed on the mounting plate 21 to rotate toward or away from the handle 232; after the handle 232 drives the clamping plate 231 to clamp the movable component 22, one side of the handle 232 abuts against the side wall of the rotating groove 211, and the stop 237 rotates toward the handle 232 to abut against the other side of the handle 232.

[0073] Furthermore, the stop 237 includes a rotating part 2371 and an elastic positioning pin 2372 mounted on the rotating part 2371. The handle 232 has a pin hole 2325 on the side near the stop 237. The elastic positioning pin 2372 is inserted into or removed from the pin hole 2325 to lock or unlock the handle 232.

[0074] In this embodiment, when one side of the handle 232 abuts against the side wall of the rotating groove 211, the rotating part 2371 rotates towards the handle 232 to abut against the other side of the handle 232, and the elastic positioning pin 2372 is inserted into the pin hole 2325 to lock the handle 232. When unlocking the handle 232, the elastic positioning pin 2372 is pulled away from the pin hole 2325, causing the elastic positioning pin 2372 to disengage from the pin hole 2325, and then the rotating part 2371 rotates away from the handle 232 to unlock the handle 232.

[0075] like Figure 1 As shown, the movable component 22 is further provided with a scale 221 to facilitate observation of the installation position of the movable component 22 on the mounting bracket.

[0076] Furthermore, the movable component 22 includes a sliding plate 222, a fixing plate 223, an adjusting member 224, and a first knob assembly 225. The sliding plate 222 is slidably mounted on the mounting plate 21 and is adjustable in the horizontal direction relative to the mounting plate 21. The fixing plate 223 is located at the end of the sliding plate 222 away from the mounting plate 21. The adjusting member 224 is slidably mounted on the fixing plate 223 and is adjustable in the vertical direction. The first knob assembly 225 is threadedly connected to the adjusting member 224 and is used to cooperate with the adjusting member 224 to clamp or release the fixing plate 223.

[0077] In this embodiment, the surgical robotic arm can be adapted to different sizes of operating tables by means of the vertically adjustable adjustment member 224 and the horizontally adjustable sliding plate 222.

[0078] like Figure 13 As shown, the first knob assembly 225 further includes a rotary rod 2251, a fourth elastic element 2252, a rotating block 2253, and a fixing block 2254. The rotating block 2253 and the fixing block 2254 are provided with corresponding slot structures. One end of the rotary rod 2251 is threadedly connected to the adjusting member 224, and the other end of the rotary rod 2251 is fixedly connected to the fixing block 2254. The two ends of the fourth elastic element 2252 are respectively connected to the rotating block 2253 and the fixing block 2254. The rotating block 2253 and the fourth elastic element 2252 are pushed to move towards the fixed block 2254, whereby the rotating block 2253 engages with the fixed block 2254. The rotating block 2253 drives the fixed block 2254 and the rotating rod 2251 to rotate, and the fixed block 2254 moves toward or away from the adjusting member 224 to drive the fixed block 2254 and the adjusting member 224 to clamp or release the fixed plate 223. When the rotating block 2253 is released, the fourth elastic element 2252 pushes the rotating block 2253 to move away from the fixed block 2254, and the rotating block 2253 separates from the fixed block 2254.

[0079] In this embodiment, it is necessary to push the rotating block 2253 and the fourth elastic member 2252 towards the fixed block 2254 and engage the rotating block 2253 with the fixed block 2254 before the rotating rod 2251 can be rotated. This increases the difficulty of adjusting the position of the adjusting member 224 and effectively avoids accidental activation of the first knob assembly 225. By rotating the rotating rod 2251 counterclockwise or clockwise, the fixed block 2254 moves toward or away from the adjusting member 224. When the fixed block 2254 moves away from the adjusting member 224, the fixed block 2254 and the adjusting member 224 release the fixing plate 223, allowing the adjusting member 224 to move vertically along the fixed block 2254. When the fixed block 2254 moves toward the adjusting member 224, the fixed block 2254 and the adjusting member 224 clamp the fixing plate 223, fixing the position of the adjusting member 224.

[0080] Furthermore, the first knob assembly 225 also includes a plug rod 2255, which is disposed on the fixing block 2254 and is sleeved with the rotating block 2253; the plug rod 2255 restricts the position of the rotating block 2253.

[0081] like Figure 1 and Figure 2 As shown, the base 1 further includes a second knob assembly 16 and a housing 15. The second knob assembly 16 is threadedly connected to the mounting base 11. The mounting base 11 is slidably mounted on the housing 15 and is adjustable in the vertical direction.

[0082] In this embodiment, the position of the mounting base 11 is adjusted by the second knob assembly 16, so that the surgical robotic arm can be adapted to operating tables of different sizes.

[0083] Furthermore, the lateral fixing device 2 is located at the end of the housing 15 away from the clamping device 12.

[0084] It should be noted that the first knob assembly 225 and the second knob assembly 16 have the same structure, which will not be described in detail here.

[0085] like Figure 1 and Figure 2 , Figures 14 to 16 As shown, the surgical robotic arm further includes a height adjustment mechanism 3 mounted on the mounting base 11; the height adjustment mechanism 3 includes a housing 31 of a four-bar linkage and a telescopic assembly 32; the telescopic assembly 32 is used to adjust the supporting force of the height adjustment mechanism 3; The telescopic assembly 32 includes a gas spring 321, a second power component 322, a connector 323, and a second guide rail 324. The two ends of the gas spring 321 are respectively connected to the two ends of the four-bar linkage of the housing 31 on opposite sides. The second power component 322 and the second guide rail 324 are sequentially arranged inside the housing 31. The power output end of the second power component 322 is slidably mounted on the second guide rail 324. The two ends of the connector 323 are respectively connected to the power output end of the second power component 322 and the starting end of the gas spring 321.

[0086] In this embodiment, the gas spring 321 is a self-locking gas spring, such as... Figure 14 As shown, when the second power component 322 pulls the connecting component 323 to the left, causing the starting end of the gas spring 321 to rotate clockwise, the gas spring 321 unlocks and can extend and retract normally; when the second power component 322 pushes the connecting component 323 to the right, causing the starting end of the gas spring 321 to rotate counterclockwise, the gas spring 321 locks and cannot extend and retract normally; this application makes the braking structure of the height adjustment mechanism 3 simpler and more reliable.

[0087] In this embodiment, the second guide rail 324 provides support for the second power member 322, preventing the lateral force when the connector 323 is tightened from acting directly on the second power member 322.

[0088] In this embodiment, the second power component 322 is a lead screw motor.

[0089] Furthermore, the telescopic assembly 32 also includes a third sensor 325 and a third positioning member 326. The third sensor 325 is disposed on the housing 15 or the second guide rail 324, and the third positioning member 326 is disposed on the power output end of the second power member 322. When the second power member 322 pushes the connecting member 323 to move to the right, causing the starting end of the gas spring 321 to rotate counterclockwise, the third sensor 325 senses the third positioning member 326.

[0090] In this embodiment, the third sensor 325 is used to detect whether the gas spring 321 is in a locked state. When the gas spring 321 is in a locked state, the housing 31 of the four-bar linkage of the height adjustment mechanism 3 cannot be moved and is also in a locked state.

[0091] In this embodiment, the third sensor 325 is a photoelectric sensor.

[0092] Furthermore, the telescopic assembly 32 also includes a lead screw 327 and a connecting seat 328. The lead screw 327 is located at one end of the housing 31. The connecting seat 328 is rotatably connected to the lead screw 327, and the end of the gas spring 321 is connected to the connecting seat 328.

[0093] In this embodiment, rotating the lead screw 327 causes the connecting seat 328 to move along the length of the lead screw 327, thereby adjusting the spring arm of the gas spring 321 and making the lifting force adjustment range of the height adjustment mechanism 3 larger.

[0094] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A surgical robotic arm, characterized in that, include: A base; the base includes a mounting seat, and a clamping device and a locking device both disposed on the mounting seat; The clamping device includes a first handle, a second handle, a first clamping assembly, and a second clamping assembly. The first handle is used to drive the first clamping assembly to clamp or release both ends of the operating table in a first direction, and the second handle is used to drive the second clamping assembly to clamp or release both ends of the operating table in a second direction. When the first clamping assembly and the second clamping assembly clamp the operating table respectively, the first handle abuts against the second handle, and the locking device locks the first handle to restrict the movement of the second handle; The locking device includes a brake element mounted on the mounting base. A limiting element is provided on the side of the first handle adjacent to the locking device. When the first clamping assembly clamps the operating table, the limiting element abuts against the brake element, and the brake element restricts the movement of the limiting element.

2. The surgical robotic arm according to claim 1, characterized in that, The locking device further includes a first power component, a first sensor, and a first positioning component; the first sensor and the first power component are both mounted on the mounting base, the braking component is connected to the power output end of the first power component, and the limiting component is provided with a first limiting groove; the first positioning component is mounted on the first clamping assembly or the first handle, and when the first clamping assembly clamps the operating table, the first sensor senses the first positioning component, the first power component drives the braking component to move toward the limiting component, and the braking component passes into the first limiting groove; or The locking device further includes a fixed base and a first elastic element. The fixed base is disposed on the mounting base. The two ends of the first elastic element are respectively connected to the fixed base and the braking element. The limiting element is provided with a second limiting groove. When the first handle drives the first clamping assembly, the limiting element pushes the braking element to move in the direction of the first elastic element. When the first clamping assembly clamps the operating table, the first elastic element pushes the braking element to pass into the second limiting groove.

3. The surgical robotic arm according to claim 2, characterized in that, When the locking device includes the fixed base and the first elastic element, the surgical robotic arm further includes an unlocking assembly, which includes an unlocking buckle, a slider, and a second elastic element; One side of the unlocking buckle is slidably connected to the fixed base, and the other side of the unlocking buckle is fixedly connected to the braking member. When the unlocking buckle slides away from the limiting member, the unlocking buckle drives the braking member to disengage from the second limiting groove. The two ends of the second elastic member are respectively connected to the mounting base and the slider. When the braking member disengages from the second limiting groove, the second elastic member drives the slider to abut against the unlocking buckle to restrict the unlocking buckle from moving towards the limiting member. The second handle is used to drive the slider to move closer to the mounting base to release the unlocking latch.

4. The surgical robotic arm according to claim 1, characterized in that, The surgical robotic arm also includes a lateral fixation device, which is located on the side of the mounting base away from the clamping device. The lateral fixation device and the clamping device are clamped and fixed to opposite sides of the operating table. The lateral fixing device includes a mounting plate, a movable component, and an adjusting component. The mounting plate is connected to the mounting base, and the movable component is slidably disposed on the mounting plate. The adjusting component is disposed on the mounting plate and is used to clamp or release the movable component. The adjusting component includes a clamping plate and a handle. One end of the clamping plate is rotatably mounted on the mounting plate, and the other end is used to abut against the movable component; The handle is rotatably mounted on the mounting plate and is used to drive the clamping plate to rotate toward or away from the movable component in order to clamp or release the movable component.

5. The surgical robotic arm according to claim 4, characterized in that, The handle includes a hand-held part and a cam, the hand-held part is connected to the cam, and the cam is rotatably mounted on the mounting plate; the cam includes a first side and a second side, the first side gradually thickens along the clamping rotation direction, and the second side gradually thins along the clamping rotation direction; The handheld part rotates along the clamping rotation direction, driving the first side to abut against the clamping plate. The clamping plate rotates toward the movable component. When the second side abuts against the clamping plate, the clamping plate clamps the movable component.

6. The surgical robotic arm according to claim 4, characterized in that, The adjusting assembly includes a third elastic element, the two ends of which are respectively connected to the mounting plate and the side of the clamping plate away from the movable assembly; and / or The clamping plate has a groove on the side away from the handle; and / or The adjusting assembly further includes an adjusting rod, which is rotatably disposed on the side of the mounting plate away from the handle, and one end of the adjusting rod near the clamping plate abuts against the movable assembly; and / or The adjustment assembly further includes a stop, which is movably mounted on the mounting plate. When the handle drives the clamping plate to clamp the movable assembly, the stop is used to prevent the handle from rotating in the opposite direction of the clamping rotation; and / or The active component is equipped with a scale.

7. The surgical robotic arm according to claim 4, characterized in that, The movable component includes a sliding plate, a fixed plate, an adjusting member, and a first knob assembly. The sliding plate is slidably mounted on the mounting plate and is adjustable horizontally relative to the mounting plate. The fixed plate is located at the end of the sliding plate away from the mounting plate. The adjusting member is slidably mounted on the fixed plate and is adjustable vertically. The first knob assembly is threadedly connected to the adjusting member and is used to cooperate with the adjusting member to clamp or release the fixed plate.

8. The surgical robotic arm according to claim 1, characterized in that, The surgical robotic arm also includes a height adjustment mechanism mounted on the mounting base; the height adjustment mechanism includes a housing of a four-bar linkage and a telescopic assembly; the telescopic assembly is used to adjust the support force of the height adjustment mechanism; The telescopic assembly includes a gas spring, a second power component, a connecting component, and a second guide rail. The two ends of the gas spring are respectively connected to the two opposite ends of the four-bar linkage of the housing. The second power component and the second guide rail are sequentially arranged inside the housing. The power output end of the second power component slides on the second guide rail. The two ends of the connecting component are respectively connected to the power output end of the second power component and the starting end of the gas spring.

9. The surgical robotic arm according to claim 8, characterized in that, The telescopic assembly also includes a lead screw and a connecting seat. The lead screw is located at one end of the housing. The connecting seat is rotatably connected to the lead screw, and the end of the gas spring is connected to the connecting seat.

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