Docking mechanism, medical robot arm and operating table combination

Abstract

The application provides a docking mechanism, a medical mechanical arm and a surgical bed combination, which comprises a suspension mechanism, a guide column, a guide sleeve, a locker and a locking sleeve. One of the guide column and the guide sleeve is installed on an A component, and the other is installed on a B component. The connection of the A component and the B component is guided through the cooperation of the guide column and the guide sleeve, and the docking between the locker and the locking sleeve is assisted. One of the locker and the locking sleeve is installed on the A component, and the other is installed on the B component. The A component and the B component can be connected together through the cooperation between the locker and the locking sleeve. The suspension mechanism is installed on the A component or the B component. The suspension mechanism makes the A component or the B component float up and down relative to the ground, thereby adjusting the relative positions between the guide column and the guide sleeve and between the locker and the locking sleeve, facilitating the docking of the A component and the B component. In addition, the suspension mechanism can adjust the floating degree.

Description

Technical Field

[0001] This application pertains to a connection structure, specifically a docking mechanism, a combination of a medical robotic arm and an operating table. Background Technology

[0002] In robotic-assisted orthopedic interventional surgery, a mobile robotic arm with casters is typically placed in a suitable position beside the operating table before surgery, ensuring the robotic arm's operating space covers the surgical area. Both the robotic arm and the operating table are then kept stationary. During the surgery, when the operating table needs to be moved, the robotic arm adjusts accordingly. After the surgery, the robotic arm is moved to another area for storage, and the operating table is moved and placed in a suitable location. Therefore, each surgery requires constant readjustment of the relative positions of the robotic arm and the operating table, and the robotic arm's operating space must cover the surgical area, making the process cumbersome, time-consuming, and labor-intensive.

[0003] To address the aforementioned issues, several publicly available technologies have proposed corresponding solutions. For example, Chinese utility model patent CN218356370U discloses a bedside fixing device comprising a positioning unit, multiple robotic arms, multiple rotary joints, and connectors. The positioning unit is part of the surgical robot and is equipped with a clamping mechanism that allows manual adjustment of the position from three directions to clamp the connectors on the operating table. The fixing method uses threaded clamping, thereby integrating the vascular interventional surgical robot with the operating table and enabling it to move along with the operating table. Another example is PCT international application WO2023104798A1, which discloses a connection mechanism between a medical robotic arm and an operating table. This connection mechanism is fixed to the medical robotic arm, with one end connected to a mobile trolley via a locking mechanism, and the other end connected to the operating table's guide rail via a threaded slider clamping mechanism. When a medical robotic arm is needed, place the mobile trolley carrying the medical robotic arm in a suitable position on the operating table. Manually adjust the height and angle of the connecting mechanism to align it with the guide rails on the side of the operating table. Then, use a slider clamping method with threads to fix it to the guide rails. Finally, unlock the connection with the mobile trolley to achieve a fixed connection between the medical robotic arm and the operating table, allowing it to move together with the operating table.

[0004] The above solutions all have the following drawbacks: the connecting device of the medical robotic arm needs to be constantly adjusted to align with the guide rail or connecting target on the operating table. The operation process is still relatively cumbersome, time-consuming and labor-intensive. In practical applications, multiple people may be needed to complete the alignment and clamping operation. Summary of the Invention

[0005] The purpose of this application is to solve the problems in the prior art and provide a docking mechanism, a medical robotic arm and an operating table combination.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] In a first aspect, this application proposes a docking mechanism for connecting a movable component A and a movable component B; including a suspension mechanism, a guide post, a guide sleeve, a locking device, and a locking sleeve;

[0008] Of the guide post and guide sleeve, one is installed on component A and the other is installed on component B, and the guide post and guide sleeve are compatible with each other;

[0009] Of the locking device and the locking sleeve, one is installed on component A and the other is installed on component B, and the locking device and the locking sleeve are compatible with each other;

[0010] The suspension mechanism is installed on component A or component B, and is used to enable component A or component B, where the suspension mechanism is located, to float up and down relative to the ground, and to adjust the degree of floatability.

[0011] Furthermore, the suspension mechanism is an air suspension mechanism.

[0012] Furthermore, the suspension mechanism includes a support plate, an airbag, an air pump, and a connecting plate;

[0013] The airbag is installed between the support plate and the connecting plate, and the connecting plate is connected to component A or component B where the suspension mechanism is located.

[0014] The airbag is connected to the air pump, and an adjustable pressure valve is provided between the airbag and the air pump.

[0015] Furthermore, it also includes dampers;

[0016] The damper is mounted on the support plate, and the working end of the damper is connected to the connecting plate.

[0017] Furthermore, the locking device is a spherical locking device, and the locking sleeve is a wedge-shaped sleeve.

[0018] Furthermore, the locking device includes a pressure block, an elastic element, a connecting rod, a wedge, a locking sleeve, and at least two locking balls;

[0019] The locking sleeve is connected to component A or component B where the locking device is located. The locking sleeve has a hollow structure, and the hollow structure forms a limiting channel.

[0020] The pressure block, connecting rod, elastic element, and wedge are all installed in the limiting channel. The pressure block is located at one end of the connecting rod, the wedge is connected to the other end of the connecting rod, and the elastic element is fitted on the connecting rod. One end of the elastic element is connected to or connected to the pressure block, and the other end is connected to or abuts against the connecting rod.

[0021] The locking sleeve sidewall has at least two through holes at the small end of the wedge block sidewall, and each locking ball is located in each through hole, with each locking ball corresponding to a through hole.

[0022] The inner wall of the locking sleeve has at least two locking grooves, and each locking groove corresponds to a locking ball.

[0023] Furthermore, it also includes screw caps;

[0024] The cap is fitted onto the outside of one end of the locking sleeve, and the cap is connected to the pressure block.

[0025] Furthermore, a limiting step is provided on the side wall of the limiting channel;

[0026] A limiting block is provided between the connecting rod and the wedge, and the limiting block abuts against the limiting step to limit the axial movement range of the wedge.

[0027] Secondly, this application proposes a medical robotic arm and operating table combination, including an operating table, a robotic arm and a trolley, wherein the robotic arm is mounted on the trolley; the trolley and the operating table are connected by the aforementioned docking mechanism;

[0028] The operating table is considered as component A, and the trolley is considered as component B.

[0029] Furthermore, the locking sleeve, guide sleeve, and suspension mechanism are all mounted on the trolley;

[0030] The guide post and locking device are installed on the operating table;

[0031] The trolley is equipped with four casters at the bottom, and four suspension mechanisms are provided, each installed at one of the four casters.

[0032] Compared with the prior art, this application has the following beneficial effects:

[0033] This application proposes a docking mechanism, including a suspension mechanism, a guide post, a guide sleeve, a locking device, and a locking sleeve. One of the guide post and the guide sleeve is mounted on component A, and the other is mounted on component B. The cooperation between the guide post and the guide sleeve guides the connection between components A and B, facilitating the docking between the locking device and the locking sleeve. One of the locking device and the locking sleeve is mounted on component A, and the other on component B. The cooperation between the locking device and the locking sleeve connects components A and B together. The suspension mechanism is mounted on either component A or component B, causing component A or B to float vertically relative to the ground. This allows adjustment of the relative positions between the guide post and the guide sleeve, and between the locking device and the locking sleeve, facilitating the docking of components A and B. Furthermore, the suspension mechanism can adjust the degree of floatability. When components A and B move, the degree of floatability can be reduced to ensure stability; when docking is required, the degree of floatability can be increased to facilitate docking. The docking mechanism of this application is easy to operate, saves time and effort, and can achieve automatic adjustment and alignment to a certain extent through the suspension mechanism, making it highly practical.

[0034] This application also proposes a combination of a medical robotic arm and an operating table, wherein the trolley equipped with the robotic arm and the operating table are connected by the aforementioned docking mechanism, possessing all the advantages of the aforementioned docking mechanism. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of a structure of one embodiment of a docking mechanism according to this application;

[0037] Figure 2 A schematic diagram of the locking device and locking sleeve when they are not connected.

[0038] Figure 3 A schematic diagram of the structure after the locking device and locking sleeve are connected;

[0039] Figure 4 A schematic diagram of a suspension mechanism;

[0040] Figure 5 This is a schematic diagram showing the state when the operating table and trolley are not connected in the embodiments of this application;

[0041] Figure 6 This is a schematic diagram showing the state of the operating table and trolley after they are connected in an embodiment of this application;

[0042] Figure 7 This is a schematic diagram of an air supply principle when four air suspension mechanisms are set in an embodiment of this application;

[0043] Figure 8 This is a schematic diagram illustrating a process for connecting and locking a medical robotic arm and an operating table in an embodiment of this application.

[0044] The components are: 1-Component A, 2-Component B, 3-Suspension mechanism, 301-Support plate, 302-Airbag, 303-Air pump, 304-Connecting plate, 305-Adjustable pressure valve, 306-Damper, 307-Air pipe, 308-Air collection valve island, 4-Guide column, 5-Guide sleeve, 6-Locking device, 601-Pressure block, 602-Elastic element, 603-Connecting rod, 604-Wedge block, 605-Locking sleeve, 606-Locking ball, 607-Through hole, 608-Screw cap, 609-Limiting step, 7-Locking sleeve, 8-Mechanical arm, 9-Cast, 10-Handrail, 11-Operating table, 12-Trolley. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0047] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0048] In the description of the embodiments of this application, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0049] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0050] In the description of the embodiments of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0051] In orthopedic interventional surgery assisted by a robotic arm 8, the robotic arm 8 sometimes needs to move synchronously with the operating table 11, and sometimes it needs to move separately. Therefore, it is necessary to connect the robotic arm 8 and the operating table 11, and it needs to be easy to assemble and disassemble. To address this issue, this application proposes a docking mechanism, a combination of a medical robotic arm and an operating table. The docking mechanism can not only connect the robotic arm 8 and the operating table 11, but also connect other two components with similar requirements.

[0052] The present application will be further described in detail below with reference to the embodiments and accompanying drawings:

[0053] like Figure 1 The diagram shown is a structural schematic of a docking mechanism according to this application. This application proposes a docking mechanism for connecting a movable component A 1 and a movable component B 2. This docking mechanism can be used to connect two components with similar connection requirements as a robotic arm 8 and an operating table 11. The docking mechanism may include a suspension mechanism 3, a guide column 4, a guide sleeve 5, a locking device 6, and a locking sleeve 7.

[0054] Of the guide post 4 and guide sleeve 5, one is installed on component A 1 and the other is installed on component B 2, and the guide post 4 and guide sleeve 5 are compatible. When connection is required, the guide post 4 is inserted into the guide sleeve 5 to provide guidance and positioning. The guide post 4 and guide sleeve 5 can be installed on component A 1 and component B 2 respectively. In practical applications, the specific installation position, structure, and number of guide posts 4 and guide sleeves 5 can be adjusted according to actual needs, and this application does not impose any restrictions.

[0055] Of the locking device 6 and locking sleeve 7, one is mounted on component A 1, and the other is mounted on component B 2. Locking device 6 and locking sleeve 7 are compatible. When connection is required, under the positioning action of guide post 4 and guide sleeve 5, locking device 6 and locking sleeve 7 can accurately align and lock. In practical applications, the specific installation position, structure, and number of locking devices 6 and locking sleeve 7 can be adjusted according to actual needs. The specific structure of locking devices 6 and locking sleeve 7 only needs to facilitate the locking operation.

[0056] The levitation mechanism 3 is installed on component A 1 or component B 2, and is used to enable component A 1 or component B 2, where the levitation mechanism 3 is located, to float up and down relative to the ground, and to adjust the degree of floating. In practical applications, the specific type and levitation principle of the levitation mechanism 3 can be adjusted according to the actual usage scenario.

[0057] As one structure of the locking device 6 and locking sleeve 7 in this application, such as Figure 2 The diagram shown is a structural schematic of the locking device 6 and locking sleeve 7 when they are not aligned. Figure 3 The diagram shown is a structural schematic of the locking device 6 and the locking sleeve 7 after they are connected.

[0058] like Figure 2 As shown, the locking device 6 can be a ball-shaped locking device 6, and the locking sleeve 7 can be a wedge-shaped sleeve. The locking device 6 includes a pressure block 601, an elastic element 602, a connecting rod 603, a wedge block 604, a locking sleeve 605, and at least two locking balls 606. The number of locking balls 606 can be adjusted as needed, but generally, there are at least two.

[0059] The locking sleeve 605 is connected to component A 1 or component B 2 where the locking device 6 is located. The locking sleeve 605 has a hollow structure, which forms a limiting channel. The pressure block 601, connecting rod 603, elastic element 602, and wedge block 604 are all installed in the limiting channel. The pressure block 601 is located at one end of the connecting rod 603, the wedge block 604 is connected to the other end of the connecting rod 603, and the elastic element 602 is fitted onto the connecting rod 603. One end of the elastic element 602 is connected to or abuts against the pressure block 601, and the other end is connected to or abuts against the connecting rod 603. At least two through holes 607 are opened on the side wall of the locking sleeve 605 at the small end of the side wall of the wedge block 604. Each of the locking balls 606 is located in the respective through hole 607, and the locking balls 606 correspond one-to-one with the through holes 607. At least two locking grooves are opened on the inner wall of the locking sleeve 7, and the locking grooves correspond one-to-one with the locking balls 606.

[0060] In practical applications, when the locking sleeve 605 extends into the wedge-shaped sleeve and the pressure block 601 moves downward, it drives the wedge block 604 to move downward synchronously, compressing the spring. Since the locking ball 606 is located on the smaller end side of the wedge block 604, after the wedge block 604 moves downward, the side wall of the wedge block 604 gradually squeezes the locking ball 606, causing the locking ball 606 to move into the through hole 607. At the same time, rotating the pressure block 601 causes the wedge block 604 to drive the locking ball 606 to rotate synchronously until the locking ball 606 enters the locking groove on the inner wall of the wedge-shaped sleeve, thus achieving locking. Figure 3 The diagram shows the state after the locking sleeve 605 is inserted into the wedge-shaped sleeve, and the locking ball 606 is engaged with the locking groove to lock in place. This structure enables rapid clamping and is easy to operate. The locking and releasing functions can be achieved by rotating the cap 608 to push the ball out and in, thus enabling the ball to extend and retract.

[0061] In other embodiments of this application, for ease of operation, the locking device 6 may further include a cap 608, which is fitted onto the outside of one end of the locking sleeve 605. The cap 608 is connected to the pressure block 601. Rotating and pressing down the cap 608 causes the wedge block 604 to rotate and move axially downward. When unlocking is required, the wedge block 604 moves axially upward, the locking ball 606 moves toward the through hole 607, and rotating the wedge block 604 unlocks the device. Simultaneously, the elastic element 602 provides rebound and buffering. It should be noted that the connection between the cap 608, the pressure block 601, and the locking sleeve 605 can be varied. For example, the cap 608 can be threaded to the locking sleeve 605, or it can be electrically driven, such as by an electromagnetic switch or a pneumatic switch. Other connection methods can also be used, as long as the corresponding function is achieved.

[0062] In other embodiments of this application, in order to limit the axial movement range of the wedge 604, a limiting step 609 can be provided on the side wall of the limiting channel, and a limiting block is provided between the connecting rod 603 and the wedge 604, with the limiting block abutting against the limiting step 609.

[0063] like Figure 4 The diagram shown illustrates a structural design of the suspension mechanism 3 of this application. The air suspension mechanism 3 may include a support plate 301, an airbag 302, an air pump 303, and a connecting plate 304. The airbag 302 is installed between the support plate 301 and the connecting plate 304. The connecting plate 304 is connected to component A 1 or component B 2 of the suspension mechanism 3. The airbag 302 is connected to the air pump 303. An adjustable pressure valve 305 is provided between the airbag 302 and the air pump 303. For stable floating, a damper 306 may also be provided. The damper 306 is installed on the support plate 301, and its working end is connected to the connecting plate 304. The air pump 303 supplies gas to the airbag 302, and the adjustable pressure valve 305 can adjust the pressure of the supplied gas. Figure 7 The diagram shows a schematic of an air supply principle when four air suspension mechanisms 3 are set. In practical applications, the specific number of air suspension mechanisms 3 for components A 1 and B 2 can be adjusted as needed. Taking the movement of components A 1 and B 2 via casters 9 as an example, the casters 9 can be integrated with the air suspension mechanisms 3. The casters 9 are installed at the bottom of the support plate 301. The casters 9 can be existing casters that can achieve a locking function. This application does not limit the specific structure of the casters 9. In practical applications, the air pump 303 outputs gas, and the adjustable pressure valve 305 can regulate the gas pressure. The gas is first delivered to the gas collection valve island 308, and then delivered to the air bladders 302 of each suspension mechanism 3 through four air pipes 307. When it is necessary to increase the suspension state, the pressure of the air bladder 302 is reduced by the adjustable pressure valve 305, that is, the stiffness of the air bladder 302 becomes lower. Conversely, when it is necessary to reduce the levitation state, the pressure of the airbag 302 is increased through the adjustable pressure valve 305, which increases the stiffness of the airbag 302. The damper 306 can make the levitation more stable.

[0064] Based on the aforementioned docking mechanism, this application also proposes a medical robotic arm and operating table assembly, including an operating table 11, a robotic arm 8, and a trolley 12. The robotic arm 8 is mounted on the trolley 12, and the trolley 12 and the operating table 11 are connected using the docking mechanism proposed in this application, thereby enabling the robotic arm 8 and the operating table 11 to be connected. Figure 5The diagram shows the state when the operating table 11 and the trolley 12 are not connected. As an example, the locking sleeve 7, guide sleeve 5, and suspension mechanism 3 are all mounted on the trolley 12. Handrails 10 can also be installed on the trolley 12 for easy pushing and pulling. The trolley 12 has four casters 9 at its bottom, and four suspension mechanisms 3 are installed at each of the four casters 9. The guide column 4 and locking device 6 are mounted on the operating table 11. The installation positions of the locking sleeve 7, guide sleeve 5, and suspension mechanism 3 on the trolley 12, as well as the installation positions of the guide column 4 and locking device 6 on the operating table 11, can be adjusted without affecting the functions of the operating table 11, the trolley 12, and the robotic arm 8. Figure 6 The diagram shows the state after the operating table 11 and the trolley 12 are connected. The guide post 4 is located inside the guide sleeve 5, and the locking device 6 and the locking sleeve 7 work together to achieve locking.

[0065] like Figure 8 The diagram shown illustrates the process of connecting and locking the medical robotic arm and operating table in this application, which may include:

[0066] S101, the casters 9 of the operating table 11 are locked, the robotic arm 8 is pushed to a position near the operating table 11 via the trolley 12, and the adjustable pressure valve 305 is adjusted to reduce the stiffness of the airbag 302 and increase the suspension.

[0067] S102, by applying force to the handle 10 of the trolley 12, the position and angle of the guide post 4 are adjusted, and the guide sleeve 5 is roughly aligned.

[0068] S103, relying on the floating state of the suspension mechanism 3, the guide column 4 is pushed into the guide sleeve 5 to the bottom.

[0069] S104, rotate the cap 608 of the locking device 6 to a certain angle to clamp it, accompanied by a click when clamping.

[0070] S105, at this time the trolley 12 equipped with the robotic arm 8 is completely fixedly connected to the operating table 11 and can move together with the operating table 11.

[0071] S106, when it is necessary to separate the robotic arm 8 from the operating table 11, first rotate the knob of the locking device 6 in the opposite direction to a certain angle to loosen it, accompanied by a click when it is loosened.

[0072] S107, by applying force to the handrail 10 of the trolley 12 to pull the robotic arm 8 apart, the guide column 4 can be pulled out from the guide sleeve 5, thus completely separating the robotic arm 8 from the operating table 11.

[0073] S108, adjust the adjustable pressure valve 305 of the suspension mechanism 3 to increase the stiffness of the airbag 302, so that the robotic arm 8 can move smoothly.

[0074] In the medical robotic arm and operating table assembly of this application, when the trolley 12 is connected to the operating table 11, precise alignment is not required. The alignment can be achieved by relying on the free-floating state of the suspension mechanism 3 and applying force to the trolley 12 to insert the guide post 4 into the guide sleeve 5. Furthermore, quick clamping and release can be achieved through the locking device 6 and the locking sleeve 7, simplifying operation.

[0075] It should be noted that the interface provided in this application can also be used in other scenarios with similar connectivity needs, such as mobile charging.

[0076] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A medical robotic arm and operating table assembly, comprising an operating table (11), a robotic arm (8), a trolley (12), and a docking mechanism, wherein the robotic arm (8) is mounted on the trolley (12); characterized in that: A docking mechanism is used to connect the trolley (12) and the operating table (11); The docking mechanism is used to connect the movable A component (1) and the movable B component (2); the docking mechanism includes a suspension mechanism (3), a guide post (4), a guide sleeve (5), a locking device (6) and a locking sleeve (7); Of the guide post (4) and guide sleeve (5), one is installed on component A (1) and the other is installed on component B (2), and the guide post (4) and guide sleeve (5) are compatible with each other; Of the locking device (6) and the locking sleeve (7), one is installed on component A (1) and the other is installed on component B (2), and the locking device (6) and the locking sleeve (7) are compatible with each other; The suspension mechanism (3) is installed on component A (1) or component B (2) to enable component A (1) or component B (2) where the suspension mechanism (3) is located to float up and down relative to the ground and adjust the degree of floating. The operating table (11) is used as component A (1), and the trolley (12) is used as component B (2); The locking sleeve (7), guide sleeve (5) and suspension mechanism (3) are all installed on the trolley (12); The guide post (4) and the locking device (6) are mounted on the operating table (11); The trolley (12) has four casters (9) at its bottom, and the suspension mechanism (3) has four casters, which are respectively installed at the four casters (9).

2. The medical robotic arm and operating table combination according to claim 1, characterized in that: The suspension mechanism (3) is an air suspension mechanism (3).

3. The medical robotic arm and operating table combination according to claim 2, characterized in that: The suspension mechanism (3) includes a support plate (301), an airbag (302), an air pump (303), and a connecting plate (304); The airbag (302) is installed between the support plate (301) and the connecting plate (304), and the connecting plate (304) is connected to the A component (1) or B component (2) where the suspension mechanism (3) is located; The airbag (302) is connected to the air pump (303), and an adjustable pressure valve (305) is provided between the airbag (302) and the air pump (303).

4. The medical robotic arm and operating table combination according to claim 3, characterized in that: It also includes a damper (306); The damper (306) is mounted on the support plate (301), and the working end of the damper (306) is connected to the connecting plate (304).

5. A medical robotic arm and operating table assembly according to any one of claims 1 to 4, characterized in that: The locking device (6) is a spherical locking device (6), and the locking sleeve (7) is a wedge-shaped sleeve.

6. The medical robotic arm and operating table combination according to claim 5, characterized in that: The locking device (6) includes a pressure block (601), an elastic element (602), a connecting rod (603), a wedge (604), a locking sleeve (605), and at least two locking balls (606); The locking sleeve (605) is connected to component A (1) or component B (2) where the locking device (6) is located. The locking sleeve (605) has a hollow structure, and the hollow structure forms a limiting channel. The pressure block (601), connecting rod (603), elastic element (602), and wedge (604) are all installed in the limiting channel. The pressure block (601) is located at one end of the connecting rod (603), and the wedge (604) is connected to the other end of the connecting rod (603). The elastic element (602) is fitted on the connecting rod (603). One end of the elastic element (602) is connected to the pressure block (601), and the other end is connected to or abuts against the connecting rod (603). The sidewall of the lock sleeve (605) is provided with at least two through holes (607) at the small end of the sidewall of the wedge block (604), and each of the locking balls (606) is located in the through hole (607), with each locking ball (606) corresponding to a through hole (607). At least two locking grooves are provided on the inner wall of the locking sleeve (7), and the locking grooves correspond one-to-one with the locking ball (606).

7. The medical robotic arm and operating table combination according to claim 6, characterized in that: It also includes a screw cap (608); The cap (608) is fitted onto one end of the lock sleeve (605), and the cap (608) is connected to the pressure block (601).

8. The medical robotic arm and operating table combination according to claim 7, characterized in that: The limiting channel is provided with a limiting step (609) on its side wall; A limiting block is provided between the connecting rod (603) and the wedge (604), and the limiting block abuts against the limiting step (609) to limit the axial movement range of the wedge (604).

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