Robotic surgical arm cleaning apparatus

Abstract

The present application relates to a kind of robot surgical arm cleaning equipment, on the equipment, by the setting of liquid storage mechanism, liquid delivery mechanism and liquid guide mechanism, so that cleaning liquid can be automatically input into surgical arm for cleaning, avoid the cumbersome of manual injection, improve the cleaning convenience.Working personnel will robot surgical arm be fixed on the object frame and be placed in cleaning tank after corresponding, drive device is driven with transmission mechanism, torque can be input to the predetermined position on surgical arm, so that the functional end of surgical arm can be cleaned while moving, ensure that each position of functional end can be cleaned targetedly, greatly improve the cleaning effect;At the same time, fixed mechanism also ensures that surgical arm does not shake during cleaning process, improve cleaning stability, effectively guarantee the cleaning effect.Cleaning liquid can be sprayed on the position of surgical arm that is difficult to clean or needs to be cleaned by spraying mechanism, further improve the cleaning effect.

Description

Technical Field

[0001] This invention relates to the field of robotic surgical arms, and more particularly to robotic surgical arm cleaning equipment. Background Technology

[0002] With the continuous advancement of medical technology, the da Vinci Surgical System, as an advanced medical assistive device, has been widely used in many surgical fields. Its high-precision operation and three-dimensional visualization provide surgeons with an unprecedented surgical experience, significantly improving surgical outcomes and patients' quality of life. However, the use and maintenance of surgical robots also face some challenges, with the cleaning process of the surgical arms being particularly tedious and complex.

[0003] Currently, the cleaning process for surgical arms requires manual injection of cleaning solution into each irrigation port using syringes or similar tools to ensure the entire instrument is fully filled. This process is not only time-consuming but also demands a high level of skill and patience from the operator. Furthermore, to thoroughly clean the surgical arm, it is necessary to manually rotate the arm to ensure that the instrument joints, functional ends, surfaces with openings, cables, and pulleys are all thoroughly cleaned. This manual cleaning method is not only inefficient but also prone to incomplete cleaning due to improper operation, affecting the subsequent use of the surgical arm.

[0004] Therefore, the surgical arm cleaning process in related technologies suffers from problems such as cumbersome operation, low efficiency, and unstable cleaning results. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a robotic surgical arm cleaning device that can solve the problems of cumbersome cleaning process, low cleaning efficiency and poor cleaning effect of surgical arm cleaning.

[0006] This invention provides a robotic surgical arm cleaning device, comprising: A cleaning table, wherein at least one cleaning tank is provided on the cleaning table; The support device includes a cleaning frame, a carrying frame, a liquid guiding mechanism, a fixing mechanism, and a transmission mechanism. The carrying frame is rotatably mounted on the cleaning frame. The liquid guiding mechanism, the fixing mechanism, and the transmission mechanism are respectively mounted on the carrying frame. The liquid guiding mechanism is used to communicate with the irrigation port of the surgical arm. The fixing mechanism is used to fix the surgical arm. The transmission mechanism is used to drive the surgical arm. A drive unit, wherein the drive unit is disposed on the washing table; and A cleaning device, comprising a liquid storage mechanism, a liquid spraying mechanism, and a liquid delivery mechanism, wherein the liquid storage mechanism is disposed on the cleaning platform, the spraying end of the liquid spraying mechanism is used to spray cleaning liquid, the input end of the liquid delivery mechanism is connected to the liquid storage mechanism, and the output end of the liquid delivery mechanism is connected to the liquid spraying mechanism and the liquid guiding mechanism respectively. The cleaning frame is configured to be inserted into the cleaning tank, thereby driving the drive device to be connected to the transmission mechanism. The drive device then drives the surgical arm through the transmission mechanism, and also aligns the spray end with the surgical arm.

[0007] Preferably, the transmission mechanism includes at least one transmission disc, a transmission rod, at least one first transmission gear, at least one second transmission gear, and a third transmission gear; The transmission disk and the transmission rod are rotatably mounted on the loading frame. The transmission disk is used for drive connection with the surgical arm. The first transmission gear is connected to the transmission disk. The second transmission gear and the third transmission gear are respectively mounted on the transmission rod. The second transmission gear meshes with the first transmission gear. The third transmission gear is used for drive connection with the driving device.

[0008] Preferably, the bearing device includes several transmission mechanisms, and each of the transmission rods is provided with several second transmission gears; The loading frame is provided with several fixed areas, and each fixed area is provided with several transmission positions. Each transmission position in each fixed area is provided with a transmission disk of a different transmission mechanism.

[0009] Preferably, the robotic surgical arm cleaning device includes several driving devices, each of which includes a drive motor and a reduction gear. Each drive motor is disposed on the cleaning table, and each reduction gear is connected to each drive motor in a corresponding manner. Each of the cleaning tanks has a clearance groove on its wall. Each of the transmission rods can fall into the clearance groove one by one under the drive of the cleaning frame, so that each of the third transmission gears meshes with each of the reduction gears one by one.

[0010] Preferably, each of the transmission discs is provided with a soft rubber pad, which is used to support the surgical arm, so that the transmission disc can drive the surgical arm through the soft rubber pad.

[0011] Preferably, the fixing mechanism includes a limiting frame, a pressing member, and two limiting clamps. The two limiting clamps are disposed opposite to each other on the carrying frame. The limiting frame is disposed on the carrying frame and is located between the two limiting clamps. The limiting frame and the two limiting clamps together define a fixing area for accommodating the surgical arm on the carrying frame. The pressure member is rotatably mounted on the carrier frame, and the pressure member, the limiting frame, and the two limiting clamps are used together to fix the surgical arm.

[0012] Preferably, the limiting frame is provided with a clearance for the functional end of the surgical arm to pass through; and / or The limiting frame is provided with a plurality of limiting protrusions. The pressing member includes a connecting part, two elastic edges and two protective sleeves. The connecting part connects the two elastic edges. Each elastic edge is provided with a pressing arch surface. Each pressing arch surface is used to press against the surgical arm. The two protective sleeves are correspondingly provided on each elastic edge. The elastic edge is configured to be detachably clamped onto the limiting protrusion.

[0013] Preferably, the fluid guiding mechanism includes a socket, several plugs and several conduits. Each plug is disposed on the socket, and each conduit is connected to each plug in a one-to-one correspondence. Each conduit is connected to the output end of the infusion mechanism. Each plug is detachably inserted into the surgical arm. The infusion mechanism pumps liquid to each plug through each conduit, and each plug guides the liquid into the surgical arm.

[0014] Preferably, the spraying mechanism includes a plurality of spraying protrusions disposed within the cleaning tank, each of the spraying protrusions having a plurality of spraying holes, each of the spraying holes correspondingly communicating with the infusion mechanism, the spraying holes being used to guide the liquid sprayed toward the functional end of the surgical arm; and / or The liquid spraying mechanism includes several telescopic tubes and several nozzles. Each telescopic tube is respectively disposed on the cleaning table, and each nozzle is disposed on each telescopic tube in a corresponding manner. Each telescopic tube is connected to the infusion mechanism, and each nozzle is used to guide the liquid sprayed to the functional end of the surgical arm.

[0015] Preferably, the cleaning device further includes a brushing mechanism, which includes a brushing moving motor, a lead screw, a slide block, a brushing motor, and a brush head; The brushing motor is mounted on the cleaning table, the lead screw is driven and connected to the brushing motor, the lead screw is screwed to the slide block, the slide block is slidably mounted on the cleaning table, the brushing motor is mounted on the slide block, the brush head is driven and connected to the brushing motor, and the brush head is exposed in the cleaning tank. The brushing motor drives the lead screw to rotate, the lead screw drives the slide to move the brush head, and the brushing motor drives the brush head to rotate. The brush head is used to brush the surgical arm.

[0016] The implementation of this invention has the following beneficial effects: This invention relates to a robotic surgical arm cleaning device. On the one hand, the device is equipped with a liquid storage mechanism, a liquid infusion mechanism, and a liquid guiding mechanism, which enables the cleaning solution to be automatically introduced into the surgical arm for cleaning, eliminating the tediousness of manual liquid injection and improving the convenience of cleaning. On the other hand, after the staff fixes the robotic surgical arm to the carrier frame and places it in the cleaning tank, the drive device works in conjunction with the transmission mechanism to input torque to the predetermined position on the surgical arm. This allows the functional end of the surgical arm to be cleaned while it is moving, ensuring that each part of the functional end is cleaned in a targeted manner, which greatly improves the cleaning effect. At the same time, the fixing mechanism also ensures that the surgical arm will not shake during the cleaning process, improving cleaning stability and effectively guaranteeing the cleaning effect. In other aspects, the cleaning solution can be sprayed specifically onto areas of the surgical arm that are difficult to clean or require special cleaning via a spray mechanism, further improving the cleaning effect. Attached Figure Description

[0017] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same parts.

[0018] Figure 1 This is a structural diagram of a surgical robot in related technologies; Figure 2 These are schematic diagrams of the structures of some surgical arms in related technologies; Figure 3 These are schematic diagrams of the structures of other surgical arms in related technologies; Figure 4 This is a schematic diagram of the structure of a robotic surgical arm cleaning device in some embodiments of the present invention; Figure 5 From another perspective Figure 4 The diagram shows the structure of the robotic surgical arm cleaning device. Figure 6 This is a schematic diagram of the structure of a robotic surgical arm cleaning device in some embodiments of the present invention; Figure 7 This is a schematic diagram of the internal structure of the robotic surgical arm cleaning device in some embodiments of the present invention; Figure 8 yes Figure 5 The enlarged view of the robotic surgical arm cleaning device shown at point A; Figure 9 These are schematic diagrams of the supporting device in some embodiments of the present invention; Figure 10 These are exploded views of the supporting device in some embodiments of the present invention; Figure 11 These are partial structural schematic diagrams of the bearing device in some embodiments of the present invention; Figure 12 yes Figure 11 A structural schematic diagram of the load-bearing device from another angle; Figure 13 yes Figure 7 An enlarged view of the support device at point B; Figure 14 This is a partial structural schematic diagram of the robotic surgical arm cleaning device in some embodiments of the present invention; Figure 15 These are schematic diagrams of the brushing mechanism in some embodiments of the present invention; Figure 16 This is a schematic diagram of the cleaning device in some embodiments of the present invention. Detailed Implementation

[0019] Embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be more thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0020] It should be understood that although the terms "first," "second," "third," etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0022] Unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Figure 1 A schematic diagram of the structure of a surgical robot 200 in the related technology is shown; Figure 2 and Figure 3 A schematic diagram of the structure of the surgical arm 20 on a surgical robot in the related art is shown; Figures 4 to 7 The present invention illustrates a robotic surgical arm cleaning device 10 in some embodiments, which is used to clean the surgical arm 20 of a surgical robot 200. Of course, the shape of the surgical arm that can be cleaned by the present invention is not limited to... Figure 2 and Figure 3 The shape and size specifications of the surgical arm shown can be configured as various surgical arms in the prior art.

[0024] like Figure 2 and Figure 3 As shown, the surgical arm 20 includes a housing 30, a surgical rod 40, and a torque input disk 50. The surgical rod 40 and the torque input disk 50 are rotatably mounted on the housing 30. The end of the surgical rod 40 is provided with a movable functional end 41a. The torque input disk 50 is driven and connected to the functional end 41a. Driving the torque input disk 50 to rotate will correspondingly drive the functional end 41a to move, thereby the functional end 41a will perform surgical-related actions. The housing 30 has a rinsing port 31a for allowing cleaning fluid to flow into the housing 30 to clean the interior of the housing 30.

[0025] It should be noted that the surgical robot 200 and surgical arm 20 mentioned above are both existing technologies, and the surgical robot 200 and surgical arm 20 are not the contents to be protected by this invention, so they will not be described in detail.

[0026] like Figures 4 to 7 As shown, the robotic surgical arm cleaning device 10 includes a cleaning table 1, a support device 2, a drive device 3, and a cleaning device 4. The cleaning table 1 is used to mount the other devices. The support device 2 is used to support and fix the surgical arm 20. The drive device 3 is used to transmit torque to the support device 2, so that the torque can be further transmitted to the surgical arm 20 through the support device 2. The cleaning device 4 is used to clean the surgical arm 20 and also to guide the cleaning fluid to the corresponding devices.

[0027] like Figures 4 to 7 As shown, at least one cleaning tank 11 is provided on the cleaning table 1.

[0028] Understandably, the number of cleaning tanks 11 can be flexibly set, and the location of the cleaning tanks 11 can also be flexibly set, depending on the usage requirements and design requirements.

[0029] like Figures 8 to 12 As shown, the support device 2 includes a cleaning frame 21, a carrying frame 22, a liquid guiding mechanism 23, a fixing mechanism 24, and a transmission mechanism 25. The carrying frame 22 is rotatably mounted on the cleaning frame 21. The liquid guiding mechanism 23, the fixing mechanism 24, and the transmission mechanism 25 are respectively mounted on the carrying frame 22. The liquid guiding mechanism 23 is used to communicate with the 31a of the surgical arm 20. The fixing mechanism 24 is used to fix the surgical arm 20. The transmission mechanism 25 is used to drive the surgical arm 20.

[0030] Understandably, the cleaning frame 21 supports the rotation of the carrier frame 22. The carrier frame 22 carries the surgical arm 20. The fluid guiding mechanism 23 guides the cleaning fluid into the surgical arm 20 for cleaning the interior of the surgical arm 20. The fixing mechanism 24 positions and fixes the surgical arm 20 on the carrier frame 22. The transmission mechanism 25 further transmits torque to the surgical arm 20 fixed on the carrier frame 22.

[0031] It should be noted that the fluid guiding mechanism 23 and the fixing mechanism 24 can be configured to have a linkage function, so that when the staff operates the fixing mechanism 24 to fix the surgical arm 20, the fluid guiding mechanism 23 and the irrigation port 31a can be connected accordingly, thereby eliminating the tedious manual alignment and coordination of the fluid guiding mechanism 23 and the irrigation port 31a, and further improving the convenience of the cleaning operation.

[0032] After the cleaning frame 21 is correctly aligned and assembled into the cleaning tank 11, the transmission mechanism 25 will also be connected and cooperate with the drive device 3, so that the torque of the drive device 3 can be transmitted to the surgical arm 20 through the transmission mechanism 25.

[0033] like Figure 7 As shown, the drive unit 3 is mounted on the cleaning table 1.

[0034] Understandably, the drive device 3 can be a pneumatic, electric, or hydraulic actuated drive element from the prior art, as long as it can output the required torque. Specific adjustments and settings can be made according to actual application requirements. The drive device 3 is prior art and will not be elaborated upon here.

[0035] like Figures 5 to 7As shown, the cleaning device 4 includes a liquid storage mechanism 41, a liquid spraying mechanism 42, and a liquid delivery mechanism 43. The liquid storage mechanism 41 is disposed on the cleaning platform 1. The spraying end of the liquid spraying mechanism 42 is used to spray out cleaning liquid. The input end of the liquid delivery mechanism 43 is connected to the liquid storage mechanism 41, and the output end of the liquid delivery mechanism 43 is connected to the liquid spraying mechanism 42 and the liquid guiding mechanism 23 respectively.

[0036] Understandably, the liquid storage mechanism 41 is used to store the cleaning solution, which is existing technology and can be adjusted and selected according to the specific cleaning requirements. The spraying mechanism 42 is used to guide the cleaning solution to be sprayed out in a predetermined direction. The infusion mechanism 43 is used on the one hand to guide and deliver the cleaning solution to the spraying mechanism 42 for spray cleaning; on the other hand, it is also used to guide and deliver the cleaning solution to the infusion mechanism 23 for cleaning the inside of the surgical arm 20.

[0037] In practical applications, the cleaning frame 21 is configured to be aligned and inserted into the cleaning tank 11, thereby driving the drive device 3 to be connected to the transmission mechanism 25. In turn, the drive device 3 drives the surgical arm 20 through the transmission mechanism 25, and also aligns the spray end with the surgical arm 20.

[0038] Understandably, during the process of aligning and inserting the cleaning frame 21 into the cleaning tank 11, the transmission mechanism 25 will gradually align with the drive device 3; after the cleaning frame 21 is correctly installed, the transmission mechanism 25 will also connect and cooperate with the drive device 3, and the torque can be transmitted to the transmission mechanism 25 accordingly. Furthermore, after the cleaning frame 21 is aligned and installed, the part of the surgical arm 20 that needs to be cleaned will also be aligned with the spray end.

[0039] During the actual cleaning process, the drive device 3 will drive the torque input disk 50 to rotate through the transmission mechanism 25. The torque input disk 50 is directly related to the movement of the functional end 41a, thereby enabling the functional end 41a to move. The movement of the functional end 41a will allow each position of the functional end 41a to move to a position where the cleaning device 4 can spray and clean it, thus achieving all-round cleaning of the cleaning device 4. This greatly ensures the cleaning effect and avoids residues remaining on the functional end 41a, which may cause subsequent surgical infection or corrosion of the functional end 41a. This improves the surgical reliability and durability of the surgical arm 20.

[0040] Furthermore, the cleaning solution in the reservoir 41 can be transferred to the irrigation port 31a via the infusion mechanism 43, eliminating the tedious manual injection of the cleaning solution and improving the convenience of cleaning. Moreover, if needed, a continuously flowing liquid can be formed by continuous injection to continuously irrigate the inside of the surgical arm 20, thereby further improving the irrigation effect.

[0041] like Figure 8As shown, in some embodiments, a corresponding positioning mechanism 26 can be added between the cleaning frame 21 and the cleaning tank 11 to accurately position the cleaning frame 21 in the cleaning tank 11, ensuring that after the cleaning frame 21 is placed, the cleaning device 4 can accurately align and spray the cleaning liquid onto the predetermined position on the surgical arm 20, thereby further improving the cleaning effect.

[0042] Understandably, the positioning mechanism 26 is designed so that the cleaning frame 21 can be gradually aligned and moved to a preset position in the cleaning tank 11 during the process of aligning and placing the cleaning frame 21 in the cleaning tank 11.

[0043] Specifically, such as Figures 8 to 10 As shown, in some embodiments, the positioning mechanism 26 may include a plurality of positioning blocks 261 and positioning grooves 262. The groove depth of the positioning groove 262 is provided with a guide surface 263. The positioning blocks 261 slide against the guide surface 263, and each positioning block 261 corresponds to each positioning groove 262.

[0044] The positioning positions of the positioning blocks 261 and positioning grooves 262 can include at least the following implementation methods: First, each positioning block 261 is disposed on the cleaning frame 21, and each positioning groove 262 is disposed on the wall of the cleaning tank 11. Second, each positioning block 261 is disposed on the wall of the cleaning tank 11, and each positioning groove 262 is disposed on the cleaning frame 21. Third, some positioning blocks 261 are disposed on the cleaning frame 21, and some positioning grooves 262 are disposed on the wall of the cleaning tank 11.

[0045] It should be noted that regardless of the implementation method of setting the positioning block 261 and positioning groove 262, they can all play the role of guiding the cleaning frame 21 to be correctly installed and aligned.

[0046] During the process of aligning the cleaning frame 21 into the cleaning tank 11, the positioning block 261 will be inserted into the positioning groove 262. Subsequently, as the insertion depth of the cleaning frame 21 into the cleaning tank 11 increases, the relative position of the positioning block 261 and the positioning groove 262 will also change accordingly. As a result, the positioning block 261 supports and slides along the guide surface 263, thereby gradually aligning the cleaning frame 21 with the predetermined installation position in the cleaning tank 11.

[0047] Furthermore, in some embodiments, each positioning block 261 is preferably configured to be disposed on different sides of the cleaning frame 21, thereby jointly defining the position of the cleaning frame 21 from different directions, thereby achieving the purpose of positioning the cleaning frame 21.

[0048] like Figures 8 to 11As shown, in some embodiments of the robotic surgical arm cleaning device 10, the cleaning frame 21 is provided with an angle adjustment hole 211, and the angle adjustment component 223 is also provided with an angle adjustment component 223. The angle adjustment component 223 includes an angle adjustment rope 2231, a first angle adjustment hook 2232 and a second angle adjustment hook 2233. The angle adjustment rope 2231 is provided on the loading frame 22, and the first angle adjustment hook 2232 and the second angle adjustment hook 2233 are respectively provided at different positions on the angle adjustment rope 2231.

[0049] Understandably, in actual use, either the first angle adjustment hook 2232 or the second angle adjustment hook 2233 can be selected and hung in the angle adjustment hole 211 to adjust the effective length of the angle adjustment rope 2231 between the angle adjustment hole 211 and the carrying frame 22, thereby adjusting the relative angle between the carrying frame 22 and the cleaning frame 21, so that the surgical arm 20 on the carrying frame 22 can be fixed in different orientations or angles to adapt to different angle requirements of the surgical arm 20 during the cleaning process.

[0050] like Figures 8 to 12 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the transmission mechanism 25 includes at least one transmission disc 251, a transmission rod 252, at least one first transmission gear 253, at least one second transmission gear 254 and a third transmission gear 255. The transmission disc 251 and the transmission rod 252 are rotatably mounted on the loading frame 22. The transmission disc 251 is used to drive the surgical arm 20. The first transmission gear 253 is connected to the transmission disc 251. The second transmission gear 254 and the third transmission gear 255 are respectively mounted on the transmission rod 252. The second transmission gear 254 meshes with the first transmission gear 253, and the third transmission gear 255 is used to drive the drive device 3.

[0051] Understandably, the transmission disc 251 is used to abut against the torque input disc 50, thereby driving the torque input disc 50 to rotate. The transmission rod 252 is used to transmit torque, causing the second transmission gear 254 and the third transmission gear 255 to rotate coaxially, that is, the rotational angular velocities of the second transmission gear 254 and the third transmission gear 255 are equal. The first transmission gear 253 rotates coaxially with the transmission disc 251, that is, the rotational angular velocities of the first transmission gear 253 and the transmission disc 251 are equal.

[0052] During the assembly of the cleaning frame 21, the transmission rod 252 will also move accordingly, so that the third transmission gear 255 mounted on it will gradually align and approach the drive device 3. Simultaneously with the completion of the installation of the cleaning frame 21, the alignment and connection between the third transmission gear 255 and the drive device 3 will also be completed, so that the torque output by the drive device 3 can drive the third transmission gear 255 to rotate.

[0053] The third transmission gear 255 rotates and drives the transmission rod 252 to rotate. The transmission rod 252 drives the second transmission gear 254 to rotate. The second transmission gear 254 drives the first transmission gear 253, which meshes with it, to rotate. The first transmission gear 253 drives the transmission disk 251 to rotate. The transmission disk 251 drives the torque input disk 50 to rotate, thereby driving the functional end 41a of the surgical arm 20 to move.

[0054] It should be noted that multiple second transmission gears 254 can be provided on the transmission rod 252, so that multiple second transmission gears 254 on a single transmission rod 252 can simultaneously drive multiple first transmission gears 253, and thus simultaneously drive multiple transmission disks 251. Furthermore, the transmission mechanism 25 can be configured such that a single transmission rod 252 transmits torque to multiple torque input disks 50 on the same surgical arm 20, or it can be configured such that a single transmission rod 252 transmits torque to torque input disks 50 on multiple different surgical arms 20.

[0055] It should be noted that in related technologies, the surgical rod 40 and torque input disk 50 on different models of surgical robots may be set on the same plane of the housing 30, or the surgical rod 40 and torque input disk 50 may be set on different planes of the housing 30. Therefore, in the actual application of this invention, the setting position of the transmission disk 251 on the carrier frame 22 can be adjusted according to the position of the torque input disk 50 on the housing 30 to ensure that the driving connection between the torque input disk 50 and the transmission disk 251 can be completed as soon as the surgical arm 20 is fixed.

[0056] like Figure 11 and Figure 12 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the carrying device 2 includes several transmission mechanisms 25, and each transmission rod 252 is provided with several second transmission gears 254. The loading frame 22 is provided with several fixed areas 221, and each fixed area 221 is provided with several transmission positions 222. Each transmission position 222 in each fixed area 221 is provided with a transmission disk 251 of a different transmission mechanism 25.

[0057] Understandably, in this type of embodiment, the number of transmission mechanisms 25 is set to multiple, and the number of transmission mechanisms 25 is equal to the number of surgical arms 20 that can be fixed on a single carrying frame 22. In this type of embodiment, each transmission mechanism 25 is provided with a transmission disk 251 in a transmission position 222 within each fixing position 221, so that each transmission mechanism 25 can transmit power to each fixing area 221, that is, each torque input disk 50 on each surgical arm 20 will be supplied with torque by a different transmission mechanism 25.

[0058] like Figure 7 and Figure 13 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the robotic surgical arm cleaning device 10 includes several driving devices 3, each driving device 3 including a drive motor 31 and a reduction gear 32, each drive motor 31 is disposed on the cleaning table 1, and each reduction gear 32 is connected to each drive motor 31 in a one-to-one driving connection. Each cleaning tank 11 has a clearance groove 12 on its tank wall. Each transmission rod 252 can fall into the clearance groove 12 one by one under the drive of the cleaning frame 21, so that each third transmission gear 255 meshes with each reduction gear 32 one by one.

[0059] Understandably, all drive motors 31 are used to output torque to the reduction gear 32. The reduction gear 32 can be configured to include one gear or multiple gears meshing in sequence. The clearance groove 12 is used to provide movement space for the transmission rod 252, preventing the transmission rod 252 from getting stuck outside the cleaning tank 11 as the cleaning frame 21 moves, and ensuring that the cleaning frame 21 is installed in place.

[0060] It should be noted that the opening of the clearance groove 12 allows the drive device 3 to be aligned and connected with the transmission mechanism 25 without being directly installed in the cleaning tank 11. This prevents the cleaning liquid in the cleaning tank 11 from seeping into the drive device 3 and causing malfunction.

[0061] like Figure 12 As shown, in some embodiments of the robotic surgical arm cleaning device 10, each transmission disc 251 is provided with a soft rubber pad, which is used to support the surgical arm 20, so that the transmission disc 251 can drive the surgical arm 20 through the soft rubber pad.

[0062] Understandably, during the process of fixing the surgical arm 20, the torque input disk 50 will be aligned and held against the soft rubber pad. The soft rubber pad deforms and fits the torque input disk 50 accordingly, increasing the contact area between the transmission disk 251 and the torque input disk 50. In addition, the soft rubber pad is made of soft rubber material, which has a larger coefficient of friction. Therefore, it can greatly increase the friction force, thereby preventing the torque input disk 50 from rotating and slipping.

[0063] It should be noted that the torque input disk 50 on the surgical arm 20 usually has two snap-fit ​​holes. In actual surgery, the drive connection is achieved by snapping or locking the snap-fit ​​holes. However, the soft rubber pad used in this invention can achieve the same drive connection without locking the holes. It eliminates the need for manual alignment of the snap-fit ​​holes, greatly improving the ease of operation and cleaning efficiency. At the same time, it effectively buffers the force between the torque input disk 50 and the transmission disk 251.

[0064] like Figures 8 to 12As shown, in some embodiments of the robotic surgical arm cleaning device 10, the fixing mechanism 24 includes a limiting frame 241, a pressing member 242, and two limiting clamping members 243. The two limiting clamping members 243 are disposed opposite to each other on the carrying frame 22. The limiting frame 241 is disposed on the carrying frame 22 and is located between the two limiting clamping members 243. The limiting frame 241 and the two limiting clamping members 243 together define a fixing area 221 for accommodating the surgical arm 20 on the carrying frame 22. The pressure member 242 is rotatably mounted on the carrier frame 22. The pressure member 242, the limiting frame 241, and the two limiting clamps 243 are used together to fix the surgical arm 20.

[0065] Understandably, the limiting frame 241 is a frame structure, which has the advantage of being lightweight, reducing the overall weight of the supporting device 2. The clamping member 242 is used to clamp the surgical arm 20 onto the carrier frame 22. The two limiting clamping members 243 are used to limit and clamp the surgical arm 20 from two opposite directions.

[0066] like Figures 8 to 12 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the limiting frame 241 is provided with a clearance for the functional end 41a of the surgical arm 20 to pass through.

[0067] Understandably, with the surgical arm 20 properly aligned and fixed, the surgical rod 40 on the surgical arm 20 will pass through the clearance, allowing the fixing mechanism 24 to specifically fix the housing 30 of the surgical arm 20. This effectively reduces the size of the carrying frame 22 and allows the functional end 41a to be fully exposed, preventing the fixing structural components from obstructing the cleaning fluid and enabling subsequent spray cleaning and other processes to be more thorough.

[0068] like Figure 12 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the limiting frame 241 is provided with a plurality of limiting protrusions 2411, and the holding member 242 includes a connecting part 2421, two elastic edges 2422 and two protective sleeves 2423. The connecting part 2421 connects the two elastic edges 2422, and each elastic edge 2422 is provided with a holding arch surface 2424. Each holding arch surface 2424 is used to hold against the surgical arm 20. The two protective sleeves 2423 are correspondingly provided on each elastic edge 2422. The elastic edge 2422 is configured to be detachably clamped to the limiting protrusion 2411.

[0069] Understandably, the limiting protrusion 2411 is used to fix the holding member 242, so that the holding member 242 can maintain the holding state of the surgical arm 20, thereby ensuring that sufficient clamping force can be maintained between the transmission disk 251 and the torque input disk 50, and thus ensuring that the torque can be stably transmitted to the surgical arm 20. The connecting part 2421 is used to fix the relative position of the two elastic edges 2422. The elastic edges 2422 have a certain elasticity, which can prevent the elastic edges 2422 from damaging the surgical arm 20. After the elastic edges 2422 disengage from the limiting protrusion 2411, the protective sleeve 2423 can prevent the elastic edges 2422 from directly colliding with the carrier frame 22, and prevent the elastic edges 2422 from deforming due to collision, resulting in insufficient holding force on the surgical arm 20.

[0070] It should be noted that the pressure arch surface 2424 can be configured as being formed by an arched structure provided on the elastic edge 2422, or it can be configured as being formed directly by the shape of the elastic edge 2422 itself. The pressure arch surface 2424 has a large contact area with the surgical arm 20, which can avoid damage caused by stress concentration and improve the fixation reliability.

[0071] like Figure 12 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the fluid guiding mechanism 23 includes a socket 231, several plugs 232 and several conduits 233. Each plug 232 is disposed on the socket 231, and each conduit 233 is connected to each plug 232 in a one-to-one correspondence. Each conduit 233 is connected to the output end of the infusion mechanism 43. Each plug 232 is detachably inserted into the surgical arm 20. The infusion mechanism 43 pumps liquid to each plug 232 through each conduit 233, and each plug 232 guides the liquid into the surgical arm 20.

[0072] Understandably, the number of fluid guiding mechanisms 23 can be configured to be one or more. For example, the number of fluid guiding mechanisms 23 can be configured to be equal to the number of surgical arms 20 that can be fixed on the carrier frame 22, so that a single fluid guiding mechanism 23 supplies cleaning fluid to a single surgical arm 20.

[0073] The socket 231 is used to fix the relative positions of the plugs 232, so that the operator can simultaneously plug and fix multiple plugs 232, improving the ease of operation. The plugs 232 are used for the discharge of cleaning fluid. Each conduit 233 is used to guide the cleaning fluid to the plugs 232.

[0074] It should be noted that the plug 232 can be configured as the injection head structure on a syringe in the prior art, so that it can be inserted into the irrigation port 31a on the surgical arm 20.

[0075] like Figure 14As shown, in some embodiments of the robotic surgical arm cleaning device 10, the spraying mechanism 42 includes a plurality of spraying protrusions 421 disposed in the cleaning tank 11. Each spraying protrusion 421 is provided with a plurality of spraying holes 422. Each spraying hole 422 is correspondingly connected to the infusion mechanism 43. The spraying hole 422 is used to guide the liquid to spray towards the functional end 41a of the surgical arm 20.

[0076] Understandably, the spray protrusion 421 can be configured to be located on the bottom or wall of the cleaning tank 11. The orientation of the spray hole 422 within the cleaning tank 11 is fixed. After the cleaning frame 21 is correctly aligned and installed, the correctly fixed surgical arm 20 will be aligned with the spray hole 422, so that the cleaning fluid sprayed through the spray hole 422 can rinse the predetermined position on the surgical arm 20.

[0077] like Figure 5 and Figure 6 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the spraying mechanism 42 includes several telescopic tubes 423 and several nozzles 424. Each telescopic tube 423 is respectively disposed on the cleaning table 1, and each nozzle 424 is disposed on each telescopic tube 423 in a corresponding manner. Each telescopic tube 423 is connected to the infusion mechanism 43, and each nozzle 424 is used to guide the liquid to spray towards the functional end 41a of the surgical arm 20.

[0078] Understandably, the telescopic tube 423 is telescopic and bendable, and can maintain its current shape and length after telescopic adjustment. This allows the spray direction of the nozzle 424 on the telescopic tube 423 to be flexibly adjusted. Thus, for functional end 41a that is difficult to clean and has high cleaning requirements, the nozzle 424 can spray accordingly towards that functional end 41a.

[0079] like Figure 15 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the cleaning device 4 further includes a brushing mechanism 44, which includes a brushing moving motor 441, a lead screw 442, a slide 443, a brushing motor 444, and a brush head 445. A brushing motor 441 is mounted on the cleaning table 1. A lead screw 442 is driven and connected to the brushing motor 441. The lead screw 442 is screwed to a slide 443. The slide 443 is slidably mounted on the cleaning table 1. A brushing motor 444 is mounted on the slide 443. A brush head 445 is driven and connected to the brushing motor 444. The brush head 445 is exposed inside the cleaning tank 11. The brushing motor 441 drives the lead screw 442 to rotate, the lead screw 442 drives the slide 443 to move the brush head 445 to slide, and the brushing motor 444 drives the brush head 445 to rotate. The brush head 445 is used to brush the surgical arm 20.

[0080] Understandably, the scrubbing mechanism 44 is used to directly contact the surgical arm 20 to achieve cleaning. The scrubbing motor 441 is used to drive the lead screw 442 to rotate. The lead screw 442 has external threads, and the slide 443 is provided with a threaded hole that is screwed to the lead screw 442. The scrubbing motor 444 is used to output torque to the brush head 445, and the brush head 445 is used to scrub the surgical arm 20 during rotation.

[0081] It should be noted that, since the external thread of the lead screw 442 engages with the internal thread of the slide block 443, and the slide block 443 is slidably connected to the cleaning table 1, the lead screw 442 drives the slide block 443 to slide during rotation. The slide block 443 then moves the brush head 445, allowing the brush head 445 to move within the clearance groove 12 towards or away from the functional end 41a. When the rotating brush head 445 contacts the functional end 41a, it cleans contaminants and other pollutants from the functional end 41a.

[0082] It should also be noted that the size and materials of the brush head 445 can be flexibly set and selected, and can be adjusted according to the cleaning requirements of the surgical arm 20.

[0083] like Figure 16 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the infusion mechanism 43 includes a liquid pump 431 and a flow meter 432. The input end 4311 of the liquid pump 431 is connected to the liquid storage mechanism 41, the output end 4312 of the liquid pump 431 is connected to one end of the flow meter 432, and the other end of the flow meter 432 is connected to the liquid guiding mechanism 23 and the liquid spraying mechanism 42 respectively.

[0084] Understandably, the cleaning fluid in the storage mechanism 41 is introduced through the input end 4311, pressurized by the liquid pump 431, and pumped out from the output end 4312. The output cleaning fluid flows through the flow meter 432 and then flows to the liquid guiding mechanism 23 and the liquid spraying mechanism 42.

[0085] It should be noted that the liquid pump can be any type of pump capable of pressurizing and transporting liquids in the prior art. Preferably, the liquid pump 431 can be configured as a peristaltic pump. The flow meter 432 is used to measure the flow rate of the cleaning liquid output via the liquid pump 431.

[0086] Furthermore, in some embodiments, a liquid valve may be provided between the liquid guiding mechanism 23 and the liquid delivery mechanism 43, and a liquid valve may be provided between the liquid delivery mechanism 43 and the liquid spraying mechanism 42.

[0087] Understandably, in this type of embodiment, the cleaning fluid can be selectively directed to either the spray mechanism 42 or the guide mechanism 23, and the flow rate of the cleaning fluid input to either the spray mechanism 42 or the guide mechanism 23 can be monitored. This allows the flow rate of the corresponding circuit to be cut off or connected when a certain flow rate reaches a predetermined value, or the operation of the corresponding liquid valve can be controlled according to other conditions.

[0088] In embodiments where the liquid guiding mechanism 23 includes multiple liquid outlets, a liquid valve can be added to each liquid outlet for further control, thereby allowing control over whether the cleaning liquid flows out from each outlet individually. Alternatively, liquid valves can be added to only some of the liquid outlets for flow control.

[0089] Specifically, the liquid valve includes a solenoid valve, which has the advantages of flow regulation and easy control.

[0090] like Figure 16 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the infusion mechanism 43 further includes an internal circulation pump 45, the pump suction end of the internal circulation pump 45 is connected to the cleaning tank 11, and the pump outlet end of the internal circulation pump 45 is connected to the liquid guiding mechanism 23 and the liquid spraying mechanism 42 respectively.

[0091] Understandably, the internal circulation pump 45 pumps the liquid in the cleaning tank 11 through the pump suction end, pressurizes the cleaning liquid, and pumps it from the pump outlet end to the liquid guiding mechanism 23 and the liquid spraying mechanism 42.

[0092] Furthermore, in some embodiments of the fluid guiding mechanism 23, the fluid guiding mechanism 23 can be configured as an internal fluid circulation loop. The internal fluid circulation involves absorbing liquid from the cleaning tank 11, pumping it, and then pumping it into the surgical arm 20 for cleaning.

[0093] In some other embodiments of the fluid guiding mechanism 23, the fluid guiding mechanism 23 can be configured as an external fluid circulation loop. The external fluid circulation loop draws liquid from the fluid storage mechanism 41 and then pressurizes and pumps it into the surgical arm 20 for cleaning.

[0094] In some other embodiments of the fluid guiding mechanism 23, the fluid guiding mechanism 23 may be configured to include an internal fluid guiding circulation loop and an external fluid guiding circulation loop. The internal fluid guiding circulation loop and the external fluid guiding circulation loop are controlled to open and close via corresponding liquid valves, thereby enabling the selection of liquid pumping from the storage mechanism 41 or the cleaning frame 21 according to cleaning requirements. For example, in a certain cleaning stage, it is necessary to use the cleaning fluid in the storage mechanism 41 to clean the inside of the surgical arm 20. Subsequently, after a certain period of time or after performing a certain cleaning step, the external fluid guiding circulation loop can be cut off by the liquid valve, and instead, liquid is pumped from the cleaning tank 11 through the external fluid guiding circulation loop to rinse the inside of the surgical arm 20.

[0095] It should be noted that in some prior art surgical arms, after continuously infusing a certain amount of cleaning fluid, the cleaning fluid overflows to the outside of the housing. However, in this application, the overflowing portion remains within the cleaning tank 11. Furthermore, in related technologies, the surgical arms require immersion during the cleaning process. Thus, the liquid required for immersion can be configured to be pumped from the liquid storage mechanism 41, or to overflow from the cleaning fluid input into the surgical arm 20, or to come from both of the above sources.

[0096] In some embodiments of the spraying mechanism 42, the spraying mechanism 42 may be configured to include an internal spraying circulation loop for absorbing liquid from the cleaning tank 11, pumping it, and then pressurizing and pumping it toward the surgical arm 20.

[0097] In some other embodiments of the spraying mechanism 42, the spraying mechanism 42 may be configured to include an external spraying circulation loop for absorbing liquid from the reservoir 41 and pumping it, and then pressurizing and pumping it toward the surgical arm 20.

[0098] In some embodiments of the spraying mechanism 42, the spraying mechanism 42 may be configured to include an internal spraying circulation loop and an external spraying circulation loop. The internal spraying circulation loop is used to absorb liquid from the cleaning tank 11, pump it, and then pressurize and pump it onto the surgical arm 20. The external spraying circulation loop is used to absorb liquid from the storage mechanism 41, pump it, and then pressurize and pump it onto the surgical arm 20. Both the internal and external spraying circulation loops can be controlled by liquid valves. During the cleaning process, one loop can be activated individually or both loops can be activated simultaneously, depending on the specific cleaning requirements.

[0099] In other embodiments of the spraying mechanism 42, where the spraying mechanism 42 includes a telescopic tube 423 and a nozzle 424, the telescopic tube 423 connects to the nozzle 424 and is used to guide liquid to the nozzle 424 for spraying onto the surgical arm 20 for cleaning. The telescopic tube 423 can be configured to connect to a location other than the reservoir 41 and the cleaning tank 11; that is, the telescopic tube 423 does not receive liquid from the reservoir 41 and the cleaning tank 11, but instead obtains liquid through other locations. For example, the telescopic tube 423 can be configured to connect to another container holding cleaning liquid, which can be the same as or different from the cleaning liquid in the reservoir 41, depending on the cleaning requirements of the surgical arm 20.

[0100] In some embodiments, the cleaning device 4 may include a filter element, which may be correspondingly positioned in the corresponding liquid flow loop to prevent contaminants from contaminating other locations as the cleaning liquid flows. For example, the liquid flowing through the guiding mechanism 23 may be filtered to prevent contaminants from flowing into the surgical arm 20.

[0101] like Figure 4 and Figure 6 As shown, in some embodiments of the robotic surgical arm cleaning device 10, a baffle 13 is also provided on the cleaning table 1, and a drain rack 14 is provided on the baffle 13, with a plurality of drain holes 141 opened on the drain rack 14.

[0102] Understandably, the baffle 13 can be used to hang or fix corresponding parts, and also to prevent liquid splashing during the cleaning process. The drain rack 14 is used to support the cleaning frame 21, and the drain hole 141 is used to drain the liquid remaining on the cleaning frame 21 and the surgical arm 20.

[0103] The implementation of this invention has the following beneficial effects: This invention relates to a robotic surgical arm cleaning device. On the one hand, the device is equipped with a liquid storage mechanism, a liquid infusion mechanism, and a liquid guiding mechanism, which enables the cleaning solution to be automatically introduced into the surgical arm for cleaning, eliminating the tediousness of manual liquid injection and improving the convenience of cleaning. On the other hand, after the staff fixes the robotic surgical arm to the carrier frame and places it in the cleaning tank, the drive device works in conjunction with the transmission mechanism to input torque to the predetermined position on the surgical arm. This allows the functional end of the surgical arm to be cleaned while it is moving, ensuring that each part of the functional end is cleaned in a targeted manner, which greatly improves the cleaning effect. At the same time, the fixing mechanism also ensures that the surgical arm will not shake during the cleaning process, improving cleaning stability and effectively guaranteeing the cleaning effect. In other aspects, the cleaning solution can be sprayed specifically onto areas of the surgical arm that are difficult to clean or require special cleaning via a spray mechanism, further improving the cleaning effect.

[0104] The present invention has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have their own emphasis; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to the present invention. Furthermore, it is understood that the steps in the method of the embodiments of the present invention can be adjusted in order, combined, and deleted according to actual needs, and the modules in the device of the embodiments of the present invention can be combined, divided, and deleted according to actual needs.

[0105] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A robotic surgical arm cleaning apparatus, characterized by, include: A cleaning table, wherein at least one cleaning tank is provided on the cleaning table; The support device includes a cleaning frame, a carrying frame, a liquid guiding mechanism, a fixing mechanism, and a transmission mechanism. The carrying frame is rotatably mounted on the cleaning frame. The liquid guiding mechanism, the fixing mechanism, and the transmission mechanism are respectively mounted on the carrying frame. The liquid guiding mechanism is used to communicate with the irrigation port of the surgical arm. The fixing mechanism is used to fix the surgical arm. The transmission mechanism is used to drive the surgical arm. A drive unit, which is disposed on the cleaning table; and A cleaning device, comprising a liquid storage mechanism, a liquid spraying mechanism, and a liquid delivery mechanism, wherein the liquid storage mechanism is disposed on the cleaning platform, the spraying end of the liquid spraying mechanism is used to spray cleaning liquid, the input end of the liquid delivery mechanism is connected to the liquid storage mechanism, and the output end of the liquid delivery mechanism is connected to the liquid spraying mechanism and the liquid guiding mechanism respectively. The cleaning frame is configured to be inserted into the cleaning tank, thereby driving the drive device to be connected to the transmission mechanism. The drive device then drives the surgical arm through the transmission mechanism, and also aligns the spray end with the surgical arm.

2. A robotic surgical arm cleaning apparatus according to claim 1, wherein, The transmission mechanism includes at least one transmission disc, a transmission rod, at least one first transmission gear, at least one second transmission gear, and a third transmission gear. The transmission disk and the transmission rod are rotatably mounted on the loading frame. The transmission disk is used for drive connection with the surgical arm. The first transmission gear is connected to the transmission disk. The second transmission gear and the third transmission gear are respectively mounted on the transmission rod. The second transmission gear meshes with the first transmission gear. The third transmission gear is used for drive connection with the driving device.

3. A robotic surgical arm cleaning apparatus as claimed in claim 2, wherein, The bearing device includes several transmission mechanisms, and each of the transmission rods is provided with several second transmission gears; The loading frame is provided with several fixed areas, and each fixed area is provided with several transmission positions. Each transmission position in each fixed area is provided with a transmission disk of a different transmission mechanism.

4. The robotic surgical arm cleaning device according to claim 3, characterized in that, The robotic surgical arm cleaning device includes several driving devices, each of which includes a drive motor and a reduction gear. Each drive motor is mounted on the cleaning table, and each reduction gear is connected to each drive motor in a corresponding driving connection. Each of the cleaning tanks has a clearance groove on its wall. Each of the transmission rods can fall into the clearance groove one by one under the drive of the cleaning frame, so that each of the third transmission gears meshes with each of the reduction gears one by one.

5. The robotic surgical arm cleaning device according to any one of claims 2 to 4, characterized in that, Each of the aforementioned transmission discs is provided with a soft rubber pad, which is used to support the surgical arm, thereby enabling the transmission disc to drive the surgical arm through the soft rubber pad.

6. The robotic surgical arm cleaning device according to claim 1, characterized in that, The fixing mechanism includes a limiting frame, a pressing member, and two limiting clamps. The two limiting clamps are disposed opposite to each other on the carrying frame. The limiting frame is disposed on the carrying frame and is located between the two limiting clamps. The limiting frame and the two limiting clamps together define a fixing area for accommodating the surgical arm on the carrying frame. The pressure member is rotatably mounted on the carrier frame, and the pressure member, the limiting frame, and the two limiting clamps are used together to fix the surgical arm.

7. The robotic surgical arm cleaning device according to claim 6, characterized in that, The limiting frame is provided with a clearance for the functional end of the surgical arm to pass through; and / or The limiting frame is provided with a plurality of limiting protrusions. The pressing member includes a connecting part, two elastic edges and two protective sleeves. The connecting part connects the two elastic edges. Each elastic edge is provided with a pressing arch surface. Each pressing arch surface is used to press against the surgical arm. The two protective sleeves are correspondingly provided on each elastic edge. The elastic edge is configured to be detachably clamped onto the limiting protrusion.

8. The robotic surgical arm cleaning device according to claim 1, characterized in that, The fluid delivery mechanism includes a socket, several plugs, and several conduits. Each plug is disposed on the socket, and each conduit is connected to each plug in a one-to-one correspondence. Each conduit is connected to the output end of the infusion mechanism. Each plug is detachably inserted into the surgical arm. The infusion mechanism pumps liquid to each plug through each conduit, and each plug guides the liquid into the surgical arm.

9. The robotic surgical arm cleaning device according to claim 1, characterized in that, The spraying mechanism includes a plurality of spraying protrusions disposed within the cleaning tank, each of the spraying protrusions having a plurality of spraying holes, each spraying hole correspondingly connected to the infusion mechanism, the spraying holes being used to guide the liquid sprayed toward the functional end of the surgical arm; and / or The liquid spraying mechanism includes several telescopic tubes and several nozzles. Each telescopic tube is respectively disposed on the cleaning table, and each nozzle is disposed on each telescopic tube in a corresponding manner. Each telescopic tube is connected to the infusion mechanism, and each nozzle is used to guide the liquid sprayed to the functional end of the surgical arm.

10. The robotic surgical arm cleaning device according to claim 1 or 9, characterized in that, The cleaning device also includes a brushing mechanism, which includes a brushing moving motor, a lead screw, a slide block, a brushing motor, and a brush head; The brushing motor is mounted on the cleaning table, the lead screw is driven and connected to the brushing motor, the lead screw is screwed to the slide block, the slide block is slidably mounted on the cleaning table, the brushing motor is mounted on the slide block, the brush head is driven and connected to the brushing motor, and the brush head is exposed in the cleaning tank. The brushing motor drives the lead screw to rotate, the lead screw drives the slide to move the brush head, and the brushing motor drives the brush head to rotate. The brush head is used to brush the surgical arm.

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