Rotary joint structure and surgical robot

Abstract

This invention relates to the field of medical device technology and discloses a rotary joint structure and a surgical robot. The disclosed rotary joint structure includes a frame and at least one joint body rotatably connected to the frame. The joint body includes a fixed axis fixedly connected to the frame. A rotating body is rotatably connected to the fixed axis, and a brake is provided between the rotating body and the fixed axis. The brake includes a first brake connected to the rotating body and a second brake connected to the fixed axis. By connecting the first brake to the rotating body and the second brake to the fixed axis, and by controlling the magnetic force between the first brake and the second brake, the frictional force between the first brake and the second brake is controlled, thereby providing braking force or rotational damping for the rotation of the rotating body relative to the fixed axis. This allows doctors to manually adjust the position and posture of the robotic arm, improving the efficiency and accuracy of the adjustment.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a rotating joint structure and a surgical robot. Background Technology

[0002] With the development of robotics technology, surgical robots can stably and effectively assist doctors in performing minimally invasive surgeries, thus leading to the booming development of the surgical robot industry.

[0003] A typical minimally invasive surgical robot consists of a doctor's console, a patient surgical platform, and a display device. The doctor inputs commands on the doctor's console and transmits the commands to the patient surgical platform, which is connected to the surgical instruments.

[0004] In general, to ensure the smooth progress of surgery, multiple robotic arms are provided, which are used to install surgical instruments and auxiliary instruments. The position and posture adjustment of the robotic arms are closely related to the operation. The anatomical position to be treated and the approach angle to the patient often require the doctor to communicate with the patient and confirm the appropriate and accurate anatomical position and approach angle through close observation and touching of the human body structure. Therefore, the adjustment of the position and posture of the robotic arms is particularly important.

[0005] Chinese patent document CN106456258B, entitled "Automated Structure with Pre-established Arm Position in Remotely Operated Medical System," discloses a remote operation assembly 100, including a control column 104, a boom 105, an arm 106, and a directional platform 107. During operation, the doctor operates the assembly via a doctor control platform. Input commands are transmitted via a central electronic data processing unit, which controls the movement of the column 104, boom 105, arm 106, and directional platform 107 to the desired position by controlling motors associated with each component. In preoperative preparation, the arm position needs to be adjusted according to the anatomical location of the patient and the patient's approach angle. The doctor controls the arm 106 for positioning and docking via the central electronic data processing unit. This docking process involves a series of sequential movements to achieve the docking posture. These sequential movements may include arm deployment movement, vertical joint setting movement, boom movement, platform movement, and arm redeployment movement. In existing technologies, doctors typically operate from a remote doctor's console, using command input to control a motor to drive a robotic arm for posture adjustment. This adjustment method suffers from drawbacks such as posture feedback delays or errors between the input and the actual position, resulting in complex operation and insufficient precision. Summary of the Invention

[0006] The purpose of this invention is to provide a rotating joint structure and a surgical robot that allows doctors to directly adjust the position and posture of the robotic arm by manually pushing and pulling, thereby improving the adjustment efficiency and accuracy of the robotic arm.

[0007] To address the aforementioned technical problems, the embodiments of the present invention provide the following technical solutions:

[0008] A rotary joint structure includes a frame and at least one joint body rotatably connected to the frame. The joint body includes a fixed axis fixedly connected to the frame. A rotating body is rotatably connected to the fixed axis, and a brake is provided between the rotating body and the fixed axis. The brake includes a first brake connected to the rotating body and a second brake connected to the fixed axis. The first brake and the second brake can restrict the movement of the rotating body through a magnetic force. By connecting the first brake to the rotating body and the second brake to the fixed axis, the frictional force between the first brake and the second brake is controlled through the magnetic force between them. This provides braking force or rotational damping for the rotation of the rotating body relative to the fixed axis, restricting the movement of the rotating body. This allows doctors to manually adjust the posture of the robotic arm, improving the efficiency and accuracy of robotic arm adjustment.

[0009] Furthermore, the power supply voltage when the first brake is energized includes a first voltage and a second voltage. The first voltage is greater than the second voltage. Under the first voltage, the first brake and the second brake can separate, while under the second voltage, the first brake and the second brake remain in contact. By setting the first voltage and the second voltage, the magnitude of the magnetic force between the first brake and the second brake can be changed, thereby changing the magnitude of the frictional force between them. This frictional force provides damping for the rotation of the rotating body relative to the fixed axis, which helps to improve the feel of the rotating body during adjustment and facilitates quick adjustment and positioning by the operator.

[0010] Furthermore, the first voltage is 24V, and the second voltage is 12V.

[0011] The first brake is an electromagnetic demagnetizing device, and the second brake is made of ferromagnetic material. The first brake can come into contact with the second brake under magnetic attraction when no current is flowing, and can attract or separate from the second brake when current is flowing. Alternatively, the first brake can be an electromagnet, and the second brake can be a permanent magnet. When current flows through the first brake, the magnetic poles at the adjacent ends of the first and second brakes are the same and repel each other. When no current flows through the first brake, the first and second brakes come into contact under magnetic force. By using the electromagnetic demagnetizing device or electromagnet of the first brake, and through the interaction between the first and second brakes, the magnitude of the frictional force between them can be controlled, enabling the rotating body to achieve braking, damped rotation, or free rotation.

[0012] Furthermore, the second brake is slidably connected to the fixed shaft along the axial direction of the fixed shaft. This axial sliding connection between the brake and the fixed shaft allows for axial movement of the second brake relative to the fixed shaft and limits its circumferential rotation relative to the fixed shaft.

[0013] Furthermore, an elastic component is provided between the second brake and the fixed shaft. The elastic component is a metal sheet with elasticity, and it can elastically deform along the direction of the magnetic force between the first brake and the second brake. The elastic metal sheet between the second brake and the fixed shaft allows the second brake to quickly and actively separate from the first brake, which is beneficial for achieving the free rotation state of the rotating body.

[0014] Furthermore, the elastic component is fixedly connected to the second brake via a second fastener and to the fixed shaft via a third fastener, with the second and third fasteners alternately spaced apart. This alternating arrangement of the second and third fasteners ensures uniform stress distribution on the elastic component and more stable elastic deformation.

[0015] Furthermore, an angle encoder is provided between the fixed axis and the rotating body. The angle encoder allows for the monitoring of the rotation angle of the rotating body relative to the fixed axis.

[0016] Furthermore, multiple bearings are provided between the fixed axis and the rotating body, and the rotating body is rotatably connected to the fixed axis through the bearings. The arrangement of multiple bearings increases the stability of the rotating body's rotation relative to the fixed axis.

[0017] To address the aforementioned technical problems, embodiments of the present invention provide a surgical robot, including a base, a telescopic column, and a boom. One end of the boom is provided with a rotary joint structure as described in any of the preceding embodiments, and a robotic arm is fixedly connected to the connecting end of the rotary joint structure. Through the connection between the rotary joint structure and the robotic arm, surgeons can more conveniently and efficiently adjust the position and posture of the robotic arm during preoperative preparation. Attached Figure Description

[0018] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the patient-side surgical platform in the existing technology;

[0020] Figure 2 This is a three-dimensional structural diagram of the rotating joint structure in one embodiment of the present invention;

[0021] Figure 3 This is an exploded structural diagram of the frame and joint body of the rotating joint structure in one embodiment of the present invention;

[0022] Figure 4 This is an exploded structural diagram of the rotating joint structure in one embodiment of the present invention;

[0023] Figure 5 This is a top view of the exploded structure of the frame and joint body of the rotating joint structure in one embodiment of the present invention;

[0024] Figure 6 It is attached Figure 5 Schematic diagram of a partial section of the AA cross-section;

[0025] Figure 7 This is a schematic diagram of the three-dimensional structure of the rotating joint structure in one embodiment of the present invention;

[0026] Figure 8 This is a top view of the rotating body of a rotating joint structure in one embodiment of the present invention;

[0027] Figure 9 It is attached Figure 8 Schematic diagram of the cross-section of the rotating body BB;

[0028] Figure 10 This is an exploded structural diagram of the fixed shaft, the first brake, and the second brake in the second embodiment of the present invention;

[0029] Figure 11 This is an exploded structural diagram of the fixed axis and the first brake in the second embodiment of the present invention;

[0030] Figure 12 This is a schematic diagram of the assembly structure of the second brake and the elastic component in the second embodiment of the present invention;

[0031] Figure 13 These are the main views of the second brake and fixed-axis assembly structure in the first and third embodiments of the present invention;

[0032] Figure 14 This is a top view of the second brake and fixed-axis assembly structure in the first and third embodiments of the present invention;

[0033] Figure 15 This is a front view of the second brake and fixed-axis assembly structure in the fourth embodiment of the present invention;

[0034] Figure 16 This is a front view of the second brake and fixed-axis assembly structure in the fourth embodiment of the present invention.

[0035] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Joint body; 3. Fixed axis; 31. Rotating axis; 32. Base; 321. Clearance hole; 322. Fixing hole; 33. Wire; 4. Rotating body; 41. First mounting groove; 42. Second mounting groove; 43. Inner edge; 44. Wire hole; 45. Connecting end; 5. Brake; 51. First brake; 511. First fastener; 52. Second brake; 521. First positioning hole; 522. Second positioning hole; 6, 6'. Elastic component; 61. Second fastener; 612. Gasket; 62. Third fastener; 7. First bearing; 8. Second bearing; 9. Angle encoder; 10. Guide hole; 11. Guide post. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the various embodiments of this invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this invention to facilitate a better understanding of this application. However, the technical solutions claimed in the claims of this application can be implemented even without these technical details and with various variations and modifications based on the following embodiments.

[0037] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0038] like Figure 2-6 As shown in the figure. An embodiment of the present invention provides a rotating joint structure, including a frame 1 and a joint body 2 rotatably connected to the frame 1. The joint body 2 includes a fixed shaft 3 fixedly connected to the frame 1. A rotating body 4 is rotatably connected to the fixed shaft 3. A brake 5 is provided between the rotating body 4 and the fixed shaft 3. The brake 5 includes a first brake 51 connected to the rotating body 4 and a second brake 52 connected to the fixed shaft 3. The first brake 51 and the second brake 52 can restrict the movement of the rotating body 4 through magnetic force.

[0039] The fixed axis 3 includes a base 32 and a rotating shaft 31 perpendicular to the base 32. The rotating body 4 is sleeved on the fixed axis 3. Multiple bearings are provided between the fixed axis 3 and the rotating body 4. The rotating body 4 is rotatably connected to the fixed axis 3 through the bearings and can rotate about the rotating shaft 31. The rotating body 4 is provided with a connecting end 45 for connecting a robotic arm. Figure 7-10As shown, in an exemplary example, a first bearing 7 is fitted onto the rotating shaft 31, and a first mounting groove 41 is provided corresponding to the first bearing 7 for the rotating body 4. The first bearing 7 is fixedly installed in the first mounting groove 41. A second bearing 8 is fitted onto the base 32, and a second mounting groove 42 is provided corresponding to the second bearing 8 for the rotating body 4. The second bearing 8 is fixedly installed in the second mounting groove 42, thereby forming a rotational connection between the rotating body 4 and the fixed shaft 3. The rotating body 4 has an inner edge 43 protruding towards the rotating shaft 31. The end of the first brake 51 away from the second brake 52 is fixedly connected to the inner edge 43 by a first fastener 511. The first brake 51 has a wire 33, and a wire hole 44 is provided corresponding to the wire 33 for the wire 33 to pass through.

[0040] The first embodiment of the present invention relates to a rotating joint structure, including a frame 1 and a joint body 2 rotatably connected to the frame 1. The joint body 2 includes a fixed shaft 3 fixedly connected to the frame 1. The fixed shaft 3 includes a base 32 and a rotating shaft 31 fixedly disposed perpendicular to the base 32. Preferably, the rotating shaft 31 is integrally formed with the base 32, and the top end of the rotating shaft 31 and the bottom end of the base 32 are fixedly connected to the frame 1 by fasteners. A rotating body 4 is rotatably connected to the outside of the fixed shaft 3. A brake 5 is provided between the rotating body 4 and the fixed shaft 3. The brake 5 includes a first brake 51 connected to the rotating body 4 and a second brake 52 connected to the fixed shaft 3.

[0041] like Figure 13-14 As shown, the second brake 52 is slidably connected to the fixed shaft 3 along the axial direction of the fixed shaft 3. A guide post 11 is fixedly provided on the base 32, and the second brake 52 has a guide hole 10 corresponding to the guide post 11. The guide post 11 and the guide hole 10 are slidably connected axially. Due to the radial limiting effect of the guide post 11 and the guide hole 10, the second brake 52 and the fixed shaft 3 are circumferentially fixed and cannot rotate relative to each other. Preferably, multiple guide posts 11 are provided, and the multiple guide posts 11 are evenly distributed on the same circumference. In another example, the rotation shaft 31 of the fixed shaft 3 has a protrusion along the axial direction, and the second brake 52 has a groove corresponding to the protrusion. The protrusion and the groove slide in cooperation, so that the second brake 52 and the fixed shaft 3 are slidably connected along the axial direction of the fixed shaft 3.

[0042] In the first embodiment, the first brake 51 is an electromagnetic device, such as an energized demagnetizing device, and the second brake 52 is made of a ferromagnetic material. The energized demagnetizing device specifically includes a permanent magnet and a coil surrounding the permanent magnet. The magnetic field strength of the energized demagnetizing device is controlled by controlling the current flowing through the coil. The aforementioned energized demagnetizing device can be manufactured using existing technology, utilizing the principle of "magnetic fields acting on magnetism," meaning that when two magnetic fields are in opposite directions, they can cancel each other out; when two magnetic fields are of equal strength and in opposite directions, they can cancel each other out, and the magnetic field disappears.

[0043] In the first embodiment of the present invention, the rotating body 4 exists in three states:

[0044] In the braking state, that is, when no current is applied to the first brake 51, the magnetic field of the permanent magnet inside the first brake 51 generates a magnetic attraction to the second brake 52. The second brake 52 moves closer to the first brake 51 until the surface of the second brake 52 comes into contact with the surface of the first brake 51. The friction between the first brake 51 and the second brake 52 can provide braking force between the rotating body 4 and the fixed shaft 3. Under the action of the friction between the two, the rotation of the rotating body 4 relative to the fixed shaft 3 is restricted, preventing the relative rotation between the rotating body 4 and the fixed shaft 3. The rotating body 4 is in the braking state.

[0045] In the free rotation state, i.e., the first brake 51 is energized with current, and the power supply voltage is set to the first voltage, the coil in the first brake 51 generates a magnetic field with the same strength but opposite direction to the magnetic field of the permanent magnet, causing the permanent magnet to demagnetize, and the external magnetic field of the first brake 51 disappears. The pressure between the first brake 51 and the second brake 52 is zero, and a circumferential rotational force is applied to the rotating body 4, which can separate the first brake 51 and the second brake 52, so that the rotating body 4 can rotate freely relative to the fixed axis 3, and the rotating body 4 is in the free rotation state.

[0046] In the damped rotation state, i.e., the first brake 51 is energized with current, and the power supply voltage is set to the second voltage, the coil in the first brake 51 generates a magnetic field opposite to the magnetic field of the permanent magnet. The magnetic field strength generated by the coil under the second voltage is less than the magnetic field strength of the permanent magnet, which reduces the external magnetic field strength of the first brake 51. The first brake 51 and the second brake 52 remain in contact under magnetic force, but due to the weakening of the magnetic field strength of the first brake 51, the pressure between the first brake 51 and the second brake 52 decreases, thus reducing the friction between the first brake 51 and the second brake 52. This allows the rotating body 4 to rotate relative to the fixed axis 3 against friction under the action of external force. The friction provides a certain damping when the rotating body 4 rotates relative to the fixed axis 3, which helps to improve the feel of the rotating body 4 during adjustment and facilitates quick adjustment and positioning by the operator.

[0047] In the first embodiment of the present invention, the first voltage is greater than the second voltage. As a result, the magnetic field strength of the coil in the first brake 51 under the first voltage is greater than the magnetic field strength under the second voltage. The first voltage and the second voltage can be combined in various ways in the prior art. For example, the first voltage is set to DC 48V and the second voltage is set to DC 36V. In an exemplary example, the first voltage is set to DC 24V and the second voltage is set to DC 12V.

[0048] The second embodiment of the present invention relates to a rotating joint structure. The main difference from the first embodiment is that the connection method between the second brake 52 and the base 32 is different. In the second embodiment, an elastic member 6 is provided between the second brake 52 and the fixed shaft 3. The second brake 52 and the base 32 are connected by the elastic member 6. The elastic member 6 can elastically deform along the direction of the magnetic force between the first brake 51 and the second brake 52. Preferably, the elastic member 6 is an elastic metal sheet or a spring sheet.

[0049] like Figure 10-12 As shown, the elastic component 6 is an annular thin sheet. The elastic component 6 is fixedly connected to the second brake 52 by a second fastener 61. Preferably, there are multiple second fasteners 61, which are evenly distributed on the same circumference of the elastic component 6. The elastic component 6 is fixedly connected to the base 32 by a third fastener 62. Preferably, there are multiple third fasteners 62, which are evenly distributed on the same circumference of the elastic component 6. The multiple third fasteners 62 and the multiple second fasteners 61 are alternately arranged at intervals. In an exemplary example, the second brake 52 has a first positioning hole 521 corresponding to the second fastener 61, and the base 32 has a clearance hole 321 corresponding to the second fastener 61. One end of the second fastener 61 is accommodated in the first positioning hole 521, and its end face does not extend beyond the end face of the second brake 52 facing the first brake 51. The other end of the second fastener 61 can be accommodated in the clearance hole 321. Preferably, the second fastener 61 is a rivet. A washer 612 is also provided between the second fastener 61 and the second brake 52. The elastic member 6 is riveted to the second brake 52 by the second fastener 61. The second brake 52 has a second positioning hole 522 corresponding to the third fastener 62, and the base 32 has a fixing hole 322 corresponding to the third fastener 62. Preferably, the third fastener 62 is a screw, and the fixing hole 322 is a threaded hole. The third fastener 62 passes through the second positioning hole 522 and is threadedly connected to the fixing hole 322 to fix the elastic member 6 to the base 32. In one exemplary example, the first positioning hole 521 and the second positioning hole 522 are located on the same circumference.

[0050] In the second embodiment, the first brake 51 is an electromagnetic device, such as an energized demagnetizing device, and the second brake 52 is made of a ferromagnetic material. The energized demagnetizing device specifically includes a magnet and a coil surrounding the magnet. By controlling the current flowing through the coil, the magnetic field strength of the energized demagnetizing device is weakened or reduced to zero, achieving the demagnetizing effect. The aforementioned energized demagnetizing device can be manufactured using existing technology, utilizing the principle of "magnetic fields acting on magnetism," meaning that when two magnetic fields are in opposite directions, they can cancel each other out; when two magnetic fields are equal in strength and opposite in direction, they can cancel each other out, and the magnetic field disappears.

[0051] In the second embodiment of the present invention, the rotating body 4 exists in three states:

[0052] In the braking state, i.e., when no current is applied to the first brake 51, the magnetic field of the permanent magnet inside the first brake 51 generates a magnetic attraction to the second brake 52. The magnetic force is transmitted to the elastic member 6 through the second brake 52. The elastic member 6 is passively deformed, and the second brake 52 moves closer to the first brake 51 until the surface of the second brake 52 abuts against the surface of the first brake 51. The friction between the first brake 51 and the second brake 52 can provide braking force between the rotating body 4 and the fixed axis 3. Under the action of the friction between the two, the rotation of the rotating body 4 relative to the fixed axis 3 is restricted, preventing the relative rotation between the rotating body 4 and the fixed axis 3. The rotating body 4 is in the braking state.

[0053] In the free-rotation state, the first brake 51 is energized, and the voltage of the power supply is set to the first voltage. The coil in the first brake 51 generates a magnetic field with the same strength but opposite direction to the magnetic field of the magnet, causing the permanent magnet to demagnetize, and the external magnetic field of the first brake 51 disappears. Under the rebound force of the elastic member 6, the second brake 52 moves away from the first brake 51, causing the first brake 51 and the second brake 52 to separate, so that the rotating body 4 can rotate freely relative to the fixed axis 3, and the rotating body 4 is in a free-rotation state.

[0054] In the damped rotation state, when the first brake 51 is energized and the power supply voltage is set to the second voltage, the coil in the first brake 51 generates a magnetic field opposite to the magnetic field of the magnet. The magnetic field strength generated by the coil under the second voltage is less than that generated by the magnet, thus reducing the external magnetic field strength of the first brake 51. At this time, the magnetic attraction of the first brake 51 to the second brake 52 is still greater than the rebound force of the elastic component 6, keeping the first brake 51 and the second brake 52 in contact. However, due to the weakening of the magnetic field strength of the first brake 51, the friction between the first brake 51 and the second brake 52 decreases, allowing the rotating body 4 to rotate relative to the fixed axis 3 against friction under external force. In this state, the rotating body 4 is in a damped rotation state. The friction provides damping when the rotating body 4 rotates relative to the fixed axis 3, which improves the feel of the rotating body 4 during adjustment and facilitates quick positioning by the operator.

[0055] In the second embodiment of the present invention, the first voltage is greater than the second voltage. The setting of the first voltage and the second voltage needs to be based on the elastic rebound force of the elastic component 6 and the damping required when the rotating body 4 rotates. The first voltage and the second voltage can adopt a variety of combinations in the prior art. For example, the first voltage is set to DC 48V and the second voltage is set to DC 36V; in an exemplary example, the first voltage is set to DC 24V and the second voltage is set to DC 12V.

[0056] As can be seen from the above description, in the second embodiment of the present invention, the elastic component 6 is an elastic metal sheet. When the rotating body 4 is in a free rotation state, the second brake 52 can actively separate from the first brake 51 under the rebound force of the elastic component 6. When the rotating body 4 rotates relative to the fixed axis 3, unnecessary interference and friction between the first brake 51 and the second brake 52 are avoided.

[0057] The third embodiment of the present invention relates to a rotating joint structure. The difference between the third embodiment and the first embodiment is that the first brake 51 is an electromagnet, and the second brake 52 is a permanent magnet. The electromagnet comprises a ferromagnetic material and a conductive wire wound around its exterior. When energized, the first brake 51 generates a magnetic field in the same direction as the magnetic field of the second brake 52. When de-energized, the magnetic field of the first brake 51 disappears. Preferably, the ferromagnetic material is soft iron or silicon steel, which allows for more rapid demagnetization of the first brake 51 when de-energized.

[0058] In the third embodiment of the present invention, the rotating body 4 exists in two states:

[0059] In the braking state, i.e. when the first brake 51 is not energized, the second brake 52, under its own magnetic force, generates a magnetic attraction between itself and the first brake 51. The second brake 52 moves toward the first brake 51 until the surface of the second brake 52 comes into contact with the surface of the first brake 51. The friction between the first brake 51 and the second brake 52 can provide braking force between the rotating body 4 and the fixed shaft 3. Under the action of the friction between the two, the rotation of the rotating body 4 relative to the fixed shaft 3 is restricted, preventing the relative rotation between the rotating body 4 and the fixed shaft 3. The rotating body 4 is in the braking state.

[0060] In the free rotation state, that is, when the first brake 51 is connected to the current, the ferromagnetic material inside the first brake 51 is magnetized to generate a magnetic field. The magnetic poles of the ends of the first brake 51 and the second brake 52 that are close to each other are the same. A repulsive force is generated between the first brake 51 and the second brake 52, causing the second brake 52 to move toward the base 32. The first brake 51 and the second brake 52 separate from each other, so that the rotating body 4 can rotate freely relative to the axis of rotation. The rotating body 4 is in the free rotation state.

[0061] The fourth embodiment of the present invention relates to a rotary joint structure, as opposed to the third embodiment, such as Figure 15-16 As shown, the difference lies in that, in the fourth embodiment, an elastic member 6' is further provided between the second brake 52 and the fixed shaft 3. The two ends of the elastic member 6' abut against one end of the second brake 52 and one end of the base 32, respectively. The elastic member 6' can elastically deform along the direction of the magnetic force between the first brake 51 and the second brake 52. Preferably, the elastic member 6' is a spring, which is in an elastically compressed state between the second brake 52 and the base 32. Multiple elastic members 6' are provided, and they are evenly distributed on the same circumference. In an exemplary example, three elastic members 6' and three guide posts 11 are provided, and the elastic members 6' and the guide posts 11 are alternately arranged on the same circumference at intervals.

[0062] In the fourth embodiment of the present invention, the rotating body 4 exists in three states:

[0063] In the braking state, i.e., when the first brake 51 is not energized, the second brake 52, under its own magnetic force, generates a magnetic attraction with the first brake 51. The elastic member 6' is in an elastically compressed state. The magnetic attraction experienced by the second brake 52 is in the same direction as the rebound force of the elastic member 6'. Under the combined action of the elastic force of the elastic member 6' and the magnetic attraction, the second brake 52 moves toward the first brake 51 until the surface of the second brake 52 comes into close contact with the surface of the first brake 51. The friction between the first brake 51 and the second brake 52 can provide braking force between the rotating body 4 and the fixed shaft 3. Under the action of the friction between the two, the rotation of the rotating body 4 relative to the fixed shaft 3 is restricted, preventing the relative rotation between the rotating body 4 and the fixed shaft 3. The rotating body 4 is in the braking state.

[0064] In the free rotation state, that is, when the first brake 51 is connected to the current, the voltage of the power supply is set to the first voltage. The ferromagnetic material inside the first brake 51 is magnetized to generate a magnetic field. The magnetic poles of the ends of the first brake 51 and the second brake 52 that are close to each other are the same. A repulsive force is generated between the first brake 51 and the second brake 52. The repulsive force is transmitted to the elastic member 6' through the second brake 52. The elastic member 6' is compressed and deformed, causing the second brake 52 to move toward the base 32. The first brake 51 and the second brake 52 separate from each other, so that the rotating body 4 can rotate freely relative to the axis of rotation.

[0065] In the damped rotation state, i.e., the first brake 51 is connected to current, and the power supply voltage is set to the second voltage, the first brake 51 is magnetized and generates magnetism, and the ferromagnetic material inside the first brake 51 is magnetized and generates a magnetic field. The magnetic poles of the ends of the first brake 51 and the second brake 52 that are close to each other are the same, and a repulsive force is generated between the first brake 51 and the second brake 52. The repulsive force on the second brake 52 is opposite in direction to the rebound force of the elastic component 6'. At this time, the magnetic repulsive force between the first brake 51 and the second brake 52 is less than the force of the elastic component 6', so that the first brake 51 and the second brake 52 remain in contact. The pressure between the second brake 52 and the first brake 51 is equal to the difference between the rebound force and the repulsive force of the elastic component 6'. Under the combined action of the repulsive force and the elastic force, relative to the braking state of the rotating body 4, the friction between the first brake 51 and the second brake 52 is reduced, so that the rotating body 4 can rotate relative to the fixed axis 3 under the action of external force to overcome the friction. At this time, the rotating body 4 is in the damped rotation state. The frictional force can provide a certain damping when the rotating body 4 rotates relative to the fixed axis 3, which helps to increase the feel of the rotating body 4 during adjustment and helps the operator to quickly adjust the positioning.

[0066] In the fourth embodiment of the present invention, the first voltage is greater than the second voltage. The setting of the first voltage and the second voltage needs to be based on the elastic rebound force of the elastic component 6' and the damping required when the rotating body 4 rotates. The first voltage and the second voltage can adopt a variety of combinations in the prior art. For example, the first voltage is set to DC 48V and the second voltage is set to 36V; in an exemplary example, the first voltage is set to DC 24V and the second voltage is set to DC 12V.

[0067] In one embodiment, a rotary joint structure is provided, wherein an angle encoder 9 is further provided between the fixed axis 3 and the rotating body 4, the angle encoder 9 being used to monitor the rotation angle of the rotating body 4.

[0068] In one embodiment, a rotary joint structure is provided, including a frame 1 connected to a plurality of the aforementioned joint bodies 2. In an exemplary example, there are four joint bodies 2.

[0069] The present invention also provides a surgical robot, which includes a base (not shown), a telescopic column (not shown), and a boom (not shown). One end of the boom is provided with a rotating joint structure as described above, and a robotic arm is fixedly connected to the connecting end 45 of the rotating joint structure.

[0070] During operation, in the preoperative preparation stage, the doctor can adjust the column, boom, and rotating joints via the doctor's console, bringing the robotic arm close to the patient's area to be dissected. Then, the doctor manually pushes or pulls the robotic arm near the patient's side according to the specific location to be dissected, thereby causing the rotating body 4 to rotate relative to the frame 1, allowing for precise adjustment of the robotic arm's posture. During manual adjustment of the robotic arm, the first brake 51 is in a current-carrying state. Preferably, the current supply voltage is set to the second voltage. This ensures that the rotation of the rotating body 4 relative to the frame 1 can be adjusted under stable damping, resulting in a consistent feel when adjusting different robotic arms. The doctor can quickly adjust the robotic arm to the correct position according to the situation, avoiding excessive flexibility during adjustment. Once the robotic arm's posture is adjusted, the current to the first brake 51 is cut off, putting the rotating joint structure into a braking state, thereby increasing the stability of the robotic arm.

[0071] The rotary joint structure and surgical robot provided by this invention, compared with the prior art, connect the first brake to the rotating body and the second brake to the fixed axis. By using the magnetic force between the first brake and the second brake, the frictional force between the first brake and the second brake is controlled, thereby providing braking force or rotational damping for the rotation of the rotating body relative to the fixed axis. This allows doctors to manually adjust the position and posture of the robotic arm, improving the efficiency and accuracy of the adjustment.

[0072] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A rotating joint structure, characterized in that, The system includes a frame (1) and at least one joint (2) rotatably connected to the frame (1). The joint (2) includes a fixed shaft (3) fixedly connected to the frame (1). A rotating body (4) is rotatably connected to the fixed shaft (3), and a brake (5) is provided between the rotating body (4) and the fixed shaft (3). The brake (5) includes a first brake (51) connected to the rotating body (4) and a second brake (52) connected to the fixed shaft (3). The second brake (52) is slidably connected to the fixed shaft (3) along the axial direction of the fixed shaft (3), and an elastic member (6) is provided between the second brake (52) and the fixed shaft (3). The elastic component (6) is an elastic annular metal sheet. The elastic component (6) is fixedly connected to the second brake (52) by the second fastener (61) and to the fixed shaft (3) by the third fastener (62). The second fastener (61) and the third fastener (62) are alternately arranged at intervals. The first brake (51) and the second brake (52) can be connected by magnetic force, in conjunction with the elastic deformation of the elastic component (6), to control the contact and separation between the first brake (51) and the second brake (52), thereby restricting the movement of the rotating body (4) and realizing the switching between the braking state, damped rotation state and free rotation state of the rotating body (4).

2. The rotary joint structure according to claim 1, characterized in that, The power supply voltage when the first brake (51) is energized includes a first voltage and a second voltage. The first voltage is greater than the second voltage. Under the first voltage, the first brake (51) and the second brake (52) can be separated. Under the second voltage, the first brake (51) and the second brake (52) remain in contact.

3. The rotary joint structure according to claim 2, characterized in that, The first voltage is 24V, and the second voltage is 12V.

4. The rotary joint structure according to any one of claims 1-3, characterized in that, The first brake (51) is an electromagnetic demagnetizing device, and the second brake (52) is a ferromagnetic material. The first brake (51) can come into contact with the second brake (52) under magnetic attraction when no current is flowing through it, and can be attracted to or separated from the second brake (52) when current is flowing through it. Alternatively, the first brake (51) is an electromagnet, and the second brake (52) is a permanent magnet. When current flows through the first brake (51), the magnetic poles of the ends of the first brake (51) and the second brake (52) that are close to each other are the same and repel each other. When no current flows through the first brake (51), the first brake (51) and the second brake (52) come into contact under magnetic force.

5. The rotary joint structure according to claim 4, characterized in that, The second brake (52) is slidably connected to the fixed shaft (3) along the axial direction of the fixed shaft (3).

6. The rotary joint structure according to claim 4, characterized in that, The elastic component (6, 6') is capable of elastic deformation along the direction of the magnetic force between the first brake (51) and the second brake (52).

7. The rotary joint structure according to any one of claims 1-3, characterized in that, An angle encoder (9) is provided between the fixed axis (3) and the rotating body (4).

8. The rotary joint structure according to any one of claims 1-3, characterized in that, Multiple bearings are provided between the fixed shaft (3) and the rotating body (4), and the rotating body (4) is rotatably connected to the fixed shaft (3) through the bearings.

9. A surgical robot, characterized in that, It includes a base, a telescopic column and a boom, one end of which is provided with a rotating joint structure as described in any one of claims 1-8, and a mechanical arm is fixedly connected to the connecting end (45) of the rotating joint structure.

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