Electromagnetic braking module of operation assisting system and operation assisting system

Abstract

The invention provides an electromagnetic braking module of an operation assisting system and the operation assisting system. The electromagnetic braking module comprises an inner core set and an outer ring set which are connected with a first mechanical arm and a second mechanical arm respectively. The inner core set comprises a flange shaft sleeve, a friction plate and an elastic piece, the flange shaft sleeve is provided with a connecting part for the friction plate to be arranged in a sleeved mode and transversely extends outwards from the bottom of the connecting part to form a fixing part, the elastic piece is embedded in the side, facing the friction plate, of the fixing part, and the two ends of the elastic piece are connected with the fixing part and the friction plate respectively. The outer ring group comprises a constant magnetic seat and a coil; the constant magnetic seat sleeves the outer side of the connecting part, a certain gap is formed between the bottom of the constant magnetic seat and the friction plate, the coil is accommodated in the constant magnetic seat, and a torque range corresponding to the electromagnetic braking module is formed by magnetic force generated by the constant magnetic seat; when the coil is powered off, the friction plate is adsorbed by the constant magnetic seat, and the inner core group and the outer ring group are relatively static in a torque range; and when the coil is electrified, the friction plate is not adsorbed by the constant magnetic seat, and the inner core group and the outer ring group rotate relatively. According to the invention, the mechanical structure is simple, and the operation is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an electromagnetic braking module of a surgical auxiliary system and a surgical auxiliary system. Background Art

[0002] A surgical microscope is a high-precision medical device that is mainly used by doctors to observe and manipulate tiny tissues or organs during surgery. It provides a high-definition field of view and magnification through optical principles and stereoscopic visual effects, thereby assisting doctors in performing more precise operations during surgery. A surgical microscope usually consists of three major parts, namely, the mechanical system, the optical system, and the electronic system. The mechanical system refers to the skeleton of the surgical microscope. Its specific structure determines the range of motion of the surgical microscope and ensures that the optical system can move quickly, freely, and flexibly to the necessary position.

[0003] The mechanical structure of the surgical microscope is mostly realized by a cantilever structure, and multiple cantilever structures are connected by a connecting structure. Since the position of the optical system needs to be adjusted, the multiple cantilever structures are usually set to be relatively rotatable through the connecting structure to ensure the maximum adjustment space of the optical system. However, the existing connecting structure is relatively complex in design, and for example, the cantilever structure is driven to rotate relatively by a motor and a reduction box, etc., which has the defects of complex structure and inconvenient operation.

[0004] In view of this, it is necessary to improve the connection structure of the surgical microscope in the prior art to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to solve the problems of complicated structure and inconvenient operation caused by the existing connection structure being designed to be relatively complicated and the cantilever structure being driven to rotate relative to each other by structures such as a motor and a reduction box.

[0006] To achieve the above object, the present invention provides an electromagnetic brake module of a surgical assistance system, which is arranged at a pivotal connection formed by a first mechanical arm and a second mechanical arm included in the surgical assistance system, and the electromagnetic brake module includes:

[0007] An inner core group and an outer ring group connected to the first mechanical arm and the second mechanical arm respectively;

[0008] The inner core group includes: a flange sleeve, a friction plate and a spring sheet, the flange sleeve is constructed with a connecting portion for the friction plate to be sleeved, and extends outwardly from the bottom of the connecting portion to form a fixing portion, the spring sheet is embedded in the fixing portion on one side facing the friction plate, and the two ends are respectively connected to the fixing portion and the friction plate, the outer ring group includes: a permanent magnetic seat sleeved on the outside of the connecting portion and forming a certain gap with the friction plate at the bottom, and a coil accommodated in the permanent magnetic seat, and the magnetic force generated by the permanent magnetic seat forms a torque range corresponding to the electromagnetic brake module;

[0009] When the coil is powered off, the friction plate is attracted by the permanent magnetic seat, and the inner core group and the outer ring group are relatively stationary within the torque range; when the coil is powered on, the friction plate is not attracted by the permanent magnetic seat, and the inner core group and the outer ring group rotate relatively.

[0010] As a further improvement of the present invention, the electromagnetic brake module further comprises: a hollow fixed core shaft, the flange sleeve is sleeved on the outer side of the fixed core shaft;

[0011] When the coil is energized, the fixed core shaft rotates relatively with the inner core group and the outer ring group.

[0012] As a further improvement of the present invention, the electromagnetic brake module also includes: a rotating seat sleeved on the outside of the fixed core shaft and a rotor seat sleeved on the outside of the permanent magnetic seat, the rotating seat is arranged at the bottom of the flange sleeve and is fixedly connected to the rotating seat, and the outer ring group is fixedly connected to the second robotic arm through the rotating seat.

[0013] As a further improvement of the present invention, the electromagnetic brake module further includes: a hollow base disposed at the bottom of the fixed core shaft, and the inner core group is fixedly connected to the first mechanical arm via the base.

[0014] As a further improvement of the present invention, the electromagnetic brake module also includes: a first separation bearing sleeved between the fixed core shaft and the rotor seat, the inner ring of the first separation bearing having an interference fit with the fixed core shaft, and the outer ring having an interference fit with the rotor seat.

[0015] As a further improvement of the present invention, the electromagnetic brake module also includes: a second separation bearing which is sleeved on the outside of the fixed core shaft and arranged on the inner side of the top end of the rotating seat, the inner ring of the second separation bearing has an interference fit with the fixed core shaft, and the outer ring has an interference fit with the rotating seat.

[0016] As a further improvement of the present invention, the electromagnetic brake module also includes: a third separation bearing sleeved on the outside of the fixed core shaft and arranged on the inner side of the bottom end of the rotating seat, the inner ring of the third separation bearing has an interference fit with the fixed core shaft, and the outer ring has an interference fit with the rotating seat.

[0017] As a further improvement of the present invention, the electromagnetic brake module also includes: a limit plate sleeved on the outside of the fixed core shaft, and the limit plate is arranged between the fixed part and the second release bearing, an internal thread is formed on the inner side of the limit plate, and an external thread matching the internal thread is formed on the outer side of the fixed core shaft.

[0018] As a further improvement of the present invention, the first release bearing and / or the second release bearing and / or the third release bearing include: an inner ring, an outer ring sleeved on the outer side of the inner ring, a retaining frame arranged between the inner ring and the outer ring, and bearing rollers arranged inside the retaining frame.

[0019] Based on the same inventive concept, the present invention also discloses a surgical assistance system, comprising: a first robotic arm and a second robotic arm pivotally connected, and an electromagnetic braking module as described in any of the above inventions.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The electromagnetic brake module is composed of an inner core group and an outer ring group which are coaxially arranged. When the coil contained in the outer ring group is powered off, the friction plate contained in the inner core group is adsorbed by the permanent magnetic seat contained in the outer ring group, and the inner core group and the outer ring group are relatively stationary; when the coil contained in the outer ring group is powered on, the friction plate contained in the inner core group is not adsorbed by the permanent magnetic seat contained in the outer ring group, and the inner core group and the outer ring group rotate relative to each other, and the inner core group and the outer ring group are respectively connected to the first mechanical arm and the second mechanical arm, thereby realizing the controllable relative rotation of the first mechanical arm and the second mechanical arm. Compared with the existing cantilever structure driven by the relative rotation of the motor and the reduction box and other structures, the electromagnetic brake module disclosed in the present application has a simpler mechanical structure and is easy to operate while ensuring a higher degree of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional diagram of the electromagnetic brake module shown in the present invention at a viewing angle;

[0023] Figure 2 is a cross-sectional view of an electromagnetic brake module;

[0024] Figure 3 is a three-dimensional cross-sectional view of the outer ring group;

[0025] Figure 4 It is the front view of the inner core group;

[0026] Figure 5 A three-dimensional diagram of a flange sleeve at one viewing angle;

[0027] Figure 6 A three-dimensional diagram of the friction plate at a certain viewing angle;

[0028] Figure 7 It is a three-dimensional picture of the shrapnel at a certain viewing angle;

[0029] Figure 8 is a three-dimensional diagram of the first release bearing at a viewing angle;

[0030] Fig. 9 A stereoscopic image of a surgical assistance system from one perspective. DETAILED DESCRIPTION

[0031] The present invention is described in detail below in conjunction with the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these embodiments are all within the scope of protection of the present invention.

[0032] Please refer to Figures 1 to 9 As shown, the present invention shows a specific implementation of an electromagnetic brake module 40 and a surgical auxiliary system of a surgical auxiliary system. The electromagnetic brake module 40 is arranged at the pivot connection formed by the first robotic arm 20 and the second robotic arm 30 included in the surgical auxiliary system, and the relative rotation and relative stillness of the first robotic arm 20 and the second robotic arm 30 are controlled based on the power on and off of the electromagnetic brake module 40. Among them, the surgical auxiliary system can be, for example, a surgical microscope, which is used to assist clinicians in observing and manipulating tiny tissues and organs during surgery, and the surgical microscope is used as an example for exemplary description in the following description. Of course, it can also be other surgical auxiliary systems 10, which are not specifically described in this embodiment, but the protection scope of this application cannot be limited by this. In the present application, the electromagnetic brake module 40 is composed of an inner core group 41 and an outer ring group 42 which are coaxially arranged. When the coil 422 included in the outer ring group 42 is powered off, the friction plate 412 included in the inner core group 41 is adsorbed by the permanent magnetic seat 421 included in the outer ring group 42, and the inner core group 41 and the outer ring group 42 are relatively stationary; when the coil 422 included in the outer ring group 42 is powered on, the friction plate 412 included in the inner core group 41 is not adsorbed by the permanent magnetic seat 421 included in the outer ring group 42, and the inner core group 41 and the outer ring group 42 rotate relative to each other, and the inner core group 41 and the outer ring group 42 are respectively connected to the first robotic arm 20 and the second robotic arm 30, thereby realizing the controllable relative rotation of the first robotic arm 20 and the second robotic arm 30. Compared with the existing method of driving the cantilever structure to rotate relative to each other through structures such as a motor and a reduction box, the electromagnetic brake module 40 disclosed in the present application has a simpler mechanical structure and is easy to operate while ensuring a higher degree of freedom.

[0033] Ginseng Figures 1 to 7 As shown, the electromagnetic brake module 40 includes: an inner core group 41 and an outer ring group 42 connected to the first mechanical arm 20 and the second mechanical arm 30 respectively. The inner core group 41 includes: a flange sleeve 411, a friction plate 412 and a spring 413. The flange sleeve 411 is constructed with a connecting portion 414 for the friction plate 412 to be sleeved, and extends outwardly from the bottom of the connecting portion 414 to form a fixed portion 415. The spring 413 is embedded in the fixed portion 415 on one side facing the friction plate 412, and the two ends are respectively connected to the fixed portion 415 and the friction plate 412. The outer ring group 42 includes: a permanent magnetic seat 421 sleeved on the outside of the connecting portion 414 and the bottom thereof forms a certain gap B with the friction plate 412, and a coil 422 accommodated in the permanent magnetic seat 421, and the magnetic force generated by the permanent magnetic seat 421 forms a torque range corresponding to the electromagnetic brake module 40. When the coil 422 is powered off, the friction plate 412 is attracted by the permanent magnetic seat 421, and the inner core group 41 and the outer ring group 42 are relatively stationary within the torque range corresponding to the electromagnetic brake module 40; when the coil 422 is powered on, the friction plate 412 is not attracted by the permanent magnetic seat 421, and the inner core group 41 and the outer ring group 42 rotate relatively.

[0034] Specifically, the first mechanical arm 20 is pivotally connected to the second mechanical arm 30, and the electromagnetic brake module 40 is arranged at the pivotal connection between the first mechanical arm 20 and the second mechanical arm 30. The friction plate 412 is sleeved on the outside of the connecting portion 414 and arranged on the top of the fixing portion 415, the permanent magnetic seat 421 is sleeved on the outside of the connecting portion 414 and arranged on the top of the friction plate 412, the coil 422 is accommodated in the permanent magnetic seat 421, and the fixing portion 415 is provided with a groove 416 for accommodating the spring plate 413 on one side facing the friction plate 412. The spring plate 413 is accommodated in the groove 416 and its two ends are fixedly connected to the fixing portion 415 and the friction plate 412 respectively. The spring plate 413 is an elastic component, and preferably, the spring plate 413 is waist-shaped. During assembly, one end of the spring sheet 413 is fixedly connected to the fixed part 415 by a locking part such as a screw, and the other end of the spring sheet 413 is fixedly connected to the friction plate 412 by a locking part such as a screw. A gap may or may not be formed between the fixed part 415 and the friction plate 412, and a certain gap B is formed between the friction plate 412 and the permanent magnetic seat 421 during assembly.

[0035] When the electromagnetic brake module 40 is powered off (i.e., the coil 422 is powered off), the constant magnetic seat 421 generates magnetic force and attracts the friction plate 412. At this time, the spring sheet 413 undergoes elastic deformation, so that the inner core group 41 and the outer ring group 42 are relatively stationary under the action of the friction plate 412 being attracted by the constant magnetic seat 421; when the electromagnetic brake module 40 is powered on (i.e., the coil 422 is powered on), the coil 422 generates magnetic force after being powered on, which offsets the magnetic force generated by the constant magnetic seat 421. At this time, the friction plate 412 is not attracted by the constant magnetic seat 421. The friction plate 412 is separated from the constant magnetic seat 421 by the rebound action of the spring sheet 413 and a certain gap B is formed. Therefore, the inner core group 41 and the outer ring group 42 can rotate relatively under the action of the friction plate 412 not being attracted by the constant magnetic seat 421 and a certain gap B is formed between the two. Based on this, the inner core group 41 and the outer ring group 42 are fixedly connected to the pivotally connected first robotic arm 20 and the second robotic arm 30 respectively. When the electromagnetic brake module 40 is powered off, the inner core group 41 and the outer ring group 42 are relatively stationary within the torque range corresponding to the electromagnetic brake module 40, and the first robotic arm 20 and the second robotic arm 30 are prompted to be relatively stationary; when the electromagnetic brake module 40 is powered on, the inner core group 41 and the outer ring group 42 can rotate relative to each other, and the first robotic arm 20 and the second robotic arm 30 are prompted to rotate relative to each other, thereby controlling the relative stillness or relative rotation of the inner core group 41 and the outer ring group 42 through adsorption or release between the inner core group 41 and the outer ring group 42, thereby realizing the controllable relative rotation of the first robotic arm 20 and the second robotic arm 30. Compared with the existing connection structure, the mechanical structure is simpler and easy to operate.

[0036] It should be noted that the aforementioned spring piece 413 may be provided in plurality, and for example Figure 8 As shown in the figure, three grooves 416 are provided for accommodating three spring sheets 413 respectively, and the three grooves 416 are symmetrical about the central symmetry axis of the flange sleeve 411, so that when the friction sheet 412 is not adsorbed by the permanent magnetic seat 421, the friction sheet 412 can be stably separated from the permanent magnetic seat 421 under the action of the spring sheets 413 and form a gap B. In addition, for the description of the torque range, since the permanent magnetic seat 421 generates a magnetic force to adsorb the friction sheet 412, if a force opposite to the magnetic force is applied to the friction sheet 412, when the magnetic force and the force are offset, the friction sheet 412 is not adsorbed by the permanent magnetic seat 421, and the force at this time is the maximum physical quantity in the aforementioned torque range. At the same time, in the present application, the fixed connection method can be achieved by locking members such as bolts and nuts.

[0037] In one embodiment, the electromagnetic brake module 40 further includes: a hollow fixed mandrel 43, a flange sleeve 411 is sleeved on the outside of the fixed mandrel 43 to fix the inner core group 41, and when the coil 422 is energized, the fixed mandrel 43 rotates relative to the inner core group 41 and the outer ring group 42. The electromagnetic brake module 40 further includes: a hollow base 46 disposed at the bottom of the fixed mandrel 43, and the inner core group 41 is connected to the first mechanical arm 20 through the base 46. As for the specific connection method, the first mechanical arm 20 and the base 46 can be continuously penetrated by a locking member to achieve a fixed connection between the first mechanical arm 20 and the base 46.

[0038] In one embodiment, the electromagnetic brake module 40 further includes: a swivel seat 44 sleeved on the outside of the fixed core shaft 43 and a rotor seat 45 sleeved on the outside of the permanent magnetic seat 421, the swivel seat 44 is arranged at the bottom of the flange sleeve 411 and is fixedly connected to the swivel seat 44, when the coil 422 is energized, the rotor seat 45 and the swivel seat 44 rotate relative to each other with the outer ring group 42 and the inner core group 41. The outer ring group 42 is fixedly connected to the second mechanical arm 30 through the swivel seat 44, and its specific connection method is similar to the above, which can be a locking member that continuously penetrates the second mechanical arm 30 and the swivel seat 44, and this embodiment will not be repeated here.

[0039] In order to facilitate the relative rotation of the inner core group 41 and the outer ring group 42, the electromagnetic brake module 40 also includes: a first separation bearing 471 sleeved between the fixed core shaft 43 and the rotor seat 45, a second separation bearing 472 sleeved on the outside of the fixed core shaft 43 and arranged on the inner side of the top end of the rotating seat 44, and a third separation bearing 473 sleeved on the outside of the fixed core shaft 43 and arranged on the inner side of the bottom end of the rotating seat 44. Since the first separation bearing 471, the second separation bearing 472 and the third separation bearing 473 have similar structures, only the first separation bearing 471 is used as an example for exemplary description in the following description. Figure 8As shown, the first release bearing 471 includes: an inner ring 481, an outer ring 482 sleeved on the outer side of the inner ring 481, a retainer 483 disposed between the inner ring 481 and the outer ring 482, and a bearing roller 484 disposed inside the retainer 483; under the action of the bearing roller 484, the inner ring 481 and the outer ring 482 can rotate relative to each other. During assembly, the inner ring 481 of the first release bearing 471 is interference-fitted with the fixed spindle 43, and the outer ring 482 is interference-fitted with the rotor seat 45, so as to prevent the first release bearing 471 from falling off; the inner ring of the second release bearing 472 is interference-fitted with the fixed spindle 43, and the outer ring is interference-fitted with the swivel seat 44, so as to prevent the second release bearing 472 from falling off; the inner ring of the third release bearing 473 is interference-fitted with the fixed spindle 43, and the outer ring is interference-fitted with the swivel seat 44, so as to prevent the third release bearing 473 from falling off. Based on this, when the coil 422 is energized, the inner ring 481 of the first separation bearing 471 and the fixed core shaft 43 rotate relative to the outer ring 482 of the first separation bearing 471 and the rotor seat 45, the inner ring of the second separation bearing 472 and the fixed core shaft 43 rotate relative to the outer ring of the second separation bearing 472 and the rotating seat 44, and the inner ring of the third separation bearing 473 and the fixed core shaft 43 rotate relative to the outer ring of the third separation bearing 473 and the rotating seat 44.

[0040] More specifically, Figure 2 As shown, the inner side of the top of the swivel seat 44 is recessed to form a first receiving groove 441 for receiving the second release bearing 472, and the inner side of the bottom of the swivel seat 44 is recessed to form a second receiving groove 442 for receiving the third release bearing 473. The electromagnetic brake module 40 also includes: a limit plate 47 sleeved on the outer side of the fixed spindle 43, and the limit plate 47 is arranged between the fixed portion 415 and the second release bearing 472, and the inner side of the limit plate 47 forms an internal thread (not shown), and the outer side of the fixed spindle 43 forms an external thread (not shown) adapted to the internal thread, thereby accommodating the second release bearing 472 in the second receiving groove 442, and through the internal thread and the external thread, the limit plate 47 is screwed to the outer side of the fixed spindle 43, and then the second release bearing 472 is stably restricted in the first receiving groove 441 by the limit plate 47. At the same time, the bottom end of the fixed core shaft 43 extends outward to form a support portion 48, so that when the third release bearing 473 is accommodated in the second accommodating groove 442, the support portion 48 is against the bottom of the third release bearing 473 to stably restrict the third release bearing 473 in the second accommodating groove 442 through the support portion 48.

[0041] Based on the same inventive concept, this embodiment also discloses a surgical assistance system, which includes: a first robotic arm 20 and a second robotic arm 30 that are pivotally connected, and an electromagnetic brake module 40. When the electromagnetic brake module 40 is powered off, the first robotic arm 20 and the second robotic arm 30 are relatively stationary within the torque range corresponding to the electromagnetic brake module 40; when the electromagnetic brake module 40 is powered on, the first robotic arm 20 and the second robotic arm 30 rotate relative to each other. The surgical assistance system disclosed in the present application is only provided with an electromagnetic brake module 40 at the pivotal connection between the first robotic arm 20 and the second robotic arm 30 to control the relative rotation and relative stillness of the first robotic arm 20 and the second robotic arm 30, thereby ensuring a high degree of freedom while having a simple mechanical structure and simple operation.

[0042] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

[0043] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0044] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An electromagnetic brake module of a surgical assistance system, arranged at a pivotal connection formed by a first mechanical arm and a second mechanical arm included in the surgical assistance system, characterized in that: The electromagnetic brake module comprises: An inner core group and an outer ring group connected to the first mechanical arm and the second mechanical arm respectively; The inner core group includes: a flange sleeve, a friction plate and a spring sheet, the flange sleeve is constructed with a connecting portion for the friction plate to be sleeved, and extends outwardly from the bottom of the connecting portion to form a fixing portion, the spring sheet is embedded in the fixing portion on one side facing the friction plate, and the two ends are respectively connected to the fixing portion and the friction plate, the outer ring group includes: a permanent magnetic seat sleeved on the outside of the connecting portion and forming a certain gap with the friction plate at the bottom, and a coil accommodated in the permanent magnetic seat, and the magnetic force generated by the permanent magnetic seat forms a torque range corresponding to the electromagnetic brake module; When the coil is powered off, the friction plate is attracted by the permanent magnetic seat, and the inner core group and the outer ring group are relatively stationary within the torque range; when the coil is powered on, the friction plate is not attracted by the permanent magnetic seat, and the inner core group and the outer ring group rotate relatively.

2. The electromagnetic brake module according to claim 1, characterized in that: The electromagnetic brake module further comprises: a hollow fixed core shaft, and the flange sleeve is sleeved on the outer side of the fixed core shaft; When the coil is energized, the fixed core shaft rotates relatively with the inner core group and the outer ring group.

3. The electromagnetic brake module according to claim 2, characterized in that: The electromagnetic brake module also includes: a rotating seat sleeved on the outside of the fixed core shaft and a rotor seat sleeved on the outside of the permanent magnetic seat, the rotating seat is arranged at the bottom of the flange sleeve and is fixedly connected to the rotating seat, and the outer ring group is fixedly connected to the second mechanical arm through the rotating seat.

4. The electromagnetic brake module according to claim 2, characterized in that: The electromagnetic brake module also includes: a hollow base arranged at the bottom of the fixed core shaft, and the inner core group is fixedly connected to the first mechanical arm through the base.

5. The electromagnetic brake module according to claim 3, characterized in that: The electromagnetic brake module further includes: a first separation bearing sleeved between the fixed core shaft and the rotor seat, wherein the inner ring of the first separation bearing is interference fit with the fixed core shaft, and the outer ring of the first separation bearing is interference fit with the rotor seat.

6. The electromagnetic brake module according to claim 5, characterized in that: The electromagnetic brake module also includes: a second separation bearing sleeved on the outside of the fixed core shaft and arranged on the inner side of the top end of the swivel seat, the inner ring of the second separation bearing is interference fit with the fixed core shaft, and the outer ring is interference fit with the swivel seat.

7. The electromagnetic brake module according to claim 6, characterized in that: The electromagnetic brake module also includes: a third separation bearing sleeved on the outside of the fixed core shaft and arranged on the inside of the bottom end of the swivel seat, the inner ring of the third separation bearing is interference fit with the fixed core shaft, and the outer ring is interference fit with the swivel seat.

8. The electromagnetic brake module according to claim 6, characterized in that: The electromagnetic brake module also includes: a limit plate sleeved on the outer side of the fixed core shaft, and the limit plate is arranged between the fixed part and the second release bearing, an internal thread is formed on the inner side of the limit plate, and an external thread matching the internal thread is formed on the outer side of the fixed core shaft.

9. The electromagnetic brake module according to claim 7, characterized in that: The first release bearing and / or the second release bearing and / or the third release bearing include: an inner ring, an outer ring sleeved on the outer side of the inner ring, a retaining frame arranged between the inner ring and the outer ring, and bearing rollers arranged inside the retaining frame.

10. A surgical assistance system, characterized in that: include: A first mechanical arm and a second mechanical arm are pivotally connected, and an electromagnetic brake module as claimed in any one of claims 1 to 9.

Images