Quick release mechanism, surgical arm and surgical robot

Abstract

The application relates to a quick release mechanism, a surgical arm and a surgical robot. The quick release mechanism comprises a first assembly part, a second assembly part in butt joint with the first assembly part, a pre-assembly structure arranged on the second assembly part and in clamping connection with the first assembly part, the pre-assembly structure being used for pre-assembly of the first assembly part and the second assembly part, and a fastener fixedly connecting the first assembly part and the second assembly part. In this way, when the first assembly part and the second assembly part are assembled, the pre-assembly structure can be clamped with the first assembly part, so that the first assembly part and the second assembly part are pre-assembled, and then the first assembly part and the second assembly part are fixedly connected through the fastener. In the whole process, only one person is needed to operate instead of multiple people, so that the assembly difficulty of the first assembly part and the second assembly part is reduced, and the assembly efficiency of the surgical arm and the surgical robot is improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a quick-release mechanism, a surgical arm, and a surgical robot. Background Technology

[0002] Minimally invasive surgery offers numerous advantages, including smaller incisions, less bleeding, and faster recovery times. Laparoscopic minimally invasive surgical robots are receiving increasing attention and application in modern medical surgery. These robots perform surgical operations via a surgical arm, which includes an adjustment arm and a surgical execution mechanism mounted on it. This execution mechanism causes the endoscope or surgical instruments to rotate and / or move linearly around a specific point, enabling real-time observation and treatment of the lesion. However, the current assembly of the surgical execution mechanism and adjustment arm is relatively complex, resulting in lower assembly efficiency for the surgical robot. Summary of the Invention

[0003] Based on this, this application addresses the problem of low assembly efficiency of current surgical robots by proposing a quick-release mechanism, a surgical arm, and a surgical robot.

[0004] In a first aspect, embodiments of this application provide a quick-release mechanism, which includes:

[0005] First assembly component;

[0006] The second assembly is connected to the first assembly.

[0007] A pre-assembly structure is disposed on the second assembly and snaps into the first assembly; the pre-assembly structure is used to pre-assemble the first assembly and the second assembly.

[0008] Fasteners securely connect the first assembly and the second assembly.

[0009] In one embodiment, the pre-assembled structure includes a snap-fit ​​element rotatably disposed on the second assembly to snap into the first assembly.

[0010] In one embodiment, the pre-assembled structure further includes a force-applying member that applies a force to the snap-fit ​​member to cause the snap-fit ​​member to rotate in the snap-fit ​​direction.

[0011] In one embodiment, the pre-assembled structure further includes a connector that is connected to the second assembly part;

[0012] The connector is provided with a rotating shaft, one end of the snap-fit ​​is rotatably sleeved on the rotating shaft, and the other end of the snap-fit ​​is snapped into the first assembly.

[0013] The force-applying component is an elastic component, which applies an elastic force to the snap-fit ​​component to cause the snap-fit ​​component to rotate in the snap-fit ​​direction.

[0014] In one embodiment, the force-applying component is a torsion spring, and the body of the torsion spring is sleeved on the rotating shaft;

[0015] The snap-fit ​​member has a first limiting part at one end near the rotating shaft, and the connector has a second limiting part opposite to the first limiting part. The two ends of the torsion spring are snapped between the first limiting part and the second limiting part.

[0016] In one embodiment, the end of the snap-fit ​​member away from the rotating shaft is provided with a first snap-fit ​​portion, and the first assembly is provided with a second snap-fit ​​portion that snaps with the first snap-fit ​​portion.

[0017] The end of the snap-fit ​​component away from the rotating shaft is also provided with a guide surface, which is used to guide the docking of the first assembly and the second assembly.

[0018] In one embodiment, the quick-release mechanism further includes an unlocking member movably disposed on the first assembly, the unlocking member being used to apply a force to the latching member to cause the latching member to rotate in the unlocking direction.

[0019] In one embodiment, the first assembly and the second assembly are configured as hollow components with a hollow cavity;

[0020] The pre-assembled structure is disposed in the hollow cavity of the first assembly and the hollow cavity of the second assembly.

[0021] In one embodiment, the first assembly is provided with a through hole, which extends from the side of the first assembly near the hollow cavity to the side of the first assembly away from the hollow cavity.

[0022] The unlocking component includes a rod body and a first anti-detachment part and a second anti-detachment part disposed at both ends of the rod body. The first anti-detachment part is disposed in the hollow cavity of the first assembly, and the second anti-detachment part is disposed on the side of the first assembly opposite to the hollow cavity.

[0023] The orthographic projection of the first anti-detachment part on the first assembly covers the inner contour of the through hole, and the orthographic projection of the second anti-detachment part on the first assembly covers the inner contour of the through hole.

[0024] In one embodiment, the quick-release mechanism further includes a second elastic member, one end of which abuts against the first mounting part, and the other end of which abuts against the second anti-detachment part;

[0025] And / or, the first assembly has a clearance groove on the side away from the hollow cavity, the through hole penetrates the bottom of the clearance groove, and the second anti-detachment part is located in the clearance groove.

[0026] In one embodiment, the second assembly has a stepped groove at one end near the first assembly, and the first assembly is located within the stepped groove at one end near the second assembly.

[0027] The quick-release mechanism also includes a positioning pin, which passes through the first assembly and the second assembly.

[0028] And / or, a first electrical connection structure is provided in the hollow cavity of the first assembly, and a second electrical connection structure is provided in the hollow cavity of the second assembly, wherein the first electrical connection structure is electrically connected to the second electrical connection structure.

[0029] Secondly, embodiments of this application provide a surgical arm that includes the quick-release mechanism in any of the embodiments of the first aspect.

[0030] Thirdly, embodiments of this application provide a surgical robot, which includes the surgical arm described in the second aspect.

[0031] The quick-release mechanism, surgical arm, and surgical robot provided in this application embodiment feature a pre-assembly structure on the second assembly component, which is then snapped into the first assembly component. This allows for pre-assembly of the first and second assemblies during assembly, with the pre-assembly structure engaging with the first component. Fasteners then securely connect the first and second assemblies. The entire process requires only one operator, reducing the assembly difficulty of the first and second assemblies and improving the assembly efficiency of the surgical arm and surgical robot. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the quick-release mechanism provided in an embodiment of this application.

[0034] Figure 2 for Figure 1 Perspective view of the quick-release mechanism shown.

[0035] Figure 3 for Figure 1 The exploded view of the quick-release mechanism is shown.

[0036] Figure 4 for Figure 1 The diagram shows the internal structure of the quick-release mechanism.

[0037] Figure 5 for Figure 4 A magnified view of part I.

[0038] Figure 6 for Figure 2 The diagram shows the pre-assembled structure of the quick-release mechanism from a first-view perspective.

[0039] Figure 7 for Figure 2 The diagram shows the pre-assembled structure of the quick-release mechanism from a second-view perspective.

[0040] Figure 8 for Figure 2 The diagram shows the assembly of the second assembly component and the second electrical connection structure of the quick-release mechanism.

[0041] Explanation of reference numerals in the attached figures:

[0042] 10. Quick-release mechanism; 11. First assembly; 111. Second snap-fit ​​part; 112. Through hole; 113. Clearance groove; 12. Second assembly; 121. Step groove; 13. Pre-assembly structure; 131. Snap-fit ​​part; 1311. First limiting part; 1312. First snap-fit ​​part; 1313. Guide surface; 132. Force-applying part; 133. Connecting part; 1331. Connecting part; 13311. Clearance notch; 1332. Connecting plate; 134. Second limiting part; 135. Rotating shaft; 14. Fastener; 15. Unlocking part; 151. Rod body; 152. First anti-detachment part; 153. Second anti-detachment part; 16. Second elastic element; 17. Positioning pin; 181. First electrical connection structure; 182. First fixing plate; 191. Second electrical connection structure; 192. Second fixing plate. Detailed Implementation

[0043] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0044] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0047] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0048] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0049] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, in this specification, the term “and / or” includes any and all combinations of the associated listed items.

[0050] As described in the background section, the surgical actuator and the adjusting arm are typically connected by screws. Because the surgical actuator is relatively heavy, assembling it requires one person to lift the actuator and align it with the adjusting arm's connection interface, while another person uses a wrench to tighten the screws to secure the actuator and adjusting arm. This assembly process not only places a heavy load on the person lifting the actuator but also requires two people working together, making the assembly of the surgical robot labor-intensive and inefficient.

[0051] The quick-release mechanism, surgical arm, and surgical robot provided in this application embodiment feature a pre-assembly structure on the second assembly component, which is then snapped into the first assembly component. This allows for pre-assembly of the first and second assemblies during assembly, with the pre-assembly structure engaging with the first component. Fasteners then securely connect the first and second assemblies. The entire process requires only one operator, reducing the assembly difficulty of the first and second assemblies and improving the assembly efficiency of the surgical arm and surgical robot.

[0052] Firstly, referring to Figure 1 , Figure 2 and Figure 3 As shown, this application embodiment provides a quick-release mechanism 10, which can be used in a surgical arm. It should be noted that the quick-release mechanism 10 refers to a mechanism that allows for rapid assembly and disassembly.

[0053] Specifically, the quick-release mechanism 10 includes a first assembly 11, a second assembly 12, a pre-assembly structure 13, and fasteners 14.

[0054] The first assembly 11 and the second assembly 12 are mated together. A pre-assembly structure 13 is disposed on the second assembly 12 and snaps into the first assembly 11. The pre-assembly structure 13 is used for pre-assembly of the first assembly 11 and the second assembly 12. Fasteners 14 securely connect the first assembly 11 and the second assembly 12.

[0055] In one example, the first assembly 11 may be an adjustment arm in the surgical arm, and the second assembly 12 may be a surgical execution mechanism in the surgical arm.

[0056] The quick-release mechanism 10 provided in this embodiment of the application provides a pre-assembly structure 13 on the second assembly 12, which is then snapped into the first assembly 11. This allows for pre-assembly of the first and second assemblies 11 during assembly, by snapping the pre-assembly structure 13 into the first assembly 11. After pre-assembly, the second assembly 12 can be pre-assembled without the need for a dedicated person to lift it. The operator can then install fasteners 14 to securely connect the first and second assemblies 11. The entire process requires only one person, reducing the assembly difficulty of the first and second assemblies 11 and 12. This not only improves the assembly efficiency of the surgical arm and surgical robot but also reduces labor costs.

[0057] In one embodiment, the pre-assembled structure 13 includes a snap-fit ​​member 131, which is rotatably disposed on the second assembly 12 to snap into the first assembly 11.

[0058] This facilitates the engagement of the latching member 131 with the first assembly 11. For example, clockwise rotation of the latching member 131 around the pivot 135 engages the latching member 131 with the first assembly 11, while counterclockwise rotation disengages the latching member 131 from the first assembly 11, thus unlocking them. Here, the clockwise rotation direction of the latching member 131 is the engagement direction, and the counterclockwise rotation direction is the unlocking direction.

[0059] In one embodiment, the pre-assembled structure 13 further includes a force-applying member 132, which applies a force to the snap-fit ​​member 131 to cause the snap-fit ​​member 131 to rotate in the snap-fit ​​direction.

[0060] In this way, the snap-fit ​​component 131 is less likely to fall off the first assembly 11, which helps to securely snap the snap-fit ​​component 131 to the first assembly 11 and improves the assembly stability of the snap-fit ​​component 131 and the first assembly 11.

[0061] In one embodiment, reference Figure 4 , Figure 6 and Figure 7 As shown, the pre-assembled structure 13 also includes a connector 133, which is connected to the second assembly 12. A rotating shaft 135 is provided on the connector 133. One end of a snap-fit ​​member 131 is rotatably fitted onto the rotating shaft 135, and the other end of the snap-fit ​​member 131 is snapped into the first assembly 11. A force-applying member 132 is provided on the connector 133. The force-applying member 132 is an elastic member that applies an elastic force to the snap-fit ​​member 131, causing the snap-fit ​​member 131 to rotate in the snap-fit ​​direction.

[0062] Thus, when assembling the pre-assembled structure 13, it can be fixedly connected to the second assembly part 12 through the connector 133.

[0063] It should be noted that the force-applying component 132 can be a rubber band. One end of the rubber band is connected to the snap-fit ​​component 131, and the other end is connected to the connector 133. The rubber band applies tension to the snap-fit ​​component 131, causing the snap-fit ​​component 131 to rotate in the snap-fit ​​direction.

[0064] Specifically, the connector 133 includes a connecting portion 1331 and two connecting plates 1332 disposed on one side of the connecting portion 1331. The two connecting plates 1332 are spaced apart from each other, and the rotating shaft 135 passes through the two connecting plates 1332. A snap-fit ​​member 131 is disposed between the two connecting plates 1332. Furthermore, the connecting portion 1331 is also provided with a clearance notch 13311. When the snap-fit ​​member 131 is in the snap-fit ​​state, the snap-fit ​​member 131 is located within the clearance notch 13311.

[0065] In one embodiment, reference Figure 6 and Figure 7 As shown, the force-applying component 132 is a torsion spring, and the body of the torsion spring is sleeved on the rotating shaft 135. A first limiting part 1311 is provided at one end of the snap-fit ​​component 131 near the rotating shaft 135, and a second limiting part 134 opposite to the first limiting part 1311 is provided on the connecting component 133. The two ends of the torsion spring are snapped between the first limiting part 1311 and the second limiting part 134. In one example, the first limiting part 1311 can be a limiting groove. In one example, the second limiting part 134 can be a limiting post, which passes through the two connecting plates 1332.

[0066] By setting the force-applying component 132 as a torsion spring, the force-applying effect of the force-applying component 132 can be improved, and the force-applying component 132 can be easily assembled.

[0067] It should be noted here that... Figure 6 and Figure 7 The torsion spring is not locked between the first limiting part 1311 and the second limiting part 134.

[0068] In one embodiment, reference Figure 5 As shown, the end of the snap-fit ​​member 131 away from the rotating shaft 135 is provided with a first snap-fit ​​portion 1312, and the first assembly 11 is provided with a second snap-fit ​​portion 111 that snaps into the first snap-fit ​​portion 1312. The end of the snap-fit ​​member 131 away from the rotating shaft 135 is also provided with a guide surface 1313, which is used to guide the docking of the first assembly 11 and the second assembly 12.

[0069] Thus, when the first assembly 11 and the second assembly 12 are docked, the guide surface 1313 can provide guidance, which facilitates the assembly of the first assembly 11 and the second assembly 12.

[0070] In one embodiment, reference Figure 3 and Figure 5 As shown, the quick-release mechanism 10 also includes an unlocking member 15, which is movably disposed on the first mounting part 11. The unlocking member 15 is used to apply force to the latching member 131 so that the latching member 131 rotates in the unlocking direction.

[0071] In this way, when disassembling the quick-release mechanism 10, the pre-assembled structure 13 can be unlocked through the unlocking part 15, reducing the difficulty of unlocking the pre-assembled structure 13.

[0072] In one embodiment, the first assembly 11 and the second assembly 12 are configured as hollow components with hollow cavities. The pre-assembly structure 13 is disposed within the hollow cavities of the first assembly 11 and the second assembly 12.

[0073] By placing the pre-assembled structure 13 inside the hollow cavity, the pre-assembled structure 13 can be hidden, improving the aesthetic appearance of the surgical arm.

[0074] It should be noted that the pre-assembly structure 13 can also be provided on the outer surface of the first assembly 11 and the second assembly 12.

[0075] In one embodiment, the first assembly 11 is provided with a through hole 112, which extends from the side of the first assembly 11 near the hollow cavity to the side of the first assembly 11 away from the hollow cavity. The unlocking member 15 includes a rod 151 and a first anti-detachment part 152 and a second anti-detachment part 153 disposed at both ends of the rod 151. The first anti-detachment part 152 is disposed within the hollow cavity of the first assembly 11, and the second anti-detachment part 153 is disposed on the side of the first assembly 11 away from the hollow cavity. The orthographic projection of the first anti-detachment part 152 on the first assembly 11 covers the inner contour of the through hole 112, and the orthographic projection of the second anti-detachment part 153 on the first assembly 11 covers the inner contour of the through hole 112.

[0076] This can also be understood as follows: the two ends of the unlocking component 15 are "large ends", and the outer diameter of the large ends is larger than the inner diameter of the through hole 112. In this way, the unlocking component 15 can be prevented from falling out of the through hole 112.

[0077] In this embodiment of the application, when it is necessary to unlock the pre-assembled structure 13, press the unlocking member 15, the unlocking member 15 moves toward the direction of the hollow cavity, and at the same time the unlocking member 15 pushes open the latching member 131, so that the latching member 131 rotates in the unlocking direction. After the first latching part 1312 of the latching member 131 disengages from the second latching part 111, the pre-assembled structure 13 is unlocked.

[0078] In one example, the unlocking element 15 may be composed of two screws, one screw being screwed into the end of the other screw, and the heads of the two screws forming the first anti-disengagement portion 152 and the second anti-disengagement portion 153 of the unlocking element 15. This makes the assembly of the unlocking element 15 more convenient.

[0079] In one embodiment, the quick-release mechanism 10 further includes a second elastic member 16, one end of which abuts against the first mounting part 11, and the other end of which abuts against the second anti-detachment part 153.

[0080] In this way, when unlocking is not required, the elastic force of the second elastic element 16 can keep the unlocking element 15 in the "unlocked state". At the same time, when unlocking is required, the force applied to the unlocking element 15 must be greater than the elastic force of the second elastic element 16 in order to unlock the pre-assembled structure 13. This can reduce misoperation.

[0081] In one example, the through hole 112 is a stepped hole, and the end of the second elastic element 16 near the hollow cavity abuts against the stepped surface of the stepped hole.

[0082] In one embodiment, the first assembly 11 is provided with a relief groove 113 on the side away from the hollow cavity, and a through hole 112 penetrates the bottom of the relief groove 113. The second anti-detachment part 153 is located inside the relief groove 113.

[0083] Thus, the clearance groove 113 can provide space for accommodating the unlocking member 15, preventing the unlocking member 15 from protruding from the surface of the first assembly 11, which not only avoids the unlocking member 15 interfering with other components, but also improves the aesthetic appearance of the surgical arm.

[0084] In one embodiment, the second assembly 12 has a stepped groove 121 at one end near the first assembly 11, and the first assembly 11 has one end near the second assembly 12 located within the stepped groove 121. Furthermore, the end of the first assembly 11 near the second assembly 12 abuts against the stepped surface of the stepped groove 121. This improves the docking accuracy between the first assembly 11 and the second assembly 12.

[0085] Furthermore, referring to Figure 5 As shown, the quick-release mechanism 10 also includes a positioning pin 17, which passes through the first assembly 11 and the second assembly 12. By providing the positioning pin 17, it is helpful to position the first assembly 11 and the second assembly 12, preventing relative rotation between the first assembly 11 and the second assembly 12 after pre-assembly.

[0086] In one example, the locating pin 17 is inserted through the first assembly 11 and the second assembly 12 along the mating direction of the first assembly 11 and the second assembly 12.

[0087] In another example, the locating pin 17 passes through the first assembly 11 and the second assembly 12 in a radial direction. Here, the radial direction of the first assembly 11 and the second assembly 12 is perpendicular to the mating direction of the first assembly 11 and the second assembly 12.

[0088] In one embodiment, reference Figure 8 As shown, a first electrical connection structure 181 is provided in the hollow cavity of the first assembly 11, and a second electrical connection structure 191 is provided in the hollow cavity of the second assembly 12. The first electrical connection structure 181 and the second electrical connection structure 191 are electrically connected.

[0089] In one example, a first fixing plate 182 is disposed within the hollow cavity of the first assembly 11, and a first electrical connection structure 181 is assembled onto the first fixing plate 182 by screws. A second fixing plate 192 is disposed within the hollow cavity of the second assembly 12, and a second electrical connection structure 191 is assembled onto the second fixing plate 192 by screws.

[0090] It is understandable that, in order to improve the docking accuracy of the first electrical connection structure 181 and the second electrical connection structure 191, a guide assembly structure can be provided on the first assembly 11 or the second assembly 12, and the first electrical connection structure 181 and / or the second electrical connection structure 191 can be set as a flexible and floating structure.

[0091] In one embodiment, there is one pre-assembly structure 13, which is disposed on the side of the centerline of the second assembly 12 near the center of gravity of the second assembly 12.

[0092] Thus, when assembling the first assembly 11 and the second assembly 12, only one pre-assembly structure 13 is needed to suspend the second assembly 12 on the first assembly 11, and to prevent the second assembly 12 from falling off.

[0093] In one embodiment, there are multiple pre-assembly structures 13, which are evenly arranged around the center line of the second assembly 12.

[0094] This can improve the stability of the first assembly 11 and the second assembly 12 after pre-assembly.

[0095] It should be noted that the fastener 14 in this embodiment can be a screw or a bolt. The fastener 14 is used to fix the first assembly 11 and the second assembly 12 together and improve the assembly stability of the first assembly 11 and the second assembly 12.

[0096] Specifically, the first assembly 11 has an assembly hole, and the second assembly 12 has a threaded hole. The fastener 14 passes through the assembly hole and is threaded into the threaded hole. It can be understood that the threaded hole can also be provided on the first assembly 11, and correspondingly, the assembly hole can be provided on the second assembly 12.

[0097] In a specific example, the outer surface of the first assembly 11 is provided with a first connecting lug and an assembly hole is provided on the first connecting lug, and the outer surface of the second assembly 12 is provided with a second connecting lug and a threaded hole is provided on the second connecting lug.

[0098] In another specific example, the second assembly 12 has a stepped groove 121 at the end near the first assembly 11, and a threaded hole is located at the bottom of the stepped groove 121. An assembly hole is located at the end of the first assembly 11 near the second assembly 12, and the end of the first assembly 11 near the second assembly 12 is fitted into the stepped groove 121.

[0099] It is understood that the number of fasteners 14 can be one or more. When there are multiple fasteners 14, the fasteners 14 can be evenly arranged around the center of the first assembly 11 and / or the second assembly 12, which can further improve the assembly stability of the first assembly 11 and the second assembly 12.

[0100] It should be noted that the fastener 14 is not limited to the methods listed in the embodiments of this application, and the embodiments of this application do not limit the method of setting the fastener 14.

[0101] Secondly, embodiments of this application provide a surgical arm that includes the quick-release mechanism 10 in any of the embodiments of the first aspect.

[0102] The surgical execution mechanism of the surgical arm is the second assembly 12 of the quick-release mechanism 10, and the adjustment arm of the surgical arm is the first assembly 11 of the quick-release mechanism 10.

[0103] The surgical arm provided in this embodiment features a pre-assembly structure 13 on the second assembly 12, which is then snapped into the first assembly 11. This allows for pre-assembly of the first and second assemblies 11 during assembly, as the pre-assembly structure 13 can be snapped into the first assembly 11. After pre-assembly, the second assembly 12 can be pre-assembled without the need for a dedicated person to lift it. The operator can then securely connect the first and second assemblies 11 using fasteners 14. The entire process requires only one person, reducing the assembly difficulty of the first and second assemblies 11 and 12. This not only improves the assembly efficiency of the surgical arm and surgical robot but also reduces labor costs.

[0104] Thirdly, embodiments of this application provide a surgical robot, which includes the surgical arm described in the second aspect.

[0105] The surgical robot provided in this embodiment features a pre-assembly structure 13 on the second assembly 12, which is then snapped into the first assembly 11. This allows for pre-assembly of the first and second assemblies 11 during assembly, as the pre-assembly structure 13 can be snapped into the first assembly 11. After pre-assembly, the second assembly 12 can be pre-assembled without the need for a dedicated person to lift it. The operator can then securely connect the first and second assemblies 11 using fasteners 14. The entire process requires only one person, reducing the assembly difficulty of the first and second assemblies 11 and 12. This not only improves the assembly efficiency of the surgical arm and the surgical robot but also reduces labor costs.

[0106] In the description of this specification, the references to terms such as "some embodiments," "other embodiments," "ideal embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0107] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A surgical arm, characterized in that, include: The first assembly (11) is an adjusting arm, and a first electrical connection structure (181) is provided in the hollow cavity of the first assembly (11). A second assembly (12) is connected to the first assembly (11). The second assembly (12) is a surgical execution mechanism. A second electrical connection structure (191) is provided in the hollow cavity of the second assembly (12). The first electrical connection structure (181) is electrically connected to the second electrical connection structure (191). The first electrical connection structure (181) and / or the second electrical connection structure (191) are flexible and floating structures. A pre-assembly structure (13) is disposed on the second assembly (12) and snapped into the first assembly (11); the pre-assembly structure (13) is used to pre-assemble the first assembly (11) and the second assembly (12); wherein, the number of the pre-assembly structure (13) is one, and the pre-assembly structure (13) is disposed on the side of the center line of the second assembly (12) close to the center of gravity of the second assembly (12); Fastener (14) for securing the first assembly (11) and the second assembly (12) together after the pre-assembly is completed; The first assembly (11) and the second assembly (12) are constructed as hollow components with hollow cavities; the pre-assembly structure (13) is disposed in the hollow cavity of the first assembly (11) and the hollow cavity of the second assembly (12); The first assembly (11) is provided with a through hole (112), which extends from the side of the first assembly (11) near the hollow cavity to the side of the first assembly (11) away from the hollow cavity; The surgical arm includes an unlocking component (15), which includes a rod (151) and a first anti-detachment part (152) and a second anti-detachment part (153) disposed at both ends of the rod (151). The first anti-detachment part (152) is disposed in the hollow cavity of the first assembly (11), and the second anti-detachment part (153) is disposed on the side of the first assembly (11) away from the hollow cavity. The orthographic projection of the first anti-detachment part (152) on the first assembly (11) covers the inner contour of the through hole (112), and the orthographic projection of the second anti-detachment part (153) on the first assembly (11) covers the inner contour of the through hole (112).

2. The surgical arm according to claim 1, characterized in that, The pre-assembled structure (13) includes a snap-fit ​​member (131) which is rotatably disposed on the second assembly (12) to snap-fit ​​with the first assembly (11).

3. The surgical arm according to claim 2, characterized in that, The pre-assembled structure (13) also includes a force-applying member (132), which applies a force to the snap-fit ​​member (131) to make the snap-fit ​​member (131) rotate in the snap-fit ​​direction.

4. The surgical arm according to claim 3, characterized in that, The pre-assembled structure (13) further includes a connector (133), which is connected to the second assembly part (12); The connector (133) is provided with a rotating shaft (135), one end of the snap-fit ​​(131) is rotatably sleeved on the rotating shaft (135), and the other end of the snap-fit ​​(131) is snapped into the first assembly (11). The force-applying member (132) is disposed on the connector (133). The force-applying member (132) is an elastic member. The force-applying member (132) applies an elastic force to the snap-fit ​​member (131) so that the snap-fit ​​member (131) rotates in the snap-fit ​​direction.

5. The surgical arm according to claim 4, characterized in that, The force-applying component (132) is a torsion spring, and the body of the torsion spring is sleeved on the rotating shaft (135). The snap-fit ​​member (131) has a first limiting part (1311) at one end near the rotating shaft (135), and the connector (133) has a second limiting part (134) opposite to the first limiting part (1311). The two ends of the torsion spring are snapped between the first limiting part (1311) and the second limiting part (134).

6. The surgical arm according to claim 5, characterized in that, The snap-fit ​​member (131) has a first snap-fit ​​part (1312) at one end away from the rotating shaft (135), and the first assembly (11) has a second snap-fit ​​part (111) that snaps into the first snap-fit ​​part (1312). The snap-fit ​​component (131) is provided with a guide surface (1313) at the end away from the rotating shaft (135), and the guide surface (1313) is used to guide the docking of the first assembly (11) and the second assembly (12).

7. The surgical arm according to claim 2, characterized in that, The surgical arm (10) also includes an unlocking member (15), which is movably disposed on the first assembly (11). The unlocking member (15) is used to apply force to the latching member (131) to make the latching member (131) rotate in the unlocking direction.

8. The surgical arm according to claim 1, characterized in that, The surgical arm (10) further includes a second elastic element (16), one end of which abuts against the first assembly (11), and the other end of which abuts against the second anti-slip part (153); And / or, the first assembly (11) is provided with a relief groove (113) on the side away from the hollow cavity, the through hole (112) penetrates the bottom of the relief groove (113), and the second anti-detachment part (153) is located in the relief groove (113).

9. The surgical arm according to claim 1, characterized in that, The second assembly (12) has a stepped groove (121) at one end near the first assembly (11), and the first assembly (11) is located in the stepped groove (121) at one end near the second assembly (12). The surgical arm (10) also includes a positioning pin (17) which passes through the first assembly (11) and the second assembly (12).

10. A surgical robot, characterized in that, Includes the surgical arm as described in any one of claims 1-9.

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