Medical robot end effector device and medical robot

Abstract

The embodiment of the invention provides a medical robot end effector device and a medical robot, and the medical robot end effector device comprises a connecting plate which is provided with a front surface and a back surface, the front surface is provided with a mounting position, and the mounting position is used for being connected with medical equipment; the connecting assembly is arranged on the back face, the mounting position is located at the first end of the connecting plate in the length direction of the connecting plate, and the connecting assembly is located at the second end of the connecting plate; the base is arranged on one side of the reverse side of the connecting plate at intervals and is rotatably connected to the connecting assembly; wherein the connecting assembly comprises at least one first connecting part, the base is provided with at least one second connecting part, and the first connecting part can be connected into any second connecting part in a matched mode. According to the technical scheme, the second connecting part can be flexibly adjusted to be connected into the different first connecting parts, so that the position between the base and the connecting plate is changed, the position between the medical actuator on the base and the medical equipment can also be flexibly adjusted, the requirements of different operation scenes are met, and a doctor can use the device more conveniently.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a medical robot end effector device and a medical robot. Background Art

[0002] With the continuous development of medical technology, medical equipment is also constantly innovating. For biopsy and treatment of natural cavities (such as bronchi, esophagus, etc.), it is usually completed through a natural cavity medical robot in conjunction with a flexible catheter (medical endoscope). Although natural cavity medical robots can complete most operations, when performing operations on different patients, the surgical robot may be located on the left or right side of the patient. In order to facilitate the doctor's operation, the actuator at the end of the medical robot needs to be in different postures. However, the position of the actuator at the end of the existing medical robot relative to other equipment is difficult to achieve flexible adjustment, which is not convenient for doctors to use.

[0003] Therefore, improving the flexibility of position adjustment of the actuator at the end of the medical robot is an issue that needs to be addressed urgently. Summary of the invention

[0004] In view of the above objectives, the present application provides the following embodiments.

[0005] In one embodiment of the present application, a medical robot end effector device is provided, comprising:

[0006] A connecting plate having a front side and a back side, wherein a mounting position is provided on the front side, and the mounting position is used for connecting with a medical device;

[0007] A connecting assembly is arranged on the reverse side, along the length direction of the connecting plate, the mounting position is located at the first end of the connecting plate, and the connecting assembly is located at the second end of the connecting plate;

[0008] A base, which is arranged at a distance on one side of the back surface of the connecting plate and can be rotatably connected to the connecting assembly, and the base is used to connect the medical actuator;

[0009] Wherein, the connection assembly includes at least one first connection part, and the base is provided with at least one second connection part, and the first connection part can be matched and connected in any of the second connection parts.

[0010] Optionally, the connecting assembly includes a connecting column and a connecting sleeve, the connecting column is arranged on the connecting plate, the connecting sleeve is arranged on the outer wall of the base, and the connecting sleeve can be cooperatively connected to the connecting column.

[0011] Optionally, a connecting boss is provided at the top of the connecting column, and a through hole penetrating the base is provided at the bottom of the connecting sleeve;

[0012] The connecting assembly also includes a sleeve and a sealing plate. The sleeve is arranged on one side of the inner wall of the base corresponding to the through hole. The boss extends through the through hole to one side of the inner wall of the base. The sealing plate is connected to the top of the boss.

[0013] Optionally, an arc-shaped limiting groove is provided on the connecting column, and a limiting column is provided on the connecting sleeve, and the limiting column is cooperatively connected in the limiting groove.

[0014] Optionally, the limiting groove is located at an end of the connecting column, or the limiting groove is located on a wall surface of the connecting column.

[0015] Optionally, the first connecting portion includes a connecting arm and a fastener, and the second connecting portion is a convex column with a screw hole;

[0016] The two connecting arms are respectively located on both sides of the connecting column of the connecting assembly, and mounting holes are provided on the connecting arms, and the fasteners are connected to the mounting holes;

[0017] The protruding column is arranged on the outer circumference side of the connecting sleeve of the connecting assembly.

[0018] Optionally, the boss is connected to the base via a fastening nail;

[0019] The base is provided with a plurality of connection holes arranged circumferentially.

[0020] Optionally, it further comprises a clamping plate and an adjusting assembly, wherein the clamping plate is connected to the base via the adjusting assembly;

[0021] The adjusting assembly comprises a connecting rod and an adjusting screw, wherein the connecting rod is arranged on the base, the clamping plate is movably connected to the connecting rod, one end of the adjusting screw is connected to the clamping plate, and the other end is connected to the base.

[0022] Optionally, the clamping plate is vertically arranged at one end of the base;

[0023] A clamping portion is provided on one end of the clamping plate away from the base.

[0024] Optionally, it further comprises a cover body, wherein the cover body is connected to the base, and a receiving cavity is provided between the cover body and the base;

[0025] The cover body has a stepped structure on its upper side.

[0026] In another embodiment of the present application, a medical robot is provided, comprising:

[0027] Robot body;

[0028] A slide rail assembly connected to the execution end of the robot body;

[0029] A connecting plate, having a front side and a back side, wherein a mounting position is provided on the front side, and the mounting position is used to connect with the slide rail assembly;

[0030] A connecting assembly is arranged on the reverse side, along the length direction of the connecting plate, the mounting position is located at the first end of the connecting plate, and the connecting assembly is located at the second end of the connecting plate;

[0031] A base, which is arranged at a distance on one side of the reverse side of the connecting plate and can be rotatably connected to the connecting assembly;

[0032] A medical actuator, detachably connected to the base;

[0033] Wherein, the connection assembly includes at least one first connection part, and the base is provided with at least one second connection part, and the first connection part can be matched and connected in any of the second connection parts.

[0034] In the technical solution provided in the embodiment of the present application, the second connecting part can be flexibly adjusted to be connected to different first connecting parts, thereby changing the position between the base and the connecting plate. The position between the medical actuator on the base and the medical equipment can also be flexibly adjusted, meeting the needs of different surgical scenarios and making it more convenient for doctors to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A schematic structural diagram of a medical robot end effector device provided in one embodiment of the present application;

[0037] Figure 2 A schematic diagram of a first use state of a medical robot provided by an embodiment of the present application;

[0038] Figure 3 A schematic diagram of a second use state of a medical robot provided by an embodiment of the present application;

[0039] Figure 4 A schematic diagram of the structure of a medical robot provided in one embodiment of the present application.

[0040] Description of labels:

[0041] Connecting plate 1, mounting position 11;

[0042] Connecting assembly 2, first connecting portion 21, connecting arm 211, fastener 212, second connecting portion 22, boss 221, connecting column 23, boss 231, connecting sleeve 24, through hole 241, shaft sleeve 25, sealing sheet 26, limiting groove 27;

[0043] Base 3, fastening nail 31;

[0044] Clamping plate 4, clamping portion 41;

[0045] Adjustment assembly 5, connecting rod 51, adjustment screw 52, ​​elastic member 53;

[0046] Cover body 6, step structure 61;

[0047] Slide rail assembly 7, base plate 71, slide rail 72, slide seat 73, drive device 74;

[0048] The robot body 100 , the medical actuator 200 , the catheter controller 201 , the body 202 , and the flexible catheter 203 . DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0050] In some processes described in the specification, claims and the above-mentioned figures of this application, multiple operations appearing in a specific order are included, and these operations may not be executed in the order in which they appear in this article or executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit "first" and "second" to different types. The following embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0051] At present, with the continuous advancement of medical technology, natural orifice surgical robots, in conjunction with flexible catheters (medical endoscopes), have become increasingly popular methods of biopsy and treatment. However, the current space in the operating room often affects the placement of the surgical robot. The placement of the surgical robot in the operating room is relatively fixed, which is also the main reason for the fixed position between the human body and the surgical robot. In response to the surgical needs of different patients or the operating habits of doctors, the surgical robot often needs to be flexibly adjusted between the left and right positions on the operating table. Since the medical actuator at the end of the surgical robot has a limited range of motion and the medical actuator can easily interfere with other equipment, it is difficult to flexibly adjust the position of the existing medical actuator relative to other equipment, which will limit the flexibility of the surgical robot's position adjustment.

[0052] In order to solve the above technical problems, see Figures 1 to 4 In one embodiment of the present application, a medical robot end effector device is provided, and the medical robot end effector device includes: a connecting plate 1, a connecting assembly 2 and a base 3. The connecting plate 1 has a front side and a back side, and a mounting position 11 is provided on the front side, and the mounting position 11 is used to connect to a medical device.

[0053] Medical equipment includes but is not limited to: a six-degree-of-freedom robotic arm, a seven-degree-of-freedom robotic arm, a multifunctional surgical robot, etc. The mounting position 11 is detachably connected to the medical equipment through a connecting bolt or a snap-fit ​​device. For example, different operations may require robotic arms with different degrees of flexibility, and the medical actuator 200 can be the same. The mounting position 11 is detachably connected to the medical equipment, and the medical actuator 200 can be installed on different robotic arms, thereby meeting the needs of different operations.

[0054] The connecting component 2 is used to connect the connecting plate 1 and the base 3. The connecting component 2 is arranged on the back side of the connecting plate 1. Along the length direction of the connecting plate 1, the mounting position 11 is located at the first end of the connecting plate 1, and the connecting component 2 is located at the second end of the connecting plate 1; specifically, the connecting plate 1 is a rectangular strip plate, the mounting position 11 is located near the first end of the connecting plate 1, and the connecting component 2 is located near the second end of the connecting plate 1.

[0055] The base 3 is spaced apart on one side of the reverse side of the connecting plate 1 , the connecting component 2 is located between the base 3 and the connecting plate 1 , the base 3 is rotatably connected to the connecting component 2 , one side of the connecting component 2 is connected to the connecting plate 1 , and the other side opposite to the base 3 .

[0056] Wherein, the connection assembly 2 includes at least one first connection part 21, and at least one second connection part 22 is provided on the base 3, and the first connection part 21 can be connected to any second connection part 22. The first connection part 21 remains fixed relative to the connection plate 1. When the position between the base 3 and the connection plate 1 needs to be changed, the first connection part 21 is connected to another second connection part 22. Specifically, a plurality of second connection parts 22 are distributed at different positions of the base 3, and the first connection part 21 is connected to different second connection parts 22, and the base 3 has different postures. Of course, it is also possible that a plurality of first connection parts 21 are distributed at different positions of the connection plate 1, so that the second connection parts 22 are connected to different first connection parts 21, and the base 3 will also have different postures.

[0057] For example, taking the example of a first connection portion 21 on the connecting plate 1 and two second connection portions 22 on the base 3, the two second connection portions 22 are respectively located on the left and right sides of the base 3 along the lateral direction of the base 3. When the first connection portion 21 is connected to the second connection portion 22 on the left, the base 3 has a first posture relative to the connecting plate 1; when the first connection portion 21 is connected to the second connection portion 22 on the right, the base 3 has a second posture relative to the connecting plate 1, and the second posture is flipped 180 degrees relative to the first posture.

[0058] See also Figure 2 and Figure 3 , Figure 2 The Chinese medical device (multi-DOF robotic arm) is located on the left side of the patient. At this time, the first connection part 21 is connected to the second connection part 22 on the left side, and the base 3 is in the first posture relative to the connection plate 1. Figure 3 In the figure, the medical device (multi-DOF robot) is located on the right side of the patient. At this time, by adjusting the relative position of the connecting plate 1 and the base 3, the first connecting portion 21 is connected to the second connecting portion 22 on the right side, and the base 3 is in the second posture relative to the connecting plate 1. Although the setting position of the medical device has changed, the position of the base 3 relative to the connecting plate 1 has also changed. Ultimately, the position of the medical actuator 200 relative to the patient will remain unchanged. For example, when the medical actuator 200 is an endoscope, the endoscope maintains the field of view lens without deflection relative to the human body.

[0059] In the technical solution of the present application, by flexibly adjusting the second connecting part 22 to connect to different first connecting parts 21, the position between the base 3 and the connecting plate 1 is changed, and the position between the medical actuator 200 on the base 3 and the medical equipment can also be flexibly adjusted, which not only meets the needs of different surgical scenarios but also makes it more convenient for doctors to use.

[0060] See also Figures 2 to 4The medical actuator 200 includes: a flexible catheter device and a catheter controller 201, the flexible catheter device is connected to the catheter controller 201, the flexible catheter device also includes a main body 202 and a flexible catheter 203, the main body 202 is connected to the catheter controller 201, and the flexible catheter 203 is arranged on the main body 202. The flexible catheter device includes but is not limited to: a medical endoscope, a sampling catheter, a surgical catheter, etc. Taking the flexible catheter device as a medical endoscope as an example, after the medical endoscope enters the human body cavity, the driving device 74 drives the sliding seat 73 to move forward to realize that the medical endoscope is further extended into the human body cavity, and the catheter control device can control the medical endoscope to turn.

[0061] See also Figure 1 In one embodiment provided in the present application, the connection assembly 2 has two parts that can cooperate with each other, one of which is arranged on the connection plate 1, and the other is arranged on the base 3. The two parts of the connection assembly 2 can not only move with each other, but also be combined with each other within a certain gap range. In this way, the stability of the connection plate 1 and the base 3 can be maintained during position adjustment, and the connection between the two can be more stable.

[0062] In a specific implementation, the connection assembly 2 includes a connection column 23 and a connection sleeve 24, the connection column 23 is arranged on the connection plate 1, the connection sleeve 24 is arranged on the outer wall of the base 3, and the connection sleeve 24 can be connected to the connection column 23. When the position of the base 3 needs to be adjusted, the connection sleeve 24 rotates relative to the connection column 23, and then after adjusting to a suitable position, the first connection part 21 and the corresponding second connection part 22 are matched and docked, and the connection plate 1 and the base 3 are mutually limited.

[0063] See also Figure 1 In one embodiment provided in the present application, a connection boss 231 is provided at the top of the connection column 23, and a through hole 241 penetrating the base 3 is provided at the bottom of the connection sleeve 24, and the through hole 241 extends from the outside of the base 3 to the inside of the base 3. When the base 3 is connected to the connection plate 1, the outside of the base 3 is arranged toward the connection plate 1. In a specific embodiment, the connection plate 1 is a square strip plate, the base 3 is a square box body, and the base 3 is arranged parallel to the connection plate 1 and spaced apart.

[0064] Further, in order to facilitate the stable connection between the connecting component 2 and the base 3, in an embodiment provided in the present application, the connecting component 2 further includes a sleeve 25 and a sealing sheet 26, the sleeve 25 is provided on one side of the inner wall of the base 3 corresponding to the through hole 241, the boss 231 extends to one side of the inner wall of the base 3 through the through hole 241, and the sealing sheet 26 is connected to the top of the boss 231. Specifically, when the connecting component 2 is connected to the base 3, the boss 231 on the connecting component 2 extends from the outside of the base 3 to the inside of the base 3 through the through hole 241, the sleeve 25 is sleeved on the boss 231, and the sealing sheet 26 is connected to the top of the boss 231 by a fastening screw or a snap-fit. The sleeve 25 is located between the inner wall of the base 3 and the sealing piece 26. The diameter of the sealing piece 26 is larger than the diameter of the through hole 241. The sleeve 25 can effectively prevent friction between the sealing piece 26 and the inner wall of the base 3, and can also improve lubrication during the relative rotation of the connecting column 23 and the connecting sleeve 24. The sealing piece 26 can not only stably connect the connecting column 23 to the connecting sleeve 24, but also control the amount of movement between the connecting column 23 and the connecting sleeve 24.

[0065] Usually, when the actuator on the base 3 is performing surgery, the operating surface of the actuator is usually a plane area, so when adjusting the position of the base 3, it is necessary to avoid adjusting the actuator to some positions that have no practical significance. In order to limit the displacement of the base 3 to these positions, an arc-shaped limit groove 27 is provided on the connecting column 23, and a limit column is provided on the connecting sleeve 24, and the limit column is matched and connected in the limit groove 27. When the connecting column 23 is matched and connected with the connecting sleeve 24, the limit column is matched and connected in the limit groove 27. As the connecting sleeve 24 rotates relative to the connecting column 23, the limit column will also slide in the limit groove 27 until it slides to the end side of the limit groove 27. The rotatable range of the connecting sleeve 24 depends on the length of the limit groove 27. By reasonably setting the limit groove 27 with a suitable length, the rotation range of the base 3 relative to the connecting plate 1 can be limited to a suitable range, thereby effectively preventing the actuator on the base 3 from moving to a position that has no practical significance.

[0066] Further, in one embodiment, the limiting groove 27 is located at the end of the connecting column 23, and the limiting column is provided at the bottom of the connecting sleeve 24, and when the connecting column 23 is connected with the connecting sleeve 24, the limiting column is inserted into the limiting groove 27. In another embodiment, the limiting groove 27 is located on the wall surface of the connecting column 23, the setting direction of the limiting groove 27 is the same as the circumferential direction of the connecting column 23, and the limiting column is provided on the inner wall of the connecting sleeve 24.

[0067] See also Figure 1In one embodiment provided in the present application, the first connection portion 21 includes a connection arm 211 and a fastener 212, and the second connection portion 22 is a boss 221 having a screw hole. The connection arm 211 is disposed on the outer side of the connection column 23 and extends in a direction away from the connection column 23, and the boss 221 is disposed on the outer circumference of the connection sleeve 24 of the connection assembly 2.

[0068] As mentioned above, the number of the first connecting part 21 and the second connecting part 22 can be one or more. Take the case where the number of connecting arms 211 is two and the number of bosses 221 is two as an example. The two connecting arms 211 are respectively located on both sides of the connecting column 23 of the connecting assembly 2. The connecting arms 211 are provided with mounting holes. When the first connecting part 21 and the second connecting part 22 are butt-jointed with each other, the fastener 212 can be connected to the mounting hole. The fastener 212 is a bolt, and one end of the bolt has a large head end that is convenient for hand-tightening. In the technical solution of the present application, the connecting plate 1 and the base 3 are limited by connecting the bolts to the bosses 221, which not only makes the connecting plate 1 and the base 3 firmly connected, but also facilitates disassembly and position adjustment.

[0069] Furthermore, the boss 221 may be a structure integrated with the base 3. In another embodiment, the boss 221 is connected to the base 3 via a fastening nail 31; specifically, the base 3 is provided with a plurality of connection holes arranged circumferentially, and the fastening nail 31 provided on the inner side of the base 3 passes through the connection holes to connect the boss 221 to the outer wall surface of the base 3. The base 3 is provided with a plurality of connection holes, and some bosses 221 can be selectively connected to some connection holes according to the use requirements, which can effectively increase the flexibility of adjusting the position of the base 3, thereby adapting to different use environments.

[0070] As mentioned above, the base 3 is mainly used to install and fix the medical actuator 200. When the base 3 is adjusted, the position of the actuator is also adjusted. Figures 1 to 3 In one embodiment provided in the present application, the medical robot end effector device further includes a clamping plate 4 and an adjustment component 5, and the clamping plate 4 is connected to the base 3 through the adjustment component 5. Part of the medical actuator 200 is connected to the clamping plate 4, and the other part abuts against the base 3.

[0071] Furthermore, the adjustment assembly 5 includes a connecting rod 51 and an adjusting screw 52. The connecting rod 51 is arranged on the base 3. The clamping plate 4 is movably connected to the connecting rod 51. One end of the adjusting screw 52 is connected to the clamping plate 4, and the other end is connected to the base 3. The clamping plate 4 has a docking hole, and the connecting rod 51 is arranged in the docking hole. The adjusting screw 52 crosses the clamping plate 4, and one end of the adjusting screw 52 is connected to the base 3. By adjusting the screwing amount of the adjusting screw 52, ​​the distance between the clamping plate 4 and the base 3 can be adjusted.

[0072] Usually, an elastic member 53 is also provided at the end of the connecting plate 1. For example, a spring, one end of the elastic member 53 abuts against the end of the connecting rod 51, and the other end abuts against the bottom of the docking hole. The elastic force of the elastic member 53 can drive the clamping plate 4 away from the base 3, and then the clamping plate 4 can be driven to move toward the base 3 by adjusting the screwing amount of the adjusting screw 52, ​​thereby playing the role of adjusting the clamping range of the clamping plate 4.

[0073] Furthermore, the clamping plate 4 is vertically arranged at one end of the base 3, the clamping plate 4 and the base 3 are in an L-shaped structure, and a clamping portion 41 is provided on one end of the clamping plate 4 away from the base 3. The medical actuator 200 can be installed on the clamp, and the distance between the clamping plate 4 and the base 3 can be adjusted by adjusting the screw 52, ​​so that medical actuators 200 of different widths can be installed on the clamping plate 4, and then the adjusting screw 52 is tightened, and the clamping plate 4 and the base 3 work together to tighten the medical actuator 200 to the clamping plate 4.

[0074] Furthermore, in an embodiment provided in the present application, the medical robot end effector device further includes a cover body 6, which is connected to the base 3, and a receiving cavity is provided between the cover body 6 and the base 3; in addition, the cover body 6 has a stepped structure 61. The stepped structure 61 on the cover body 6 can be adapted to the shape of the medical actuator 200, so that the medical actuator 200 and the cover body 6 can have more contact area, and the connection of the medical actuator 200 will also be more stable.

[0075] The end effector device of the medical robot also includes a slide rail assembly 7, which includes a base plate 71, a slide rail 72, a sliding seat 73 and a driving device 74. The base plate 71 is provided with a connecting member for detachably connecting with the end of the multi-degree-of-freedom robot arm. The slide rail 72 is arranged on the base plate 71, and a mounting position 11 is arranged on the base plate 71. The slide rail 72 is connected to the mounting position 11 by a fastener 212. The sliding seat 73 can be slidably connected to the slide rail 72. Under the action of external force, the sliding seat 73 can slide on the slide rail 72. The driving device 74 is arranged on the base plate 71, and the driving device 74 is transmission-connected to the sliding seat 73. The driving device 74 is used to drive the sliding seat 73 to slide on the slide rail 72.

[0076] The connecting plate 1 is connected to the sliding seat 73 of the slide rail assembly 7. Specifically, a screw hole is provided on the mounting position 11, and the connecting plate 1 is connected to the sliding seat 73 by bolts. When the driving device 74 drives the sliding seat 73 to move on the slide rail 72, the connecting plate 1 together with the base 3 will also slide relative to the robot arm.

[0077] In another embodiment provided in the present application, a medical robot is also provided, which includes: a robot body 100, a slide rail assembly 7, a connecting plate 1, a connecting assembly 2, a base 3 and a medical actuator 200. The slide rail assembly 7 is connected to the execution end of the robot body 100. Specifically, the slide rail assembly 7 is connected to the execution end of the robot, such as the end of a multi-degree-of-freedom robot arm, through a connecting member. The connecting plate 1 has a front side and a back side, and a mounting position 11 is provided on the front side, and the mounting position 11 is used to connect with the slide rail assembly 7. The connecting assembly 2 is provided on the back side, and along the length direction of the connecting plate 1, the mounting position 11 is located at the first end of the connecting plate 1, and the connecting assembly 2 is located at the second end of the connecting plate 1. The base 3 is arranged at intervals on one side of the back side of the connecting plate 1, and can be rotatably connected to the connecting assembly 2, and the medical actuator 200 can be detachably connected to the base 3. Among them, the connecting assembly 2 includes at least one first connecting portion 21, and the base 3 is provided with at least one second connecting portion 22, and the first connecting portion 21 can be matched and connected to any second connecting portion 22.

[0078] The robot body 100 includes but is not limited to: a six-degree-of-freedom robotic arm, a seven-degree-of-freedom robotic arm, a multifunctional surgical robot, etc.

[0079] For the specific structure of each component, please refer to the detailed description above and will not be repeated here.

[0080] In summary, by flexibly adjusting the second connection part to connect to different first connection parts, the position between the base and the connection plate is changed, and the position between the medical actuator on the base and the medical device (medical robot) can also be flexibly adjusted. Regardless of whether the medical device is located on the left or right side of the patient, by adjusting the position between the base and the connection plate, the position of the medical actuator on the base relative to the human body can be kept from deflecting. It not only meets the needs of different surgical scenarios, but is also more convenient for doctors to use.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A medical robot end effector device, characterized in that: include: A connecting plate having a front side and a back side, wherein a mounting position is provided on the front side, and the mounting position is used for connecting with a medical device; A connecting assembly is arranged on the reverse side, along the length direction of the connecting plate, the mounting position is located at the first end of the connecting plate, and the connecting assembly is located at the second end of the connecting plate; A base, which is arranged at a distance on one side of the back surface of the connecting plate and can be rotatably connected to the connecting assembly, and the base is used to connect the medical actuator; Wherein, the connection assembly includes at least one first connection part, and the base is provided with at least one second connection part, and the first connection part can be matched and connected in any of the second connection parts.

2. The medical robot end effector device according to claim 1, characterized in that: The connection assembly includes a connection column and a connection sleeve, wherein the connection column is arranged on the connection plate, and the connection sleeve is arranged on the outer wall of the base, and the connection sleeve can be matched and connected to the connection column.

3. The medical robot end effector device according to claim 2, characterized in that: The top of the connecting column is provided with a connecting boss, and the bottom of the connecting sleeve is provided with a through hole penetrating the base; The connecting assembly also includes a sleeve and a sealing plate. The sleeve is arranged on one side of the inner wall of the base corresponding to the through hole. The boss extends through the through hole to one side of the inner wall of the base. The sealing plate is connected to the top of the boss.

4. The medical robot end effector device according to claim 3, characterized in that: The connecting column is provided with an arc-shaped limiting groove, and the connecting sleeve is provided with a limiting column, and the limiting column is matched and connected in the limiting groove.

5. The medical robot end effector device according to claim 4, characterized in that: The limiting groove is located at the end of the connecting column, or the limiting groove is located on the wall surface of the connecting column.

6. The medical robot end effector device according to any one of claims 1 to 5, characterized in that: The first connecting part includes a connecting arm and a fastener, and the second connecting part is a convex column with a screw hole; The two connecting arms are respectively located on both sides of the connecting column of the connecting assembly, and mounting holes are provided on the connecting arms, and the fasteners are connected to the mounting holes; The protruding column is arranged on the outer circumference side of the connecting sleeve of the connecting assembly.

7. The medical robot end effector device according to claim 6, characterized in that: The boss is connected to the base via a fastening nail; The base is provided with a plurality of connection holes arranged circumferentially.

8. The medical robot end effector device according to claim 1, characterized in that: It also includes a clamping plate and an adjusting assembly, wherein the clamping plate is connected to the base through the adjusting assembly; The adjusting assembly comprises a connecting rod and an adjusting screw, wherein the connecting rod is arranged on the base, the clamping plate is movably connected to the connecting rod, one end of the adjusting screw is connected to the clamping plate, and the other end is connected to the base.

9. The medical robot end effector device according to claim 8, characterized in that: The clamping plate is vertically arranged at one end of the base; A clamping portion is provided on one end of the clamping plate away from the base.

10. The medical robot end effector device according to claim 6, characterized in that: It also includes a cover body, the cover body is connected to the base, and a receiving cavity is provided between the cover body and the base; The cover body has a stepped structure on its upper side.

11. A medical robot, characterized in that: include: Robot body; A slide rail assembly connected to the execution end of the robot body; A connecting plate having a front side and a back side, wherein a mounting position is provided on the front side, and the mounting position is used to connect with the slide rail assembly; A connecting assembly is arranged on the reverse side, along the length direction of the connecting plate, the mounting position is located at the first end of the connecting plate, and the connecting assembly is located at the second end of the connecting plate; A base, which is arranged at a distance on one side of the reverse side of the connecting plate and can be rotatably connected to the connecting assembly; A medical actuator, detachably connected to the base; Wherein, the connection assembly includes at least one first connection part, and the base is provided with at least one second connection part, and the first connection part can be matched and connected in any of the second connection parts.

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