Medical robot end effector device and medical robot

Abstract

The embodiment of the application provides a medical robot end effector device and a medical robot, which comprise: a connecting plate having a front surface and a back surface, the front surface being provided with a mounting position for connecting with a medical device; a connecting assembly provided on the back surface and arranged along the length direction of the connecting plate, the mounting position being located at the first end of the connecting plate and the connecting assembly being located at the second end of the connecting plate; and a base provided on one side of the back surface of the connecting plate and 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 to any second connecting part. In the technical scheme of the application, the second connecting part can be flexibly adjusted to be connected to different first connecting parts, so that the position between the base and the connecting plate can be changed, the position between the medical effector on the base and the medical device can also be flexibly adjusted, the needs of different surgical scenes are met, and doctors can use it more conveniently.

Description

TECHNICAL FIELD

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

[0002] With the continuous development of medical technology, medical equipment is also constantly innovating. For natural cavity (such as bronchus, esophagus, etc.) biopsy and treatment, it is usually completed by natural cavity medical robot cooperating with flexible catheter (medical endoscope). Although the natural cavity medical robot can complete most of the operations, when operating different patients, the surgical robot may be located on the left or right side of the patient, in order to facilitate the operation of the doctor, the end effector of the medical robot needs to be placed in different positions. However, the position of the existing end effector of the medical robot is difficult to adjust flexibly relative to other devices, and the doctor uses it inconveniently.

[0003] Therefore, improving the flexibility of the position adjustment of the end effector of the medical robot is an urgent problem to be solved. SUMMARY

[0004] In view of the above purposes, 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 surface and a back surface, the front surface being provided with a mounting position for connecting with a medical device;

[0007] A connecting assembly provided on the back surface of the connecting plate, along the length direction of the connecting plate, the mounting position being located at a first end of the connecting plate, and the connecting assembly being located at a second end of the connecting plate;

[0008] A base being spaced apart from one side of the back surface of the connecting plate and being rotatably connected to the connecting assembly, the base being used for connecting a medical effector;

[0009] The connecting assembly comprises at least one first connecting part, and the base is provided with at least one second connecting part, and the first connecting part can be connected to any one of the second connecting parts.

[0010] Optionally, the connecting assembly comprises a connecting column and a connecting sleeve, the connecting column being provided on the connecting plate, and the connecting sleeve being provided on the outer wall of the base, and the connecting sleeve being connectable to the connecting column.

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

[0012] The connecting assembly further comprises a shaft sleeve and a sealing piece, the shaft sleeve is arranged on one side of the inner wall of the base corresponding to the through hole, the boss extends to one side of the inner wall of the base through the through hole, and the sealing piece is connected to the top end of the boss.

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

[0014] Optionally, 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.

[0015] Optionally, the first connecting part comprises a connecting arm and a fastener, and the second connecting part is a boss with a threaded hole.

[0016] The two connecting arms are respectively located on two sides of the connecting column of the connecting assembly, mounting holes are arranged on the connecting arms, and the fastener is connected in the mounting holes.

[0017] The boss is arranged on one side of the outer periphery of the connecting sleeve of the connecting assembly.

[0018] Optionally, the boss is connected to the base through a fastening nail.

[0019] A plurality of connecting holes are arranged on the base in a circumferential direction.

[0020] Optionally, the device further comprises a clamping plate and an adjusting assembly, and the clamping plate is connected to the base through the adjusting assembly.

[0021] The adjusting assembly comprises a connecting rod and an adjusting screw, 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 of the adjusting screw is connected to the base.

[0022] Optionally, the clamping plate is arranged vertically on one end of the base.

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

[0024] Optionally, the device further comprises a cover, the cover is connected to the base, and a containing cavity is arranged between the cover and the base.

[0025] The cover has a stepped structure on the top.

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

[0027] A robot body;

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

[0029] The connecting plate has 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 the slide rail assembly;

[0030] The connecting assembly is arranged on the back surface and 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] The base is arranged at one side of the back surface of the connecting plate and is rotatably connected to the connecting assembly;

[0032] The medical executor is detachably connected to the base;

[0033] The connecting assembly includes 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 to any second connecting part.

[0034] In the technical scheme provided by the embodiment, the second connecting part can be connected to different first connecting parts, so that the position between the base and the connecting plate and the position between the medical executor on the base and the medical equipment can be flexibly adjusted, the needs of different surgical scenes are met, and doctors can use more conveniently. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0036] Figure 1 A structural schematic diagram of a medical robot end executor device provided by an 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 structural schematic diagram of a medical robot provided by an embodiment of the present application.

[0040] Label explanation:

[0041] Connecting plate 1, mounting position 11;

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

[0043] Base 3, fastening nail 31;

[0044] Clamping plate 4, clamping part 41;

[0045] Adjusting assembly 5, connecting rod 51, adjusting screw 52, elastic member 53;

[0046] Cover body 6, stepped structure 61;

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

[0048] Robot body 100, medical implementer 200, catheter controller 201, main body 202, flexible catheter 203. DETAILED DESCRIPTION

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

[0050] In some of the processes described in the specification, claims, and accompanying drawings, multiple operations are described in a particular, sequential order. However, the operations can be performed in an order other than the described order, or operations can be performed in parallel. Operations described by reference to order, such as 101, 102, etc., are merely intended to distinguish different operations from each other, and the order of the operations itself is not intended to limit the execution order of the operations. In addition, these processes can include more or fewer operations, and the operations can be performed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this paper are used to distinguish different messages, devices, modules, etc., and do not represent the order of sequence, nor do "first" and "second" represent different types. The following embodiments are only some of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0051] Currently, with the continuous progress of medical technology, natural orifice transluminal endoscopic surgery (NOTES) is becoming more and more popular as a biopsy and treatment method. However, the space in the operating room often affects the placement of the surgical robot, and the placement of the surgical robot in the operating room is relatively fixed, which is the main reason for the fixed position between the human body and the surgical robot. For different patient needs or doctor's operation habits, the surgical robot often needs to be flexibly adjusted between the left and right positions of the operating table. Due to the limited activity range of the medical manipulator at the end of the surgical robot, and the medical manipulator is easy to interfere with other equipment, but the position of the existing medical manipulator relative to other equipment is difficult to achieve flexible adjustment, which will limit the flexibility of the surgical robot position adjustment.

[0052] To solve the above technical problems, see Figures 1 to 4 In an embodiment of the present application, a medical robot end effector device is provided, which comprises a connecting plate 1, a connecting assembly 2 and a base 3. The connecting plate 1 has a front surface and a back surface, and the front surface is provided with a mounting position 11 for connecting to a medical device.

[0053] The medical device includes but is not limited to a six-degree-of-freedom mechanical arm, a seven-degree-of-freedom mechanical arm, a multifunctional surgical robot, etc. The mounting position 11 is detachably connected to the medical device by connecting bolts or buckle devices. For example, different surgeries may require different flexibility of the mechanical arm, while the medical manipulator 200 can be the same. The mounting position 11 is detachably connected to the medical device, so that the medical manipulator 200 can be installed on different mechanical arms, thereby meeting the needs of different surgeries.

[0054] The connecting assembly 2 is used to connect the connecting plate 1 and the base 3, and the connecting assembly 2 is arranged on the back surface 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 assembly 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 arranged at a position close to the first end of the connecting plate 1, and the connecting assembly 2 is arranged at a position close to the second end of the connecting plate 1.

[0055] The base 3 is arranged on one side of the back surface of the connecting plate 1, the connecting assembly 2 is located between the base 3 and the connecting plate 1, the base 3 is rotatably connected to the connecting assembly 2, one side of the connecting assembly 2 is connected to the connecting plate 1, and the opposite side is connected to the base 3.

[0056] The connecting assembly 2 comprises at least one first connecting part 21, and the base 3 is provided with at least one second connecting part 22, and the first connecting part 21 can be connected to any second connecting part 22. The first connecting part 21 is fixed relative to the connecting plate 1, and when the position between the base 3 and the connecting plate 1 needs to be changed, the first connecting part 21 is connected to another second connecting part 22. Specifically, a plurality of second connecting parts 22 are distributed at different positions of the base 3, the first connecting part 21 is connected to different second connecting parts 22, and the base 3 has different poses. Of course, a plurality of first connecting parts 21 can be distributed at different positions of the connecting plate 1, and the second connecting part 22 is connected to different first connecting parts 21, and the base 3 will also have different poses.

[0057] For example, the connecting plate 1 has one first connecting part 21, and the base 3 has two second connecting parts 22. The two second connecting parts 22 are respectively located on the left side and the right side of the base 3 along the transverse direction of the base 3. When the first connecting part 21 is connected to the second connecting part 22 on the left side, the base 3 has a first pose relative to the connecting plate 1. When the first connecting part 21 is connected to the second connecting part 22 on the right side, the base 3 has a second pose relative to the connecting plate 1, and the second pose is flipped by 180 degrees relative to the first pose.

[0058] Referring to Figure 2 and Figure 3 , Figure 2 The medical device (multi-degree-of-freedom mechanical arm) is located on the left side of the patient, at this time, the first connecting part 21 is connected to the second connecting part 22 on the left side, and the base 3 is in a first pose relative to the connecting plate 1. For example Figure 3 The medical device (multi-degree-of-freedom mechanical arm) 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 part 21 is connected to the second connecting part 22 on the right side, and the base 3 is in a second pose relative to the connecting plate 1. Although the setting position of the medical device changes, the position of the base 3 relative to the connecting plate 1 also changes, and finally the position of the medical implement 200 relative to the patient remains unchanged. For example, when the medical implement 200 is an endoscope, the endoscope keeps the view lens from being deflected relative to the human body.

[0059] In the technical solution of the present application, by flexibly adjusting the connection of the second connecting part 22 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 implement 200 on the base 3 and the medical device can also be flexibly adjusted, which not only meets the needs of different surgical scenes, but also makes it more convenient for doctors to use.

[0060] Referring to Figures 2 to 4The medical implement 200 comprises a flexible catheter device and a catheter controller 201, the flexible catheter device is connected to the catheter controller 201, and the flexible catheter device further comprises 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 and the like. Taking the medical endoscope as an example, after the medical endoscope enters the body cavity, the driving device 74 drives the sliding seat 73 to move forward, so that the medical endoscope can be further inserted into the body cavity, and the catheter control device can control the medical endoscope to bend.

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

[0062] In a specific implementation, the connecting assembly 2 comprises a connecting column 23 and a connecting sleeve 24, the connecting column 23 is arranged on the connecting plate 1, and the connecting sleeve 24 is arranged on the outer wall of the base 3, and the connecting sleeve 24 can be matched and connected to the connecting column 23. When it is necessary to adjust the position of the base 3, the connecting sleeve 24 is rotated relative to the connecting column 23, and then after being adjusted to a suitable position, the first connecting part 21 and the corresponding second connecting part 22 are matched and docked, and the connecting plate 1 and the base 3 are limited relative to each other.

[0063] Referring to Figure 1 In an embodiment provided in the present application, the top end of the connecting column 23 is provided with a connecting boss 231, and the bottom of the connecting sleeve 24 is provided with a through hole 241 penetrating through the base 3, the through hole 241 extends from the outer side of the base 3 to the inner side of the base 3. When the base 3 is connected to the connecting plate 1, the outer side of the base 3 is arranged towards the connecting plate 1. In a specific embodiment, the connecting plate 1 is a square strip plate, the base 3 is a square box body, and the base 3 and the connecting plate 1 are arranged in parallel and spaced apart.

[0064] Further, in order to facilitate the stable connection between the connecting assembly 2 and the base 3, in one embodiment provided by the present application, the connecting assembly 2 further comprises a shaft sleeve 25 and a sealing piece 26. The shaft sleeve 25 is arranged on the inner wall of the base 3 corresponding to the through hole 241, the boss 231 extends to the inner wall of the base 3 through the through hole 241, and the sealing piece 26 is connected to the top end of the boss 231. Specifically, when the connecting assembly 2 is connected to the base 3, the boss 231 on the connecting assembly 2 extends from the outer side of the base 3 to the inner side of the base 3 through the through hole 241, the shaft sleeve 25 is sleeved on the boss 231, and the sealing piece 26 is connected to the top end of the boss 231 by means of fastening screws or buckling members. The shaft 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 greater than that of the through hole 241, the shaft sleeve 25 can effectively prevent the friction between the sealing piece 26 and the inner wall of the base 3, and can also improve the lubricity when the connecting column 23 and the connecting sleeve 24 rotate relative to each other. In addition, the sealing piece 26 not only can stably connect the connecting column 23 to the connecting sleeve 24, but also can control the amount of movement between the connecting column 23 and the connecting sleeve 24.

[0065] Generally, when the actuators on the base 3 are performing surgery, the working surface of the actuators is usually a planar region. Therefore, when adjusting the position of the base 3, it is necessary to avoid adjusting the actuators to positions that have no practical significance. In order to limit the displacement of the base 3 to these positions, an arc-shaped limiting groove 27 is arranged on the connecting column 23, and a limiting column is arranged on the connecting sleeve 24 and connected to the limiting groove 27. When the connecting column 23 and the connecting sleeve 24 are connected, the limiting column is connected to the limiting groove 27. With the rotation of the connecting sleeve 24 relative to the connecting column 23, the limiting column will slide in the limiting groove 27 until it slides to the end side of the limiting groove 27. The rotatable range of the connecting sleeve 24 depends on the length of the limiting groove 27. By reasonably setting the length of the limiting groove 27, the rotatable range of the base 3 relative to the connecting plate 1 can be limited within a suitable range, thereby effectively avoiding the actuators on the base 3 from moving to positions that have 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 arranged at the bottom of the connecting sleeve 24 and connected to the limiting groove 27. In another embodiment, the limiting groove 27 is arranged on the wall surface of the connecting column 23, and 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 arranged on the inner wall of the connecting sleeve 24.

[0067] Referring to Figure 1In an embodiment of the present application, the first connecting part 21 comprises a connecting arm 211 and a fastener 212, and the second connecting part 22 is a protruding column 221 with a threaded hole. The connecting arm 211 is arranged outside the connecting column 23 and extends away from the connecting column 23, and the protruding column 221 is arranged on one side of the outer periphery of the connecting sleeve 24 of the connecting 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. Taking the number of the connecting arm 211 as two and the number of the protruding column 221 as two as an example. The two connecting arms 211 are respectively arranged on the two sides of the connecting column 23 of the connecting assembly 2, and the connecting arm 211 is provided with a mounting hole. When the first connecting part 21 and the second connecting part 22 are butted against each other, the fastener 212 can be connected in the mounting hole. The fastener 212 is a bolt, and one end of the bolt has a large head end for easy hand screwing. In the technical solution of the present application, the connecting plate 1 is limited by the bolt and the protruding column 221 connected with the base 3, which not only can stably connect the connecting plate 1 and the base 3, but also is convenient for disassembly and position adjustment.

[0069] Further, the protruding column 221 can be an integral structure with the base 3. In another embodiment, the protruding column 221 is connected to the base 3 by the fastening nail 31; specifically, the base 3 is provided with a plurality of circumferentially arranged connecting holes, and the fastening nail 31 arranged on the inner side of the base 3 passes through the connecting holes to connect the protruding column 221 to the outer wall surface of the base 3. The base 3 is provided with a plurality of connecting holes, and part of the protruding columns 221 can be selected to be connected to some of the connecting holes according to the use requirement, which can effectively increase the flexibility of the position adjustment of the base 3, so as to adapt to different use environments.

[0070] As mentioned above, the base 3 is mainly used for installing and fixing the medical executor 200, and when the position of the base 3 is adjusted, the position of the executor is also adjusted. Referring to Figures 1 to 3 In an embodiment of the present application, the medical robot end executor device further comprises a clamping plate 4 and an adjusting assembly 5, and the clamping plate 4 is connected to the base 3 through the adjusting assembly 5. Part of the medical executor 200 is connected to the clamping plate 4, and the other part abuts against the base 3.

[0071] Further, the adjusting assembly 5 comprises 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 butt joint hole, and the connecting rod 51 is arranged in the butt joint hole. The adjusting screw 52 transversely passes through the clamping plate 4, one end of which is connected to the base 3, and the distance between the clamping plate 4 and the base 3 can be adjusted by adjusting the screwing amount of the adjusting screw 52.

[0072] Typically, an elastic element 53 is also provided at the end of the connecting plate 1. For example, a spring. One end of the elastic element 53 abuts against the end of the connecting rod 51, and the other end abuts against the bottom of the mating hole. The elastic force of the elastic element 53 can cause the clamping plate 4 to move away from the base 3. Then, by adjusting the screwing amount of the adjusting screw 52, ​​the clamping plate 4 can be driven to move towards the base 3, thereby adjusting the clamping range of the clamping plate 4.

[0073] Furthermore, the clamping plate 4 is vertically disposed at one end of the base 3, and the clamping plate 4 and the base 3 form an L-shaped structure. A clamping part 41 is provided on the end of the clamping plate 4 facing away from the base 3. The medical actuator 200 can be installed on the clamping device. The distance between the clamping plate 4 and the base 3 can be adjusted by adjusting the screw 52. In this way, medical actuators 200 of different widths can be installed on the clamping plate 4. Then, by tightening the adjusting screw 52, ​​the clamping plate 4 and the base 3 work together to clamp the medical actuator 200 onto the clamping plate 4.

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

[0075] The medical robot end effector also includes a slide rail assembly 7, which comprises a base plate 71, a slide rail 72, a sliding seat 73, and a drive device 74. The base plate 71 has connecting members for detachable connection to the end effector of a multi-degree-of-freedom robotic arm. The slide rail 72 is mounted on the base plate 71, which has a mounting position 11. The slide rail 72 is connected to the mounting position 11 via fasteners 212. The sliding seat 73 is slidably connected to the slide rail 72, and can slide on the slide rail 72 under external force. The drive device 74 is mounted on the base plate 71 and is drively connected to the sliding seat 73, driving 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, the mounting position 11 is provided with screw holes, 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 and the base 3 will also slide relative to the robotic arm.

[0077] In another embodiment provided in this application, a medical robot is also provided, comprising: a robot body 100, a slide rail assembly 7, a connecting plate 1, a connecting component 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 effector of a multi-degree-of-freedom robotic arm, via a connecting component. The connecting plate 1 has a front and a back side. A mounting position 11 is provided on the front side for connecting to the slide rail assembly 7. The connecting component 2 is located on the back side. 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. The base 3 is spaced apart on one side of the back side of the connecting plate 1 and is rotatably connected to the connecting component 2. The medical actuator 200 is detachably connected to the base 3. The connecting component 2 includes at least one first connecting part 21, and the base 3 has at least one second connecting part 22. The first connecting part 21 can be engaged with any of the second connecting parts 22.

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

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

[0080] In summary, by flexibly adjusting the second connecting part to connect to different first connecting parts, the position between the base and the connecting plate can be 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 placed on the left or right side of the patient, adjusting the position between the base and the connecting plate ensures that the position of the medical actuator on the base relative to the human body remains unchanged. This not only meets the needs of different surgical scenarios but also makes it 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 this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A medical robotic end effector device, comprising: The utility model relates to a medical device connecting plate, including: The connecting plate has a front surface and a back surface, and the front surface is provided with a mounting position for connecting with a medical device; The connecting assembly is arranged on the back surface and extends along the length direction of the connecting plate, and 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; The base is arranged on one side of the back surface of the connecting plate and is rotatably connected to the connecting assembly, and the base is used for connecting a medical implementer; The connecting assembly includes at least one first connecting part, and the base is provided with at least one second connecting part, and the first connecting part can be connected to any one of the second connecting parts; 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 connected to the connecting column; The top end of the connecting column is provided with a connecting boss, and the bottom of the connecting sleeve is provided with a through hole penetrating through the base; The connecting assembly further includes a shaft sleeve and a sealing piece, the shaft sleeve is arranged on one side of the inner wall of the base corresponding to the through hole, the connecting boss extends to one side of the inner wall of the base through the through hole, and the sealing piece is connected to the top end of the connecting boss; The first connecting part includes a connecting arm and a fastener, and the second connecting part is a convex column with a threaded hole; The two connecting arms are respectively located on both sides of the connecting column of the connecting assembly, and the connecting arm is provided with a mounting hole, and the fastener is connected to the mounting hole; The convex column is arranged on one side of the outer periphery of the connecting sleeve of the connecting assembly; The convex column is connected to the base by a fastening nail; The base is provided with a plurality of circumferentially arranged connecting holes.

2. The medical robotic end effector device of claim 1, wherein, The connecting column is provided with an arc-shaped limiting groove, and the connecting sleeve is provided with a limiting column which is connected to the limiting groove.

3. The medical robotic end effector device of claim 2, wherein, 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.

4. The medical robotic end effector device of claim 1, wherein, Further comprising a clamping plate and an adjusting assembly, the clamping plate is connected to the base through the adjusting assembly; The adjusting assembly includes a connecting rod and an adjusting screw, 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.

5. The medical robotic end effector device of claim 4, wherein, The clamping plate is vertically arranged on one end of the base; The clamping plate is provided with a clamping part on the end away from the base.

6. The medical robotic end effector device of claim 5, wherein, Further comprising a cover, the cover is connected to the base, and a containing cavity is arranged between the cover and the base; The cover has a stepped structure on the top.

7. A medical robot characterized by comprising: Including: A robot body; A slide rail assembly connected to the execution end of the robot body; A connecting plate having a front surface and a back surface, the front surface is provided with a mounting position for connecting with the slide rail assembly; A connecting assembly arranged on the back surface and extending 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 arranged on one side of the back surface of the connecting plate and rotatably connected to the connecting assembly; A medical implementer detachably connected to the base; The connecting assembly comprises at least one first connecting part, and at least one second connecting part is arranged on the base, and the first connecting part is connectable to any of the second connecting parts; The connecting assembly comprises 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 is connectable to the connecting column; The top end of the connecting column is provided with a connecting boss, and the bottom of the connecting sleeve is provided with a through hole penetrating through the base; The connecting assembly further comprises a shaft sleeve and a sealing piece, the shaft sleeve is arranged on one side of the inner wall of the base corresponding to the through hole, the connecting boss extends to one side of the inner wall of the base through the through hole, and the sealing piece is connected to the top end of the connecting boss; The first connecting part comprises a connecting arm and a fastener, and the second connecting part is a convex column with a threaded hole; Two connecting arms are respectively arranged on both sides of the connecting column of the connecting assembly, mounting holes are arranged on the connecting arms, and the fastener is connected to the mounting holes; The convex column is arranged on one side of the outer periphery of the connecting sleeve of the connecting assembly; The convex column is connected to the base by a fastening nail; A plurality of connecting holes are arranged on the base in a circumferential direction.

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