Rotational joint, mechanical arm assembly and surgical anesthesia position indicating device and method

Abstract

The invention relates to a rotating joint, a mechanical arm assembly and a surgical anesthesia position indicating device and method. The rotating joint comprises a limiting mechanism, a matching mechanism and a pressing mechanism. The limiting mechanism is fixedly connected with the first cantilever. The matching mechanism is fixedly connected with the second cantilever, and the limiting mechanism and the matching mechanism are coaxially arranged and can rotate relative to each other. The pressing mechanism is fastened to the side, away from the limiting mechanism, of the matching mechanism and used for limiting the matching mechanism to move in the axial direction. The surfaces, close to each other, of the limiting mechanism and the matching mechanism and / or the surfaces, close to each other, of the matching mechanism and the pressing mechanism are friction braking surfaces. And under the pressing action of the pressing mechanism, the matching mechanism is used for limiting rotation of the second cantilever through the friction braking surface, that is, stable hovering can be achieved in the rotating process of the second cantilever, and the stability is good.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a rotary joint, a robotic arm assembly, and a surgical anesthesia position indication device and method. Background Art

[0002] With the continuous development of medical device technology, robotic arms and auxiliary imaging equipment are widely used to overcome the problems and shortcomings of traditional medicine, while having the advantages of accurate positioning, stable operation, safe and smooth operation, etc. The robotic arm assembly generally connects two adjacent robotic arms through a rotating joint to improve the rotational freedom of the robotic arm assembly.

[0003] When two adjacent robotic arms rotate relative to each other, they can only be locked at a certain position, but cannot achieve a stable state of hovering at any position during the rotation process, resulting in poor stability of the robotic arms during the rotation process. Summary of the invention

[0004] Based on this, it is necessary to provide a rotating joint, a robotic arm assembly, a surgical anesthesia position indication device and a method to address the problem of poor stability of the robotic arm during rotation.

[0005] A rotary joint, used to connect a first cantilever with a second cantilever, the rotary joint comprising:

[0006] A limiting mechanism, fixedly connected to the first cantilever;

[0007] A matching mechanism is fixedly connected to the second cantilever, and the limiting mechanism and the matching mechanism are coaxially arranged and can rotate relative to each other;

[0008] A clamping mechanism, fastened to a side of the matching mechanism away from the limiting mechanism, and used to limit the axial movement of the matching mechanism;

[0009] The surfaces of the limiting mechanism and the matching mechanism that are close to each other, and / or the surfaces of the matching mechanism and the pressing mechanism that are close to each other are friction braking surfaces.

[0010] In one embodiment, the limiting mechanism includes a fixed plate and a rotating shaft, the rotating shaft is coaxially arranged on the fixed plate, the fixed plate is used to be fixedly connected to the first cantilever, the matching mechanism is sleeved on the rotating shaft, and the clamping mechanism is tightly connected to the rotating shaft.

[0011] In one embodiment, the rotating shaft includes a polished rod section and a threaded section, the matching mechanism is sleeved outside the polished rod section, and the clamping mechanism is threadedly connected to the threaded section.

[0012] In one embodiment, the clamping mechanism includes an adjusting nut, a first elastic member and a friction assembly which are sequentially sleeved on the rotating shaft. The friction assembly is arranged on a side of the mating mechanism away from the fixed disk, and the surface where the friction assembly and the mating mechanism are close to each other is a friction braking surface.

[0013] In one embodiment, the friction assembly includes a friction pad and a friction ring, the friction ring is located on a side of the friction pad close to the matching mechanism, and the roughness of the surface of the friction pad close to the friction ring is greater than the roughness of the surface of the friction ring close to the matching mechanism;

[0014] The side wall of the rotating shaft is provided with a keyway extending in the axial direction, and the inner wall of the friction pad is provided with a first key block protruding inwardly, and the first key block cooperates with the keyway

[0015] In one embodiment, the mating mechanism and the friction gasket are made of metal, and the friction ring is made of plastic.

[0016] In one embodiment, the limiting mechanism has a limiting groove, and the limiting mechanism includes a second elastic member and a limiting member arranged in the limiting groove, and the second elastic member is located on a side of the limiting member close to the bottom of the limiting groove;

[0017] The matching mechanism is provided with a matching groove with its opening direction facing the limiting mechanism. The matching groove and the limiting groove are located on the same circumference, and the matching groove is used to accommodate part of the limiting member.

[0018] In one embodiment, the limiting member is a ball, and the matching groove has a guiding inclined surface for facilitating the ball to slide out of the matching groove.

[0019] In one embodiment, the mating mechanism is provided with a rolling groove with its opening direction facing the limiting mechanism, the rolling groove is arranged around the circumference of the rotating shaft, the mating groove is located on the circumference of the rolling groove, and the groove depth of the mating groove is greater than the groove depth of the rolling groove.

[0020] A mechanical arm assembly includes a first cantilever, a second cantilever and a rotating joint, wherein the rotating joint is connected between the first cantilever and the second cantilever, the first cantilever is fixedly connected to the limiting mechanism, and the second cantilever is fixedly connected to the matching structure.

[0021] In one embodiment, the rotating joint also includes a limit plate, which is sleeved outside the rotating shaft and fixedly connected to the first cantilever. The outer wall of the limit plate has a limit block, and a matching block is arranged inside the end of the second cantilever connected to the rotating joint, and the limit block is used to stop the matching block.

[0022] In one of the embodiments, a slide groove is provided in one end of the second cantilever connected to the rotating joint, the slide groove is provided along the circumference of the rotating shaft, and the matching block can slide along the slide groove.

[0023] A surgical anesthesia position indicating device comprises a mechanical arm assembly and a laser indicating module. The laser indicating module is arranged in one end of the second cantilever away from the first cantilever.

[0024] A method for indicating surgical anesthesia position, comprising the following steps:

[0025] The scanning device scans the image of the lesion position in the human body;

[0026] Reconstructing an image of the lesion location based on the scan information;

[0027] Display the image of the lesion;

[0028] Identify the surgical site;

[0029] The surgical position is indicated by a laser indication module in the surgical anesthesia position indication device.

[0030] In the above-mentioned rotating joint, mechanical arm assembly, surgical anesthesia position indicating device and method, the limiting mechanism is fixedly connected to the first cantilever, and the clamping mechanism is fastened to the side of the matching mechanism away from the limiting mechanism, so that the clamping mechanism, the matching mechanism and the limiting mechanism are closely fitted along the axis. At the same time, the surfaces of the limiting mechanism and the matching mechanism close to each other are set as friction braking surfaces, so that when the second cantilever rotates relative to the first cantilever, the friction force between the limiting mechanism and the matching mechanism limits the rotation of the second cantilever, so that the second cantilever can achieve stable hovering during the rotation process. The surfaces of the matching mechanism and the clamping mechanism close to each other can also be set as friction braking surfaces, so that the friction force between the matching mechanism and the clamping mechanism limits the rotation of the second cantilever, so that the second cantilever can achieve stable hovering during the rotation process; or the surfaces of the limiting mechanism and the matching mechanism close to each other, and the surfaces of the matching mechanism and the clamping mechanism close to each other are friction braking surfaces, so that the second cantilever can achieve stable hovering during the rotation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the structure when the first cantilever and the second cantilever of the surgical anesthesia position indicating device are 180 degrees apart in one embodiment.

[0032] Figure 2 This is a schematic structural diagram of a surgical anesthesia position indicating device in an embodiment when the first cantilever and the second cantilever are at 0°.

[0033] Figure 3 A cross-sectional view of a rotary joint in one embodiment.

[0034] Figure 4 Schematic diagram of the structure of a limiting mechanism in one embodiment.

[0035] Figure 5 4 is a cross-sectional view of a limiting mechanism in one embodiment.

[0036] Figure 6 Schematic diagram of the connection structure between the encoder and the rotary joint in one embodiment.

[0037] Figure 7 Schematic diagram of the positional relationship between the limit plate and the slide slot in one embodiment.

[0038] Figure 8 Schematic diagram of the structure of the matching mechanism in one embodiment.

[0039] Fig. 9 It is a cross-sectional view of a matching mechanism in one embodiment.

[0040] Fig.10 Schematic diagram of the structure of a sliding assembly in one embodiment.

[0041] Reference numerals: 10, rotating joint; 20, first cantilever; 30, second cantilever; 31, sliding assembly; 32, matching block; 33, pin shaft; 34, slide groove; 40, touch display; 50, laser indication module; 60, depth camera; 70, column;

[0042] 100, limiting mechanism; 110, fixing plate; 120, rotating shaft; 121, polished rod section; 122, threaded section; 123, keyway; 130, limiting assembly; 131, second elastic member; 132, limiting member; 133, limiting groove;

[0043] 200, matching mechanism; 210, matching groove; 211, guiding inclined surface; 220, rolling groove;

[0044] 300, clamping mechanism; 310, adjusting nut; 320, friction assembly; 321, friction gasket; 3211, first key block; 322, friction ring; 330, first elastic member;

[0045] 400, limit plate; 410, limit block;

[0046] 500, encoder; 510, flange. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0048] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0049] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0050] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0051] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0052] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0053] Certain conditions require visual positioning assistance during the treatment process to accurately reach the lesion location, such as puncture and local anesthesia. Traditional operations usually require doctors to use markers to mark, which relies on the doctor's experience. Due to individual differences, there is usually a large error between the marked position and the actual position, which affects the diagnosis and treatment effect.

[0054] See also Figure 1 and Figure 2 , a surgical anesthesia position indication method provided by an embodiment of the present application comprises the following steps:

[0055] The scanning device scans the image of the lesion location in the human body.

[0056] Reconstructing an image of the lesion location based on the scan information;

[0057] Display the image of the lesion;

[0058] Identify the surgical site;

[0059] The surgical position is indicated by the laser indicating module 50 in the surgical anesthesia position indicating device.

[0060] Specifically, the scanning device can be a CT machine, and correspondingly, the scanning information is CT scanning information. The surgical anesthesia position indication system includes a surgical anesthesia position calculation system, a display and planning system, and a surgical anesthesia position indication device. The display and planning system includes a touch display 40, and the surgical anesthesia position indication device includes a laser indication module 50. In actual operation, the doctor scans the lesion position image of the human body through the scanning device, the anesthesia position calculation system reconstructs the lesion position image according to the scanning information, the display planning system displays the patient's lesion image through the touch display 40, and the medical staff determines the surgical position according to the image and marks it on the image model through the touch display 40. Finally, the position indication system controls the laser indication module 50 in the surgical anesthesia position indication device to rotate so as to indicate the position on the human body through a laser light.

[0061] See also Figure 1 and Figure 2 A surgical anesthesia position indicating device provided in one embodiment of the present application includes a column 70 and a robotic arm assembly, one end of the robotic arm assembly is fixed on the column 70, and a laser indicating module 50 is arranged at an end of the robotic arm assembly away from the column 70.

[0062] In actual use, the column 70 is used to support the mechanical arm at a certain height above the patient, so that the laser indication module 50 is located above the human body, so that the laser indication module 50 can irradiate the lesion position of the human body with laser as the anesthesia position.

[0063] Specifically, the laser indication module 50 is provided with a cross laser light and an angle control motor. The cross laser light can emit a cross laser line. The angle control motor can control the rotation of the cross laser light according to the information of the surgical anesthesia position calculation system, so that the laser light can mark the designated position of the human body and prompt the medical staff the actual position of the marked position on the patient's body.

[0064] The surgical anesthesia position indication device also includes a depth camera 60. The depth camera 60 and the laser indication module 50 are arranged in sequence on the robotic arm assembly along the length direction of the robotic arm. The depth camera 60 can be tilted in the vertical direction so that the shooting direction of the depth camera 60 is toward the irradiation direction of the laser light in the laser indication module 50, so as to facilitate the capture of the patient's lesion position, to assist the scanning device in performing 3D image modeling of the patient, and to improve the accuracy of laser indication.

[0065] See also Figure 1 and Figure 2, a mechanical arm assembly provided by an embodiment of the present application includes a first cantilever 20, a second cantilever 30 and a revolving joint 10, wherein the revolving joint 10 is connected between the first cantilever 20 and the second cantilever 30. One end of the first cantilever 20 away from the second cantilever 30 is fixed on the column 70, a laser indication module 50 and a depth camera 60 are arranged at the end of the second cantilever 30 away from the revolving joint 10, and the laser indication module 50 is located at one end of the depth camera 60 away from the revolving joint 10.

[0066] See also Figure 2 In order to facilitate the storage of the robot arm assembly, the second cantilever 30 is rotated to overlap with the first cantilever 20, that is, the angle between the second cantilever 30 and the first cantilever 20 is zero degree. Figure 1 , the column 70 can be placed next to the bed, and then the second cantilever 30 is rotated so that the angle between the second cantilever 30 and the first cantilever 20 is 180°, and since the laser indication module 50 and the depth camera 60 are arranged at the end of the second cantilever 30 away from the rotating joint 10, the second cantilever 30 drives the laser indication module 50 and the depth camera 60 to rotate onto the bed. Specifically, the laser indication module 50 needs to face the patient, and the depth camera 60 is closer to the rotating joint 10 than the laser indication module 50, which is conducive to shortening the arm length of the second cantilever 30. At the same time, the depth camera 60 is tilted in the vertical direction, that is, while shortening the arm length of the second cantilever 30, it does not affect the depth camera 60's shooting of the patient's lesion position.

[0067] In addition, multiple robotic arm assemblies can be connected to the column 70 in sequence. For example, two robotic arm assemblies are connected to the column 70 in sequence along the height direction, one of which is used to set the laser indication module 50 and the other is used to set the touch display 40.

[0068] In actual use of the mechanical arm assembly, the second cantilever 30 can generally be rotated manually so that the second cantilever 30 rotates relative to the first cantilever 20. In order to ensure the stability of the mechanical arm assembly, the second cantilever 30 needs to be able to hover at any position.

[0069] Therefore, an embodiment of the present application further provides a rotary joint 10, see Figure 3The rotary joint 10 includes a limiting mechanism 100, a matching mechanism 200 and a clamping mechanism 300. The limiting mechanism 100 is fixedly connected to the first cantilever 20. The matching mechanism 200 is fixedly connected to the second cantilever 30, and the limiting mechanism 100 and the matching mechanism 200 are coaxially arranged and can rotate relative to each other. The clamping mechanism 300 is fastened to a side of the matching mechanism 200 away from the limiting mechanism 100, and is used to limit the axial movement of the matching mechanism 200. The surfaces of the limiting mechanism 100 and the matching mechanism 200 that are close to each other, and / or the surfaces of the matching mechanism 200 and the clamping mechanism 300 that are close to each other are friction braking surfaces.

[0070] In this embodiment, the limiting mechanism 100 is fixedly connected to the first cantilever 20, and the pressing mechanism 300 is fastened to the side of the matching mechanism 200 away from the limiting mechanism 100, so that the pressing mechanism 300, the matching mechanism 200 and the limiting mechanism 100 are closely attached along the axis. At the same time, the surfaces of the limiting mechanism 100 and the matching mechanism 200 close to each other are set as friction braking surfaces, so that when the second cantilever 30 rotates relative to the first cantilever 20, the friction force between the limiting mechanism 100 and the matching mechanism 200 limits the rotation of the second cantilever 30, so that the second cantilever 30 can achieve stable hovering during the rotation process. The surfaces of the mating mechanism 200 and the clamping mechanism 300 that are close to each other can also be set as friction braking surfaces, so that the rotation of the second cantilever 30 is limited by the friction force between the mating mechanism 200 and the clamping mechanism 300, so that the second cantilever 30 can achieve stable hovering during the rotation process; or the surfaces of the limiting mechanism 100 and the mating mechanism 200 that are close to each other, and the surfaces of the mating mechanism 200 and the clamping mechanism 300 that are close to each other are both friction braking surfaces, so that the second cantilever 30 can achieve stable hovering during the rotation process.

[0071] Further, combined with Figure 4 The limiting mechanism 100 includes a fixed disk 110 and a rotating shaft 120 . The rotating shaft 120 is coaxially arranged on the fixed disk 110 . The fixed disk 110 is used to be fixedly connected to the first cantilever 20 . The matching mechanism 200 is sleeved on the rotating shaft 120 . The clamping mechanism 300 is tightly connected to the rotating shaft 120 .

[0072] In this embodiment, the rotating shaft 120 and the fixed disk 110 can be manufactured in one piece. The matching mechanism 200 is sleeved on the rotating shaft 120 of the limiting mechanism 100, so as to realize the coaxial arrangement of the limiting mechanism 100 and the matching mechanism 200. At the same time, the limiting mechanism 100 includes the fixed disk 110, and when the pressing mechanism 300 is fastened to the rotating shaft 120, the matching mechanism 200 can be pressed on the fixed disk 110.

[0073] Specific, combined Figure 5The rotating shaft 120 includes a polished rod section 121 and a threaded section 122 . The matching mechanism 200 is sleeved outside the polished rod section 121 , and the pressing mechanism 300 is threadedly connected to the threaded section 122 .

[0074] In this embodiment, the mating mechanism 200 is sleeved outside the light rod section 121 so that the mating mechanism 200 can rotate relative to the rotating shaft 120. The clamping mechanism 300 is threadedly connected to the threaded section 122. By rotating the clamping mechanism 300, the friction between the mating mechanism 200 and the fixed disk 110, and between the mating mechanism 200 and the clamping mechanism 300 can be adjusted to facilitate adjustment of the force required to rotate the second cantilever 30.

[0075] In some embodiments, in combination Figure 3 The clamping mechanism 300 includes an adjusting nut 310, a first elastic member 330 and a friction assembly 320 which are sequentially sleeved on the rotating shaft 120. The friction assembly 320 is arranged on a side of the matching mechanism 200 away from the fixed disk 110. The surface where the friction assembly 320 and the matching mechanism 200 are close to each other is a friction braking surface.

[0076] In this embodiment, the first elastic member 330, the friction assembly 320, and the matching mechanism 200 are locked to the fixed disk 110 of the limiting mechanism 100 by adjusting the nut 310. The first elastic member 330 is used to elastically press the friction assembly 320 onto the matching mechanism 200. When the second cantilever 30 stops rotating, the pressing effect of the first elastic member 330 and the friction effect between the friction assembly 320 and the matching mechanism 200 enable the matching mechanism 200 to remain in this position, thereby preventing the second cantilever 30 from rotating at will.

[0077] Further, combined with Figure 3 The friction assembly 320 includes a friction pad 321 and a friction ring 322. The friction ring 322 is located on the side of the friction pad 321 close to the matching mechanism 200. A key slot 123 extending in the axial direction is provided on the side wall of the rotating shaft 120. A first key block 3211 protruding inward is provided on the inner wall of the friction pad 321. The first key block 3211 matches the key slot 123.

[0078] In this embodiment, the friction pad 321 cooperates with the keyway 123 on the rotating shaft 120 through the first key block 3211, and the fixed plate 110 of the limiting mechanism 100 is fixedly connected to the first cantilever 20 through screws, and the rotating shaft 120 is fixed on the fixed plate 110. Therefore, when the first cantilever 20 is fixed, the rotating shaft 120 is fixed, and the friction pad 321 is fixed at the same time. When the matching mechanism 200 rotates, the surfaces of the matching mechanism 200 and the friction ring 322 that are close to each other or the surfaces of the friction ring 322 and the friction pad 321 that are close to each other can rub, so that the second cantilever 30 can be suspended at any position through the matching mechanism 200.

[0079] Specifically, the roughness of the surface of the friction pad 321 close to the friction ring 322 is greater than the roughness of the surface of the friction ring 322 close to the matching mechanism 200 , so that when the matching mechanism 200 rotates, the matching mechanism 200 and the friction ring 322 rotate relative to each other.

[0080] Furthermore, a recessed portion is provided on the surfaces of the friction ring 322 and the matching mechanism 200 that are close to each other, and the recessed portion is used to be filled with lubricating oil to reduce the friction between the friction ring 322 and the matching mechanism 200 .

[0081] In some embodiments, the mating mechanism 200 and the friction pad 321 are made of metal, and the friction ring 322 is made of plastic. That is, the friction ring 322 made of plastic separates the mating mechanism 200 and the friction pad 321 made of metal, so as to prevent the noise caused by the metal friction between the mating mechanism 200 and the friction pad 321.

[0082] Of course, in other embodiments, the surfaces of the limiting mechanism 100 and the matching mechanism 200 that are close to each other can also be friction braking surfaces. Alternatively, the surfaces of the limiting mechanism 100 and the matching mechanism 200 that are close to each other, and the surfaces of the matching mechanism 200 and the pressing mechanism 300 that are close to each other can all be friction braking surfaces.

[0083] During the diagnosis and treatment, the second cantilever 30 needs to be 180° with the first cantilever 20 to indicate the anesthesia position. In order to ensure the accuracy of the anesthesia position, the position of the second cantilever 30 needs to be relatively stable at this position. At the same time, after the diagnosis and treatment, the second cantilever 30 and the first cantilever 20 can be folded to 0° to save space.

[0084] Therefore, in some embodiments, the combination Figure 4-Figure 6 The limiting mechanism 100 has a limiting groove 133, and the limiting mechanism 100 includes a second elastic member 131 and a limiting member 132 disposed in the limiting groove 133, and the second elastic member 131 is located on a side of the limiting member 132 close to the groove bottom of the limiting groove 133. The matching mechanism 200 is provided with a matching groove 210 with an opening direction toward the limiting mechanism 100, and the matching groove 210 and the limiting groove 133 are located on the same circumference, and the matching groove 210 is used to accommodate part of the limiting member 132.

[0085] When the second cantilever 30 rotates to 0° and / or 180° relative to the first cantilever 20, the mating groove 210 just rotates to the position of the limiting groove 133. At this time, under the elastic action of the second elastic member 131, the limiting member 132 can be partially located in the mating groove 210, that is, the limiting member 132 clamps the mating mechanism 200 and the limiting mechanism 100 at the same time, and the second cantilever 30 can be maintained at 0° and / or 180°.

[0086] Of course, the number of the limiting grooves 133 and the matching grooves 210 can be increased so that the second cantilever 30 can be relatively fixed at other angles.

[0087] Specifically, the fixing plate 110 is provided with two threaded holes located on opposite sides of the rotating shaft 120. The corresponding matching mechanism 200 is also provided with two matching grooves 210, which are used to relatively fix the second cantilever 30 at the 0° and 180° positions respectively. The limiting mechanism 100 includes a limiting assembly 130, and a limiting groove 133 is provided on the limiting assembly 130. The limiting assembly 130 is used to be threadedly connected with the threaded hole, and the installation and disassembly are simple and convenient. A pad is provided in the limiting groove 133, and the second elastic member 131 is sleeved on the pad.

[0088] The matching groove 210 can be used to accommodate no more than one-half of the volume of the limiting member 132, so that the limiting member 132 can limit the second cantilever 30 to a certain position through the matching mechanism 200 and the limiting mechanism 100. When the external force is large, the limiting member 132 can also be squeezed into the limiting groove 133.

[0089] In some embodiments, the stopper 132 is a ball, and the matching groove 210 has a guide slope 211 that facilitates the ball to slide out of the matching groove 210. Specifically, the cross section of the matching groove 210 along the axis of the rotating shaft 120 is triangular or trapezoidal.

[0090] In some embodiments, the matching groove 210 may be a tapered groove or a frustum groove. Through the guiding effect of the side wall of the tapered groove or the frustum groove, the ball can be slowly squeezed into the limiting groove 133 to prevent the ball from being stuck in the matching groove 210.

[0091] In some embodiments, in combination Figure 8 and Fig. 9 A rolling groove 220 with its opening facing the limiting mechanism 100 is provided on the matching mechanism 200 . The rolling groove 220 is arranged circumferentially around the rotating shaft 120 . The matching groove 210 is located on the circumference of the rolling groove 220 . The groove depth of the matching groove 210 is greater than the groove depth of the rolling groove 220 .

[0092] In this embodiment, the rolling groove 220 is arranged around the circumference of the rotating shaft 120 to form an annular groove body, and the matching groove 210 is opened on the circumference of the annular groove body, that is, the ball can move from the rolling groove 220 to the matching groove 210. And because the groove depth of the matching groove 210 is greater than the groove depth of the rolling groove 220, when the ball moves into the matching groove 210, the matching groove 210 can limit the ball, so that the second cantilever 30 is limited to a certain position.

[0093] Specifically, the number of the mating grooves 210 can be two, and the line connecting the two mating grooves 210 passes through the center of the rolling groove 220. When the second cantilever 30 rotates to an angle other than 0 degrees and 180 degrees with the first cantilever 20, the ball rolls in the rolling groove 220; when the second cantilever 30 rotates to an angle of 0 degrees or 180 degrees with the first cantilever 20, the ball rolls from the rolling groove 220 to the mating groove 210, thereby limiting the second cantilever 30.

[0094] In one embodiment, the cross-section of the rolling groove 220 along the axial direction of the rotating shaft 120 is an arc-shaped groove, and the slot size of the arc-shaped groove along the radial direction of the rotating shaft 120 is smaller than the diameter of the ball, so that when the ball rolls, both sides of the ball along the radial direction of the rotating shaft 120 are in contact with the slot of the rolling groove 220, so as to increase the contact area between the ball and the matching mechanism 200, so as to reduce the wear on the matching mechanism 200.

[0095] In another embodiment, the cross-section of the rolling groove 220 along the axial direction of the rotating shaft 120 may also be a triangle, a cone or other irregular shape. In this case, the relationship between the groove size of the rolling groove 220 and the ball diameter is not limited. As long as at least two inner walls of the rolling groove 220 can contact the ball when the ball is located in the rolling groove 220, the contact area between the ball and the matching mechanism 200 can be increased to reduce the wear on the matching mechanism 200.

[0096] In some embodiments, in combination Figure 3 and Figure 7 The rotating joint 10 also includes a limit plate 400, which is sleeved outside the rotating shaft 120 and radially matched with the rotating shaft 120. The outer wall of the limit plate 400 has a limit block 410. A matching block 32 is provided in one end of the second cantilever 30 connected to the rotating joint 10, and the limit block 410 is used to stop the matching block 32.

[0097] In this embodiment, cables are inserted into the first cantilever 20 and the second cantilever 30 , and the second cantilever 30 is prevented from rotating around the first cantilever 20 by the stopping action of the limit block 410 and the matching block 32 , which would damage the cables.

[0098] Specifically, the limiting plate 400 is sleeved on the rotating shaft 120 and is located between the adjusting nut 310 and the first elastic member 330. That is, the limiting plate 400 can be limited to move in the axial direction through the tightening effect of the adjusting nut 310 and the elastic force of the first elastic member 330. At the same time, the limiting plate 400 is located between the adjusting nut 310 and the first elastic member 330, so that one end of the first elastic member 330 abuts against the limiting plate 400, which is convenient for rotating and tightening the adjusting nut 310. The inner ring of the limiting plate 400 is also provided with a second key block, which cooperates with the key slot 123 to prevent the limiting plate 400 from rotating.

[0099] Further, combined with Figure 7 and Fig.10 A slide groove 34 is provided in one end of the second cantilever 30 connected to the rotating joint 10 . The slide groove 34 is provided along the circumference of the rotating shaft 120 , and the matching block 32 can slide along the slide groove 34 .

[0100] Specifically, a sliding assembly 31 is disposed in one end of the second cantilever 30 connected to the rotating joint 10, and the sliding assembly 31 is fixed to the second cantilever 30 by screws. A slide groove 34 is provided on the sliding assembly 31, and the sliding assembly 31 includes a matching block 32 and a pin 33, and the pin 33 is disposed on the upper surface of the matching block 32, and the pin 33 extends from the bottom of the slide groove 34 into the slide groove 34, and can slide along the slide groove 34, so that the matching block 32 can slide along the slide groove 34.

[0101] In this embodiment, the limit block 410 can slide in the slide groove 34 along the axial direction of the rotating shaft 120, thereby avoiding the situation that the second cantilever 30 cannot completely overlap with the first cantilever 20 due to the setting of the limit block 410. When the second cantilever 30 rotates so that the matching block 32 abuts against the limit block 410, the limit block 410 can push the matching block 32 to slide along the slide groove 34, so that the second cantilever 30 completely overlaps with the first cantilever 20.

[0102] In some embodiments, the rotary joint 10 includes an encoder 500, which is connected to the rotating shaft 120 via a flange 510. The encoder 500 is used to detect the angle between the first cantilever 20 and the second cantilever 30 to ensure that when the second cantilever 30 is 180° with the first cantilever 20 during diagnosis and treatment, the limiter 132 is clamped in the matching groove 210.

[0103] The surgical anesthesia position indicating device of the present application, when not working, the mechanical arm assembly used to connect the laser indicating module 50 and the touch display 40 is in a retracted state, which can reduce the volume occupied by the surgical anesthesia position indicating device, and the positions of the first cantilever 20 and the second cantilever 30 in the mechanical arm assembly are fixed. At this time, the surgical anesthesia position indicating system is in a preoperative state.

[0104] When the surgical anesthesia position indication system is in the working state, the second cantilever 30 is rotated to 180° relative to the first cantilever 20 and the two are in a relatively fixed state. In this state, the operator can operate and control the robot or actuator through the touch display 40, and can observe and operate the target position accordingly through the guidance of the display planning system.

[0105] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0106] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A rotary joint (10), It is characterized in that Used to connect the first cantilever (20) with the second cantilever (30), the rotary joint (10) comprises: A limiting mechanism (100) fixedly connected to the first cantilever (20); The matching mechanism (200) is fixedly connected to the second cantilever (30), and the limiting mechanism (100) and the matching mechanism (200) are coaxially arranged and can rotate relative to each other; A clamping mechanism (300) is fastened to a side of the matching mechanism (200) away from the limiting mechanism (100) and is used to limit the axial movement of the matching mechanism (200); The surfaces of the limiting mechanism (100) and the matching mechanism (200) that are close to each other are friction braking surfaces, and / or the surfaces of the matching mechanism (200) and the pressing mechanism (300) that are close to each other are friction braking surfaces.

2. The rotary joint (10) according to claim 1, It is characterized in that The limiting mechanism (100) comprises a fixed disk (110) and a rotating shaft (120); the rotating shaft (120) is coaxially arranged on the fixed disk (110); the fixed disk (110) is used for being fixedly connected to the first cantilever (20); the matching mechanism (200) is sleeved on the rotating shaft (120) and is located on one side of the fixed disk (110); and the clamping mechanism (300) is tightly connected to the rotating shaft (120).

3. The rotary joint (10) according to claim 2, It is characterized in that The rotating shaft (120) comprises a polished rod section (121) and a threaded section (122); the matching mechanism (200) is sleeved outside the polished rod section (121); and the pressing mechanism (300) is threadedly connected to the threaded section (122).

4. The rotary joint (10) according to claim 2, It is characterized in that The clamping mechanism (300) comprises an adjusting nut (310), a first elastic member (330) and a friction assembly (320) which are sequentially sleeved on the rotating shaft (120); the friction assembly (320) is arranged on a side of the matching mechanism (200) away from the fixed disk (110); and the surface of the friction assembly (320) and the matching mechanism (200) which are close to each other is a friction braking surface.

5. The rotary joint (10) according to claim 4, It is characterized in that The friction assembly (320) comprises a friction gasket (321) and a friction ring (322), wherein the friction ring (322) is located on a side of the friction gasket (321) close to the matching mechanism (200); A keyway (123) extending in the axial direction is provided on the side wall of the rotating shaft (120), and a first key block (3211) protruding inward is provided on the inner wall of the friction gasket (321), and the first key block (3211) cooperates with the keyway (123).

6. The rotary joint (10) according to claim 5, It is characterized in that The roughness of the surface of the friction gasket (321) close to the friction ring (322) is greater than the roughness of the surface of the friction ring (322) close to the matching mechanism (200).

7. The rotary joint (10) according to claim 6, It is characterized in that The matching mechanism (200) and the friction gasket (321) are made of metal, and the friction ring (322) is made of plastic.

8. The rotary joint (10) according to any one of claims 1 to 7, It is characterized in that The limiting mechanism (100) has a limiting groove (133), and the limiting mechanism (100) comprises a second elastic member (131) and a limiting member (132) arranged in the limiting groove (133), and the second elastic member (131) is located on a side of the limiting member (132) close to the bottom of the limiting groove (133); The matching mechanism (200) is provided with a matching groove (210) with its opening direction facing the limiting mechanism (100); the matching groove (210) and the limiting groove (133) are located on the same circumference, and the matching groove (210) is used to accommodate part of the limiting member (132).

9. The rotary joint (10) according to claim 8, It is characterized in that The limiting member (132) is a ball bearing, and the matching groove (210) has a guiding inclined surface (211) that facilitates the ball bearing to slide out of the matching groove (210).

10. The rotary joint (10) according to claim 8, It is characterized in that The matching mechanism (200) is provided with a rolling groove (220) with its opening direction facing the limiting mechanism (100); the rolling groove (220) is arranged around the circumference of the rotating shaft (120); the matching groove (210) is located on the circumference of the rolling groove (220); and the groove depth of the matching groove (210) is greater than the groove depth of the rolling groove (220).

11. A robotic arm assembly, It is characterized in that It comprises a first cantilever (20), a second cantilever (30) and a rotating joint (10) as described in any one of claims 1 to 10, wherein the rotating joint (10) is connected between the first cantilever (20) and the second cantilever (30), the first cantilever (20) is fixedly connected to the limiting mechanism (100), and the second cantilever (30) is fixedly connected to the matching structure.

12. The robot arm assembly according to claim 11, It is characterized in that The rotary joint (10) further comprises a limit plate (400), wherein the limit plate (400) is sleeved outside the rotating shaft (120) of the limit mechanism (100) and radially cooperates with the rotating shaft (120), the outer wall of the limit plate (400) comprises a limit block (410), and a matching block (32) is arranged inside one end of the second cantilever (30) connected to the rotary joint (10), and the limit block (410) is used to stop the matching block (32).

13. The robot arm assembly according to claim 12, It is characterized in that A slide groove (34) is provided in one end of the second cantilever (30) connected to the rotating joint (10); the slide groove (34) is provided along the circumference of the rotating shaft (120); and the matching block (32) can slide along the slide groove (34).

14. A surgical anesthesia position indicating device, It is characterized in that It comprises the mechanical arm assembly and the laser indication module (50) as claimed in any one of claims 11 to 13, wherein the laser indication module (50) is arranged in one end of the second cantilever (30) away from the first cantilever (20).

15. A method for indicating the position of surgical anesthesia, It is characterized in that The steps include: The scanning device scans the image of the lesion position in the human body; Reconstructing an image of the lesion location based on the scan information; Display the image of the lesion; Identify the surgical site; The surgical position is indicated by the laser indicating module (50) in the surgical anesthesia position indicating device according to claim 14.

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