Locking structure and surgical robot

Abstract

The invention belongs to the technical field of medical equipment, and provides a locking structure and a surgical robotic.The locking structure comprises a base, a first locking piece, a second locking piece and a driving assembly, and the first locking piece, the second locking piece and the driving assembly are arranged on the base. The first locking piece can be switched between a first locking position and a first unlocking position, and the second locking piece can be switched between a second locking position and a second unlocking position. The driving assembly comprises a driving part and a reset part, and when the driving part is switched to the driving unlocking position, the driving part drives the first locking part to be switched to the first unlocking position and drives the second locking part to be switched to the second unlocking position at the same time; when the driving part is switched to the driving locking position, the reset part enables the first locking part to be located at the first locking position independently or jointly through the reset part and the driving part in the state of being free of external force, and enables the second locking part to be located at the second locking position in the state of being free of external force. According to the locking structure, the first arm and the second arm can be unlocked at the same time, and unlocking operation is simple and efficient.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular, to a locking structure and a surgical robot. Background Art

[0002] Stereotactic surgical robots generally include a display device, a camera device, and multiple adjustment arms, and can implement functions such as preoperative navigation and intraoperative tracking. Some of the multiple adjustment arms can be used to adjust the position of the display device, and some of the other adjustment arms can be used to adjust the position of the camera device. In situations such as when the surgical robot is running with the vehicle, collisions are likely to occur between the multiple adjustment arms and between the adjustment arms and external objects, which can easily cause damage.

[0003] To solve the above problems, in the existing surgical robots, a locking structure is usually provided on each adjustment arm, and when the surgical robot is moving with the vehicle or the like, each adjustment arm is locked and fixed through the corresponding locking structure to avoid collisions between the adjustment arms or between the adjustment arms and other objects. However, after all the adjustment arms are locked and fixed, when they need to be used again, it is necessary to unlock each of the multiple adjustment arms one by one, and the unlocking operation is cumbersome. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a locking structure and a surgical robot to solve the technical problem in the existing technology that in a surgical robot, a locking structure is provided on each adjustment arm, and it is necessary to unlock each of the multiple adjustment arms one by one to reuse the surgical robot, and the unlocking operation is cumbersome.

[0005] To achieve the above purpose, the technical solution adopted in the present application is as follows:

[0006] In a first aspect, a locking structure is provided, and the locking structure includes:

[0007] A base;

[0008] A first locking member, which is arranged on the base and can be switched between a first locking position and a first unlocking position. In the first locking position, the first locking member can lock a first mating portion of a first arm, and in the first unlocking position, the first locking member releases the locking of the first mating portion;

[0009] A second locking member, which is arranged on the base and can be switched between a second locking position and a second unlocking position. In the second locking position, the second locking member can lock a second mating portion of a second arm, and in the second unlocking position, the second locking member releases the locking of the second mating portion;

[0010] A driving member is disposed on the base and can be switched between a driving locking position and a driving unlocking position. When the driving member is switched to the driving unlocking position, the driving member drives the first locking member to switch to the first unlocking position and at the same time drives the second locking member to switch to the second unlocking position.

[0011] A reset member is disposed on the base. When the driving member is switched to the driving locking position, the reset member alone or the reset member and the driving member together make the first locking member in the first locking position without external force and make the second locking member in the second locking position without external force.

[0012] In some embodiments, the first locking member includes a first main body portion and a first locking portion protruding from the top of the first main body portion. The first locking portion is used to lock the first mating portion. The driving member abuts against the top of the first main body portion and is used to drive the first locking member to switch from the first locking position to the first unlocking position when switched to the driving unlocking position. The reset member includes a first elastic member. The first elastic member is used to provide an elastic restoring force for the first locking member to move from the first unlocking position to the first locking position when the driving member is switched to the driving locking position, so that the first locking member is in the first locking position without external force.

[0013] In some embodiments, a first guiding inclined surface is provided on the first locking portion. The first guiding inclined surface is used for sliding cooperation with a second guiding inclined surface on the first mating portion to guide the first mating portion to push the first locking portion to move, so that the first locking portion slides into a locking groove on the first mating portion.

[0014] In some embodiments, the second locking member includes a second main body portion and a second locking portion protruding from the top of the second main body portion. The second locking portion is used to lock the second mating portion. The driving member also abuts against the top of the second main body portion and is used to drive the second locking member to switch from the second locking position to the second unlocking position when switched to the driving unlocking position. The reset member further includes a second elastic member. The second elastic member is used to provide an elastic restoring force for the second locking member to move from the second unlocking position to the second locking position when the driving member is switched to the driving locking position, so that the second locking member is in the second locking position without external force.

[0015] In some embodiments, the second locking member is fixedly connected to the driving member.

[0016] In some embodiments, the base includes a base seat and a locking seat. The base seat is provided with an installation cavity, and a first hole is opened at the top of the base seat along the vertical direction. The locking seat is disposed on the top of the base seat and has a locking cavity. The locking cavity communicates with the installation cavity through the first hole. A locking opening is formed on one side of the locking cavity, and a limiting protrusion opposite to the locking opening is convexly provided on the inner side wall of the locking cavity. Wherein, the installation cavity is used for installing the first locking member and the first elastic member. The first hole is used for the first locking portion to enter the locking cavity from the installation cavity. The locking opening is used for the first matching portion to be placed into the locking cavity. The limiting protrusion is used for plugging and matching with the limiting groove on the outer side wall of the first matching portion to limit the upward movement of the first matching portion.

[0017] In some embodiments, a second hole is further provided on the side portion of the locking seat. The second hole communicates with the locking cavity and is opposite to the locking opening. The locking structure further includes a third locking member and a third elastic member. The third locking member is movably inserted into the second hole and can be switched between a third locking position and a third unlocking position. In the third locking position, the first end of the third locking member extends to the outside of the locking cavity and is used for locking the third matching portion of the first arm. In the third unlocking position, the first end of the third locking member retracts into the second hole, and the second end of the third locking member is located in the locking cavity. The third locking member can be switched from the third unlocking position to the third locking position under the pushing action of the first matching portion, and can be switched from the third locking position to the third unlocking position under the elastic restoring force provided by the third elastic member.

[0018] In some embodiments, the locking seat includes a locking seat body and a spacer. The spacer is sleeved inside the locking seat body. The materials of the spacer and the locking seat body are different. The spacer is used for isolating the locking seat body and the first matching portion. The space inside the spacer forms the locking cavity.

[0019] In some embodiments, at least two positioning portions are provided on one of the base and the driving member. The at least two positioning portions are arranged at intervals in the vertical direction in sequence. At least one positioning matching portion is provided on the other of the base and the driving member. The at least one positioning matching portion can be plugged and matched with a plurality of the positioning portions located at a first predetermined height one by one to make the driving member in the driving unlocking position, or can be plugged and matched with a plurality of the positioning portions located at a second predetermined height one by one to make the driving member in the driving locking position. Wherein, one of the positioning portion and the positioning matching portion is set as a ball head plunger, and the other of the positioning portion and the positioning matching portion is set as a plunger hole.

[0020] In some embodiments, the driving member includes a toggle key, a first buckle, and a second buckle that are sequentially connected. The positioning portion or the positioning and mating portion is provided on the toggle key. The first buckle and the first locking member are connected to each other and are configured to drive the first locking member to move to the first unlocking position. The second buckle and the second locking member are connected to each other and are configured to drive the second locking member to move to the second unlocking position. The first buckle and the second buckle are arranged at an angle.

[0021] In some embodiments, the driving member is fixedly connected to both the first locking member and the second locking member. The driving member is configured to drive the first locking member to switch to the first unlocking position while driving the second locking member to switch to the second unlocking position. The reset member includes a fourth elastic member. The fourth elastic member is configured to provide an elastic restoring force for the first locking member, the second locking member, and the driving member, so as to drive the first locking member to switch to the first locking position, drive the second locking member to switch to the second locking position, and simultaneously drive the driving member to switch to the driving locking position.

[0022] In a second aspect, a surgical robot is provided. The surgical robot includes a first arm, a second arm, and the locking structure described in the first aspect above. The first arm is provided with a first mating portion, and the second arm is provided with a second mating portion. The first locking member is capable of locking the first mating portion, and the second locking member is capable of locking the second mating portion.

[0023] In some embodiments, the surgical robot further includes a display device and a camera device. One of the first arm and the second arm is connected to the camera device and is configured to adjust the position of the camera device. The other of the first arm and the second arm is connected to the display device and is configured to adjust the position of the display device.

[0024] The beneficial effects of the locking structure and the surgical robot provided by this application are as follows: Compared with the prior art, for the locking structure provided by this application, when the driving member is switched to the driving and locking position, the reset member alone or the composite member and the driving member together make the first locking member in the first locking position without external force, and make the second locking member in the second locking position without external force. The first locking member and the second locking member can lock the first arm and the second arm respectively, reducing the risk of collision between the first arm and the second arm, between the first arm and the external structure, and between the second arm and the external structure. Moreover, when the driving member is switched from the driving and locking position to the driving and unlocking position, the driving member can drive the first locking member to switch to the first unlocking position and at the same time drive the second locking member to switch to the second unlocking position, thereby realizing the simultaneous unlocking of the first arm and the second arm. The unlocking operation of the first arm and the second arm is efficient and convenient, which is conducive to shortening the time for the surgical robot to re-enter the working state. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 Partial structure schematic diagram of the surgical robot provided by the embodiment of this application Figure 1 ;

[0027] Figure 2 Partial structure schematic diagram of the surgical robot provided by the embodiment of this application Figure 2 ;

[0028] Figure 3 Exploded structure schematic diagram of the locking structure provided by the embodiment of this application;

[0029] Figure 4 For Figure 3 Partial sectional view of the locking structure shown Figure 1 ;

[0030] Figure 5 For Figure 3 Partial sectional view of the locking structure shown Figure 2 ;

[0031] Figure 6 For Figure 3 Partial sectional view of the locking structure shown Figure 3 ;

[0032] Figure 7 For Figure 3 Partial sectional view of the locking structure shownFigure 4 .

[0033] Among them, each reference numeral in the figure:

[0034] 10 - locking structure;

[0035] 100 - base; 110 - base; 111 - installation cavity; 112 - first hole; 113 - third hole; 114 - positioning and mating part; 120 - locking seat; 121 - locking cavity; 122 - locking opening; 123 - limiting projection; 124 - second hole; 1201 - locking seat body; 1202 - spacer; 200 - first locking member; 210 - first main body part; 220 - first locking part; 221 - first guiding inclined surface; 300 - second locking member; 310 - second main body part; 320 - second locking part; 321 - third guiding inclined surface; 400 - driving member; 410 - toggle key; 420 - first buckle; 430 - second buckle; 440 - positioning part; 500 - reset member; 510 - first elastic member; 520 - second elastic member; 600 - third locking member; 700 - third elastic member;

[0036] 20 - first arm; 201 - first mating part; 2011 - second guiding inclined surface; 2012 - locking groove; 2013 - limiting groove; 202 - third mating part; 2021 - locking hole;

[0037] 30 - second arm; 301 - second mating part; 3011 - hook; 3012 - fourth guiding inclined surface;

[0038] 40 - display device;

[0039] 50 - imaging device;

[0040] D1 - first direction; D2 - second direction. Detailed implementation manners

[0041] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation of the present application.

[0042] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0043] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0044] Currently, stereotactic surgical robots generally include a display device, a camera device, and a plurality of adjustment arms, and can achieve functions such as preoperative navigation and intraoperative tracking. Some of the adjustment arms among the plurality of adjustment arms can be used to adjust the position of the display device, and some other adjustment arms can be used to adjust the position of the camera device. In order to avoid collisions between adjustment arms and between adjustment arms and external objects when the surgical robot is running with the vehicle. In the surgical robots in the prior art, a locking structure is usually provided on each adjustment arm, and when the surgical robot is moving with the vehicle, etc., each adjustment arm is locked and fixed through the corresponding locking structure to avoid collisions between adjustment arms or between adjustment arms and other objects. However, after locking and fixing each adjustment arm, when the surgical robot needs to be used again, it is necessary to unlock the plurality of adjustment arms one by one, and the unlocking operation is cumbersome, which will result in a long time required for the surgical robot to enter the usable state again.

[0045] To solve the above problems, please refer to Figure 1 and Figure 2, the present application provides a locking structure 10, which belongs to a component of a surgical robot and can lock other components of the surgical robot, namely the first arm 20 and the second arm 30, to prevent collisions between the first arm 20 and the second arm 30, between the first arm 20 and an external structure, and between the second arm 30 and an external structure. When one of the first arm 20 and the second arm 30 is used to adjust the position of the display device 40 and the other is used to adjust the position of the imaging device 50, the locking structure 10 can also lock the display device 40 and the imaging device 50 to prevent collisions between the display device 40 and the imaging device 50, between the display device 40 and an external structure, and between the imaging device 50 and an external structure. Moreover, the locking structure 10 provided by the present application can unlock the first arm 20 and the second arm 30 simultaneously, and the unlocking operation is efficient and convenient, which can shorten the time for the surgical robot to re-enter the operating state.

[0046] The locking structure 10 provided by the present application can be applied to a surgical robot, but is not limited thereto. The locking structure 10 provided by the present application can also be applied to other products with multiple adjusting arms to simultaneously unlock the two adjusting arms of the product, making the unlocking operation of the product more efficient and convenient.

[0047] Please refer to Figures 1 to 4 . Now, the locking structure 10 and the surgical robot provided by the embodiments of the present application will be described. The locking structure 10 includes a base 100, a first locking member 200, a second locking member 300, a driving member 400, and a resetting member 500.

[0048] Among them, please refer to Figure 2 and Figure 3 . The first locking member 200 is disposed on the base 100 and can be switched between a first locking position and a first unlocking position. In the first locking position, the first locking member 200 can lock the first engaging portion 201 of the first arm 20. In the first unlocking position, the first locking member 200 releases the locking of the first engaging portion 201. The second locking member 300 is disposed on the base 100 and can be switched between a second locking position and a second unlocking position. In the second locking position, the second locking member 300 can lock the second engaging portion 301 of the second arm 30. In the second unlocking position, the second locking member 300 releases the locking of the second engaging portion 301.

[0049] Please refer to Figure 3 and Figure 4 . The driving member 400 is disposed on the base 100 and can be switched between a driving locking position and a driving unlocking position. When the driving member 400 is switched to the driving unlocking position, the driving member 400 drives the first locking member 200 to switch to the first unlocking position while driving the second locking member 300 to switch to the second unlocking position.

[0050] Please refer toFigures 4 to 6 The reset member 500 is disposed on the base 100. When the driving member 400 is switched to the driving lock position, the reset member 500 alone or the reset member 500 and the driving member 400 together cause the first locking member 200 to be in the first locking position without external force, and cause the second locking member 300 to be in the second locking position without external force.

[0051] It can be understood that in one implementation of this embodiment, when the driving member 400 is switched to the driving unlocking position, the driving member 400 drives the first locking member 200 to switch to the first unlocking position and at the same time drives the second locking member 300 to switch to the second unlocking position. When the driving member 400 is switched to the driving lock position, the reset member 500 alone causes the first locking member 200 to be in the first locking position without external force, and causes the second locking member 300 to be in the second locking position without external force. Exemplarily, please refer to Figures 4 to 6 Taking the first locking member 200, the second locking member 300, and the driving member 400 all switching between their respective locking positions and unlocking positions in the vertical direction as an example, the first locking member 200 includes a first main body portion 210 and a first locking portion 220 protruding from the first main body portion 210. The second locking member 300 includes a second main body portion 310 and a second locking portion 320 protruding from the top of the second locking portion 320. The bottom of the driving member 400 abuts against the tops of the first main body portion 210 and the second main body portion 310 at the same time. The reset member 500 includes a first elastic member 510 and a second elastic member 520. The first elastic member 510 abuts against the bottom of the first main body portion 210, and the second elastic member 520 abuts against the bottom of the second main body portion 310. In this case, when the driving member 400 moves downward to the driving unlocking position, the driving member 400 causes the first locking member 200 to move downward to the first unlocking position by pushing the first main body portion 210, and at the same time drives the second locking member 300 to move downward to the second unlocking position by pushing the second main body portion 310. When the driving member 400 moves upward to the driving lock position, the first elastic member 510 provides an elastic restoring force for the first locking member 200 to move the first locking member 200 to the first locking position, and the second elastic member 520 provides an elastic restoring force for the second locking member 300 to move the second locking member 300 to the second locking position. That is, after the driving member 400 moves upward to the driving lock position, under the sole action of the reset member 500, the first locking member 200 can be in the first locking position without external force, and the second locking member 300 can be in the second locking position without external force.

[0052] In another implementation of this embodiment, when the driving member 400 switches to the driving unlocking position member, the driving member 400 drives the first locking member 200 to switch to the first unlocking position and simultaneously drives the second locking member 300 to switch to the second unlocking position. When the driving member 400 switches to the driving locking position member, the reset member 500 and the driving member 400 jointly make the first locking member 200 in the first locking position without external force, and make the second locking member 300 in the second locking position without external force. Exemplarily, taking the first locking member 200, the second locking member 300, and the driving member 400 all switching between their respective locking positions and unlocking positions in the vertical direction as an example, the first locking member 200 and the driving member 400 are fixedly connected. The second locking member 300 includes a second main body portion 310 and a second locking portion 320 protruding from the top of the second locking portion 320. The bottom of the driving member 400 abuts against the top of the second main body portion 310. The reset member 500 includes a second elastic member 520, and the second elastic member 520 abuts against the bottom of the second main body portion 310. This situation is not shown in the figure. In this case, when the driving member 400 moves downward to the driving unlocking position, the driving member 400 directly drives the first locking member 200 fixedly connected thereto to move downward to the first unlocking position, and simultaneously drives the second locking member 300 to move downward to the second unlocking position by pushing the second main body portion 310; when the driving member 400 moves upward to the driving locking position, the driving member 400 drives the first locking member 200 fixedly connected thereto to move upward, so that the first locking member 200 moves to the first locking position, and the second elastic member 520 provides an elastic restoring force for the second locking member 300 to drive the second locking member 300 to move to the second locking position, that is, after the driving member 400 moves upward to the driving locking position, it is necessary to make the first locking member 200 in the first locking position without external force and the second locking member 300 in the second locking position without external force under the joint action of the driving member 400 and the reset member 500.

[0053] In the technical solution provided in this embodiment, when the driving member 400 is switched to the driving and locking position, the reset member 500 alone or the composite member and the driving member 400 together make the first locking member 200 in the first locking position without external force, and make the second locking member 300 in the second locking position without external force. The first locking member 200 and the second locking member 300 can lock the first arm 20 and the second arm 30 respectively, reducing the risk of collision between the first arm 20 and the second arm 30, between the first arm 20 and the external structure, and between the second arm 30 and the external structure. Moreover, when the driving member 400 is switched from the driving and locking position to the driving and unlocking position, the driving member 400 can drive the first locking member 200 to switch to the first unlocking position, and at the same time drive the second locking member 300 to switch to the second unlocking position, thereby realizing the simultaneous unlocking of the first arm 20 and the second arm 30. The unlocking operation of the first arm 20 and the second arm 30 is efficient and convenient, which is beneficial to shortening the time for the surgical robot to re-enter the working state.

[0054] Please refer to Figure 4 and Figure 5 In some embodiments, the first locking member 200 includes a first main body portion 210 and a first locking portion 220 protruding from the top of the first main body portion 210. The first locking portion 220 is used to lock the first mating portion 201. The driving member 400 abuts against the top of the first main body portion 210 and is used to drive the first locking member 200 to switch from the first locking position to the first unlocking position when switched to the driving and unlocking position. The reset member 500 includes a first elastic member 510. The first elastic member 510 is used to provide an elastic restoring force for the first locking member 200 to move from the first unlocking position to the first locking position when the driving member 400 is switched to the driving and locking position, so that the first locking member 200 is in the first locking position without external force.

[0055] Taking the driving member 400 being in the driving and locking position as the initial position as an example, when using the locking structure 10 provided in this embodiment, the first arm 20 can be locked by the following steps: First, switch the driving member 400 to the driving and unlocking position. At this time, the driving member 400 will push the first main body portion 210 downward, and the first locking member 200 can be switched to the first unlocking position. Then, move the first mating portion 201 of the first arm 20 to a position where it can be locked with the first locking member 200. Then, switch the driving member 400 from the driving and unlocking position to the driving and locking position. At this time, the first elastic member 510 will provide an elastic restoring force for the first locking member 200, driving the first locking member 200 to switch to the first locking position and locking the first mating portion 201 of the first arm 20.

[0056] Taking the driving member 400 being in the driving locking position as the initial position as an example, when using the locking structure 10 provided in this embodiment, the following steps can also be adopted to lock the first arm 20: First, keep the driving member 400 in the driving locking position. At this time, the first locking member 200 will be in the first locking position under the action of the elastic force provided by the first elastic member 510. Then, move the first engaging portion 201 of the first arm 20 to a position where it can be locked with the first locking member 200. During the process of moving the first engaging portion 201, the first engaging portion 201 will push the first main body portion 210 to continuously move downward towards the first unlocking position. After the first engaging portion 201 is completely moved to a position where it can be locked with the first locking member 200, that is, after the first engaging portion 201 is moved in place, the first locking member 200 will return to the first locking position under the action of the elastic restoring force provided by the first elastic member 510 and can lock the first engaging portion 201.

[0057] It can be seen from this that the design in which the driving member 400 abuts against the top of the first main body portion 210 of the first locking member 200 enables, when using the locking structure 10 provided in this embodiment, not only to move the first engaging portion 201 in place and then switch the driving member 400 to the driving locking position to lock the first engaging portion 201 when the driving member 400 is in the driving unlocking position, but also to directly move the first engaging portion 201 in place to lock the first engaging portion 201 when the driving member 400 is in the driving locking position. The operation of locking the first engaging portion 201 is more convenient and flexible.

[0058] Please refer to Figure 5 , in some embodiments, a first guiding inclined surface 221 is provided on the first locking portion 220. The first guiding inclined surface 221 is used for sliding cooperation with a second guiding inclined surface 2011 on the first engaging portion 201 to guide the first engaging portion 201 to push the first locking portion 220 to move, so that the first locking portion 220 slides into a locking groove 2012 on the first engaging portion 201.

[0059] Specifically, in the locking direction of the first engaging portion 201, that is, in Figure 5 the first direction D1 shown, the first guiding inclined surface 221 gradually protrudes outward from the first main body portion 210, and in the state where the first locking portion 220 locks the first engaging portion 201, the inclination directions of the second guiding inclined surface 2011 and the first guiding inclined surface 221 are the same, and the inclination angles can be the same or slightly different.

[0060] In the technical solution provided by this embodiment, a first guiding inclined surface 221 capable of slidingly cooperating with a second guiding inclined surface 2011 on the first mating portion 201 is provided on the first locking portion 220, which can guide the first mating portion 201 to push the first locking member 200 downward, facilitating locking the first arm 20 to the first locking member 200 with a suitable stroke and a suitable force.

[0061] Please refer to Figure 6 and Figure 7 , in some embodiments, the second locking member 300 includes a second main body portion 310 and a second locking portion 320 protruding from the top of the second main body portion 310. The second locking portion 320 is used to lock the second mating portion 301; the driving member 400 also abuts against the top of the second main body portion 310 and is used to drive the second locking member 300 to switch from the second locking position to the second unlocking position when switched to the driving unlocking position. The reset member 500 further includes a second elastic member 520, and the second elastic member 520 is used to provide an elastic restoring force for the second locking member 300 to move from the second unlocking position to the second locking position when the driving member 400 is switched to the driving locking position, so that the second locking member 300 is in the second locking position in a state without external force.

[0062] Taking the driving member 400 being in the driving locking position as the initial position as an example, when using the locking structure 10 provided by this embodiment, the following steps can be adopted to lock the first arm 20 and the second arm 30: First, switch the driving member 400 to the driving unlocking position. At this time, the driving member 400 will push the first main body portion 210 and the second main body portion 310 downward, causing the first locking member 200 to switch to the first unlocking position and simultaneously causing the second locking member 300 to switch to the second unlocking position; then, move the first mating portion 201 of the first arm 20 to a position where it can be locked with the first locking member 200; then, switch the driving member 400 from the driving unlocking position to the driving locking position. At this time, the first elastic member 510 will provide an elastic restoring force for the first locking member 200, causing the first locking member 200 to switch to the first locking position and lock the first mating portion 201 of the first arm 20. At the same time, the second elastic member 520 will provide an elastic restoring force for the second locking member 300, causing the second locking member 300 to switch to the second locking position; finally, move the second mating portion 301 of the second arm 30 to a position where it can be locked with the second locking member 300, and directly press down the second locking member 300 with the second mating portion 301. After the second mating portion 301 moves in place, the second locking member 300 will bounce upward under the elastic action of the second elastic member 520 to lock the second mating portion 301.

[0063] Taking the driving member 400 being in the driving and locking position as the initial position as an example, when using the locking structure 10 provided in this embodiment, the following steps can also be adopted to lock the first arm 20 and the second arm 30: First, keep the driving member 400 in the driving and locking position. At this time, under the elastic force of the first elastic member 510, the first locking member 200 is in the first locking position, and under the elastic force of the second elastic member 520, the second locking member 300 is in the second locking position. Then, move the first engaging portion 201 of the first arm 20 to a position where it can be locked with the first locking member 200. During the movement of the first engaging portion 201, it will directly press down the first locking member 200. After the first engaging portion 201 moves into place, the first locking member 200 will bounce upward under the elastic action of the first elastic member 510 to lock the first engaging portion 201. Before, after, or at the same time as locking the first arm 20, the second engaging portion 301 of the second arm 30 can be moved to a position where it can be locked with the second locking member 300. The second engaging portion 301 directly presses down the second locking member 300. After the second engaging portion 301 moves into place, the second locking member 300 will bounce upward under the elastic action of the second elastic member 520 to lock the second engaging portion 301.

[0064] In the technical solution provided in this embodiment, the driving member 400 is designed to be in contact with the first locking member 200 and the second locking member 300. On the one hand, it can realize the simultaneous unlocking of the first engaging portion 201 and the second engaging portion 301, making the unlocking operation more convenient and efficient. On the other hand, the first locking member 200 is provided with an elastic restoring force by the first elastic member 510 to move toward the first locking position, and the second locking member 300 is provided with an elastic restoring force by the second elastic member 520 to move toward the second locking position. The rebound of the first elastic member 510 and the rebound of the second elastic member 520 do not affect each other. When locking the two engaging portions successively, the locking operation of the latter engaging portion will not affect the previously locked engaging portion at all, and it is not easy to get stuck, making the locking operation of the first arm 20 and the second arm 30 more flexible. It is especially suitable for the situation where there may be interference in the structures on the first arm 20 and the second arm 30, and it is necessary to lock one of the first arm 20 and the second arm 30 first, and then lock the other one.

[0065] Moreover, by setting the first elastic member 510 and the second elastic member 520, these two elastic members can form two force points on the driving member 400, which is beneficial to the driving member 400 to switch more smoothly between the driving and locking position and the driving and unlocking position.

[0066] In some embodiments, the second locking member 300 is fixedly connected to the driving member 400. It should be noted that this situation is not shown in the figure.

[0067] Taking the driving member 400 being in the driving locking position as the initial position as an example, when using the locking structure 10 provided in this embodiment, the following steps can be adopted to lock the first arm 20 and the second arm 30: First, switch the driving member 400 to the driving unlocking position. At this time, the driving member 400 will push the first main body portion 210 downward, so that the first locking member 200 is switched to the first unlocking position, and at the same time drive the second locking member 300 to move downward, so that the second locking member 300 is switched to the second unlocking position; Then, move the second engaging portion 301 of the second arm 30 to a position where it can be locked with the second locking member 300; Then, switch the driving member 400 from the driving unlocking position to the driving locking position. At this time, the driving member 400 drives the second locking member 300 to move upward to the second locking position, so that the second locking position locks the second engaging portion 301. At the same time, the first elastic member 510 will provide an elastic restoring force for the first locking member 200, so that the first locking member 200 is switched to the first locking position; Finally, move the first engaging portion 201 of the first arm 20 to a position where it can be locked with the first locking member 200, and directly press down the first locking member 200 by using the first engaging portion 201. After the first engaging portion 201 moves into place, the first locking member 200 will bounce upward under the elastic action of the first elastic member 510 to lock the first engaging portion 201. Thus, the locking of the first engaging portion 201 and the second engaging portion 301 is completed.

[0068] In the technical solution provided in this embodiment, the driving member 400 is arranged to be in mutual contact with the first locking member 200, and the driving member 400 is arranged to be fixedly connected to the second locking member 300. On the one hand, it can realize the simultaneous unlocking of the first engaging portion 201 and the second engaging portion 301, making the unlocking operation more convenient and efficient. On the other hand, it can first lock the second engaging portion 301 of the second arm 30, and then lock the first engaging portion 201 of the first arm 20. When locking the first engaging portion 201, it will not affect the locked state of the second engaging portion 301 that has been locked well, and there will be no jamming, and the first engaging portion 201 and the second engaging portion 301 can be locked smoothly. It is especially suitable for the situation where there is interference in the structures installed on the first arm 20 and the second arm 30, and it is necessary to lock the second arm 30 first and then lock the first arm 20.

[0069] Moreover, compared with arranging the driving member 400 to be in mutual contact with both the first locking member 200 and the second locking member 300, in the technical solution provided in this embodiment, the driving member 400 is arranged to be in mutual contact with the first locking member 200 and fixedly connected to the second locking member 300. The overall structure of the locking structure 10 is simpler, which is convenient for the processing and manufacturing of the locking structure 10 and saves costs.

[0070] Please refer to Figures 3 to 5, in some embodiments, the base 100 includes a base 110 and a locking base 120. The base 110 is provided with an installation cavity 111, and a first hole 112 is opened at the top of the base 110 in the vertical direction; the locking base 120 is disposed on the top of the base 110 and has a locking cavity 121. The locking cavity 121 communicates with the installation cavity 111 through the first hole 112. A locking opening 122 is opened on one side of the locking cavity 121, and a limiting protrusion 123 opposite to the locking opening 122 is convexly provided on the inner side wall of the locking cavity 121.

[0071] Among them, the installation cavity 111 is used for installing the first locking member 200 and the first elastic member 510. The first hole 112 is used for the first locking portion 220 to enter the locking cavity 121 from the installation cavity 111. The locking opening 122 is used for the first engaging portion 201 to be placed into the locking cavity 121. The limiting protrusion 123 is used for plugging and cooperating with the limiting groove 2013 on the outer side wall of the first engaging portion 201 to limit the upward movement of the first engaging portion 201.

[0072] Due to reasons such as manufacturing precision, after the first arm 20 is locked by the first locking member 200, it may still move upward. Therefore, in the technical solution provided in this embodiment, a limiting protrusion 123 is convexly provided on the inner side wall of the locking cavity 121. The limiting protrusion 123 can be plugged and cooperated with the limiting groove 2013 on the first engaging portion 201 to limit the upward movement of the first engaging portion 201, thereby enabling the locking structure 10 to lock the first engaging portion 201 more stably.

[0073] Moreover, by setting the base 100 as two components, namely the base 110 and the locking base 120, it is convenient for the manufacturing of the base 100 and the assembly of the base 100 with the first locking member 200, the second locking member 300, the driving member 400, and the reset member 500.

[0074] Please refer to Figure 5 , in some embodiments, a second hole 124 is further provided on the side of the locking base 120. The second hole 124 communicates with the locking cavity 121 and is disposed opposite to the locking opening 122; the locking structure 10 further includes a third locking member 600 and a third elastic member 700. The third locking member 600 is movably inserted through the second hole 124 and can be switched between a third locking position and a third unlocking position. In the third locking position, the first end of the third locking member 600 extends out of the locking cavity 121 and is used for locking the third engaging portion 202 of the first arm 20. In the third unlocking position, the first end of the third locking member 600 retracts into the second hole 124, and the second end of the third locking member 600 is located in the locking cavity 121; the third locking member 600 can be switched from the third unlocking position to the third locking position under the pushing action of the first engaging portion 201, and can be switched from the third locking position to the third unlocking position under the elastic restoring force provided by the third elastic member 700.

[0075] It can be understood. Please refer to Figure 2 , the first arm 20 includes both a first engaging portion 201 and a third engaging portion 202 at the same time. For example, the first arm 20 includes a plurality of first sub - arms connected in sequence. The first sub - arm at one end of the first arm 20 is the first engaging portion 201, and the first sub - arm at the other end of the first arm 20 is the third engaging portion 202. Please refer to Figure 5 , the third locking member 600 is specifically used for plug - in cooperation with the locking hole 2021 on the third engaging portion 202.

[0076] In the technical solution provided in this embodiment, while the first locking member 200 locks the first engaging portion 201, the first engaging portion 201 can drive the third locking member 600 to switch from the third unlocking position to the third locking position, so that the third locking member 600 locks the third engaging portion 202 on the first arm 20. Furthermore, the first engaging portion 201 and the third engaging portion 202 of the first arm 20 can be locked simultaneously through a single locking operation, forming a double - lock on the first arm 20. The locking operation is simple and efficient, and the first arm 20 can be locked more stably.

[0077] Moreover, when unlocking the first arm 20, it only needs to use the driving member 400 to drive the first locking member 200 to move downward, release the locking of the first locking member 200 on the first engaging portion 201, and move the first engaging portion 201 out of the locking cavity 121. The operation of unlocking the first engaging portion 201 and the third engaging portion 202 of the first arm 20 is also simple and efficient.

[0078] Please refer to Figure 6 , in some embodiments, a third hole 113 is further opened on the side of the base 110. The third hole 113 is in communication with the installation cavity 111. The third hole 113 is used for the hook 3011 on the second engaging portion 301 to be placed into the installation cavity 111. The hole wall of the third hole 113 is used to abut against the top of the hook 3011 when the second locking portion 320 is in the second locking position. By setting like this, the movement of the second engaging portion 301 in the vertical direction can be limited, so that the second locking member 300 can lock the second engaging portion 301 more stably.

[0079] Please refer to Figure 6 , in some embodiments, a third guiding inclined surface 321 is provided at the top of the second locking portion 320. The third guiding inclined surface 321 is used for sliding cooperation with a fourth guiding inclined surface 3012 provided on the hook 3011 of the first engaging portion 201 to guide the hook 3011 to push the second locking portion 320 downward, so that the hook 3011 is buckled from one side of the second locking portion 320 to the other side; in the locking direction of the hook 3011, that is, Figure 6In the second direction D2 shown in the figure, the third guiding inclined surface 321 gradually protrudes outward from the second main body portion 310. The sliding fit between the third guiding inclined surface 321 and the fourth guiding inclined surface 3012 is conducive to locking the second arm 30 with a proper stroke and force.

[0080] Please refer to Figure 7 , in some embodiments, the width of the second locking portion 320 is greater than the width of the hook 3011. The width of the second locking portion 320 can be understood as the dimension of the second locking portion 320 along the Figure 7 first direction D1 shown in the figure, and the width of the hook 3011 can be understood as the dimension of the hook 3011 along the Figure 7 first direction D1 shown in the figure. With such a setting, even when the second locking portion 320 and the hook 3011 are not strictly aligned, the hook 3011 can still be locked by the second locking portion 320, which can improve the reliability of locking the second arm 30.

[0081] Please refer to Figure 3 , in some embodiments, the locking seat 120 includes a locking seat body 1201 and a spacer 1202. The spacer 1202 is sleeved inside the locking seat body 1201. The materials of the spacer 1202 and the locking seat body 1201 are different. The spacer 1202 is used to isolate the locking seat body 1201 and the first mating portion 201, and the space inside the spacer 1202 forms a locking cavity 121.

[0082] Specifically, the locking seat body 1201 can be made of materials such as plastic and metal, and the spacer 1202 can be made of materials such as silica gel and rubber, which can be set according to needs. Exemplarily, the locking seat body 1201 can adopt a metal locking seat body 1201, and the spacer 1202 can adopt a plastic spacer 1202. This can prevent the metal first arm 20 and the metal locking seat body 1201 from colliding with each other, generating noise or damaging components, and can also enable the locking seat 120 to have better structural strength.

[0083] In the technical solution provided in this embodiment, the locking seat 120 is provided to include the locking seat body 1201 and the spacer 1202. In this way, the locking seat body 1201 can be made of a material with higher strength and hardness, thereby improving the overall structural strength of the locking seat 120. At the same time, the spacer 1202 is made of a material with lower hardness to buffer the impact on the locking seat body 1201 when the first mating portion 201 is locked into the locking cavity 121, avoiding direct collision between the first mating portion 201 and the locking seat body 1201, and thus avoiding generating noise or component damage during the locking process.

[0084] Moreover, the locking seat 120 is configured to include a locking seat body 1201 and a spacer 1202, which can also facilitate the manufacturing of the locking seat 120 and the assembly of the locking seat 120 with components such as the base 110, the third locking member 600, and the third elastic member 700.

[0085] Please refer to Figure 3 and Figure 7 , in some embodiments, at least two positioning portions 440 are provided on one of the base 100 and the driving member 400, and the at least two positioning portions 440 are arranged at intervals in the vertical direction. At least one positioning and mating portion 114 is provided on the other of the base 100 and the driving member 400; the at least one positioning and mating portion 114 can be inserted and mated with a plurality of positioning portions 440 located at a first predetermined height in a one-to-one correspondence to place the driving member 400 in a driving and unlocking position, or can be inserted and mated with a plurality of positioning portions 440 located at a second predetermined height in a one-to-one correspondence to place the driving member 400 in a driving and locking position; wherein, one of the positioning portion 440 and the positioning and mating portion 114 is provided as a ball plunger, and the other of the positioning portion 440 and the positioning and mating portion 114 is provided as a plunger hole.

[0086] It can be understood that the number of the positioning portions 440 is at least one more than the number of the positioning and mating portions 114. For example, the number of the positioning portions 440 is two, and the number of the positioning and mating portions 114 is one. In this way, one positioning and mating portion can be inserted and mated with either of the two positioning portions 440, so that the driving member 400 can be switched between the driving and locking position and the driving and unlocking position; for another example, the number of the positioning portions 440 is three, and the number of the positioning and mating portions 114 is two. The two positioning and mating portions 114 can cooperate with the two upper positioning portions 440 among the three positioning portions 440 to place the driving member 400 in the driving and locking position, and the two positioning and mating portions 114 can also cooperate with the two lower positioning portions 440 among the three positioning portions 440 to place the driving member 400 in the driving and unlocking position. The numbers of the positioning portions 440 and the positioning and mating portions 114 can be set as needed.

[0087] Moreover, in some implementation manners, the positioning portion 440 is provided on the base 100, and the positioning and mating portion 114 is provided on the driving member 400; in some other implementation manners, the positioning portion 440 is provided on the driving member 400, and the positioning and mating portion 114 is provided on the base 100. Since one of the positioning portion 440 and the positioning and mating portion 114 is a ball plunger and the other is a plunger hole, that is, in some implementation manners, a ball plunger is provided on the base 100 and a plunger hole is provided on the driving member 400. In some other implementation manners, a plunger hole is provided on the base 100 and a ball plunger is provided on the driving member 400.

[0088] In the technical solution provided by this embodiment, by providing a ball plunger on one of the base 100 and the driving member 400, and providing a plunger hole on the other of the base 100 and the driving member 400, the driving member 400 can be alternatively fixed at the driving locking position or the driving unlocking position through the plug-in cooperation of the ball plunger and the plunger hole, and the position of the driving member 400 can be switched more conveniently.

[0089] Exemplarily, four plunger holes are provided on the base 100 and arranged at intervals in the vertical direction, and two ball plungers are provided on the driving member 400 and arranged at intervals in the vertical direction. When the two ball plungers are respectively plugged and matched with the two upper plunger holes among the four plunger holes, the driving member 400 is in the driving locking position. When the two ball plungers are respectively plugged and matched with the two lower plunger holes among the four plunger holes, the driving member 400 is in the driving unlocking position.

[0090] Please refer to Figure 4 and Figure 7 , in some embodiments, the driving member 400 includes a toggle key 410, a first buckle 420 and a second buckle 430 connected in sequence. A positioning portion 440 or a positioning and mating portion 114 is provided on the toggle key 410. The first buckle 420 and the first locking member 200 are connected to each other and used to drive the first locking member 200 to move to the first unlocking position. The second buckle 430 and the second locking member 300 are connected to each other and used to drive the second locking member 300 to move to the second unlocking position. The first buckle 420 and the second buckle 430 are arranged at an angle.

[0091] Specifically, the first buckle 420 and the second buckle 430 can be substantially in the same horizontal plane, and the angle between the first buckle 420 and the second buckle 430 can be 45°, 60°, 90°, 120°, 135° and other angles. Figure 4 and Figure 7 In the illustrated embodiment, the first buckle 420 extends along the second direction D2, the second buckle 430 extends along the first direction D1, and the first buckle 420 and the second buckle 430 are perpendicular to each other.

[0092] Moreover, the first buckle 420 can be fixedly connected to the first locking member 200. When the first locking member 200 includes a first main body portion 210 and a first locking portion 220 protruding from the top of the first main body portion 210, and the locking structure 10 includes a first elastic member 510, the first buckle 420 can also only abut against the top of the first main body portion 210. The second buckle 430 can be fixedly connected to the second locking member 300. When the second locking member 300 includes a second main body portion 310 and a second locking portion 320 protruding from the top of the second main body portion 310, and the locking structure 10 includes a second elastic member 520, the second buckle 430 can also only abut against the top of the second main body portion 310.

[0093] Specifically, a plunger hole or a ball plunger is provided on the toggle key 410, so that the plunger hole of the toggle key 410 is inserted and matched with different ball plungers on the base 100, or the ball plunger of the toggle key 410 is inserted and matched with different plunger holes on the base 100, which can change the position of the toggle key 410 on the base 100, and further enable the driving member 400 to switch between the driving locking position and the driving unlocking position. Figure 7 In the illustrated embodiment, two ball plungers are provided on the toggle key 410.

[0094] In the technical solution provided by this embodiment, the first buckle 420 and the second buckle 430 are arranged at an angle, which can facilitate locking the first arm 20 and the second arm 30 from two different directions respectively, increase the flexibility of the arrangement of the components of the locking structure 10, and also reduce the probability of interference between the first arm 20 and the second arm 30.

[0095] In some embodiments, the driving member 400 is fixedly connected to both the first locking member 200 and the second locking member 300. The driving member 400 is used to drive the first locking member 200 to switch to the first unlocking position while driving the second locking member 300 to switch to the second unlocking position; the reset member 500 includes a fourth elastic member (not shown in the figure, the same below), and the fourth elastic member is used to provide an elastic restoring force for the first locking member 200, the second locking member 300 and the driving member 400, so as to drive the first locking member 200 to switch to the first locking position, drive the second locking member 300 to switch to the second locking position, and simultaneously drive the driving member 400 to switch to the driving locking position. It should be noted that the above situation is not shown in the figure.

[0096] In the technical solution provided by this embodiment, the first locking member 200, the second locking member 300 and the driving member 400 are connected as a whole. When an external force acts on the driving member 400 to make the driving member 400 switch to the driving unlocking position, the driving member 400 will drive the first locking member 200 to switch to the first locking position and simultaneously drive the second locking member 300 to switch to the second locking position, realizing the simultaneous locking of the first arm 20 and the second arm 30; when the external force is removed, the fourth elastic member will push the first locking member 200, the second locking member 300 and the driving member 400 as a whole to move, so that the driving member 400 switches from the driving unlocking position to the driving locking position, the first locking member 200 switches from the first locking position to the first unlocking position, and the second locking member 300 switches from the second locking position to the second unlocking position, realizing the simultaneous unlocking of the first arm 20 and the second arm 30. The unlocking operation is convenient and efficient, and the first locking member 200, the second locking member 300 and the driving member 400 are connected as a whole, making the overall structure of the locking structure 10 simple and easy to manufacture.

[0097] Please refer to Figure 1 and Figure 2, the present application also provides a surgical robot, which includes a first arm 20, a second arm 30, and the above locking structure 10. The first arm 20 is provided with a first mating portion 201, and the second arm 30 is provided with a second mating portion 301. The first locking member 200 can lock the first mating portion 201, and the second locking member 300 can lock the second mating portion 301.

[0098] In the technical solution provided in this embodiment, when the driving member 400 is in the driving and locking position, the first locking member 200 is in the first locking position without being affected by an external force, and the second locking member 300 is in the second locking position without being affected by an external force. The first locking member 200 and the second locking member 300 can lock the first arm 20 and the second arm 30 respectively, thereby preventing collisions between the first arm 20 and the second arm 30, between the first arm 20 and the external structure, and between the second arm 30 and the external structure. When the driving member 400 switches from the driving and locking position to the driving and unlocking position, the driving member 400 can drive the first locking member 200 to switch to the first unlocking position and simultaneously drive the second locking member 300 to switch to the second unlocking position, realizing the simultaneous unlocking of the first arm 20 and the second arm 30. The unlocking operation of the first arm 20 and the second arm 30 is efficient and convenient, which is beneficial to shortening the time for the surgical robot to re-enter the working state.

[0099] Please refer to Figure 1 and Figure 2 , the surgical robot further includes a display device 40 and a camera device 50. One of the first arm 20 and the second arm 30 is connected to the camera device 50 and is used to adjust the position of the camera device 50, and the other of the first arm 20 and the second arm 30 is connected to the display device 40 and is used to adjust the position of the display device 40.

[0100] Please refer to Figure 1 , in one implementation, the first arm 20 is connected to the camera device 50 and is used to adjust the position of the camera device 50, and the second arm 30 is connected to the display device 40 and is used to adjust the position of the display device 40.

[0101] In another implementation, the first arm 20 is connected to the display device 40 and is used to adjust the position of the display device 40, and the second arm 30 is connected to the camera device 50 and is used to adjust the position of the camera device 50. This situation is not shown in the figure.

[0102] In the technical solution provided by this embodiment, the first locking member 200 can lock the first arm 20, and the second locking member 300 can lock the second arm 30, thereby reducing the risk of collision between the imaging device 50 and the display device 40, between the imaging device 50 and the external structure, and between the display device 40 and the external structure. Moreover, the driving member 400 can simultaneously release the locking of the first arm 20 by the first locking member 200 and the locking of the second arm 30 by the second locking member 300, making the operation of unlocking the first arm 20 and the second arm 30 more convenient, and enabling the display device 40 and the imaging device 50 to quickly switch from the locked state to the state where they can be used.

[0103] The foregoing are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A locking structure (10), characterized in that, The locking structure (10) includes: a base (100); a first locking member (200) disposed on the base (100) and switchable between a first locking position and a first unlocking position. In the first locking position, the first locking member (200) can lock a first mating portion (201) of the first arm (20). In the first unlocking position, the first locking member (200) releases the locking of the first mating portion (201); a second locking member (300) disposed on the base (100) and switchable between a second locking position and a second unlocking position. In the second locking position, the second locking member (300) can lock a second mating portion (301) of the second arm (30). In the second unlocking position, the second locking member (300) releases the locking of the second mating portion (301); a driving member (400) disposed on the base (100) and switchable between a driving locking position and a driving unlocking position. When the driving member (400) switches to the driving unlocking position, the driving member (400) drives the first locking member (200) to switch to the first unlocking position and at the same time drives the second locking member (300) to switch to the second unlocking position; a reset member (500) disposed on the base (100). When the driving member (400) switches to the driving locking position, the reset member (500) alone or the reset member (500) and the driving member (400) together make the first locking member (200) be in the first locking position in a state without external force, and make the second locking member (300) be in the second locking position in a state without external force.

2. The locking structure (10) according to claim 1, characterized in that, The first locking member (200) includes a first main body portion (210) and a first locking portion (220) protruding from the top of the first main body portion (210). The first locking portion (220) is used to lock the first mating portion (201); the driving member (400) abuts against the top of the first main body portion (210) and is used to drive the first locking member (200) to switch from the first locking position to the first unlocking position when switching to the driving unlocking position; the reset member (500) includes a first elastic member (510), and the first elastic member (510) is used to provide an elastic restoring force for the first locking member (200) to move from the first unlocking position to the first locking position when the driving member (400) switches to the driving locking position, so that the first locking member (200) is in the first locking position in a state without external force.

3. The locking structure (10) according to claim 2, characterized in that, The second locking member (300) includes a second main body portion (310) and a second locking portion (320) protruding from the top of the second main body portion (310). The second locking portion (320) is configured to lock the second mating portion (301). The driving member (400) is also in abutting contact with the top of the second main body portion (310) and is configured to drive the second locking member (300) to switch from the second locking position to the second unlocking position when switched to the driving and unlocking position. The reset member (500) further includes a second elastic member (520). The second elastic member (520) is configured to provide an elastic restoring force for the second locking member (300) to move from the second unlocking position to the second locking position when the driving member (400) is switched to the driving and locking position, so that the second locking member (300) is in the second locking position in a state without external force.

4. The locking structure (10) according to claim 2, characterized in that, The second locking member (300) is fixedly connected to the driving member (400).

5. The locking structure (10) according to claim 2, characterized in that, The base (100) includes a base (110) and a locking base (120). The base (110) is provided with an installation cavity (111), and a first hole (112) is opened at the top of the base (110) along the vertical direction. The locking base (120) is disposed on the top of the base (110) and has a locking cavity (121). The locking cavity (121) communicates with the installation cavity (111) through the first hole (112). A locking opening (122) is formed on one side of the locking cavity (121), and a limiting protrusion (123) opposite to the locking opening (122) is further protruded from the inner side wall of the locking cavity (121). Wherein, the installation cavity (111) is configured to install the first locking member (200) and the first elastic member (510). The first hole (112) is configured to allow the first locking portion (220) to enter the locking cavity (121) from the installation cavity (111). The locking opening (122) is configured to allow the first mating portion (201) to be placed into the locking cavity (121). The limiting protrusion (123) is configured to be inserted and engaged with a limiting groove (2013) on the outer side wall of the first mating portion (201) to limit the upward movement of the first mating portion (201).

6. The locking structure (10) according to claim 5, characterized in that A second hole (124) is further provided on the side of the locking seat (120). The second hole (124) communicates with the locking cavity (121) and is disposed opposite to the locking opening (122). The locking structure (10) further includes a third locking member (600) and a third elastic member (700). The third locking member (600) is movably inserted into the second hole (124) and can be switched between a third locking position and a third unlocking position. At the third locking position, the first end of the third locking member (600) extends out of the locking cavity (121) and is used to lock the third mating portion (202) of the first arm (20). At the third unlocking position, the first end of the third locking member (600) retracts into the second hole (124), and the second end of the third locking member (600) is located in the locking cavity (121). The third locking member (600) can be switched from the third unlocking position to the third locking position under the pushing action of the first mating portion (201), and can be switched from the third locking position to the third unlocking position under the elastic restoring force provided by the third elastic member (700).

7. The locking structure (10) according to claim 5, characterized in that, The locking seat (120) includes a locking seat body (1201) and a spacer (1202). The spacer (1202) is sleeved on the inner side of the locking seat body (1201). The spacer (1202) and the locking seat body (1201) are made of different materials. The spacer (1202) is used to isolate the locking seat body (1201) and the first mating portion (201). The space inside the spacer (1202) forms the locking cavity (121).

8. The locking structure (10) according to any one of claims 1-7, characterized in that, At least two positioning portions (440) are provided on one of the base (100) and the driving member (400). The at least two positioning portions (440) are arranged at intervals in the vertical direction. At least one positioning mating portion (114) is provided on the other of the base (100) and the driving member (400). The at least one positioning mating portion (114) can be inserted and mated with a plurality of the positioning portions (440) located at a first predetermined height one by one to make the driving member (400) in the driving unlocking position, or can be inserted and mated with a plurality of the positioning portions (440) located at a second predetermined height one by one to make the driving member (400) in the driving locking position. Wherein, one of the positioning portion (440) and the positioning mating portion (114) is set as a ball plunger, and the other of the positioning portion (440) and the positioning mating portion (114) is set as a plunger hole.

9. The locking structure (10) according to claim 8, wherein The driving member (400) includes a toggle key (410), a first buckle (420), and a second buckle (430) that are connected in sequence. The positioning portion (440) or the positioning and mating portion (114) is provided on the toggle key (410). The first buckle (420) and the first locking member (200) are connected to each other and are configured to drive the first locking member (200) to move to the first unlocking position. The second buckle (430) and the second locking member (300) are connected to each other and are configured to drive the second locking member (300) to move to the second unlocking position. The first buckle (420) and the second buckle (430) are arranged at an angle.

10. The locking structure (10) according to claim 1, characterized in that, The driving member (400) is fixedly connected to both the first locking member (200) and the second locking member (300). The driving member (400) is configured to drive the first locking member (200) to switch to the first unlocking position while driving the second locking member (300) to switch to the second unlocking position. The reset member (500) includes a fourth elastic member. The fourth elastic member is configured to provide an elastic restoring force for the first locking member (200), the second locking member (300), and the driving member (400) to drive the first locking member (200) to switch to the first locking position, drive the second locking member (300) to switch to the second locking position, and simultaneously drive the driving member (400) to switch to the driving and locking position.

11. A surgical robot, characterized in that, The surgical robot includes a first arm (20), a second arm (30), and the locking structure (10) according to any one of claims 1-10. The first arm (20) is provided with a first mating portion (201), and the second arm (30) is provided with a second mating portion (301). The first locking member (200) is capable of locking the first mating portion (201), and the second locking member (300) is capable of locking the second mating portion (301).

12. The surgical robot according to claim 11, wherein, The surgical robot further includes a display device (40) and a camera device (50). One of the first arm (20) and the second arm (30) is connected to the camera device (50) and is configured to adjust the position of the camera device (50). The other of the first arm (20) and the second arm (30) is connected to the display device (40) and is configured to adjust the position of the display device (40).

Images