Medical mechanical arm, mounting method thereof and medical robot

Abstract

The invention relates to a medical mechanical arm, a mounting method thereof and a medical robot, a first mounting area is arranged on a first mechanical arm, the first mounting area is at least provided with a first hanging element, a first clamping element and a first electric control connecting element, and the first hanging element is located at the edge of the first mounting area; the second mechanical arm is provided with a second mounting area, the second mounting area is at least provided with a second hooking element, a second clamping element and a second electric control connecting element, the second hooking element is located at the edge of the second mounting area, and the first hooking element is used for being oppositely hooked with the second joint element; the first clamping element is used for being oppositely clamped with the second clamping element, and the first electric control connecting element is used for being electrically connected with the second electric control connecting element. By means of the hooking function of the second hooking element relative to the first hooking element, assembly can be completed only through one-time hooking operation and one-time rotating and clamping operation, operation is easy, time and labor are saved, and the working efficiency of installation can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to a medical robotic arm, its installation method, and a medical robot. Background Art

[0002] A surgical robot is a dedicated robot for surgical operations. The robotic arm of a surgical robot is mainly used to control the movement of medical devices and perform medical operations on the human body using the medical devices. The robotic arm includes mechanical transmission and electrical signal transmission. When installing the robotic arm, usually the mechanical part is installed first, and then the electrical part is installed. The conventional assembly method of the robotic arm of a surgical robot is screw docking installation. Because the robotic arm of a surgical robot is heavy, multiple people are required to assist and cooperate simultaneously to complete the clamping, positioning, and assembly of the robotic arm. Maintenance holes need to be designed near the separation surface of the robotic arm to facilitate the installation of wire harnesses and the like of the electrical part alone. After the robotic arm is assembled, it is also common for the electrical part to be damaged during disassembly and assembly, or for problems such as poor electrical circuit contact of the electrical part to occur due to poor coordination during the process where the disassembly and assembly personnel perform multiple tasks simultaneously. These problems not only make the installation of the robotic arm time-consuming and laborious, but also the assembly effect is not ideal. Summary of the Invention

[0003] Based on this, it is necessary to provide a medical robotic arm, its installation method, and a medical robot for the above-mentioned technical problems.

[0004] The present application provides a medical robotic arm, which includes:

[0005] A first robotic arm, on which a first installation area is provided. The first installation area is at least provided with a first hanging element, a first clamping element, and a first electrical control connection element, and the first hanging element is located at the edge of the first installation area;

[0006] A second robotic arm, on which a second installation area is provided. The second installation area is at least provided with a second hanging element, a second clamping element, and a second electrical control connection element, and the second hanging element is located at the edge of the second installation area;

[0007] The first hanging element is used for hanging relative to the second joint element, the first clamping element is used for clamping relative to the second clamping element, and the first electrical control connection element is used for electrically connecting to the second electrical control connection element.

[0008] In one embodiment, the first electrical control connection element is located between the first hanging element and the first clamping element, and the second electrical control connection element is located between the second hanging element and the second clamping element; and / or,

[0009] The first hanging element includes a first rotating part, the second hanging element includes a second rotating part, and the first rotating part is used for rotatably hanging with the second rotating part; and / or,

[0010] The first clamping element includes a first clamping part, the second clamping element includes a second clamping part, and the first clamping part is used for clamping and cooperating with the second clamping part; and / or,

[0011] At least one first connection hole is provided in the first installation area, at least one second connection hole is provided in the second installation area, the first connection hole and the second connection hole are used for passing through a connecting component, and the first installation area of the first robotic arm and the second installation area of the second robotic arm are used for detachably connecting through the connecting component.

[0012] In one embodiment, the first rotating part is a rotating shaft body, the second rotating part is a rotating shaft groove, and the rotating shaft body is used for rotatably hanging with the rotating shaft groove; and / or,

[0013] The first clamping part is a clamping groove, the second clamping part is a clamping post, and the clamping post is used for clamping and cooperating with the clamping groove.

[0014] In one embodiment, the first hanging element further includes a hanging recess, the hanging recess is arranged at the edge of the first installation area, the rotating shaft body is arranged in the hanging recess, the second hanging element further includes a hanging boss, the hanging boss is arranged at the edge of the second installation area, the rotating shaft groove is opened on the hanging boss, and the hanging recess is used for hanging with the hanging boss; and / or,

[0015] The first clamping element further includes an elastic clamping head, the elastic clamping head is arranged in the clamping groove, the second clamping element further includes a docking clamping groove, the docking clamping groove is arranged on the clamping post, and the elastic clamping head is elastically clamped with the docking clamping groove.

[0016] In one embodiment, an installation cavity is provided in the first installation area, the first electric control connection element is arranged in the installation cavity, an installation base is provided in the second installation area, and the second electric control connection element is arranged on the installation base.

[0017] In one embodiment, the first electric control connection element includes a first circuit board, and at least one of a first wiring socket, a first conductive element, and a first shielding element is arranged on the first circuit board;

[0018] The second electric control connection element includes a second circuit board, and at least one of a second wiring socket, a second conductive element, and a second shielding element is arranged on the second circuit board;

[0019] The first conductive element is electrically connected to the first wiring socket, the first wiring socket is used for connecting a first transmission wire harness, the second conductive element is electrically connected to the second wiring socket, the second wiring socket is used for connecting a second transmission wire harness, and the first conductive element is used for electrically connecting to the second conductive element;

[0020] The first shielding element is used for shielding at least a part of the first transmission wire harness, the second shielding element is used for shielding at least a part of the second transmission wire harness, and the first shielding element is used for connecting to the second shielding element.

[0021] In one embodiment, the first wiring socket and the first conductive element are located on opposite sides of the first circuit board, and the second wiring socket and the second conductive element are located on opposite sides of the second circuit board; and / or,

[0022] The number of the first wiring sockets and the second wiring sockets is multiple and the same; and / or,

[0023] The first conductive element is a conductive contact, the second conductive element is an elastic contact, and the number of the first conductive element and the second conductive element is multiple and the same; and / or,

[0024] At least one of the first shielding element and the second shielding element is an annular shielding element; and / or,

[0025] The first transmission wire harness has a first wire harness terminal and a first ground terminal. The first wire harness terminal is used for electrically connecting to the first wiring socket, and the first ground terminal is used for grounding connection to the first robotic arm. The second transmission wire harness has a second wire harness terminal and a second ground terminal. The second wire harness terminal is used for electrically connecting to the second wiring socket, and the second ground terminal is used for grounding connection to the second robotic arm; and / or,

[0026] At least one first fixing hole is provided on the first circuit board. The first fixing hole is used for passing through a first fixing member, and the first fixing member is used for connecting the first circuit board and the first robotic arm. At least one second fixing hole is provided on the second circuit board. The second fixing hole is used for passing through a second fixing member, and the second fixing member is used for connecting the second circuit board and the second robotic arm.

[0027] In one embodiment, a fitting recess is provided on the side surface of the end of the first robotic arm, and the first mounting area is located in the fitting recess;

[0028] The second robotic arm includes a main arm segment and a secondary connecting arm segment. The secondary connecting arm segment is arranged at an angle relative to the main arm segment. A fitting base is provided on the side surface of the secondary connecting arm segment, and the second installation area is located on the fitting base.

[0029] This application provides an installation method based on the medical robotic arm. The installation method includes the following steps:

[0030] Hook the second hanging element with the first hanging element.

[0031] Taking the position where the first hanging element and the second hanging element are hooked with each other as the rotation reference, control the second robotic arm to rotate relative to the first robotic arm, hook the second clamping element with the first clamping element, so that the second electrical control connecting element is electrically connected to the first electrical control connecting element, and fix the first robotic arm and the second robotic arm.

[0032] This application provides a medical robot, which includes:

[0033] A medical trolley;

[0034] The medical robotic arm, which is arranged on the medical trolley;

[0035] Medical devices, which are arranged on the medical robotic arm.

[0036] For the above-mentioned medical robotic arm, its installation method, and medical robot, the first hanging element, the first clamping element, and the first electrical control connecting element on the first robotic arm are all defined within the first installation area, and the second hanging element, the second clamping element, and the second electrical control connecting element on the second robotic arm are all defined within the second installation area. By means of the hanging function of the second hanging element relative to the first hanging element, the weight of the second robotic arm can be transferred to the first hanging element, and it is not necessary for the operator to bear the large weight of the robotic arm. A single person can perform the assembly operation between the first robotic arm and the second robotic arm. And the locking operation of the first robotic arm and the second robotic arm can be completed by using the first clamping element and the second clamping element. During this process, the second electrical control connecting element can also be electrically connected to the first electrical control connecting element at the same time to complete the assembly of the electrical part. The whole operation only needs to be completed by a single person, and only one hanging operation and one rotational clamping operation are required. It is not only simple and time-saving, but also can improve the installation work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic structural diagram of a medical robot provided by an embodiment of this application.

[0038] Figure 2Assembly schematic diagram of a medical trolley, a medical device, a first robotic arm, and a second robotic arm provided by an embodiment of the present application.

[0039] Figure 3 Assembly schematic diagram of a medical device, a first robotic arm, and a second robotic arm provided by an embodiment of the present application.

[0040] Figure 4 Assembly schematic diagram of a first robotic arm and a second robotic arm provided by an embodiment of the present application.

[0041] Figure 5 Partial structural schematic diagram of a first robotic arm provided by an embodiment of the present application.

[0042] Figure 6 Partial structural schematic diagram of a first electrical control connection element provided on a first robotic arm according to an embodiment of the present application.

[0043] Figure 7 Front structural schematic diagram of a first electrical control connection element provided by an embodiment of the present application.

[0044] Figure 8 Back structural schematic diagram of a first electrical control connection element provided by an embodiment of the present application.

[0045] Figure 9 Internal structural schematic diagram of a first robotic arm provided by an embodiment of the present application.

[0046] Figure 10 Partial structural schematic diagram of a second robotic arm provided by an embodiment of the present application.

[0047] Figure 11 Partial structural schematic diagram of a second electrical control connection element provided on a second robotic arm according to an embodiment of the present application.

[0048] Figure 12 Front structural schematic diagram of a second electrical control connection element provided by an embodiment of the present application.

[0049] Figure 13 Back structural schematic diagram of a second electrical control connection element provided by an embodiment of the present application.

[0050] Figure 14 Internal structural schematic diagram of a second robotic arm provided by an embodiment of the present application.

[0051] Figure 15 Schematic diagram of the assembly process of a first robotic arm and a second robotic arm from a first perspective provided by an embodiment of the present application.

[0052] Figure 16Schematic diagram of the assembly process of the first robotic arm and the second robotic arm from a second perspective provided by an embodiment of the present application.

[0053] Figure 17 Schematic diagram of the assembled structure of the first robotic arm and the second robotic arm from a first perspective provided by an embodiment of the present application.

[0054] Figure 18 Schematic diagram of the assembled structure of the first robotic arm and the second robotic arm from a second perspective provided by an embodiment of the present application. Detailed implementation manners

[0055] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a thorough 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 departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0056] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings, and 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, and thus should not be construed as a limitation of the present application.

[0057] In addition, if terms such as "first" and "second" appear, these terms are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0058] In this application, unless otherwise clearly defined and limited, if terms such as "installed", "connected", "linked", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] In this application, unless otherwise clearly defined and limited, if there is a description such as a first feature being "on" or "under" a second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher horizontal level than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower horizontal level than the second feature.

[0060] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0061] Refer to Figure 1 and Figure 2 As shown, this application provides a medical robot, which includes a medical trolley 100, a medical robotic arm, a medical device 200, a control platform 300, an image platform 400, an instrument platform 500, an auxiliary device 600, etc. The medical robotic arm is arranged on the medical trolley 100. Refer to Figure 3 As shown, the medical device 200 is arranged on the medical robotic arm. Continuing to refer to Figure 4 As shown, the medical robotic arm includes a first robotic arm 1000 and a second robotic arm 2000.

[0062] Refer to simultaneously Figures 5 to 9As shown, a first mounting area 1000a is provided on the first robotic arm 1000. The first mounting area 1000a can be located at the end position of the first robotic arm 1000 or other suitable positions. The first mounting area 1000a is provided with at least a first hanging element 1100, a first clamping element 1200, and a first electrically controlled connecting element 1300. The first mounting area 1000a is an area delimited on the first robotic arm 1000, and the function of this first mounting area 1000a is to define the positions of the first hanging element 1100, the first clamping element 1200, and the first electrically controlled connecting element 1300 on the first robotic arm 1000.

[0063] Refer also to Figures 10 to 14 As shown, a second mounting area 2000a is provided on the second robotic arm 2000. The second mounting area 2000a can be located at the end position of the second robotic arm 2000 or other suitable positions. The second mounting area 2000a is provided with at least a second hanging element 2100, a second clamping element 2200, and a second electrically controlled connecting element 2300. The second mounting area 2000a is an area delimited on the second robotic arm 2000, and the function of this second mounting area 2000a is to define the positions of the second hanging element 2100, the second clamping element 2200, and the second electrically controlled connecting element 2300 on the first robotic arm 1000.

[0064] A fitting recess 1000b is provided on the side of the end of the first robotic arm 1000, and the first mounting area 1000a is located in the fitting recess 1000b. The second robotic arm 2000 includes a main arm segment 2400 and a secondary connecting arm segment 2500. The secondary connecting arm segment 2500 is arranged at an angle with respect to the main arm segment 2400. For example, the secondary connecting arm segment 2500 can be perpendicularly arranged with respect to the main arm segment 2400. A fitting base 2000b is provided on the side of the secondary connecting arm segment 2500, and the second mounting area 2000a is located in the fitting base 2000b. After the first robotic arm 1000 and the second robotic arm 2000 are assembled, the fitting recess 1000b and the fitting base 2000b can form a mutually fitting assembly state, and the mutual fitting between the two can also improve the uniform force between them and improve the assembly stability between the first robotic arm 1000 and the second robotic arm 2000.

[0065] The first hanging element 1100 is located at the edge of the first mounting area 1000a, and the second hanging element 2100 is located at the edge of the second mounting area 2000a. So refer to Figure 15 and Figure 16 As shown, the first hanging element 1100 can be used for relative hanging with the second joint element. Moreover, in Figure 15 and Figure 16In the structure shown, the first hanging element 1100 can actually be located at the top of the edge of the first installation area 1000a. The top of the edge of the first installation area 1000a can refer to the top of the first robotic arm 1000 in the installed state. The second hanging element 2100 can actually be located at the top of the edge of the second installation area 2000a. The top of the edge of the second installation area 2000a can refer to the top of the second robotic arm 2000 in the installed state. Therefore, during the process of the first robotic arm 1000 and the second robotic arm 2000 being hung on each other, the first hanging element 1100 and the second hanging element 2100 can first be hung on each other through the top of the first installation area 1000a in the first robotic arm 1000 and the top of the second installation area 2000a in the second robotic arm 2000, and all the gravity is first applied to the first hanging element 1100 and the second hanging element 2100.

[0066] For example, when hanging the second robotic arm 2000 relative to the first robotic arm 1000, the second hanging element 2100 can be hung relative to the first hanging element 1100. At this time, a single person can operate. After hanging the second hanging element 2100 on the first hanging element 1100 and using the first hanging element 1100 to bear the force, the weight of the second robotic arm 2000 can be first transferred to the first joint element, and it can be completed with only a single person's operation. Then, as Figure 17 and Figure 18 shown, with the position where the first hanging element 1100 and the second hanging element 2100 are hung on each other as the rotation reference, the operator can continue to control the second robotic arm 2000 to rotate relative to the first robotic arm 1000 alone. By rotating, the first installation area 1000a of the first robotic arm 1000 and the second installation area 2000a of the second robotic arm 2000 are made to fit together. During the rotation process, the second clamping element 2200 and the first clamping element 1200 are gradually clamped together to complete the installation of the mechanical part between the first robotic arm 1000 and the second robotic arm 2000.

[0067] And referring to Figures 15 to 18 shown, since a first electric control connection element 1300 is also provided in the first installation area 1000a of the first robotic arm 1000, and a second electric control connection element 2300 is also provided in the second installation area 2000a of the second robotic arm 2000 at the same time, when the mechanical parts of the first robotic arm 1000 and the second robotic arm 2000 are fitted together, the first installation area 1000a and the second installation area 2000a can be fitted together with each other, and at the same time, the second electric control connection element 2300 and the first electric control connection element 1300 can also be electrically connected simultaneously.

[0068] It can be seen from this that since the first hanging element 1100, the first clamping element 1200, and the first electrically controlled connecting element 1300 on the first robotic arm 1000 are all limited within the first installation area 1000a, and the second hanging element 2100, the second clamping element 2200, and the second electrically controlled connecting element 2300 on the second robotic arm 2000 are all limited within the second installation area 2000a. By means of the hanging function of the second hanging element 2100 relative to the first hanging element 1100, the weight of the second robotic arm 2000 can be transferred to the first hanging element 1100, and it is not necessary for the operator to bear the large weight of the robotic arm. A single person can perform the assembly operation between the first robotic arm 1000 and the second robotic arm 2000. And the locking operation of the first robotic arm 1000 and the second robotic arm 2000 can be completed by using the first clamping element 1200 and the second clamping element 2200. During this process, the second electrically controlled connecting element 2300 can also be electrically connected to the first electrically controlled connecting element 1300 at the same time to complete the assembly of the electrical part.

[0069] The entire operation only needs to be completed by a single person, and only one hanging operation and one rotational clamping operation are required. It is not only simple and time-saving, but also can improve the work efficiency of installation.

[0070] Refer to Figure 5 and Figure 6 As shown, in one embodiment, the first electrically controlled connecting element 1300 is located between the first hanging element 1100 and the first clamping element 1200. Refer to Figure 10 and Figure 11 As shown, the second electrically controlled connecting element 2300 is located between the second hanging element 2100 and the second clamping element 2200. Therefore, after the first robotic arm 1000 and the second robotic arm 2000 are hung on each other through the first hanging element 1100 and the second hanging element 2100, they can be clamped to each other through the first clamping element 1200 and the second clamping element 2200 on the other side, so that the first electrically controlled connecting element 1300 and the second electrically controlled connecting element 2300 are located at the central position to form a circuit connection of the electrical part.

[0071] The first hanging element 1100 includes a first rotating part 1110, and the second hanging element 2100 includes a second rotating part 2110. The first rotating part 1110 can be used for rotational hanging with the second rotating part 2110. The first rotating part 1110 can adopt a rotating shaft body, and the second rotating part 2110 adopts a rotating shaft groove. The rotating shaft body is used for rotational hanging with the rotating shaft groove. Alternatively, the first rotating part 1110 can adopt a rotating shaft groove, and the second rotating part 2110 adopts a rotating shaft body. In addition, the first hanging element 1100 can also include a hanging recess 1120, which is arranged at the edge of the first installation area 1000a to facilitate hanging and rotating operations. The rotating shaft body is arranged in the hanging recess 1120. The second hanging element 2100 can also include a matching hanging boss 2120, which is arranged at the edge of the second installation area 2000a to facilitate hanging and rotating operations. The rotating shaft groove is opened on the hanging boss 2120.

[0072] The hanging recess 1120 can be used to hang with the hanging boss 2120, and after the first rotating part 1110 and the second rotating part 2110 are rotated and hung with each other, the hanging recess 1120 and the hanging boss 2120 can not only assist in bearing the weight of the robot arm by hanging with each other, but also form a mutually interlocking assembly state after assembly. After assembly, it can also provide a gravity-bearing function to ensure the assembly stability between the first robot arm 1000 and the second robot arm 2000, and reduce the gravity-bearing pressure between the first adapter part and the second adapter part.

[0073] The first clamping element 1200 includes a first clamping portion 1210, and the second clamping element 2200 includes a second clamping portion 2210. The first clamping portion 1210 is used for clamping with the second clamping portion 2210. The first clamping portion 1210 can adopt a clamping groove, and the second clamping portion 2210 can adopt a clamping column. The clamping column can be used for clamping with the clamping groove. Alternatively, the first clamping portion 1210 can adopt a clamping column, and the second clamping portion 2210 can adopt a clamping groove. The first clamping element 1200 also includes an elastic clamp head 1220, which is arranged in the clamping groove, and the second clamping element 2200 also includes a docking clamping groove 2220, which is arranged on the clamping column, and the elastic clamp head 1220 is elastically clamped with the docking clamping groove 2220. Therefore, after the engaging column and the engaging slot are engaged with each other, the elastic engaging head 1220 and the docking engaging slot 2220 can continue to be elastically engaged and locked, thereby improving the engaging and locking effect and improving the assembly stability.

[0074] The first installation area 1000a is provided with at least one first connection hole 1000a2. For example, a plurality of first connection holes 1000a2 are distributed around the first installation area 1000a in a circle. The second installation area 2000a is provided with at least one second connection hole 2000a2. For example, a plurality of second connection holes 2000a2 are distributed around the second installation area 2000a in a circle. The first connection hole 1000a2 and the second connection hole 2000a2 are used for passing through connection components. The connection components can be threaded rods, etc., so that the first installation area 1000a of the first robotic arm 1000 and the second installation area 2000a of the second robotic arm 2000 can be detachably connected through the connection components, and further locked between the first robotic arm 1000 and the second robotic arm 2000 after hanging and clamping.

[0075] Refer to Figure 6 As shown, the first installation area 1000a is provided with an installation cavity 1000a1, and the first electronic control connection element 1300 is arranged in the installation cavity 1000a1. Refer to Figure 11 As shown, the second installation area 2000a is provided with an installation base 2000a1, and the second electronic control connection element 2300 is arranged on the installation base 2000a1. The first electronic control connection element 1300 includes a first circuit board 1310, and at least one of a first wiring socket 1320, a first conductive element 1330, and a first shielding element 1340 is arranged on the first circuit board 1310. The second electronic control connection element 2300 includes a second circuit board 2310, and at least one of a second wiring socket 2320, a second conductive element 2330, and a second shielding element 2340 is arranged on the second circuit board 2310. The number of the first wiring socket 1320 and the second wiring socket 2320 is multiple and the same. The first wiring socket 1320 and the first conductive element 1330 are located on opposite sides of the first circuit board 1310, and the second wiring socket 2320 and the second conductive element 2330 are located on opposite sides of the second circuit board 2310. The first conductive element 1330 is electrically connected to the first wiring socket 1320, and the first wiring socket 1320 is used for connecting a first transmission wire harness 1350. The second conductive element 2330 is electrically connected to the second wiring socket 2320, and the second wiring socket 2320 is used for connecting a second transmission wire harness 2350.

[0076] The number of the first conductive element 1330 and the second conductive element 2330 is multiple and the same. The first conductive element 1330 is used for electrically connecting to the second conductive element 2330. The first conductive element 1330 can adopt conductive contacts, and the second conductive element 2330 adopts elastic contacts. The elastic contacts can be adaptively matched with the conductive contacts to improve the contact effect of the electrical connection. Or, the first conductive element 1330 can adopt elastic contacts, and the second conductive element 2330 adopts conductive contacts.

[0077] The first shielding element 1340 is used to shield at least a part of the first transmission wire harness 1350, the second shielding element 2340 is used to shield at least a part of the second transmission wire harness 2350, and the first shielding element 1340 is used to connect with the second shielding element 2340. At least one of the first shielding element 1340 and the second shielding element 2340 is an annular shielding element. For example Figure 7 or Figure 12 as shown, the annular shielding element can surround the outside of a part of the first transmission wire harness 1350 or a part of the second transmission wire harness 2350, and is used to shield the first transmission wire harness 1350 or the second transmission wire harness 2350 surrounded by it.

[0078] The first transmission wire harness 1350 has a first wire harness terminal 1351 and a first grounding terminal 1352. The first wire harness terminal 1351 is used to be electrically connected to the first wiring socket 1320, and the first grounding terminal 1352 is used to be grounded to the first robotic arm 1000. The second transmission wire harness 2350 has a second wire harness terminal 2351 and a second grounding terminal 2352. The second wire harness terminal 2351 is used to be electrically connected to the second wiring socket 2320, and the second grounding terminal 2352 is used to be grounded to the second robotic arm 2000.

[0079] At least one first fixing hole 1310a is provided on the first circuit board 1310. The first fixing hole 1310a is used to pass through a first fixing member, and the first fixing member is used to connect the first circuit board 1310 and the first robotic arm 1000. At least one second fixing hole 2310a is provided on the second circuit board 2310. The second fixing hole 2310a is used to pass through a second fixing member, and the second fixing member is used to connect the second circuit board 2310 and the second robotic arm 2000.

[0080] The present application provides an installation method based on a medical robotic arm. The installation method includes the following steps: hanging the second hanging element 2100 and the first hanging element 1100 on each other, using the position where the first hanging element 1100 and the second hanging element 2100 are hung on each other as the rotation reference, controlling the second robotic arm 2000 to rotate relative to the first robotic arm 1000, engaging the second clamping element 2200 and the first clamping element 1200 with each other, so that the second electric control connection element 2300 and the first electric control connection element 1300 are conductively connected, and fixing the first robotic arm 1000 and the second robotic arm 2000.

[0081] Therefore, referring to Figure 15 and Figure 16As shown, when the second robotic arm 2000 is hung relative to the first robotic arm 1000, the second hanging element 2100 can be hung relative to the first hanging element 1100. At this time, a single person can operate. After hanging the second hanging element 2100 on the first hanging element 1100 and using the first hanging element 1100 to bear the force, the weight of the second robotic arm 2000 can be first transferred to the first joint element, and it can be completed with only a single person's operation. Then, as Figure 17 and Figure 18 shown, taking the position where the first hanging element 1100 and the second hanging element 2100 are hung with each other as the rotation reference, the operator can continue to control the second robotic arm 2000 to rotate relative to the first robotic arm 1000 alone. By rotating, the first installation area 1000a of the first robotic arm 1000 and the second installation area 2000a of the second robotic arm 2000 are made to coincide with each other, and during the rotation process, the second clamping element 2200 and the first clamping element 1200 are gradually clamped with each other to complete the installation of the mechanical part between the first robotic arm 1000 and the second robotic arm 2000.

[0082] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0083] The above-described embodiments only represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A medical robotic arm, characterized in that, The medical robotic arm includes: A first robotic arm, on which a first mounting area is provided. The first mounting area is provided with at least a first hanging element, a first clamping element, and a first electrically controlled connection element. The first hanging element includes a first rotating part, and the first hanging element is located at the edge of the first mounting area; A second robotic arm, on which a second mounting area is provided. The second mounting area is provided with at least a second hanging element, a second clamping element, and a second electrically controlled connection element. The second hanging element includes a second rotating part, and the second hanging element is located at the edge of the second mounting area; The first rotating part is used for rotatably hanging with the second rotating part, the first clamping element is used for relatively clamping with the second clamping element, and the first electrically controlled connection element is used for electrically connecting with the second electrically controlled connection element.

2. The medical robotic arm according to claim 1, characterized in that, The first electrically controlled connection element is located between the first hanging element and the first clamping element, and the second electrically controlled connection element is located between the second hanging element and the second clamping element; and / or, The first clamping element includes a first clamping part, the second clamping element includes a second clamping part, and the first clamping part is used for clamping and cooperating with the second clamping part; and / or, At least one first connection hole is provided in the first mounting area, at least one second connection hole is provided in the second mounting area. The first connection hole and the second connection hole are used for passing through a connecting component, and the first mounting area of the first robotic arm and the second mounting area of the second robotic arm are used for being detachably connected through the connecting component.

3. The medical robotic arm according to claim 2, characterized in that, The first rotating part is a rotating shaft body, the second rotating part is a rotating shaft groove, and the rotating shaft body is used for rotatably hanging with the rotating shaft groove; and / or, The first clamping part is a clamping groove, the second clamping part is a clamping column, and the clamping column is used for clamping and cooperating with the clamping groove.

4. The medical robotic arm according to claim 3, wherein, The first hanging element further includes a hanging depression, the hanging depression is provided at the edge of the first mounting area, the rotating shaft body is arranged in the hanging depression, the second hanging element further includes a hanging boss, the hanging boss is provided at the edge of the second mounting area, the rotating shaft groove is opened on the hanging boss, and the hanging depression is used for hanging with the hanging boss; and / or, The first clamping element further includes an elastic clamping head, the elastic clamping head is arranged in the clamping groove, the second clamping element further includes a docking clamping groove, the docking clamping groove is arranged on the clamping column, and the elastic clamping head is elastically clamped with the docking clamping groove.

5. The medical robotic arm according to claim 1, characterized in that, An installation cavity is provided in the first mounting area, the first electrically controlled connection element is arranged in the installation cavity, an installation base is provided in the second mounting area, and the second electrically controlled connection element is arranged on the installation base.

6. The medical robotic arm according to claim 1, wherein, The first electrically controlled connection element includes a first circuit board, and at least one of a first wiring socket, a first conductive element, and a first shielding element is arranged on the first circuit board; The second electrical control connection element includes a second circuit board, on which at least one of a second wiring socket, a second conductive element, and a second shielding element is provided; The first conductive element is electrically connected to the first wiring socket, the first wiring socket is used to connect a first transmission wire harness, the second conductive element is electrically connected to the second wiring socket, the second wiring socket is used to connect a second transmission wire harness, and the first conductive element is used to be electrically connected to the second conductive element; The first shielding element is used to shield at least a part of the first transmission wire harness, the second shielding element is used to shield at least a part of the second transmission wire harness, and the first shielding element is used to be connected to the second shielding element.

7. The medical robotic arm according to claim 6, characterized in that, The first wiring socket and the first conductive element are located on opposite sides of the first circuit board, and the second wiring socket and the second conductive element are located on opposite sides of the second circuit board; and / or, The number of the first wiring sockets and the second wiring sockets is multiple and the same; and / or, The first conductive element is a conductive contact, the second conductive element is an elastic contact, and the number of the first conductive element and the second conductive element is multiple and the same; and / or, At least one of the first shielding element and the second shielding element is an annular shielding element; and / or, The first transmission wire harness has a first wire harness terminal and a first grounding terminal, the first wire harness terminal is used to be electrically connected to the first wiring socket, the first grounding terminal is used to be grounded to the first robotic arm, the second transmission wire harness has a second wire harness terminal and a second grounding terminal, the second wire harness terminal is used to be electrically connected to the second wiring socket, and the second grounding terminal is used to be grounded to the second robotic arm; and / or, At least one first fixing hole is provided on the first circuit board, the first fixing hole is used to pass through a first fixing member, the first fixing member is used to connect the first circuit board and the first robotic arm, at least one second fixing hole is provided on the second circuit board, the second fixing hole is used to pass through a second fixing member, and the second fixing member is used to connect the second circuit board and the second robotic arm.

8. The medical robotic arm according to claim 1, characterized in that, A fitting recess is provided on the side of the end of the first robotic arm, and the first installation area is located in the fitting recess; The second robotic arm includes a main arm segment and a secondary connecting arm segment, the secondary connecting arm segment is arranged at an angle with respect to the main arm segment, a fitting base is provided on the side of the secondary connecting arm segment, and the second installation area is located in the fitting base.

9. An installation method of the medical robotic arm according to any one of claims 1-8, characterized in that, The installation method includes the following steps: Hook the second hooking element and the first hooking element to each other; Taking the position where the first hooking element and the second hooking element are hooked to each other as the rotation reference, control the second robotic arm to rotate relative to the first robotic arm, hook the second clamping element and the first clamping element to each other, so that the second electrical control connection element and the first electrical control connection element are electrically connected, and fix the first robotic arm and the second robotic arm.

10. A medical robot, characterized in that, The medical robot includes: Medical trolley; A medical robotic arm as claimed in any one of claims 1-8, wherein the medical robotic arm is provided on the medical trolley; A medical device, wherein the medical device is provided on the medical robotic arm.

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