Support arm and auxiliary puncture system for medical robot

Abstract

The present application provides a support arm and auxiliary puncture system for a medical robot, belonging to the field of medical equipment technology. Specifically, the system comprises: an arm assembly, each arm assembly having a first rotary joint at its first end, and two sets of arm assemblies connected by a second rotary joint; a damping assembly; an adjustment assembly; and a locking member. In the example embodiment of the present application, during the adjustment process of the damping arm provided, the surgeon typically first roughly adjusts the puncture robot to a certain position, and then fine-tunes it according to the surgical position, operating position, etc., and only after the fine-tuning is the support arm locked. During the process from rough adjustment to fine adjustment, the damping assembly can provide rotational damping at the first rotary joint and the second rotary joint, so that no matter what position the surgeon rotates the puncture robot to, the rotational damping provided by the damping assembly can keep the surgical device at its current position and angle, thereby greatly improving the efficiency of adjusting the position of the surgical device.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a support arm and auxiliary puncture system for a medical robot. Background Art

[0002] During use, medical equipment is generally provided with a bracket to provide support, and the positions of multiple devices or equipment need to be adjusted in various directions. Among them, during CT-assisted puncture surgery, the puncture robot needs to be fixed on the CT scanning bed through a universal adjustment bracket, and the posture (position and attitude) of the puncture robot is adjusted through the universal adjustment bracket. During the adjustment process of the existing universal adjustment bracket, it is usually necessary to first adjust the joints of the adjustment bracket to a certain angle. After the adjustment, the joints will be fixed by a fixed structure to keep the adjustment bracket at a certain angle. Before fixing the adjustment bracket to a certain angle, the adjustment bracket needs to be coarsely or finely adjusted multiple times. The fixed structure can only lock or unlock the joints, and cannot temporarily maintain the position of the joints of the adjustment bracket during the adjustment process. The angle adjustment steps are cumbersome and inconvenient for medical staff to operate. Summary of the Invention

[0003] The purpose of this application is to provide a support arm and auxiliary puncture system for a medical robot, aiming to solve the problem in the related technology that during the process of adjusting the posture of the puncture robot through a universal adjustment bracket, the joints of the adjustment bracket cannot temporarily maintain their position, making the angle adjustment steps cumbersome and inconvenient for medical staff to operate.

[0004] Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

[0005] According to a first aspect of the present application, there is provided a support arm for a medical robot, comprising:

[0006] The arm assemblies are provided in two groups, the first ends of the two groups of arm assemblies are each provided with a first rotary joint, and the second ends of the two groups of arm assemblies are connected by a second rotary joint, one of the first rotary joints is used for fixed connection to the CT scanning bed, and the other first rotary joint is used for connection to the puncture robot;

[0007] a damping assembly, the damping assembly being respectively provided on the first rotary joint and the second rotary joint, the damping assembly being used to adjust the rotational damping of the first rotary joint and the second rotary joint;

[0008] an adjusting component, the adjusting component being provided on the second rotary joint and being used for locking the second rotary joint;

[0009] The locking piece is provided in two groups and corresponds to the two groups of the arm assemblies respectively. The first end of the locking piece is connected to the adjustment assembly, and the second end is connected to the first rotary joint. In the process of the adjustment assembly locking the second rotary joint, the adjustment assembly drives the locking piece to move and lock the first rotary joint.

[0010] In an exemplary embodiment of the present application, the damping assembly includes a first elastic preload structure and a first preload adjustment structure arranged at the first rotational joint, the first elastic preload structure applies the rotational damping to the first rotational joint through elastic force, and the first preload adjustment structure is used to adjust the magnitude of the elastic force.

[0011] In an exemplary embodiment of the present application, the first elastic pre-tightening structure includes a first elastic member, a first pressing block, and a second pressing block;

[0012] The first rotary joint component includes a ball head seat and a mounting ball head;

[0013] One end of the mounting ball head is rotatably mounted in the ball head seat, and the other end of the mounting ball head extends out of the ball head seat for connecting to medical equipment, and the first end of the support arm assembly is connected to the ball head seat;

[0014] The first pressing block and the second pressing block are both slidably mounted inside the ball head seat, the first elastic member is arranged between the first pressing block and the second pressing block, and the second pressing block abuts against the spherical surface of the mounting ball head.

[0015] In an exemplary embodiment of the present application, the first preload adjustment structure includes a first adjustment member, which is installed on the ball head seat, and the first adjustment member is used to adjust the distance between the first pressure block and the second pressure block to adjust the elastic force generated by the first elastic member on the second pressure block.

[0016] In an exemplary embodiment of the present application, the first adjusting member is a first adjusting top screw, which is threadedly connected to the side of the ball head seat. The first adjusting top screw is connected to the first pressure block through a first inclined surface. The distance between the first pressure block and the second pressure block is adjusted by screwing the first adjusting top screw in and out of the first inclined surface.

[0017] In an exemplary embodiment of the present application, the second rotary joint includes an upper swing arm rotary block and a lower swing arm rotary block, the upper swing arm rotary block is rotatably connected to the lower swing arm rotary block, and the adjustment assembly is used to adjust the two swing arm rotary blocks to move closer to each other until they abut and lock.

[0018] In an exemplary embodiment of the present application, the adjustment assembly includes an adjustment rod, a slider, and a top block. The adjustment rod is provided with a threaded section, a knob is threadedly connected to the threaded section, the slider is slidably mounted on the adjustment rod, and the slider is in contact with the knob. The slider is located on a smooth section of the adjustment rod, and is used to drive the lower swing arm rotary block to move along the axial direction of the adjustment rod.

[0019] The cam is connected to the adjusting rod at one end away from the threaded section, and the cam is used to drive the upper swing arm rotary block to move along the axial direction of the adjusting rod, and the knob is rotated on the threaded section, and the positions of the adjusting rod and the cam remain unchanged. The slider first drives the lower swing arm rotary block to move along the axial direction of the adjusting rod to the upper swing arm rotary block. When the lower swing arm rotary block abuts against the upper swing arm rotary block, the positions of the knob and the slider remain unchanged, and the knob is continued to be rotated, and the adjusting rod drives the upper swing arm rotary block to move to the lower swing arm rotary block through the cam until the upper swing arm rotary block and the lower swing arm rotary block are locked.

[0020] In an exemplary embodiment of the present application, the locking member is capable of sliding axially within the arm assembly;

[0021] The first end of one group of locking members is connected to the slider, and the second end is connected to the second pressing block of one of the first rotary joints; the first end of another group of locking members is connected to the top block, and the second end is connected to the second pressing block of another first rotary joint;

[0022] During the process of locking the upper swing arm rotary block and the lower swing arm rotary block, the top block and the slider respectively drive the corresponding locking member to slide axially in the support arm assembly and apply a locking force to the second pressure block on the mounting ball head.

[0023] In an exemplary embodiment of the present application, the damping assembly also includes a second elastic preload structure and a second preload adjustment structure arranged on the second rotational joint, the second elastic preload structure applies the rotational damping to the second rotational joint through elastic force, and the second preload adjustment structure is used to adjust the magnitude of the elastic force.

[0024] In an exemplary embodiment of the present application, the second elastic pre-tightening structure includes a second elastic member, a pressure regulating block, and a baffle, the baffle being fixedly connected to the end of the lower swing arm rotary block through a connecting member, the pressure regulating block being slidably installed on the connecting member, the second elastic member being located between the pressure regulating block and the baffle, and when the pressure regulating block squeezes the second elastic member, the second elastic member applies an elastic force to the baffle, so that the baffle drives the lower swing arm rotary block to move toward the upper swing arm rotary block, so as to apply rotational damping between the upper swing arm rotary block and the lower swing arm rotary block.

[0025] In an exemplary embodiment of the present application, the second preload adjustment structure includes a second adjustment member, which is installed on the second rotation joint. The second adjustment member is used to adjust the distance between the pressure adjustment block and the baffle to adjust the elastic force generated by the second elastic member on the baffle.

[0026] In an exemplary embodiment of the present application, the second adjusting member is a second adjusting top screw, which is threadedly connected to the side of the upper swing arm rotary block. The second adjusting top screw is connected to the pressure adjusting block through a fourth inclined surface. During the process of screwing in and out of the second adjusting top screw, the distance between the pressure adjusting block and the baffle is adjusted through the fourth inclined surface.

[0027] In an exemplary embodiment of the present application, a friction ring is further included, which is arranged between the upper swing arm swing block and the lower swing arm swing block. The friction ring is used to increase the friction force between the upper swing arm swing block and the lower swing arm swing block when the upper swing arm swing block and the lower swing arm swing block are locked.

[0028] In an exemplary embodiment of the present application, the friction ring includes at least one set of inner rings and outer rings, the inner rings are installed on the outer side of the circumference of one of the upper swing arm swing block and the lower swing arm swing block, and the outer rings are installed on the inner side of the circumference of the other of the upper swing arm swing block and the lower swing arm swing block, and the inner rings and outer rings are arranged alternately.

[0029] In an exemplary embodiment of the present application, the inner ring is mounted on the outer side of the circumference of the upper swing arm rotary block, and the outer ring is mounted on the inner side of the circumference of the lower swing arm rotary block;

[0030] The inner ring of the inner ring and the outer ring of the outer ring are both radially protruded with bumps, and the circumferential outer side of the upper swing arm rotary block and the circumferential inner side of the lower swing arm rotary block are both provided with grooves matching the bumps.

[0031] According to a second aspect of the present application, an auxiliary puncture system is provided, comprising the above-mentioned support arm for a medical robot.

[0032] The exemplary embodiments of the present application may have some or all of the following beneficial effects:

[0033] In the support arm for a medical robot provided in an example embodiment of the present application, one of the first rotary joints is fixed to an operating table or equipment, the other first rotary joint is connected to the surgical equipment, the second ends of the two arm assemblies are connected together through a second rotary joint, and a damping assembly is provided on both the first rotary joints and the second rotary joint. The damping assembly can provide rotational damping, so that the first rotary joint and the second rotary joint have a certain resistance when the rotation is adjusted, one of the first rotary joints is used to be fixedly connected to a CT scanning bed, and the other first rotary joint is used to be connected to a puncture robot; when adjusting the position and angle of the puncture robot, the two first rotary joints and The second rotation joint is adjusted. During the adjustment process, the surgeon first roughly adjusts the puncture robot to a certain position, and then fine-tunes it according to the surgical position, operation position, etc. The damping arm will be locked after fine-tuning. In the process from rough adjustment to fine-tuning, the damping component in the damping arm of the present application can provide rotational damping at the first rotation joint and the second rotation joint, so that no matter what position the surgeon rotates the surgical equipment to, the rotational damping provided by the damping component can enable the puncture robot to maintain its current position and angle, which greatly improves the adjustment efficiency of the puncture robot position and avoids the surgeon needing to maintain the angles of each joint during the adjustment process, and even needs a partner to complete the adjustment.

[0034] The damping arm provided in the example embodiment of the present application also includes an adjustment component and a locking piece. The adjustment component is arranged on the second rotary joint, and the second rotary joint can be locked by the adjustment component; the locking piece is provided in two groups and corresponds to the two groups of arm components respectively, the first end of the locking piece is connected to the adjustment component, and the second end is connected to the first rotary joint. In the process of locking the second rotary joint by the adjustment component, the adjustment component can drive the locking piece to move and lock the first rotary joint. After adjusting the damping arm to the appropriate position and angle, the synchronous locking of the first rotary joint and the second rotary joint can be completed only by the adjustment component, without the need to operate and lock the first rotary joint and the second rotary joint separately, which simplifies the locking steps and improves the locking efficiency.

[0035] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0037] Figure 1 A schematic structural diagram of a damping support arm in an embodiment of the present application is shown;

[0038] Figure 2 A schematic structural diagram of the second rotary joint in the damping support arm in an embodiment of the present application is shown;

[0039] Figure 3 A schematic structural diagram of the first rotary joint in the damping arm in an embodiment of the present application is shown.

[0040] Description of reference numerals:

[0041] 1. Arm assembly; 2. First rotary joint; 3. Second rotary joint; 4. Damping assembly; 5. Upper swing arm rotary block; 6. Lower swing arm rotary block; 7. Adjusting rod; 8. Slider; 9. Top block; 10. Knob; 11. Inner ring; 12. Outer ring; 13. First inner rod; 14. First sleeve; 15. Second inner rod; 16. Second sleeve; 17. Second inclined surface; 18. Third inclined surface; 19. Pressure regulating block; 20. Second elastic member; 21. Baffle; 22. Connecting member; 23. Second regulating member; 24. Fourth inclined surface; 25. Mounting ball head; 26. First pressure block; 27. First elastic member; 28. First regulating member; 29. First inclined surface; 30. Second pressure block. DETAILED DESCRIPTION

[0042] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed descriptions will be omitted. Furthermore, the figures are merely schematic illustrations of the present application and are not necessarily drawn to scale.

[0043] While relative terms such as "upper" and "lower" are used in this specification to describe the relationship of one illustrated component to another, these terms are used for convenience only, such as in accordance with the orientation of the illustrations in the accompanying drawings. It should be understood that if the illustrated device were flipped upside down, the component described as "upper" would become the component "lower." When a structure is referred to as "on" another structure, this may mean that the structure is integrally formed with the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through the other structure.

[0044] The terms "a", "an", "the" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express open-ended inclusion and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.; the terms "first" and "second" are used only as labels and do not limit the quantity of their objects. Example 1

[0045] This embodiment provides a specific implementation of a support arm for a medical robot, such as Figure 1 As shown, it includes two groups of arm assemblies 1, the first ends of the two groups of arm assemblies 1 are both provided with a first rotary joint 2, the second ends of the two groups of arm assemblies 1 are connected through a second rotary joint 3, and a damping assembly 4 is provided on the first rotary joint 2 and the second rotary joint 3. The damping assembly 4 can adjust the rotation damping of the first rotary joint 2 and the second rotary joint 3, so that when the first rotary joint 2 and the second rotary joint 3 rotate, the first rotary joint 2 and the second rotary joint 3 can maintain a certain resistance during the rotation process, and can maintain the current rotation angle when the rotation stops. One of the first rotary joints 2 is used to be fixedly connected to the CT scanning bed, and the other first rotary joint 2 is used to connect the puncture robot; an adjustment assembly is provided on the second rotary joint 3, and the adjustment assembly can lock the second rotary joint 3; two groups of locking members are provided and correspond to the two groups of arm assemblies 1 respectively, the first end of the locking member is connected to the adjustment assembly, and the second end is connected to the first rotary joint 2. In the process of locking the second rotary joint 3 by the adjustment assembly, the adjustment assembly drives the locking member to move and synchronously lock the first rotary joint 2, thereby achieving the effect of locking the arm assembly 1.

[0046] The support arm provided by the present application has one first rotary joint 2 fixed on a CT scanning bed, or an operating bed or other medical equipment, and the other first rotary joint 2 is connected to a puncture robot. The second ends of the two support arm assemblies 1 are connected together through a second rotary joint 3. A damping assembly 4 is provided on both the first rotary joints 2 and the second rotary joint 3. The damping assembly 4 can provide rotational damping, so that the first rotary joint 2 and the second rotary joint 3 have a certain resistance when the rotation is adjusted; when adjusting the posture (position and attitude) of the puncture robot, it can be adjusted by rotating the two first rotary joints 2 and the second rotary joint 3. During the adjustment process, the surgeon Usually, the puncture robot is roughly adjusted to a certain position first, and then fine-tuned according to the surgical position, operation position, etc. The damping arm will be locked after fine-tuning. In the process from rough adjustment to fine-tuning, the damping component 4 in the damping arm of the present application can provide rotational damping at the first rotation joint 2 and the second rotation joint 3, so that no matter what position the surgeon rotates the puncture robot to, the rotational damping provided by the damping component 4 can enable the puncture robot to maintain its current position and angle, which greatly improves the adjustment efficiency of the surgical equipment position, avoids the need for the surgeon to maintain the angles of each joint during the adjustment process, and even requires a partner to complete the adjustment.

[0047] In this embodiment, the damping assembly 4 includes a first elastic preload structure and a first preload force adjustment structure arranged at the first rotational joint 2. The first elastic preload structure applies rotational damping to the first rotational joint 2 through elastic force, and the first preload force adjustment structure is used to adjust the magnitude of the elastic force.

[0048] Furthermore, the first elastic pre-tightening structure includes a first elastic member 27, a first pressure block 26 and a second pressure block 30, and the first rotary joint 2 includes a ball head seat and a mounting ball head 25; one end of the mounting ball head 25 is rotatably installed in the ball head seat, and the other end of the mounting ball head 25 extends out of the ball head seat for connecting medical equipment, and the first end of the arm assembly 1 is connected to the ball head seat; the first pressure block 26 and the second pressure block 30 are both slidably installed inside the ball head seat, and the first elastic member 27 is arranged between the first pressure block 26 and the second pressure block 30, and the second pressure block 30 abuts against the spherical surface of the mounting ball head 25, and the first elastic member 27 between the first pressure block 26 and the second pressure block 30 applies an elastic force to the second pressure block 30, and the second pressure block 30 squeezes the spherical surface of the mounting ball head 25, so that the mounting ball head 25 generates rotational damping during rotation.

[0049] In this embodiment, the first preload adjustment structure includes a first adjustment member 28, which is installed on the ball head seat. The first adjustment member 28 is used to adjust the distance between the first pressure block 26 and the second pressure block 30. When the distance between the first pressure block 26 and the second pressure block 30 changes, the compression amount of the first elastic member 27 can be adjusted, and then the elastic force of the first elastic member 27 can be adjusted. When the elastic force of the first elastic member 27 changes, the pressure of the second pressure block 30 on the spherical surface of the mounting ball head 25 will also change, thereby realizing the adjustment of the rotational damping of the mounting ball head 25 rotating in the ball head seat.

[0050] Furthermore, the first adjusting member 28 is a first adjusting top screw, which is threadedly connected to the side of the ball head seat. The first adjusting top screw is connected to the first pressure block 26 through the first inclined surface 29. The distance between the first pressure block 26 and the second pressure block 30 is adjusted by screwing the first adjusting top screw in and out.

[0051] Specifically, when the first adjusting screw is screwed into the ball head seat, the end of the first adjusting screw squeezes the first pressure block 26 under the action of the first inclined surface 29, so that the first pressure block 26 moves in the downward direction of the inclined surface, that is, the first pressure block 26 moves in the ball head seat along the axial direction of the ball head seat close to the second pressure block 30. During the movement of the first pressure block 26, the first elastic member 27 is squeezed, and the elastic force of the first elastic member 27 on the second pressure block 30 increases, thereby increasing the squeezing force of the second pressure block 30 on the spherical surface of the mounting ball head 25, thereby increasing the rotational damping between the mounting ball head 25 and the ball head seat.

[0052] When the first adjusting screw is rotated outward from the ball head seat, the end of the first adjusting screw gradually withdraws from the squeezing of the first pressure block 26 under the action of the first inclined surface 29. The first pressure block 26 moves in the direction away from the second pressure block 30 under the elastic force of the first elastic member 27. The distance between the first pressure block 26 and the second pressure block 30 increases, and the elastic force of the first elastic member 27 on the second pressure block 30 decreases, thereby reducing the squeezing force of the second pressure block 30 on the spherical surface of the mounting ball head 25, thereby reducing the rotational damping between the mounting ball head 25 and the ball head seat.

[0053] In this embodiment, the damping size at the first rotary joint 2 can be adjusted by adjusting the inward and outward rotation of the first adjusting screw. Therefore, when adjusting the position and angle of the component connected to the arm assembly 1 through the first rotary joint 2, the position can be temporarily maintained by the resistance of the damping to facilitate the next operation.

[0054] In some other embodiments, the first adjusting member 28 may also be a support rod arranged along the axial direction, as long as it can achieve the control of the distance between the first pressing block 26 and the second pressing block 30 .

[0055] In this embodiment, the second rotary joint 3 includes an upper swing arm rotary block 5 and a lower swing arm rotary block 6. The upper swing arm rotary block 5 and the lower swing arm rotary block 6 are rotatably connected. The adjustment component is used to adjust the two swing arm rotary blocks to approach each other until they abut and lock. Under the adjustment of the adjustment component, the upper swing arm rotary block 5 and the lower swing arm rotary block 6 can be rotated close to abut, and can be locked when they abut.

[0056] The adjustment assembly further comprises an adjustment rod 7, a slider 8, and a top block 9. The adjustment rod 7 is provided with a threaded section and a smooth section. A knob 10 is threadedly connected to the threaded section. The slider 8 is slidably mounted on the smooth section of the adjustment rod 7 and is in contact with the knob 10. The slider 8 is used to drive the lower swing arm rotary block 6 to move axially along the adjustment rod 7. The top block 9 is connected to the end of the adjustment rod 7 away from the threaded section and is used to drive the upper swing arm rotary block 5 to move axially along the adjustment rod 7. When the knob 10 rotates on the threaded section, the positions of the adjustment rod 7 and the top block 9 remain unchanged. The slider 8 first drives the lower swing arm rotary block 6 to move axially toward the upper swing arm rotary block 5 along the adjustment rod 7. When the lower swing arm rotary block 6 abuts the upper swing arm rotary block 5, the positions of the knob 10 and the slider 8 remain unchanged. Continued rotation of the knob 10 causes the adjustment rod 7, via the top block 9, to drive the upper swing arm rotary block 5 toward the lower swing arm rotary block 6 until the upper swing arm rotary block 5 and the lower swing arm rotary block 6 are locked.

[0057] Among them, the upper swing arm rotary block 5 and the lower swing arm rotary block 6 are both mounted on the adjusting rod 7 and can slide along the axial direction of the adjusting rod 7. The end of the adjusting rod 7 is rotatably and anti-sliply connected to the top block 9. When the adjusting rod 7 rotates, the top block 9 will not rotate with it, but when the adjusting rod 7 moves in the axial direction, the top block 9 moves with it, thereby driving the upper swing arm rotary block 5 to move; the adjusting rod 7 and the slider 8 are rotatably and slidably connected. The adjusting rod 7 can rotate with the slider 8 and can also move axially relative to the slider 8.

[0058] In this embodiment, the locking piece can slide axially in the support arm assembly 1. The locking piece has two groups, corresponding to the two groups of support arm assemblies 1 respectively. The first end of one group of locking pieces is connected to the slider 8, and the second end is connected to the second pressure block 30 of one of the first rotary joints 2. The first end of the other group of locking pieces is connected to the top block 9, and the second end is connected to the second pressure block 30 of the other first rotary joint 2. In the process of locking the upper swing arm rotary block 5 and the lower swing arm rotary block 6, the top block 9 and the slider 8 respectively drive the corresponding locking piece to slide axially in the support arm assembly 1 and apply a locking force acting on the mounting ball head 25 to the second pressure block 30, thereby synchronously locking the first rotary joint 2 and the second rotary joint 3 while locking the upper swing arm rotary block 5 and the lower swing arm rotary block 6.

[0059] Furthermore, both arm assemblies 1 include inner rods and sleeves. The two inner rods are respectively a first inner rod 13 and a second inner rod 15. The two sleeves are respectively a first sleeve 14 and a second sleeve 16. The first end of the first sleeve 14 is connected to the first rotary joint 2, and the second end of the first sleeve 14 is connected to the upper swing arm rotary block 5. The first inner rod 13 is slidably arranged in the first sleeve 14. The first end of the first inner rod 13 is connected to the second pressure block 30. The second end of the first inner rod 13 abuts against the top block 9. The top block 9 is provided with a first groove for accommodating the second end of the first inner rod 13. The first groove has a second inclined surface 17. When the top block 9 drives the upper swing arm rotary block 5 to move toward the lower swing arm rotary block 6, the second inclined surface 17 abuts against the second end of the first inner rod 13. Under the action of the second inclined surface 17, the first inner rod 13 is driven to drive the second pressure block 30 to press the mounting ball head 25, so that one of the first rotary joints 2 is locked.

[0060] The second inner rod 15 is slidably arranged in the second sleeve 16, the first end of the second sleeve 16 is connected to the first rotary joint 2, the second end of the second sleeve 16 is connected to the lower swing arm rotary block 6, the first end of the second inner rod 15 is connected to the second pressure block 30, and the second end of the second inner rod 15 is connected to the slider 8. The slider 8 is provided with a second groove for accommodating the second end of the second inner rod 15, and the second groove has a third inclined surface 18. When the slider 8 drives the lower swing arm rotary block 6 to move toward the upper swing arm rotary block 5, the third inclined surface 18 abuts against the second end of the second inner rod 15, and under the action of the third inclined surface 18, the second inner rod 15 is driven to drive the second pressure block 30 to press the mounting ball head 25 to lock the other first rotary joint 2.

[0061] Specifically, the first inner rod 13 and the second inner rod 15 form a locking member for locking the first rotary joint 2 .

[0062] In this embodiment, the damping assembly 4 also includes a second elastic preload structure and a second preload force adjustment structure arranged on the second rotary joint 3. The second elastic preload structure applies rotational damping to the second rotary joint 3 through elastic force, and the second preload force adjustment structure is used to adjust the magnitude of the elastic force.

[0063] Furthermore, the second elastic pre-tightening structure includes a second elastic member 20, a pressure regulating block 19, and a baffle 21. The baffle 21 is fixedly connected to the end of the lower swing arm rotary block 6 through a connecting member 22. The pressure regulating block 19 is slidably installed on the connecting member 22. The second elastic member 20 is located between the pressure regulating block 19 and the baffle 21. When the pressure regulating block 19 squeezes the second elastic member 20, the second elastic member 20 applies an elastic force to the baffle 21, so that the baffle 21 drives the lower swing arm rotary block 6 to move toward the upper swing arm rotary block 5, so as to apply rotational damping between the upper swing arm rotary block 5 and the lower swing arm rotary block 6.

[0064] Specifically, the connecting member 22 is a connecting screw, the end of one end of the connecting screw is fixedly connected to the end of the lower swing arm rotary block 6, the baffle 21 is fixedly connected to the end of the other end of the connecting screw, the pressure adjusting block 19 is slidably installed on the connecting screw, and the second elastic member 20 is located between the baffle 21 and the pressure adjusting block 19.

[0065] In this embodiment, the first elastic member 27 and the second elastic member 20 are both springs. In other embodiments, the first elastic member 27 and the second elastic member 20 can also be elastic components such as bellows and rubber tubes.

[0066] The second preload adjustment structure includes a second adjustment member 23, which is installed on the second rotary joint 3. The second adjustment member 23 is used to adjust the distance between the pressure adjustment block 19 and the baffle 21. It can adjust the compression amount of the first elastic member 27, and then adjust the elastic force generated by the second elastic member 20 on the baffle 21.

[0067] Specifically, the second adjusting member 23 is a second adjusting top screw, which is connected to the side of the upper swing arm rotary block 5 through a threaded connection. The second adjusting top screw is connected to the pressure adjusting block 19 through the fourth inclined surface 24. During the process of screwing the second adjusting top screw in and out, the distance between the pressure adjusting block 19 and the baffle 21 is adjusted through the fourth inclined surface 24, and the compression amount of the second elastic member 20 is adjusted, thereby adjusting the elastic force generated by the second elastic member 20 on the baffle 21.

[0068] In this embodiment, a friction ring is also included. The friction ring is arranged between the upper swing arm rotary block 5 and the lower swing arm rotary block 6. The friction ring is used to increase the friction between the upper swing arm rotary block 5 and the lower swing arm rotary block 6 when the upper swing arm rotary block 5 and the lower swing arm rotary block 6 are locked, so that the locking between the upper swing arm rotary block 5 and the lower swing arm rotary block 6 is more secure.

[0069] Furthermore, the friction ring includes at least one set of inner rings 11 and outer rings 12, the inner rings 11 are mounted on the outer side of the circumference of one of the upper swing arm rotary block 5 and the lower swing arm rotary block 6, and the outer rings 12 are mounted on the inner side of the circumference of the other of the upper swing arm rotary block 5 and the lower swing arm rotary block 6. In this embodiment, the inner ring 11 is mounted on the outer side of the circumference of the upper swing arm rotary block 5, and the outer ring 12 is mounted on the inner side of the circumference of the lower swing arm rotary block 6, and the inner rings 11 and the outer rings 12 are staggered with each other.

[0070] Furthermore, the inner ring of the inner ring 11 has a radially protruding bump, and the outer side of the upper swing arm swing block 5 is provided with a groove. When the inner ring 11 is sleeved on the upper swing arm swing block 5, the bump can be inserted into the groove, thereby realizing the installation of the inner ring 11 and the upper swing arm swing block 5; the outer ring 12 has a radially protruding bump, and the inner side of the lower swing arm swing block 6 is provided with a groove. When the outer ring 12 is embedded in the inner side of the lower swing arm swing block 6, the bump can be inserted into the groove, thereby realizing the installation of the outer ring 12 and the lower swing arm swing block 6.

[0071] Working principle:

[0072] The support arm for a medical robot provided in this application has one first rotary joint 2 fixed on a CT scanning bed, and the other first rotary joint 2 connected to a puncture robot, so that a puncture operation is performed with the assistance of a CT scan. During the operation, the position and posture of the puncture robot need to be adjusted through the support arm. Only after the position and posture of the puncture robot are adjusted to the specified position and posture can the puncture operation be performed.

[0073] The second ends of the two arm assemblies 1 in the support arm are connected together through the second rotary joint 3. A damping assembly 4 is provided on each of the two first rotary joints 2 and the second rotary joint 3. The damping assembly 4 can provide rotational damping.

[0074] The second rotary joint 3 includes an upper swing arm rotary block 5 and a lower swing arm rotary block 6. The upper swing arm rotary block 5 and the lower swing arm rotary block 6 are rotatably connected. The adjustment component is used to adjust the two swing arm rotary blocks to approach each other until they abut and lock. Under the adjustment of the adjustment component, the upper swing arm rotary block 5 and the lower swing arm rotary block 6 can be rotated close to abut, and can be locked when they abut.

[0075] The two arm assemblies 1 each include an inner rod and a sleeve. The two inner rods are respectively a first inner rod 13 and a second inner rod 15. The two sleeves are respectively a first sleeve 14 and a second sleeve 16. The first end of the first sleeve 14 is connected to the first rotary joint 2, and the second end of the first sleeve 14 is connected to the upper swing arm rotary block 5. The first inner rod 13 is slidably arranged in the first sleeve 14. The first end of the first inner rod 13 is connected to the second pressure block 30, and the second end of the first inner rod 13 abuts against the top block 9. The top block 9 is provided with a first groove for accommodating the second end of the first inner rod 13. The first groove has a second inclined surface 17. When the top block 9 drives the upper swing arm rotary block 5 to move toward the lower swing arm rotary block 6, the second inclined surface 17 abuts against the second end of the first inner rod 13. Under the action of the second inclined surface 17, the first inner rod 13 is driven to drive the second pressure block 30 to press the mounting ball head 25, so that one of the first rotary joints 2 is locked.

[0076] The second inner rod 15 is slidably arranged in the second sleeve 16, the first end of the second sleeve 16 is connected to the first rotary joint 2, the second end of the second sleeve 16 is connected to the lower swing arm rotary block 6, the first end of the second inner rod 15 is connected to the second pressure block 30, and the second end of the second inner rod 15 is connected to the slider 8. The slider 8 is provided with a second groove for accommodating the second end of the second inner rod 15, and the second groove has a third inclined surface 18. When the slider 8 drives the lower swing arm rotary block 6 to move toward the upper swing arm rotary block 5, the third inclined surface 18 abuts against the second end of the second inner rod 15, and under the action of the third inclined surface 18, the second inner rod 15 is driven to drive the second pressure block 30 to press the mounting ball head 25 to lock the other first rotary joint 2.

[0077] During the locking process, the knob 10 rotates on the threaded section of the adjusting rod 7, pushing the slider 8 to move along the axial direction of the adjusting rod 7, so that the slider 8 pushes the lower swing arm rotary block 6 to move. At the same time, the third inclined surface 18 in the second groove on the slider 8 will press against the second end of the second inner rod 15, and in the continuous movement of the slider 8, the third inclined surface 18 will squeeze the second end of the second inner rod 15, so that the second inner rod 15 moves along its axial direction under the squeezing of the third inclined surface 18. During the axial movement, the second inner rod 15 squeezes the mounting ball head 25, and finally locks the first rotary joint 2.

[0078] After the first rotary joint 2 is locked, when the knob 10 is continued to be rotated, the slider 8 no longer moves. At this time, the adjusting rod 7 is acted upon by the rotation of the thread to move axially. During the axial movement of the adjusting rod 7, the top block 9 at its end will move together. The top block 9 will drive the upper swing arm rotary block 5 to move toward the lower swing arm rotary block 6, thereby realizing the locking of the upper swing arm rotary block 5 and the lower swing arm rotation at the second rotary joint 3. At the same time, the second inclined surface 17 of the first groove on the top block 9 will abut against the first inner rod 13. As the top block 9 continues to move, the second inclined surface 17 will cause the first inner rod 13 to move along its axial direction. During the axial movement of the first inner rod 13, it will squeeze the mounting ball head 25 to lock the other first rotary joint 2. Therefore, the locking of the entire damping arm can be completed only by rotating the knob 10.

[0079] Example 2

[0080] This embodiment provides a specific implementation of the auxiliary puncture system, which is implemented using the support arm for the medical robot in Example 1.

[0081] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the embodiments of the present invention. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not covered by this application. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present invention are indicated by the appended claims.

Claims

1. A support arm for a medical robot, characterized in that: include: The arm assemblies are provided in two groups, the first ends of the two groups of arm assemblies are each provided with a first rotary joint, and the second ends of the two groups of arm assemblies are connected by a second rotary joint, one of the first rotary joints is used for fixed connection to the CT scanning bed, and the other first rotary joint is used for connection to the puncture robot; a damping assembly, the damping assembly being respectively provided on the first rotary joint and the second rotary joint, the damping assembly being used to adjust the rotational damping of the first rotary joint and the second rotary joint; an adjusting component, the adjusting component being provided on the second rotary joint and being used for locking the second rotary joint; a locking member, wherein the locking members are provided in two groups and correspond to the two groups of the arm assemblies respectively, a first end of the locking member is connected to the adjustment assembly, and a second end is connected to the first rotary joint, and when the adjustment assembly locks the second rotary joint, the adjustment assembly drives the locking member to move and lock the first rotary joint; the damping assembly includes a first elastic pre-tightening structure and a first pre-tightening force adjustment structure provided at the first rotary joint, the first elastic pre-tightening structure applies the rotational damping to the first rotary joint through an elastic force, and the first pre-tightening force adjustment structure is used to adjust the magnitude of the elastic force; The second rotary joint includes an upper swing arm rotary block and a lower swing arm rotary block, the upper swing arm rotary block is rotatably connected to the lower swing arm rotary block, and the adjustment component is used to adjust the two swing arm rotary blocks to move closer to each other until they abut and lock; The adjustment assembly includes an adjustment rod, a slider, and a top block. The adjustment rod is provided with a threaded section, and a knob is threadedly connected to the threaded section. The slider is slidably mounted on the adjustment rod and is in contact with the knob. The slider is located on a smooth section on the adjustment rod, and is used to drive the lower swing arm rotary block to move along the axial direction of the adjustment rod. The cam is connected to the adjusting rod at one end away from the threaded section, and the cam is used to drive the upper swing arm rotary block to move along the axial direction of the adjusting rod, and the knob is rotated on the threaded section, and the positions of the adjusting rod and the cam remain unchanged. The slider first drives the lower swing arm rotary block to move along the axial direction of the adjusting rod to the upper swing arm rotary block. When the lower swing arm rotary block abuts against the upper swing arm rotary block, the positions of the knob and the slider remain unchanged, and the knob is continued to be rotated, and the adjusting rod drives the upper swing arm rotary block to move to the lower swing arm rotary block through the cam until the upper swing arm rotary block and the lower swing arm rotary block are locked.

2. The support arm for a medical robot according to claim 1, characterized in that: The first elastic pre-tightening structure includes a first elastic member, a first pressing block, and a second pressing block; The first rotary joint includes a ball head seat and a mounting ball head; One end of the mounting ball head is rotatably mounted in the ball head seat, and the other end of the mounting ball head extends out of the ball head seat for connecting to medical equipment, and the first end of the support arm assembly is connected to the ball head seat; The first pressing block and the second pressing block are both slidably mounted inside the ball head seat, the first elastic member is arranged between the first pressing block and the second pressing block, and the second pressing block abuts against the spherical surface of the mounting ball head.

3. The support arm for a medical robot according to claim 2, characterized in that: The first preload adjustment structure includes a first adjustment member, which is installed on the ball head seat and is used to adjust the distance between the first pressure block and the second pressure block to adjust the elastic force generated by the first elastic member on the second pressure block.

4. The support arm for a medical robot according to claim 3, characterized in that: The first adjusting member is a first adjusting screw, which is threadedly connected to the side of the ball head seat. The first adjusting screw is connected to the first pressure block through a first inclined surface. The distance between the first pressure block and the second pressure block is adjusted by screwing the first adjusting screw in and out of the first inclined surface.

5. The support arm for a medical robot according to claim 2, characterized in that: The locking member can slide axially within the arm assembly; The first end of one group of locking members is connected to the slider, and the second end is connected to the second pressing block of one of the first rotary joints; the first end of another group of locking members is connected to the top block, and the second end is connected to the second pressing block of another first rotary joint; During the process of locking the upper swing arm rotary block and the lower swing arm rotary block, the top block and the slider respectively drive the corresponding locking member to slide axially in the support arm assembly and apply a locking force to the second pressure block on the mounting ball head.

6. The support arm for a medical robot according to claim 1, characterized in that: The damping assembly also includes a second elastic preload structure and a second preload force adjustment structure provided on the second rotational joint. The second elastic preload structure applies the rotational damping to the second rotational joint through elastic force. The second preload force adjustment structure is used to adjust the magnitude of the elastic force.

7. The support arm for a medical robot according to claim 6, characterized in that: The second elastic pre-tightening structure includes a second elastic member, a pressure regulating block, and a baffle, wherein the baffle is fixedly connected to the end of the lower swing arm rotary block through a connecting member, the pressure regulating block is slidably installed on the connecting member, and the second elastic member is located between the pressure regulating block and the baffle. When the pressure regulating block squeezes the second elastic member, the second elastic member applies an elastic force to the baffle, so that the baffle drives the lower swing arm rotary block to move toward the upper swing arm rotary block, thereby applying rotational damping between the upper swing arm rotary block and the lower swing arm rotary block.

8. The support arm for a medical robot according to claim 7, characterized in that: The second preload force adjustment structure includes a second adjustment member, which is installed on the second rotation joint. The second adjustment member is used to adjust the distance between the pressure adjustment block and the baffle to adjust the elastic force generated by the second elastic member on the baffle.

9. The support arm for a medical robot according to claim 8, characterized in that: The second adjusting member is a second adjusting screw, which is threadedly connected to the side of the upper swing arm rotary block. The second adjusting screw is connected to the pressure adjusting block through a fourth inclined surface. During the process of screwing the second adjusting screw in and out, the distance between the pressure adjusting block and the baffle is adjusted through the fourth inclined surface.

10. The support arm for a medical robot according to claim 1, characterized in that: It also includes a friction ring, which is arranged between the upper swing arm swing block and the lower swing arm swing block. The friction ring is used to increase the friction force between the upper swing arm swing block and the lower swing arm swing block when the upper swing arm swing block and the lower swing arm swing block are locked.

11. The support arm for a medical robot according to claim 10, characterized in that: The friction ring includes at least one set of inner rings and outer rings, the inner rings are installed on the outer side of the circumference of one of the upper swing arm rotary block and the lower swing arm rotary block, and the outer rings are installed on the inner side of the circumference of the other of the upper swing arm rotary block and the lower swing arm rotary block, and the inner rings and outer rings are arranged alternately.

12. The support arm for a medical robot according to claim 11, characterized in that: The inner ring is mounted on the outer side of the circumference of the upper swing arm rotary block, and the outer ring is mounted on the inner side of the circumference of the lower swing arm rotary block; The inner ring of the inner ring and the outer ring of the outer ring are both radially protruded with bumps, and the circumferential outer side of the upper swing arm rotary block and the circumferential inner side of the lower swing arm rotary block are both provided with grooves matching the bumps.

13. A medical auxiliary puncture system, characterized in that: A support arm for a medical robot comprising the support arm according to any one of claims 1-12.

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