Tail end connecting device, mechanical arm and surgical robot

Abstract

The invention discloses a tail end connecting device, a mechanical arm and a surgical robot. The tail end connecting device is used for connecting the tail end execution module to a mechanical arm assembly of the surgical robot and comprises a locking assembly and a damping assembly. The locking assembly is used for being detachably connected with the end execution module. The damping assembly is connected to the locking assembly. The damping assembly comprises a fixing piece, a damping piece and a damping rotating shaft. The fixing piece is used for being connected to the mechanical arm assembly. The damping piece is arranged to the fixing piece and provided with a damping piece first end and a damping piece second end which are oppositely arranged in the first direction. The damping rotating shaft extends in the first direction, and the end, close to the first end of the damping piece, of the damping rotating shaft is connected to the locking assembly. The damping rotating shaft can rotate around the axis of the damping rotating shaft and can move relative to the damping piece in the first direction so that the locking assembly can make contact with the first end of the damping piece. According to the application, the angle of the end execution module can be adjusted, and the end execution module can be kept at the adjusted position.

Description

Technical Field

[0001] The present application relates to the technical field of surgical instruments, and in particular to an end connection device for connecting an end execution module to a robotic arm assembly of a surgical robot, as well as a robotic arm having the end connection device and a surgical robot having the robotic arm. Background Art

[0002] With the help of surgical robot technology, doctors can achieve remote manipulation, effectively reducing the damage of radiation to doctors during implant surgery, and at the same time greatly improving the stability of surgical operations and reducing the chance of intraoperative accidents. When there are many modules performing surgical functions in the implant surgery robot system, individual modules need to be hung on an auxiliary robot arm separately, and the angle and position can be easily adjusted. Summary of the invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description of the Invention section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0004] In order to at least partially solve the above problems, the first aspect of the present application provides an end connection device for connecting an end effector module to a robotic arm assembly of a surgical robot, comprising:

[0005] A locking assembly, used for detachably connecting to the end effector module; and

[0006] A damping assembly connected to the locking assembly, the damping assembly comprising:

[0007] a fixing member for connecting to the mechanical arm assembly,

[0008] a damping member disposed to the fixing member, the damping member having a damping member first end and a damping member second end disposed opposite to each other in a first direction, and

[0009] a damping rotating shaft, the damping rotating shaft extending along the first direction, one end of the damping rotating shaft close to the first end of the damping member being connected to the locking assembly,

[0010] The end connection device is constructed so that the damping rotation shaft can rotate around its own axis and can move relative to the damping member along the first direction to make the locking assembly contact the first end of the damping member.

[0011] According to the present application, when the damping rotating shaft rotates around its own axis, the locking assembly also rotates accordingly, so that the angle of the end effector module can be adjusted. When the damping rotating shaft moves relative to the damping member in the first direction towards the second end of the damping member, the locking assembly contacts the first end of the damping assembly, and thus the damping member applies a damping force (frictional force) to the locking assembly, enabling the locking assembly to maintain an appropriate angle, that is, enabling the end effector module to maintain an appropriate angle.

[0012] Optionally, the first end of the damping member protrudes from the fixing member in the first direction.

[0013] According to the present application, the first end of the damping member protruding from the fixing member in the first direction makes it easier for the damping member to contact the locking assembly.

[0014] Optionally,

[0015] The fixing member includes a first fixing member through hole extending in the first direction;

[0016] The damping member includes a first cylindrical portion configured as a sleeve extending in the first direction. The first cylindrical portion has a first end of the first cylindrical portion and a second end of the first cylindrical portion oppositely arranged in the first direction. Wherein, the first end of the first cylindrical portion corresponds to the first end of the damping member, the second end of the first cylindrical portion corresponds to the second end of the damping member, the first cylindrical portion is disposed in the first fixing member through hole and the first end of the first cylindrical portion protrudes from the first fixing member through hole in the first direction;

[0017] The damping rotating shaft is disposed within the sleeve.

[0018] According to the present application, the damping rotating shaft, the damping member, and the fixing member are arranged in sequence in the radial direction, and the damping assembly has a compact structure.

[0019] Optionally,

[0020] The damping rotating shaft includes a first end portion of the damping rotating shaft and a second end portion of the damping rotating shaft oppositely arranged in the first direction. The first end portion of the damping rotating shaft is closer to the first end of the damping member than the second end portion of the damping rotating shaft. Wherein, the first end portion of the damping rotating shaft is connected to the locking assembly, and the second end portion of the damping rotating shaft is provided with a first external thread;

[0021] The damping assembly further includes:

[0022] A blocking surface located radially outside the damping rotating shaft and facing the second end portion of the damping rotating shaft, and

[0023] A damping knob, the damping knob includes a first threaded hole provided with a first internal thread, and the first internal thread is matched with the first external thread so that the damping knob is threadedly connected to the second end of the damping rotating shaft, wherein one side of the damping knob facing the first end of the damping rotating shaft is used for attaching to the blocking surface.

[0024] According to the present application, when the damping knob is screwed into the damping rotating shaft, since the damping rotating shaft is connected with a locking assembly and an end effector module and is in a loaded state, the rotational force of the damping knob is not sufficient to drive the damping rotating shaft to rotate. Thus, the damping knob moves along the first direction from the second end of the damping rotating shaft towards the first end of the damping rotating shaft. At this time, the damping knob moves relative to the fixed member along the first direction. When the damping knob moves to the position where it is attached to the blocking surface, blocked by the blocking surface, the damping knob can no longer move relative to the fixed member along the first direction. Continuing to screw the damping knob, the damping rotating shaft moves along the first direction relative to the fixed member towards the second end of the damping rotating shaft, driving the locking assembly to move close to the damping member along the first direction.

[0025] Optionally, the damping assembly further includes a third spring, the third spring is arranged between the damping knob and the blocking surface, the direction of the elastic force of the third spring is the first direction, and both sides of the third spring along the first direction are respectively used for attaching to the blocking surface and the damping knob.

[0026] According to the present application, when the damping knob is tightened, the third spring is gradually compressed, so the damping force gradually increases, enabling the damping force to be adjusted within a certain range, for example, it can be adjusted according to the weight of the end effector module. When the damping knob is loosened, the third spring gradually releases and the damping force gradually decreases. After the third spring is completely released, the damping rotating shaft will no longer bear the force along the first direction, causing the extrusion force between the locking assembly and the damping member to disappear, that is, the damping force disappears.

[0027] Optionally, the damping assembly further includes:

[0028] A first retaining piece, arranged between the third spring and the first end of the damping rotating shaft, and one side of the first retaining piece facing the first end of the damping rotating shaft is used for contacting the blocking surface; and

[0029] A second retaining piece, arranged between the third spring and the damping knob, and the second retaining piece is used for contacting the damping knob.

[0030] According to the present application, the first retaining piece and the second retaining piece sandwich the third spring in the middle, which can protect the third spring.

[0031] Optionally,

[0032] The damping assembly further includes a limit nut which is arranged to match the first external thread so that the limit nut is threadedly connected to the second end portion of the damping rotating shaft, and the limit nut is located between the second baffle and the damping knob; and / or

[0033] One side of the first baffle facing the first end portion of the damping rotating shaft is further configured to contact the first end portion of the damping rotating shaft.

[0034] According to the present application, the limit nut can enable the end connection device to have an initial damping force. Thus, the limit nut can ensure that the end connection device can still provide a damping force when the damping knob accidentally falls off, so that the end effector module will not suddenly change its position, ensuring the safety of the surgical process. The first baffle is further configured to contact the first end portion of the damping rotating shaft. Thus, when the first end portion of the damping rotating shaft contacts the first baffle, the damping rotating shaft can no longer move in the first direction. At this time, the user feels that the damping knob has been rotated to the limit position and can end the operation, thereby improving the user experience. At the same time, it can also play a protective role.

[0035] Optionally,

[0036] One side of the damping knob facing the first end portion of the damping rotating shaft is provided with a first groove which communicates with the first threaded hole, and the first groove is configured to accommodate the limit nut; and / or

[0037] The end connection device is configured such that the second baffle is non-rotatable relative to the second end portion of the damping rotating shaft.

[0038] According to the present application, the first groove can enable the damping knob to move to a position closer to the first end portion of the damping rotating shaft than the limit nut, that is, the damping force can be further increased. At the same time, it can also make the limit nut not easily touched, so that the limit nut can maintain a stable position. The second baffle is non-rotatable relative to the second end portion of the damping rotating shaft, so that the second baffle does not apply a rotational force to the limit nut, ensuring that the limit nut can maintain a stable position.

[0039] Optionally,

[0040] The damping member further includes a first flange portion which is arranged at the first end of the first cylindrical portion and radially extends outward from the outer periphery of the first end of the first cylindrical portion, and the first flange portion protrudes from the fixing member along the first direction; and / or

[0041] The fixing member is provided with a second fixing member through hole which communicates with the first fixing member through hole, and the damping assembly further includes a first set screw which is arranged in the second fixing member through hole and is used to press the damping member against the damping rotating shaft.

[0042] According to the present application, the first flange portion increases the contact area between the damping member and the locking assembly, and can be used to connect the damping member to the fixing member. The first set screw can increase the frictional force between the damping rotating shaft and the damping member, making it difficult for the damping rotating shaft to rotate relative to the damping member, which is beneficial to keeping the position of the end effector module stable.

[0043] Optionally, the damping member includes a first contact portion for contacting the first set screw, and a gap is formed between the first contact portion and the other parts of the damping member, so that the first contact portion is movable relative to the other parts of the damping member.

[0044] According to the present application, the gap of the damping member can enable the first contact portion to clamp the damping rotating shaft.

[0045] Optionally, the locking assembly includes:

[0046] a connecting member connected to the damping rotating shaft, the connecting member including a first connecting portion for detachably connecting to the end effector module; and

[0047] a first locking member connected to the connecting member and movable relative to the first connecting portion between a first locking position and a first releasing position along a first locking direction, wherein when the first locking member is in the first locking position, the first locking member is configured to contact the end effector module to make the end effector module immovable relative to the first connecting portion, and when the first locking member is in the first releasing position, the first locking member is configured to disengage from the end effector module to make the end effector module movable relative to the first connecting portion.

[0048] According to the present application, the first locking member detachably connects the end effector module to the connecting member.

[0049] Optionally,

[0050] the first connecting portion is configured as a connecting groove for receiving the end effector module;

[0051] the connecting member further includes a first groove communicating with the connecting groove, and the first locking member is disposed in the first groove;

[0052] wherein, when the first locking member is in the first locking position, the first locking member extends from the first groove into the connecting groove to contact the end effector module, and when the first locking member is in the first releasing position, the first locking member moves out of the connecting groove to disengage from the end effector module.

[0053] According to the present application, the end effector module is easily detachable from and attachable to the connecting member.

[0054] Optionally, the locking assembly further includes:

[0055] A first locking actuator disposed on the connecting member, the first locking actuator being for user operation to move relative to the connecting member between a first actuation position and a first release position, and when the first locking actuator is in the first actuation position, the first locking actuator causes the first locking member to move to the first locking position; and

[0056] A first spring disposed between the connecting member and the first locking member and extending along the first locking direction, wherein when the first locking actuator moves to the first release position, the first locking member moves to the first release position under the action of the first spring.

[0057] According to the present application, the user can detachably connect the end effector module to the connecting member by operating the first locking actuator.

[0058] Optionally, the first locking actuator is configured as a cam, the cam is disposed on the connecting member and is rotatable relative to the connecting member, the cam and the connecting groove are respectively located on opposite sides of the first locking member along the first locking direction, the rotation axis of the cam is perpendicular to the first locking direction, different positions on the outer peripheral surface of the cam have different radii, when the cam rotates to the position where its outer peripheral surface with the maximum radius faces the first locking member, the cam is in the first actuation position, and when the cam rotates to the position where its outer peripheral surface with the minimum radius faces the first locking member, the cam is in the first release position.

[0059] According to the present application, the operation of the first locking actuator is simple.

[0060] Optionally,

[0061] the locking assembly further includes a gasket disposed between the first locking member and the first locking actuator; and / or

[0062] the cam is provided with a handle for user operation to rotate the cam.

[0063] According to the present application, the gasket can extend the service life of the locking assembly. The handle facilitates the user to operate the cam.

[0064] Optionally,

[0065] the first locking actuator is provided with an actuator positioning portion,

[0066] the connecting member includes a connecting member positioning portion,

[0067] When the first locking actuator is in the first actuation position, the actuator positioning portion acts on the connector positioning portion to keep the first locking actuator relative to the connector in the first actuation position.

[0068] When the first locking actuator is in the first release position, the actuator positioning portion is disengaged from the connector positioning portion so that the first locking actuator cannot be kept relative to the connector in the first actuation position.

[0069] According to the present application, the actuator positioning portion and the connector positioning portion can keep the first locking actuator in the first actuation position.

[0070] Optionally,

[0071] One of the actuator positioning portion and the connector positioning portion is configured as a ball.

[0072] One of the actuator positioning portion and the connector positioning portion is configured as a hole or a groove for receiving the ball.

[0073] According to the present application, the actuator positioning portion and the connector positioning portion have a simple structure.

[0074] A second aspect of the present application provides a robotic arm for a surgical robot, which includes:

[0075] A mounting seat assembly for fixing the position relative to the operating table;

[0076] A robotic arm assembly detachably connected to the mounting seat assembly and movable relative to the mounting seat assembly;

[0077] According to any one of the technical solutions of the first aspect, the end connection device, wherein the fixing member is connected to the robotic arm assembly.

[0078] According to the present application, the robotic arm can support the end effector module, the position of the end effector module is adjustable, and the angle of the end effector module is adjustable and can be maintained.

[0079] Optionally, the robotic arm assembly includes:

[0080] A support arm, the first end of the support arm is detachably connected to the mounting seat assembly; and

[0081] At least one rotating arm, at least one of the rotating arms is connected in sequence, and two adjacent rotating arms can rotate relative to each other, wherein the first rotating arm is connected to the second end of the support arm and is rotatable relative to the support arm, and the last rotating arm is connected to the fixing member.

[0082] According to the present application, the position of the end effector module is adjustable.

[0083] Optionally,

[0084] A rotating arm shaft is provided at the first end of the rotating arm.

[0085] Receiving cavities are provided at the second end of the support arm and the second end of the rotating arm that is not the last rotating arm for receiving the rotating arm shaft, and the rotating arm shaft is rotatable in the receiving cavity.

[0086] The robotic arm further includes at least one rotating connection component, which is correspondingly arranged with the receiving cavity for connecting the receiving cavity and the rotating arm shaft.

[0087] According to the present application, the rotating connection component connects the receiving cavity and the rotating arm shaft, so that the components of the robotic arm assembly are firmly connected.

[0088] Optionally,

[0089] Robotic arm through holes are provided at the second end of the support arm and the second end of the rotating arm that is not the last rotating arm, and the robotic arm through holes communicate with the receiving cavity.

[0090] The rotating connection component includes:

[0091] A fastening sleeve for being arranged in the receiving cavity, the internal space structure of the fastening sleeve being cylindrical for receiving the rotating arm shaft, and

[0092] A second set screw for being arranged in the robotic arm through hole to press the fastening sleeve against the rotating arm shaft.

[0093] According to the present application, the fastening sleeve and the second set screw enable the rotating arm to be subject to a damping force and can be kept in a suitable position.

[0094] Optionally,

[0095] The side wall of the fastening sleeve includes a second contact portion for contacting the second set screw, and a gap is formed between the second contact portion and other parts of the side wall of the fastening sleeve, so that the second contact portion is movable relative to other parts of the side wall of the fastening sleeve; and / or

[0096] One end of the fastening sleeve along the axial direction is provided with a flange protruding radially outward, and the outer diameter of the flange is greater than the inner diameter of the receiving cavity.

[0097] According to the present application, the second contact portion is used to clamp the rotating arm shaft. The flange of the fastening sleeve facilitates the disassembly and assembly of the fastening sleeve.

[0098] Optionally,

[0099] The rotating arm includes a rotating arm body that extends in a straight line direction. Among them,

[0100] The rotating arm rotating shaft is arranged at the first end of the rotating arm body and extends perpendicular to the rotating arm body; and / or, the accommodating cavity is arranged at the second end of the rotating arm body, and the axis of the accommodating cavity is perpendicular to the rotating arm body.

[0101] According to the present application, the rotating arm has a compact structure. The rotating arm rotating shaft and the accommodating cavity are respectively arranged at both ends of the rotating arm body, and the length of the rotating arm body can be fully utilized.

[0102] Optionally,

[0103] The rotation axes of all the rotating arms are parallel to each other; or

[0104] The rotation axes of at least two of the rotating arms are not parallel.

[0105] According to the present application, the position of the end effector module can be adjusted flexibly.

[0106] Optionally, the rotation axes of all the rotating arms are parallel to each other, and the axis of the damping rotating shaft is substantially perpendicular to the rotation axes of the rotating arms.

[0107] According to the present application, the end effector module can adjust its position within a circular area and adjust its angle within a plane perpendicular to the circular area.

[0108] Optionally, the mounting seat assembly includes:

[0109] An adapter seat for fixing the position relative to the operating table. The adapter seat includes a second connecting portion for detachably connecting with the robotic arm assembly; and

[0110] A second locking member connected to the adapter seat and movable relative to the second connecting portion between a second locking position and a second releasing position along a second locking direction. Among them, when the second locking member is in the second locking position, the second locking member is used to contact the robotic arm assembly so that the robotic arm assembly is immovable relative to the second connecting portion. When the second locking member is in the second releasing position, the second locking member is used to disengage from the robotic arm assembly so that the robotic arm assembly is movable relative to the second connecting portion.

[0111] According to the present application, the robotic arm assembly is detachably connected to the mounting seat assembly.

[0112] Optionally,

[0113] The second connecting portion is configured as an installation cavity for accommodating the end of the robotic arm assembly;

[0114] The adapter further includes a second groove communicating with the installation cavity, and the second locking member is disposed in the second groove;

[0115] Wherein, when the second locking member is in the second locking position, the second locking member extends from the second groove into the installation cavity to contact the end of the robotic arm assembly, and when the second locking member is in the second release position, the second locking member moves out of the installation cavity to release contact with the end of the robotic arm assembly.

[0116] According to the present application, the disassembly and assembly method of the robotic arm assembly and the mounting seat assembly is simple.

[0117] Optionally, the mounting seat assembly further includes:

[0118] A second locking actuator disposed on the adapter, the second locking actuator being for user operation to move relative to the adapter between a second actuation position and a second release position, and when the second locking actuator is in the second actuation position, the second locking actuator moves the second locking member to the second locking position; and

[0119] A second spring disposed between the adapter and the second locking member and extending along the second locking direction, wherein when the second locking actuator moves to the second release position, the second locking member moves to the second release position under the action of the second spring.

[0120] According to the present application, the user can detachably connect the robotic arm assembly and the mounting seat assembly by operating the second locking actuator.

[0121] Optionally,

[0122] The adapter includes a second threaded hole provided with a second internal thread, the second threaded hole extending along the second locking direction and communicating with the second groove;

[0123] The second locking actuator and the installation cavity are respectively located on opposite sides of the second locking member along the second locking direction, and the second locking actuator includes a second external thread matching the second internal thread so that the second locking actuator can be screwed into the second threaded hole to contact the second locking member.

[0124] According to the present application, the operation method of the second locking actuator is simple.

[0125] Optionally,

[0126] The adapter includes a first base and a second base connected to the first base.

[0127] Wherein, the installation cavity, the second groove and the second spring are arranged on the first base, and the second threaded hole is arranged on the second base.

[0128] According to the present application, designing the adapter as a combination of multiple components can reduce the processing difficulty and assembly difficulty.

[0129] The third aspect of the present application provides a surgical robot, which includes a robotic arm according to any one of the technical solutions in the second aspect.

[0130] According to the present application, the surgical robot uses the robotic arm to support the end effector module. The position of the end effector module can be adjusted, and the angle of the end effector module can be adjusted and maintained. The end effector module can be quickly detached, and the robotic arm assembly can be quickly detached, making it more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0131] The following drawings of the present application are used as part of the present application to understand the present application. The drawings show representative embodiments of the present application, which are used to explain the principle of the present application rather than to limit the present application.

[0132] In the drawings:

[0133] Figure 1 is a three-dimensional schematic diagram of a robotic arm according to a specific embodiment of the present application;

[0134] Figure 2 is Figure 1 a three-dimensional schematic diagram of the robotic arm shown after installing the end effector module;

[0135] Figure 3 is Figure 1 a three-dimensional schematic diagram of the support arm and the rotary connection assembly shown;

[0136] Figure 4 is Figure 1 a three-dimensional schematic diagram of the rotary arm and the rotary connection assembly shown;

[0137] Figure 5 is Figure 1 a three-dimensional exploded schematic diagram of the installation component shown;

[0138] Figure 6 is Figure 1 a top view sectional schematic diagram of the mounting base assembly shown;

[0139] Figure 7 is Figure 1 a three-dimensional schematic diagram of the end connection device and the third rotary arm shown;

[0140] Figure 8 Schematic exploded perspective view of the locking assembly shown Figure 7

[0141] Figure 9 Schematic side sectional view of the locking assembly shown Figure 7

[0142] Figure 10 and Figure 11 Schematic exploded perspective view of the damping assembly shown Figure 7

[0143] Figure 12 Schematic side sectional view of the damping assembly shown Figure 7

[0144] Figure 13 Schematic perspective view of the damper shown Figure 12

[0145] Description of reference numerals:

[0146] 10: Mounting seat assembly

[0147] 11: Adapter seat

[0148] 11A: Second connecting portion

[0149] 11B: Second groove

[0150] 12: First seat

[0151] 13: Second locking member

[0152] 13A: Second main body portion

[0153] 13B: Second protruding portion

[0154] 14: Second spring

[0155] 15: Second seat

[0156] 16: Second locking actuator

[0157] 17: Second threaded hole

[0158] 18: Third seat

[0159] 19: Second spring groove

[0160] 20: Robot arm assembly

[0161] 21: Support arm

[0162] 21A: First end of the support arm

[0163] 21B: Second end of the support arm

[0164] ​​​​​22: Rotating arm

[0165] 22A: First rotating arm

[0166] 22B: Second rotating arm

[0167] 22C: Third rotating arm

[0168] 22E: First end of the rotating arm

[0169] 22F: Second end of the rotating arm

[0170] 23: Rotating arm body

[0171] 23A: First end of the rotating arm body

[0172] 23B: Second end of the rotating arm body

[0173] 24: Rotating arm rotating shaft

[0174] 25: Accommodating cavity

[0175] 28: Manipulator through hole

[0176] 30: Rotating connection assembly

[0177] 31: Fastening sleeve

[0178] 32: Flange

[0179] 33: Second contact part

[0180] 34: Second gap

[0181] 36: Second set screw

[0182] 50: Damping assembly

[0183] 51: Damping knob

[0184] 51A: First threaded hole

[0185] 51B: First groove

[0186] 52: Limit nut

[0187] 53: Second retaining piece

[0188] 54: Third spring

[0189] 55: First retaining piece

[0190] 56: First set screw

[0191] 57: Fixing part

[0192] 57A: First fixing part through hole

[0193] 57B: Second fixing part through hole

[0194] 57C: Blocking surface

[0195] 58: Damping member

[0196] 58A: First end of the damping member

[0197] 58B: Second end of the damping member

[0198] 58C: First cylindrical portion

[0199] 58D: First flange portion

[0200] 58E: First end of the first cylindrical portion

[0201] 58F: Second end of the first cylindrical portion

[0202] 58G: First contact portion

[0203] 58H: First gap

[0204] 59: Damping rotating shaft

[0205] 59A: First end portion of the damping rotating shaft

[0206] 59B: Second end portion of the damping rotating shaft

[0207] 60: Locking assembly

[0208] 61: Connecting member

[0209] 61A: First connecting portion

[0210] 61B: First groove

[0211] 61C: Shaft hole

[0212] 61D: First spring groove

[0213] 62: First spring

[0214] 63: First locking member

[0215] 63A: First main body portion

[0216] 63B: First protruding portion

[0217] 64: Positioning pin

[0218] 65: Gasket

[0219] 66: Pressing piece

[0220] 67: Pin post

[0221] 67A: Actuating member positioning portion

[0222] 68: Positioning shaft

[0223] 69: First locking actuator

[0224] 69A: Handle

[0225] 69B: Actuator hole

[0226] 100: Robot arm

[0227] 110: End connection device

[0228] 120: End effector module

[0229] AX: Axis of the damping rotating shaft

[0230] AX1: First axis

[0231] AX2: Second axis

[0232] AX3: Third axis

[0233] D1: First direction

[0234] DB1: First locking direction

[0235] DB2: Second locking direction Detailed implementation manners

[0236] In the following description, numerous specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other instances, some well-known technical features are not described to avoid confusion with the present application.

[0237] To thoroughly understand the present application, a detailed description will be presented in the following. It should be understood that these implementation manners are provided to make the disclosure of the present application thorough and complete, and to fully convey the concept of these exemplary implementation manners to those of ordinary skill in the art. Obviously, the implementation of the present application is not limited to the specific details familiar to those skilled in the art. The preferred implementation manners of the present application are described in detail below. However, in addition to these detailed descriptions, the present application can also have other implementation manners.

[0238] The ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. The use of the words "first", "second", and "third" does not represent any order, and these words can be interpreted as names.

[0239] It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used in this application are for illustrative purposes only and are not restrictive.

[0240] In this document, "equal", "same", etc. are not strict mathematical and / or geometric restrictions, and also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use, etc.

[0241] Unless otherwise specified, the numerical ranges in this document include not only the entire range within its two endpoints, but also several sub-ranges included therein.

[0242] This application provides an end connection device for connecting an end effector module that performs surgical functions to the end of a robotic arm assembly of a surgical robot, a robotic arm having the end connection device, and a surgical robot having the robotic arm.

[0243] Now, exemplary embodiments according to this application will be described in more detail with reference to the accompanying drawings.

[0244] As Figure 1 and Figure 2 shown, in a specific embodiment according to this application, the robotic arm 100 includes a mounting base assembly, a robotic arm assembly 20, and an end connection device 110. Among them, the mounting base assembly 10 is used to be fixedly positioned relative to the operating table, for example, fixedly installed beside the operating table. The robotic arm assembly 20 is detachably connected to the mounting base assembly 10 and is movable relative to the mounting base assembly 10. The end connection device 110 is connected to the robotic arm assembly 20 and is used to detachably mount the end effector module 120, thereby mounting the end effector module 120 to the robotic arm 100. For example, one end of the robotic arm assembly 20 is detachably connected to the mounting base assembly 10, and the other end is provided with the end connection device 110. Since the robotic arm assembly 20 is movable relative to the mounting base assembly 10, the end effector module 120 is movable relative to the mounting base assembly 10, that is, the position can be adjusted relative to the operating table.

[0245] The term "detachable" or "detachably" used herein encompasses a configuration in which one element can be repeatedly detached from another element and attached to the other element without substantial damage.

[0246] The robotic arm assembly 20 will be introduced first below.

[0247] Specifically, the robotic arm assembly 20 includes a support arm 21 and at least one rotating arm 22. The support arm 21 is preferably configured as a straight rod shape, with its two ends being the first end 21A of the support arm and the second end 21B of the support arm respectively. The first end 21A of the support arm is detachably connected to the mounting seat assembly 10, and the second end 21B of the support arm is used to connect the rotating arm 22. The rotating arms 22 are connected in sequence, and two adjacent rotating arms 22 can rotate relative to each other. Among them, the first rotating arm (such as the first rotating arm 22A) is connected to the second end 21B of the support arm and is rotatable relative to the support arm 21, and the last rotating arm (such as the third rotating arm 22C) is connected to the end connection device 110. The rotation axes of all the rotating arms 22 can be parallel to each other; or, at least two of the rotation axes of the rotating arms 22 can be non-parallel; or, the rotation axes of all the rotating arms 22 are not parallel to each other. Moreover, the present application does not specifically limit the number of the rotating arms 22.

[0248] In the illustrated embodiment, the robotic arm assembly 20 includes three rotating arms 22, namely the first rotating arm 22A, the second rotating arm 22B, and the third rotating arm 22C. The two ends of each rotating arm 22 are respectively the first end 22E of the rotating arm and the second end 22F of the rotating arm. The first end 22E of the first rotating arm 22A is connected to the second end 21B of the support arm, and the second end 22F of the first rotating arm 22A is connected to the first end 22E of the second rotating arm 22B. The second end 22F of the second rotating arm 22B is connected to the first end 22E of the third rotating arm 22C. The second end 22F of the third rotating arm 22C is connected to the end connection device 110. The first rotating arm 22A is rotatable relative to the support arm 21 about the first axis AX1. The second rotating arm 22B is rotatable relative to the rotating arm 22A about the second axis AX2. The third rotating arm 22C is rotatable relative to the rotating arm 22B about the third axis AX3.

[0249] As Figure 3 and Figure 4As shown, a rotating arm rotating shaft 24 is provided at a first end 22E of the rotating arm 22. A receiving cavity 25 is provided at a second end 21B of the support arm and a second end 22F of the rotating arm 22 that is not the last rotating arm 22C for receiving the rotating arm rotating shaft 24. That is, the receiving cavity 25 of the support arm 21 receives the rotating arm rotating shaft 24 of the first rotating arm 22A, the receiving cavity 25 of the first rotating arm 22A receives the rotating arm rotating shaft 24 of the second rotating arm 22B, and the receiving cavity 25 of the second rotating arm 22B receives the rotating arm rotating shaft 24 of the third rotating arm 22C. Since no rotating arm is connected after the third rotating arm 22C, the receiving cavity 25 may not be provided. The rotating arm rotating shaft 24 is rotatable in the receiving cavity 25, so that the second end 22F of the last rotating arm 22C can adjust its position. It can be understood that the axis of each rotating arm rotating shaft 24 is also the rotation axis of the corresponding rotating arm 22.

[0250] Preferably, the rotating arm 22 includes a rotating arm body 23. The rotating arm body 23 extends generally in a straight line direction, for example, is generally configured as a straight rod shape, and its two ends are a first end 23A of the rotating arm body and a second end 23B of the rotating arm body respectively. Among them, the rotating arm rotating shaft 24 is provided at the first end 23A of the rotating arm body (the first end 23A of the rotating arm body corresponds to the first end 22E of the rotating arm) and extends perpendicular to the rotating arm body 23. The receiving cavity 25 is provided at the second end 23B of the rotating arm body (the second end 23B of the rotating arm body corresponds to the second end 22F of the rotating arm), and the axis of the receiving cavity 25 is perpendicular to the rotating arm body 23. For example, the axis of the rotating arm rotating shaft 24 is parallel to the axis of the receiving cavity 25. Thus, in the illustrated embodiment, the first axis AX1, the second axis AX2, and the third axis AX3 are parallel to each other. The first axis AX1 is parallel to the extending direction of the support arm 21, and the extending direction of each rotating arm 22 is generally perpendicular to the extending direction of the support arm 21. Thus, the end effector module 120 can be positioned at any position within a circular area centered on the first axis AX1 and with the sum of the lengths of the three rotating arms 22 as the radius.

[0251] In order to enable the second end 22F of the third rotating arm 22C (i.e., the end effector module 120) to be stably maintained at a suitable position, the robotic arm 100 further includes at least one rotating connection component 30. The rotating connection component 30 is correspondingly arranged with the accommodation cavity 25 and is used to connect the accommodation cavity 25 and the corresponding rotating arm rotating shaft 24. Specifically, the second end 21B of the support arm and the second end 22F of the rotating arm other than the last rotating arm 22C are provided with robotic arm through holes 28, and the robotic arm through holes 28 communicate with the accommodation cavity 25. Each rotating connection component 30 includes a fastening sleeve 31 and a second set screw 36. The fastening sleeve 31 is used to be arranged in the accommodation cavity 25. The internal space of the fastening sleeve 31 is configured in a cylindrical shape and is used to accommodate the rotating arm rotating shaft 24, that is, the fastening sleeve 31 is located between the rotating arm rotating shaft 24 and the cavity wall of the accommodation cavity 25. The second set screw 36 is used to be arranged in the robotic arm through hole 28 to tightly press the fastening sleeve 31 against the rotating arm rotating shaft 24. The fastening sleeve 31 is made of materials such as plastic, resin, nylon, acetal (polyoxymethylene), etc. Thus, when the rotating arm rotating shaft 24 rotates, the fastening sleeve 31 can provide a damping force (frictional force). When the rotating arm rotating shaft 24 rotates to a suitable angle, tightening the set screw 36 can keep the rotating arm rotating shaft 24 at a suitable rotation angle, that is, enable the end effector module 120 to be maintained at a suitable position. The fastening sleeve 31 increases the contact area with the rotating arm rotating shaft 24 and can more easily clamp the rotating arm rotating shaft 24.

[0252] It can be understood that the side wall of the fastening sleeve 31 includes a second contact portion 33 for contacting the second set screw 36. Preferably, a second gap 34 is formed between the second contact portion 33 and other parts of the side wall of the fastening sleeve 31, so that the second contact portion 33 is movable relative to other parts of the side wall of the fastening sleeve 31, and thus the second contact portion 33 can clamp the rotating arm rotating shaft 24.

[0253] Preferably, one end of the fastening sleeve 31 along the axial direction is provided with a flange 32 protruding radially outward. The outer diameter of the flange 32 is greater than the inner diameter of the accommodation cavity 25. Thus, the flange 32 overlaps at the opening of the accommodation cavity 25, that is, is located outside the accommodation cavity 25, which is convenient for taking and placing the fastening sleeve 31 and for aligning the second contact portion 33 with the robotic arm through hole 28. At the same time, the fastening sleeve 31 can be installed in the accommodation cavity 25 by using the flange 32. For example, the flange 32 can be fixed to the part of the rotating arm 22 around the opening of the accommodation cavity 25 through bolts, so as to connect the fastening sleeve 31 with the accommodation cavity 25.

[0254] During use, the user can tighten each second set screw 36 after adjusting the end effector module 120 in place, or can rotate the rotating arm 22 with each second set screw 36 in a pre-tightened state, that is, enable the rotating arm 22 to rotate under a preset damping force, so that the rotating arm 22 can be kept at an instant stop position at any time during the position adjustment process.

[0255] The following introduces the mounting base assembly 10.

[0256] As Figure 5 and Figure 6 shown, the mounting base assembly 10 includes, for example, an adapter base 11 and a second locking member 13. The adapter base 11 is used to be fixed relative to the operating table, for example, fixed beside the operating table. The adapter base 11 includes a second connecting portion 11A for detachably connecting with the robotic arm assembly 20 (specifically, the first end 21A of the support arm). The second locking member 13 is connected to the adapter base 11 and is movable relative to the second connecting portion 11A between a second locking position and a second releasing position along a second locking direction DB2. Wherein, when the second locking member 13 is in the second locking position, the second locking member 13 is used to contact the robotic arm assembly 20 (specifically, the first end 21A of the support arm) so that the robotic arm assembly 20 is immovable relative to the second connecting portion 11A, that is, the robotic arm assembly 20 is firmly mounted to the mounting base assembly 10; when the second locking member 13 is in the second releasing position, the second locking member 13 is used to disengage from the robotic arm assembly 20 (specifically, the first end 21A of the support arm) so that the robotic arm assembly 20 is movable relative to the second connecting portion 11A, that is, the robotic arm assembly 20 can be removed from the mounting base assembly 10.

[0257] Specifically, the second connecting portion 11A is, for example, configured as a mounting cavity 11A for accommodating the end portion of the robotic arm assembly 20 (specifically, the first end 21A of the support arm). The adapter base 11 further includes a second groove 11B communicating with the mounting cavity 11A. The second locking member 13 is disposed in the second groove 11B and is movable in the second groove 11B along the second locking direction DB2. Wherein, when the second locking member 13 is in the second locking position, the second locking member 13 extends from the second groove 11B into the mounting cavity 11A (as Figure 6 shown) to contact the end portion of the robotic arm assembly 20, thereby pressing the end portion of the robotic arm assembly 20 tightly in the mounting cavity 11A; when the second locking member 13 is in the second releasing position, the second locking member 13 moves out of the mounting cavity 11A to disengage from the end portion of the robotic arm assembly 20, so that the end portion of the robotic arm assembly 20 is movable relative to the mounting cavity 11A.

[0258] Preferably, the mounting base assembly 10 further includes a second locking actuator 16 and a second spring 14. The second locking actuator 16 is disposed on the adapter base 11 and is movable relative to the adapter base 11. The second locking actuator 16 is used for a user to operate to move relative to the adapter base 11 between a second actuation position and a second release position. Wherein, when the second locking actuator 16 is in the second actuation position, the second locking actuator causes the second locking member 13 to move to the second locking position (as Figure 6as shown). The second spring 14 is disposed between the adapter base 11 and the second locking member 13 and extends along the second locking direction DB2. Wherein, when the second locking actuator 16 moves to the second release position, the second locking member 13 moves to the second release position under the action of the second spring 14.

[0259] For example, the adapter base 11 is provided with a second spring groove 19, which is located on the side of the second locking member 13 facing the installation cavity 11A, and its opening faces the second locking member 13. The second spring 14 is installed in the second spring groove 19. When the second locking member 13 is in the second locking position, the second spring 14 is compressed and stores energy, so that the second spring 14 applies a biasing force to the second locking member 13 to make it return to the second release position. Of course, the second spring groove 19 can also be provided on the side of the second locking member 13 facing away from the installation cavity 11A. When the second locking member 13 is in the second locking position, the second spring 14 is stretched and stores energy, and can also apply a biasing force to the second locking member 13 to make it return to the second release position. Of course, the second spring 14 can also be replaced by other biasing members that can play the same role, such as other elastic members, magnetic members (for example, the second locking member 13 includes ferromagnetic materials), etc.

[0260] For example, the second locking member 13 includes a second main body portion 13A and a second protruding portion 13B, and the second protruding portion 13B protrudes from the second main body portion 13A. The second main body portion 13A is used to act on the end of the robotic arm assembly 20. The second protruding portion 13B is used to act on the second locking actuator 16 and the second spring 14.

[0261] Preferably, the second locking actuator 16 and the installation cavity 11A are respectively located on opposite sides of the second locking member 13 along the second locking direction DB2. The adapter base 11 includes a second threaded hole 17 provided with a second internal thread, and the second threaded hole 17 extends along the second locking direction DB2 and communicates with the second groove 11B. The second locking actuator 16 includes a second external thread that matches the second internal thread, so that the second locking actuator 16 can be screwed into the second threaded hole 17, so as to be in contact with the second locking member 13. When the second locking actuator 16 is continuously screwed into the second threaded hole 17, the distance between the second locking actuator 16 and the second locking member 13 becomes closer and closer until it contacts the second locking member 13 and pushes it into the installation cavity 11A, and at the same time stores energy in the second spring 14. When the second locking actuator 16 is screwed out of the second threaded hole 17, the second spring 14 releases energy and drives the second locking member 13 to move out of the installation cavity 11A.

[0262] In the illustrated embodiment, for the convenience of machining and installation, the adapter base 11 is composed of a first base 12, a second base 15, and a third base 18. The third base 18 is used to be fixed relative to the operating table, for example, it can be fixed beside the operating table by bolts. The first base 12 is installed to the third base 18 by bolts, for example. The second base 15 is installed to the first base 12 by bolts, for example. Among them, the installation cavity 11A, the second groove 11B, and the second spring 14 (i.e., the second spring groove 19) are provided in the first base 12, and the second threaded hole 17 is provided in the second base 15.

[0263] Thus, the user inserts the first end 21A of the support arm into the installation cavity 11A, and then tightens the second locking actuator 16, so that the robotic arm assembly 20 can be firmly installed to the mounting seat assembly 10. When the user loosens the second locking actuator 16, the robotic arm assembly 20 can be removed.

[0264] The following introduces the end connection device according to the present application.

[0265] As Figure 1 、 Figure 2 and Figure 7 shown, in a specific embodiment, the end connection device 110 includes a locking assembly 60 and a damping assembly 50. The locking assembly 60 is used to be detachably connected to the end effector module 120. The damping assembly 50 is connected to the locking assembly 60 and is also used to be connected to the robotic arm assembly 20, for example, connecting the second end 22F of the last rotating arm 22C. Among them, the locking assembly 60 is rotatable relative to the damping assembly 50 around the rotation axis AX, so that the angle of the end effector module 120 can be adjusted. Among them, the damping assembly 50 is used to apply a damping force to the locking assembly 60, so that the locking assembly 60 can be maintained at an appropriate rotation angle. Preferably, the rotation axis AX is substantially perpendicular to the third axis AX3 of the third rotating arm 22C. For example, the rotation axis AX extends substantially in the horizontal direction, and the third axis AX3 extends substantially in the vertical direction.

[0266] The following first introduces the locking assembly 60.

[0267] Specifically, as Figures 7 to 9As shown, the locking assembly 60 includes a connecting member 61 and a first locking member 63. The connecting member 61 is used to connect to the damping assembly 50 and the end effector module 120. The connecting member 61 includes a first connecting portion 61A for detachably connecting to the end effector module 120. The first locking member 63 is connected to the connecting member 61 and is movable relative to the first connecting portion 61A between a first locking position and a first release position along a first locking direction DB1. Wherein, when the first locking member 63 is in the first locking position, the first locking member 63 is used to contact the end effector module 120 so that the end effector module 120 is immovable relative to the first connecting portion 61A, that is, the end effector module 120 is firmly mounted to the connecting member 61; when the first locking member 63 is in the first release position, the first locking member 63 is used to disengage from the end effector module 120 so that the end effector module 120 is movable relative to the first connecting portion 61A, that is, the end effector module 120 can be removed from the connecting member 61.

[0268] Preferably, the first connecting portion 61A is configured as a connecting groove 61A for receiving the end effector module 120. For example, the end effector module 120 is provided with a module connecting portion adapted to the connecting groove 61A for detachably connecting to the connecting groove 61A. The connecting member 61 further includes a first groove 61B communicating with the connecting groove 61A, and the first locking member 63 is disposed in the first groove 61B and is movable in the first groove 61B along the first locking direction DB1. Wherein, when the first locking member 63 is in the first locking position, the first locking member 63 extends from the first groove 61B into the connecting groove 61A (as Figure 9 shown) to contact the end effector module 120, thereby pressing the end effector module 120 tightly in the connecting groove 61A; when the first locking member 63 is in the first release position, the first locking member 63 moves out of the connecting groove 61A to disengage from the end effector module 120, so that the end effector module 120 is movable relative to the connecting groove 61A.

[0269] Preferably, the locking assembly 60 further includes a first locking actuator 69 and a first spring 62. The first locking actuator 69 is disposed on the connecting member 61 and is movable relative to the connecting member 61. The first locking actuator 69 is for user operation to move relative to the connecting member 61 between a first actuation position and a first release position. When the first locking actuator 61 is in the first actuation position, the first locking actuator 61 moves the first locking member 63 to the first locking position (as Figure 9 shown). The first spring 62 is disposed between the connecting member 61 and the first locking member 63 and extends along the first locking direction DB1. Wherein, when the first locking actuator 69 moves to the first release position, the first locking member 63 moves to the first release position under the action of the first spring 62.

[0270] For example, the connecting member 61 is provided with a first spring groove 61D, which is located on the side of the first locking member 63 facing the connecting groove 61A, and its opening faces the first locking member 63. The first spring 62 is installed in the first spring groove 61D. When the first locking member 63 is in the first locking position, the first spring 62 is compressed to store energy, so that the first spring 62 applies a biasing force to the first locking member 63 to return it to the first release position. Of course, the first spring 62 can also be replaced by other biasing members that can play the same role, such as other elastic members, magnetic members (for example, the first locking member 63 includes ferromagnetic materials), etc.

[0271] For example, the first locking member 63 includes a first main body portion 63A and a first protruding portion 63B, and the first protruding portion 63B protrudes from the first main body portion 63A. The first main body portion 63A is used to act on the end effector module 120. The first protruding portion 63B is used to act on the first locking actuator 69 and the first spring 62.

[0272] Preferably, the first locking actuator 69 is configured as a cam 69. The cam 69 and the connecting groove 61A are respectively located on opposite sides of the first locking member 63 along the first locking direction DB1. The cam 69 is arranged on the connecting member 61 and is rotatable relative to the connecting member 61. The rotation axis of the cam 69 is perpendicular to the first locking direction DB1, so that the outer peripheral surface of the cam 69 faces the first locking member 63. Different positions on the outer peripheral surface of the cam 69 have different radii. When the outer peripheral surface of the cam 69 with the maximum radius faces the first locking member 63 (as Figure 9 shown), the cam 69 is in the first actuation position; when the outer peripheral surface of the cam 69 with the minimum radius faces the first locking member 63, the cam 69 is in the first release position.

[0273] For example, the cam 69 rotates around the positioning shaft 68. The positioning shaft 68 is installed in the first groove 61B, so that at least part of the cam 69 is located in the first groove 61B, so that the outer peripheral surface of the cam 69 can act on the first locking member 63. For example, a shaft hole 61C is formed in the groove wall of the first groove 61B, and the positioning shaft 68 is installed in the shaft hole 61C.

[0274] Preferably, the cam 69 is provided with a handle 69A for the user to operate to rotate the cam 69.

[0275] Preferably, the locking assembly 60 further includes a gasket 65 disposed between the first locking member 63 and the first locking actuator 69. The gasket 65 is made of an elastic material, which can extend the service life of the locking assembly 60. In the illustrated embodiment, a pressing piece 66 is further disposed between the gasket 65 and the cam 69, and the gasket 65 is clamped between the pressing piece 66 and the first locking member 63. Thus, the first locking actuator 69 pushes the pressing piece 66 to squeeze the gasket 65, and then the gasket 65 pushes the first locking member 63 to move. The pressing piece 66 and the first locking member 63 are connected by a positioning pin 64. One end of the positioning pin 64 is fixed to the pressing piece 66, and the other end is movably connected to the first locking member 63. The gasket 65 can be sleeved on the positioning pin 64. When the first locking actuator 69 contacts and pushes the pressing piece 66 along the first locking direction DB1, the other end of the positioning pin 64 moves relative to the first locking member 63 along the first locking direction DB1, causing the pressing piece 66 to approach the first locking member 63 along the first locking direction DB1, the gasket 65 is squeezed, and at the same time, it also pushes the first locking member 63 towards the first locking position.

[0276] Preferably, the first locking actuator 69 is provided with an actuator positioning portion 67A, and the connecting member 61 includes a connecting member positioning portion (not shown). When the first locking actuator 69 is in the first actuating position, the actuator positioning portion 67A acts on the connecting member positioning portion to keep the first locking actuator 69 relative to the connecting member 61 in the first actuating position; when the first locking actuator 69 is in the first releasing position, the actuator positioning portion 67A is disengaged from the connecting member positioning portion, so that the first locking actuator 69 cannot be kept relative to the connecting member 61 in the first actuating position. For example, one of the actuator positioning portion 67A and the connecting member positioning portion is configured as a ball, and the other of the actuator positioning portion 67A and the connecting member positioning portion is configured as a hole or groove for receiving the ball.

[0277] For example, the first locking actuator 69 is provided with an actuator hole 69B extending perpendicular to the first locking direction DB1 for receiving the pin 67. The ball 67A is disposed at the end of the pin 67 to be exposed from the actuator hole 69B. The groove wall of the first groove 61B is configured with a hole or groove for receiving the ball 67A. When the first locking actuator 69 moves toward the first actuation position, the ball 67A is pressed and rotated by the groove wall of the first groove 61B, so that when the first locking actuator 69 is in the first actuation position, the ball 67A snaps into the connector positioning portion. Thus, the first locking actuator 69 is latched with the groove wall of the first groove 61B, and the first locking actuator 69 can be held in the first actuation position relative to the first groove 61B. When the user operates the first locking actuator 69 to move from the first actuation position toward the first release position, the ball 67A is also pressed and rotated by the groove wall of the first groove 61B, so that it can roll out of the connector positioning portion, enabling the first locking actuator 69 to be unlocked from the connector 61. It can be understood that the size of the first groove 61B matches the size of the first locking actuator 69. Specifically, their sizes in the direction perpendicular to the first locking direction DB1 match, so that the groove wall of the first groove 61B can contact the ball 67A.

[0278] The damping assembly 50 is described below.

[0279] As Figure 7 and Figures 10 to 13 shown, the damping assembly 50 includes a fixing member 57, a damping member 58, and a damping rotating shaft 59. The fixing member 57 is used to connect to the robotic arm assembly 20 (specifically, the second end 22F of the rotating arm of the third rotating arm 22C), for example, by bolt connection. The damping member 58 is disposed on the fixing member 57. The damping member 58 has a first end 58A and a second end 58B of the damping member disposed oppositely along the first direction D1. The damping rotating shaft 59 extends along the first direction D1. One end of the damping rotating shaft 59 close to the first end 58A of the damping member is connected to the locking assembly 60 (specifically, the connector 61, for example, by bolt connection). Among them, the end connection device 110 is configured such that the damping rotating shaft 59 can rotate about its own axis AX and can move relative to the damping member 58 along the first direction D1 so that the locking assembly 60 contacts the first end 58A of the damping member.

[0280] Therefore, the axis AX of the damping rotating shaft extends along the first direction D1, and the first direction D1 is also the axial direction of the damping rotating shaft 59. When the damping rotating shaft 59 rotates about its own axis AX, the connecting member 61 also rotates about the rotation axis AX, so that the angle of the end effector module 120 can be adjusted. When the damping rotating shaft 59 moves along the first direction D1 relative to the damper 58 towards the second end 58B of the damper, the connecting member 61 contacts the first end 58A of the damper, so that the damper 58 applies a damping force (frictional force) to the connecting member 61, enabling the connecting member 61 to maintain an appropriate angle. The damper 58 is made of materials such as plastic, resin, nylon, acetal, etc.

[0281] Preferably, the first end 58A of the damper protrudes along the first direction D1 from the fixing member 57, so that it can conveniently contact the connecting member 61.

[0282] For example, the fixing member 57 includes a first fixing member through hole 57A extending along the first direction D1. The damper 58 includes a first cylindrical portion 58C, and the first cylindrical portion 58C is configured as a cylindrical sleeve extending along the first direction D1, for example. The first cylindrical portion 58C has a first end 58E and a second end 58F of the first cylindrical portion arranged oppositely along the first direction D1. Among them, the first end 58E of the first cylindrical portion corresponds to the first end 58A of the damper, and the second end 58F of the first cylindrical portion corresponds to the second end 58B of the damper. The first cylindrical portion 58C is disposed in the first fixing member through hole 57A, and the first end 58E of the first cylindrical portion protrudes along the first direction D1 from the first fixing member through hole 57A. The damping rotating shaft 59 is disposed inside the sleeve of the first cylindrical portion 58C.

[0283] The damping rotating shaft 59 includes a first end portion 59A and a second end portion 59B of the damping rotating shaft arranged oppositely along the first direction D1. For example, the first end portion 59A and the second end portion 59B of the damping rotating shaft are coaxially connected, and the diameter of the first end portion 59A of the damping rotating shaft is larger than the diameter of the second end portion 59B of the damping rotating shaft. Among them, the first end portion 59A of the damping rotating shaft is closer to the first end 58E of the first cylindrical portion than the second end portion 59B of the damping rotating shaft. The first end portion 59A of the damping rotating shaft is connected to the connecting member 61 of the locking assembly 60. The second end portion 59B of the damping rotating shaft is provided with a first external thread.

[0284] The fixing member 57 further includes a blocking surface 57C and a damping knob 51. The blocking surface 57C is located radially outside the damping rotation shaft 59 and faces the second end portion 59B of the damping rotation shaft. For example, the blocking surface 57C is formed in the first fixing member through hole 57A and is an annular surface on the side wall of the first fixing member through hole 57A. The damping knob 51 includes a first threaded hole 51A provided with a first internal thread, and the first internal thread is arranged to match the first external thread of the second end portion 59B of the damping rotation shaft, so that the damping knob 51 is threadedly connected to the second end portion 59B of the damping rotation shaft. Wherein, one side of the damping knob 51 facing the first end portion 59A of the damping rotation shaft is used for attachment to the blocking surface 57C. Preferably, the distance between the blocking surface 57C and the second end portion 59B of the damping rotation shaft is not greater than the distance between the damping member 58 and the second end portion 59B of the damping rotation shaft.

[0285] When the damping knob 51 is screwed into the damping rotation shaft 59, since the damping rotation shaft 59 is connected with a locking assembly 60 and an end effector module 120 and is in a load-bearing state, the rotational force of the damping knob 51 is not sufficient to drive the damping rotation shaft 59 to rotate, so that the damping knob 51 moves axially along D1 from the second end portion 59B of the damping rotation shaft towards the first end portion 59A of the damping rotation shaft. At this time, the damping knob 51 moves axially along D1 relative to the fixing member 57. When the damping knob 51 moves to the position attached to the blocking surface 57C, blocked by the blocking surface 57C, the damping knob 51 can no longer move axially along D1 relative to the fixing member 57. Continuing to screw the damping knob 51, the damping rotation shaft 59 moves axially along D1 relative to the fixing member 57 towards the second end portion 59B of the damping rotation shaft, driving the connecting member 61 to approach the damping member 58 axially along D1. The closer the connecting member 61 is to the damping member 58, the greater the damping force.

[0286] Preferably, the damping assembly 50 further includes a third spring 54. The third spring 54 is arranged between the damping knob 51 and the blocking surface 57C. The direction of the elastic force of the third spring 54 is the first direction D1. Both sides of the third spring 54 along the first direction D1 are respectively used for attachment to the blocking surface 57C and the damping knob 51. The third spring 54 is configured as a disc spring, for example, and its inner diameter is smaller than the diameter of the first end portion 59A of the damping rotation shaft, and the third spring 54 is sleeved on the outer periphery of the second end portion 59B of the damping rotation shaft. The damping member 58 is located on the side of the third spring 54 facing the first end portion 59A of the damping rotation shaft.

[0287] When the damping knob 51 is tightened, the third spring 54 is gradually compressed, so that the damping force gradually increases, enabling the damping force to be adjusted within a certain range. For example, it can be adjusted according to the weight of the end effector module 120. When the damping knob 51 is loosened, the third spring 54 gradually releases, and the damping force gradually decreases. After the third spring 54 is completely released, the damping rotating shaft 59 will no longer bear the force along the axial direction D1, causing the squeezing force between the connecting member 61 and the damping member 58 to disappear, that is, the damping force disappears.

[0288] Preferably, the damping assembly 50 further includes a first retaining piece 55 and a second retaining piece 53. The first retaining piece 55 is disposed between the third spring 54 and the first end portion 59A of the damping rotating shaft. One side of the first retaining piece 55 facing the first end portion 59A of the damping rotating shaft is used to contact the blocking surface 57C. It can be understood that the damping member 58 is located on the side of the first retaining piece 55 facing the first end portion 59A of the damping rotating shaft. The second retaining piece 53 is disposed between the third spring 54 and the damping knob 51 and is used to contact the damping knob 51. The first retaining piece 55 and the second retaining piece 53 are, for example, configured as retaining rings and are sleeved on the second end portion 59B of the damping rotating shaft, and the two sandwich the third spring 54 in the middle. Both the first retaining piece 55 and the second retaining piece 53 are axially movable relative to the damping rotating shaft 59 along the axial direction D1. The damping knob 51 is attached (abutted) to the blocking surface 57C through contacting the second retaining piece 53, then through the third spring 54 and the first retaining piece 55.

[0289] One side of the first retaining piece 55 facing the first end portion 59A of the damping rotating shaft is also used to contact the first end portion 59A of the damping rotating shaft. For example, the inner diameter of the first retaining piece 55 is smaller than the outer diameter of the first end portion 59A of the damping rotating shaft. Under the rotational action of the damping knob 51, when the first retaining piece 55 abuts against the blocking surface 57C, the damping rotating shaft 59 moves along the axial direction D1, causing the first end portion 59A of the damping rotating shaft to approach the first retaining piece 55 along the axial direction D1. When the first end portion 59A of the damping rotating shaft contacts the first retaining piece 55, the damping rotating shaft 59 can no longer move along the axial direction D1. At this time, the user feels that the damping knob 51 has been rotated to the limit position, and the operation can be ended. This limit design is also beneficial to protecting the end connection device 110. For example, it prevents the damping knob 51 from being overly screwed to damage the thread and prevents the damping member 58 from being damaged due to excessive compression.

[0290] Preferably, the damping assembly 50 further includes a limit nut 52, which is arranged to match the first external thread of the second end portion 59B of the damping rotating shaft, so that the limit nut 52 is threadedly connected to the second end portion 59B of the damping rotating shaft. The limit nut 52 is located between the second retaining piece 53 and the damping knob 51. The limit nut 52 can be screwed to a position where the first retaining piece 55 contacts the blocking surface 57C, so that the end connecting device 110 has an initial damping force. Thus, the limit nut 52 can ensure that the end connecting device 110 can still provide damping force when the damping knob 51 accidentally falls off, so that the end effector module 120 will not suddenly change its position, ensuring the safety of the surgical process.

[0291] For example, a first groove 51B is provided on one side of the damping knob 51 facing the first end portion 59A of the damping rotating shaft. The first groove 51B communicates with the first threaded hole 51A, and the first groove 51B is used to accommodate the limit nut 52. Thus, the damping knob 51 can move to a position closer to the first end portion 59A of the damping rotating shaft than the limit nut 52, that is, the damping force can be further increased. The limit nut 52 is accommodated in the first groove 51B, which also makes the limit nut 52 not easily touched, so that its position can be kept stable.

[0292] It can be understood that when the first retaining piece 55 contacts the blocking surface 57C, the limit nut 52 contacts the second retaining piece 53. In order to prevent the limit nut 52 from slipping off, the end connecting device 110 is configured such that the second retaining piece 53 is non-rotatable relative to the second end portion 59B of the damping rotating shaft, so that the second retaining piece 53 does not apply a rotational force to the limit nut. For example, the cross-section of the second end portion 59B of the damping rotating shaft can be designed to be non-circular, and the second retaining piece 53 has a through hole matching the shape of the cross-section of the second end portion 59B of the damping rotating shaft. Then, when the second retaining piece 53 is sleeved on the second end portion 59B of the damping rotating shaft, the two cannot rotate relative to each other.

[0293] Preferably, the fixing member 57 is further provided with a second fixing member through hole 57B, which communicates with the first fixing member through hole 57A. The damping assembly 50 further includes a first set screw 56, which is arranged in the second fixing member through hole 57B and is used to tighten the damping member 58 against the damping rotating shaft 59. This increases the resistance to the rotation of the damping rotating shaft 59 relative to the damping member 58, and thus also applies damping to the rotation of the end effector module 120, so that the end effector module 120 can maintain its angle.

[0294] It can be understood that the damping member 58 (specifically, the first cylindrical portion 58C) includes a first contact portion 58G for contacting the first set screw 56. A first gap 58H is formed between the first contact portion 58G and other parts of the damping member 58 (specifically, the first cylindrical portion 58C) so that the first contact portion 58G is movable relative to other parts of the damping member 58, whereby the first contact portion 58G can clamp the damping rotating shaft 59.

[0295] Preferably, the damping member 58 further includes a first flange portion 58D. The first flange portion 58D is provided at the first end 58E of the first cylindrical portion and extends radially outward from the outer periphery of the first end 58E of the first cylindrical portion. The first flange portion 58D protrudes in the first direction from the through hole 57A of the first fixing member. The first flange portion 58D can overlap at the opening of the through hole 57A of the first fixing member. The first flange portion 58D is connected to a portion of the fixing member 57 located around the opening of the through hole 57A of the first fixing member by bolts, for example, so that the damping member 58 and the fixing member 57 are relatively fixed. The first flange portion 58D facilitates the disassembly and assembly operations of the damping member 58. The first flange portion 58D also enables the damping member 58 to have a larger contact area with the connecting member 61.

[0296] Preferably, the damping member 58 and the aforementioned fastening sleeve 31 can be constructed as the same component, thereby reducing the development cost.

[0297] During use, after the user inserts the module connecting portion of the end effector module 120 into the connecting groove 61A, the user rotates the cam 69 to clamp the module connecting portion. Then, the user manually rotates the end effector module 120 around the axis AX to an appropriate angle. Next, the first set screw 56 and the damping knob 51 are tightened to hold the end effector module 120 at this appropriate angle. Of course, it is also possible to make the first set screw 56 and the damping knob 51 provide a certain damping force first, so that the end effector module 120 can hover at any time during the process of adjusting the angle.

[0298] In all the above preferred embodiments, the processes and steps described are only examples. Unless adverse effects occur, various processing operations can be performed in an order different from the order of the above processes. The order of the steps of the above processes can also be increased, combined or deleted according to actual needs.

[0299] When understanding the scope of the present application, as used herein, the term "comprising" and its derivatives are intended to be open-ended terms that specify the presence of the recited features, elements, components, groups, wholes, and / or steps, but do not exclude the presence of other unrecited features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "including", "having" and their derivatives.

[0300] As used herein, the terms "attached" or "attachment" include: a configuration in which an element is directly fixed to another element by directly fixing the element to the other element; a configuration in which an element is indirectly fixed to another element by fixing the element to an intermediate member, and the intermediate member is in turn fixed to the other element; and a configuration in which one element is integral with another element, i.e., one element is substantially a part of the other element. This definition also applies to words having similar meanings, such as "connected", "coupled", "joined", "mounted", "adhered", "fixed" and their derivatives. Finally, degree terms such as "substantially", "about" and "approximately" as used herein represent the amount of deviation that modifies the term such that the final result is not significantly changed.

[0301] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the technical field of this application. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0302] This application has been illustrated by the above embodiments, but it should be understood that the above embodiments are only for the purpose of illustration and example, and are not intended to limit this application to the scope of the described embodiments. In addition, those skilled in the art can understand that this application is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of this application, and these variations and modifications all fall within the scope claimed by this application.

Claims

1. An end connection device for connecting an end effector module to a robotic arm assembly of a surgical robot, characterized in that, Comprising: A locking assembly for detachably connecting to the end effector module; And A damping assembly connected to the locking assembly, the damping assembly comprising: A fixing member for connecting to the robotic arm assembly, A damping member disposed on the fixing member, the damping member having a first end of the damping member and a second end of the damping member oppositely disposed in a first direction, and A damping rotating shaft extending along the first direction, one end of the damping rotating shaft close to the first end of the damping member being connected to the locking assembly, Wherein the end connection device is configured such that the damping rotating shaft is rotatable about its own axis and movable relative to the damping member in the first direction so that the locking assembly contacts the first end of the damping member.

2. The end connection device according to claim 1, wherein The first end of the damping member protrudes from the fixing member in the first direction.

3. The end connection device according to claim 2, wherein The fixing member includes a first fixing member through hole extending along the first direction; The damping member includes a first cylindrical portion configured as a sleeve extending along the first direction, the first cylindrical portion having a first end of the first cylindrical portion and a second end of the first cylindrical portion oppositely disposed in the first direction, wherein the first end of the first cylindrical portion corresponds to the first end of the damping member, the second end of the first cylindrical portion corresponds to the second end of the damping member, the first cylindrical portion is disposed in the first fixing member through hole and the first end of the first cylindrical portion protrudes from the first fixing member through hole in the first direction; The damping rotating shaft is disposed within the sleeve.

4. The end connection device according to claim 3, wherein The damping rotating shaft includes a first end portion of the damping rotating shaft and a second end portion of the damping rotating shaft oppositely disposed in the first direction, the first end portion of the damping rotating shaft being closer to the first end of the damping member than the second end portion of the damping rotating shaft, wherein the first end portion of the damping rotating shaft is connected to the locking assembly, and the second end portion of the damping rotating shaft is provided with a first external thread; The damping assembly further includes: A blocking surface located radially outside the damping rotating shaft and facing the second end portion of the damping rotating shaft, and A damping knob including a first threaded hole provided with a first internal thread, the first internal thread being matingly disposed with the first external thread so that the damping knob is threadedly connected to the second end portion of the damping rotating shaft, wherein a side of the damping knob facing the first end portion of the damping rotating shaft is for attachment to the blocking surface.

5. The end connection device according to claim 4, characterized in that, The damping assembly further includes a third spring disposed between the damping knob and the blocking surface, the direction of the elastic force of the third spring being the first direction, and both sides of the third spring in the first direction are respectively for attachment to the blocking surface and the damping knob.

6. The end connection device according to claim 5, characterized in that, The damping assembly further includes: A first retaining piece disposed between the third spring and the first end portion of the damping rotating shaft, a side of the first retaining piece facing the first end portion of the damping rotating shaft being for contacting the blocking surface; and The second retaining piece is arranged between the third spring and the damping knob, and the second retaining piece is used to contact the damping knob.

7. The end connection device according to claim 6, wherein the damping assembly further includes a limit nut, and the limit nut is arranged to match the first external thread so that the limit nut is threadedly connected to the second end of the damping rotating shaft, and the limit nut is located between the second retaining piece and the damping knob; and / or one side of the first retaining piece facing the first end of the damping rotating shaft is further used to contact the first end of the damping rotating shaft.

8. The end connection device according to claim 7, wherein a first groove is arranged on one side of the damping knob facing the first end of the damping rotating shaft, and the first groove communicates with the first threaded hole, and the limit nut is arranged to be received in the first groove; and / or the end connection device is configured such that the second retaining piece is non-rotatable relative to the second end of the damping rotating shaft.

9. The end connection device according to claim 3, wherein the damping member further includes a first flange portion, and the first flange portion is arranged at the first end of the first cylindrical portion and extends radially outward from the outer circumference of the first end of the first cylindrical portion, and the first flange portion protrudes from the fixing member along the first direction; and / or the fixing member is provided with a second fixing member through hole, and the second fixing member through hole communicates with the first fixing member through hole, and the damping assembly further includes a first set screw, and the first set screw is arranged in the second fixing member through hole and is used to press the damping member against the damping rotating shaft.

10. The end connection device according to claim 9, characterized in that, The damping member includes a first contact portion for contacting the first set screw, and a gap is formed between the first contact portion and other parts of the damping member so that the first contact portion is movable relative to other parts of the damping member.

11. The end connection device according to any one of claims 1 to 10, characterized in that, The locking assembly includes: a connecting member connected to the damping rotating shaft, and the connecting member includes a first connecting portion for detachably connecting to the end effector module; and a first locking member connected to the connecting member and movable relative to the first connecting portion between a first locking position and a first releasing position along a first locking direction, wherein when the first locking member is in the first locking position, the first locking member is used to contact the end effector module so that the end effector module is non-movable relative to the first connecting portion, and when the first locking member is in the first releasing position, the first locking member is used to disengage from the end effector module so that the end effector module is movable relative to the first connecting portion.

12. The end connection device according to claim 11, wherein the first connecting portion is configured as a connecting groove for receiving the end effector module; the connecting member further includes a first groove communicating with the connecting groove, and the first locking member is arranged in the first groove; Wherein, when the first locking member is in the first locking position, the first locking member extends from the first groove into the connection groove to contact the end effector module, and when the first locking member is in the first release position, the first locking member moves out of the connection groove to disengage from the end effector module.

13. The end connection device according to claim 12, characterized in that, The locking assembly further includes: A first locking actuator disposed on the connecting member, the first locking actuator being for user operation to move relative to the connecting member between a first actuation position and a first release position, and when the first locking actuator is in the first actuation position, the first locking actuator moves the first locking member to the first locking position; and A first spring disposed between the connecting member and the first locking member and extending along the first locking direction, wherein when the first locking actuator moves to the first release position, the first locking member moves to the first release position under the action of the first spring.

14. The end connection device according to claim 13, characterized in that, The first locking actuator is configured as a cam, the cam is disposed on the connecting member and is rotatable relative to the connecting member, the cam and the connection groove are respectively located on opposite sides of the first locking member along the first locking direction, the rotation axis of the cam is perpendicular to the first locking direction, different positions on the outer peripheral surface of the cam have different radii, when the cam rotates to the outer peripheral surface with the maximum radius facing the first locking member, the cam is in the first actuation position, and when the cam rotates to the outer peripheral surface with the minimum radius facing the first locking member, the cam is in the first release position.

15. The end connection device according to claim 14, wherein the locking assembly further includes a gasket disposed between the first locking member and the first locking actuator; and / or the cam is provided with a handle for user operation to rotate the cam.

16. The end connection device according to claim 13, wherein the first locking actuator is provided with an actuator positioning portion, the connecting member includes a connecting member positioning portion, when the first locking actuator is in the first actuation position, the actuator positioning portion acts on the connecting member positioning portion to keep the first locking actuator relative to the connecting member in the first actuation position, when the first locking actuator is in the first release position, the actuator positioning portion is disengaged from the connecting member positioning portion so that the first locking actuator cannot be kept relative to the connecting member in the first actuation position.

17. The end connection device according to claim 16, wherein one of the actuator positioning portion and the connecting member positioning portion is configured as a ball, one of the actuator positioning portion and the connecting member positioning portion is configured as a hole or a groove for receiving the ball.

18. A robotic arm for a surgical robot, characterized in that, including: a mounting seat assembly for fixing the position relative to the operating table; a robotic arm assembly detachably connected to the mounting seat assembly and movable relative to the mounting seat assembly; The end connection device according to any one of claims 1 to 17, wherein the fixing member is connected to the robotic arm assembly.

19. The robotic arm according to claim 18, characterized in that, The robotic arm assembly includes: A support arm, the first end of the support arm being detachably connected to the mounting seat assembly; and At least one rotating arm, at least one of the rotating arms being connected in sequence, two adjacent rotating arms being relatively rotatable, wherein the first rotating arm is connected to the second end of the support arm and is rotatable relative to the support arm, and the last rotating arm is connected to the fixing member.

20. The robotic arm according to claim 19, wherein A rotating arm rotating shaft is provided at the first end of the rotating arm, Receiving cavities are provided at the second end of the support arm and the second end of the rotating arm that is not the last rotating arm for receiving the rotating arm rotating shaft, and the rotating arm rotating shaft is rotatable in the receiving cavity, The robotic arm further includes at least one rotating connection assembly, the rotating connection assembly being correspondingly provided with the receiving cavity for connecting the receiving cavity and the rotating arm rotating shaft.

21. The robotic arm according to claim 20, wherein Robotic arm through holes are provided at the second end of the support arm and the second end of the rotating arm that is not the last rotating arm, and the robotic arm through holes communicate with the receiving cavity; The rotating connection assembly includes: A fastening sleeve for being arranged in the receiving cavity, the internal space of the fastening sleeve being configured in a cylindrical shape for receiving the rotating arm rotating shaft, and A second set screw for being arranged in the robotic arm through hole to press the fastening sleeve against the rotating arm rotating shaft.

22. The robotic arm according to claim 21, wherein The side wall of the fastening sleeve includes a second contact portion for contacting the second set screw, and a gap is formed between the second contact portion and other parts of the side wall of the fastening sleeve so that the second contact portion is movable relative to other parts of the side wall of the fastening sleeve; and / or One end of the fastening sleeve along the axial direction is provided with a flange protruding radially outward, and the outer diameter of the flange is greater than the inner diameter of the receiving cavity.

23. The robotic arm according to claim 20, wherein The rotating arm includes a rotating arm body, the rotating arm body extending in a straight line direction, wherein The rotating arm rotating shaft is arranged at the first end of the rotating arm body and extends perpendicular to the rotating arm body; and / or, the receiving cavity is arranged at the second end of the rotating arm body, and the axis of the receiving cavity is perpendicular to the rotating arm body.

24. The robotic arm according to claim 19, wherein The rotation axes of all the rotating arms are parallel to each other; or The rotation axes of at least two of the rotating arms are not parallel.

25. The robotic arm according to claim 19, wherein The rotation axes of all the rotating arms are parallel to each other, and the axis of the damping rotating shaft is substantially perpendicular to the rotation axes of the rotating arms.

26. The robotic arm according to any one of claims 18 to 25, characterized in that, The mounting seat assembly includes: An adapter seat for being fixed relative to the operating table position, the adapter seat including a second connection portion for being detachably connected to the robotic arm assembly; and A second locking member, connected to the adapter base and movable relative to the second connecting portion between a second locking position and a second releasing position along a second locking direction, wherein when the second locking member is in the second locking position, the second locking member is configured to contact the robotic arm assembly to render the robotic arm assembly immovable relative to the second connecting portion, and when the second locking member is in the second releasing position, the second locking member is configured to disengage from the robotic arm assembly to render the robotic arm assembly movable relative to the second connecting portion.

27. The robotic arm according to claim 26, wherein the second connecting portion is configured as a mounting cavity for receiving an end portion of the robotic arm assembly; the adapter base further includes a second groove communicating with the mounting cavity, and the second locking member is disposed in the second groove; wherein when the second locking member is in the second locking position, the second locking member extends from the second groove into the mounting cavity to contact the end portion of the robotic arm assembly, and when the second locking member is in the second releasing position, the second locking member is withdrawn from the mounting cavity to disengage from the end portion of the robotic arm assembly.

28. The robotic arm according to claim 27, characterized in that, The mounting base assembly further includes: a second locking actuator, disposed on the adapter base, the second locking actuator being configured for user operation to move relative to the adapter base between a second actuation position and a second release position, and when the second locking actuator is in the second actuation position, the second locking actuator moves the second locking member to the second locking position; and a second spring, disposed between the adapter base and the second locking member and extending along the second locking direction, wherein when the second locking actuator moves to the second release position, the second locking member is moved to the second releasing position under the action of the second spring.

29. The robotic arm according to claim 28, wherein the adapter base includes a second threaded hole having a second internal thread, the second threaded hole extending along the second locking direction and communicating with the second groove; the second locking actuator and the mounting cavity are respectively located on opposite sides of the second locking member along the second locking direction, and the second locking actuator includes a second external thread matching the second internal thread, so that the second locking actuator can be screwed into the second threaded hole to contact the second locking member.

30. The robotic arm according to claim 29, wherein the adapter base includes a first base and a second base connected to the first base, wherein the mounting cavity, the second groove and the second spring are disposed in the first base, and the second threaded hole is disposed in the second base.

31. A surgical robot, characterized in that, including the robotic arm according to any one of claims 18 to 30.

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