Tail end connecting mechanism, executing device and surgical robot

Abstract

The invention is suitable for the technical field of medical instruments, and provides a tail end connecting mechanism, an execution device and a surgical robot. The end connection mechanism includes an electrical isolation, a connection support, and a sterile cover. The executing device comprises an executing instrument and the tail end connecting mechanism, and the executing instrument is connected to the connecting supporting piece. The surgical robot comprises a mechanical arm and the execution device, and the execution device is connected to the tail end of the mechanical arm. Compared with the prior art, the connecting supporting piece and the execution instrument are isolated on the sterile side through the arrangement of the sterile cover, the sterile isolation effect between the whole mechanical arm and the execution instrument is achieved, and the stability and the sealing performance of installation of the sterile cover are also guaranteed. And meanwhile, the electrical isolation piece is further arranged between the connecting supporting piece and the mechanical arm, the electrical isolation effect between the mechanical arm and the execution instrument can be further guaranteed, and the overall use of the surgical robot is safer.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to an end connection mechanism, an execution device and a surgical robot. Background Art

[0002] Currently, in the field of surgical robots, instruments are typically mounted on the end of the robot's robotic arm, which drives the instruments to perform surgical operations. Because the robotic arm is an active component and is often sterile, existing robotic arms suffer from poor electrical isolation and sterile isolation. Summary of the Invention

[0003] The purpose of the present invention is to provide an end connection mechanism, an execution device and a surgical robot, aiming to solve the technical problem of poor electrical and sterile isolation effects of existing surgical robots.

[0004] The present invention is implemented as follows: in the first aspect, an end connection mechanism is provided for connecting an execution instrument with a robotic arm, comprising an electrical isolator, a connecting support and a sterile cover; the electrical isolator is installed at the end of the robotic arm, for electrically isolating the robotic arm from the execution instrument; the connecting support is connected to a side of the electrical isolator away from the end of the robotic arm, and the connecting support is used to install the execution instrument; the sterile cover is connected between the electrical isolator and the connecting support, and the electrical isolator and the end of the robotic arm are covered in the sterile cover to isolate the connecting support on the sterile side.

[0005] In an optional embodiment, a torque sensor for detecting the magnitude of the force applied to the robotic arm is provided between the electrical isolator and the end of the robotic arm.

[0006] In an optional embodiment, a user interaction component is provided between the electrical isolator and the end of the robotic arm.

[0007] In an optional embodiment, the user interaction component includes an interaction support connected between the electrical isolation component and the end of the robotic arm, and the user interaction component also includes an interaction button and / or indication unit provided on the interaction support.

[0008] In an optional embodiment, a support mounting member is provided on the sterile cover, the periphery of the support mounting member is sealedly connected to the sterile cover, and the support mounting member is provided between the electrical isolation member and the connection support member.

[0009] In an optional embodiment, a first positioning unit is further provided between the electrical isolator and the connecting support for ensuring the installation accuracy therebetween.

[0010] In an optional embodiment, the first positioning unit includes first positioning surfaces respectively arranged on the electrical isolator and the connecting support, the two first positioning surfaces abut each other, one of the first positioning surfaces is provided with a first positioning pin, and the other first positioning surface is provided with a first positioning hole matching the first positioning pin.

[0011] In a second aspect, an execution device is provided, comprising an execution instrument and any one of the above-mentioned end connection mechanisms, wherein the execution instrument is connected to the connection support.

[0012] In an optional embodiment, an execution connector is provided at one end of the execution instrument, and a quick release mechanism is further provided between the execution connector and the connection support, and the execution connector is detachably connected to the connection support through the quick release mechanism.

[0013] In an optional embodiment, the quick-release mechanism includes a locking pin and a slot structure, the first end of the locking pin is rotatably connected to the execution connection member, the slot structure is arranged on the connection support member, and the locking pin can be rotated to switch the locking pin between the clamping position and the disassembly position. When the locking pin is in the clamping position, the second end of the locking pin is clamped in the slot structure. When the locking pin is in the disassembly position, the second end of the locking pin can be inserted into or pulled out of the slot structure.

[0014] In an optional embodiment, a second positioning unit is further provided between the connecting support and the execution connecting member for ensuring the installation accuracy between the two.

[0015] In an optional embodiment, the second positioning unit includes second positioning surfaces respectively arranged on the execution connection member and the connection support member, and the two second positioning surfaces abut against each other, one of the second positioning surfaces is provided with a second positioning pin, and the other second positioning surface is provided with a second positioning hole matching the second positioning pin.

[0016] In a third aspect, a surgical robot is provided, comprising a robotic arm and an execution device as described above, wherein the execution device is connected to the end of the robotic arm.

[0017] The technical effect of the first aspect of the present invention relative to the prior art is as follows: by providing an electrical isolator on the robotic arm, and connecting the connecting support for installing the execution instrument to the electrical isolator, the execution instrument can finally be installed on the connecting support, thereby realizing the installation of the execution instrument on the robotic arm, and at the same time, a portion of the sterile cover is sealed and clamped between the electrical isolator and the connecting support, and the other portion of the sterile cover is covered outside the robotic arm and the electrical isolator. Compared with the surgical robot in the prior art, the connection support and the execution instrument are isolated on the sterile side by the provision of the sterile cover, thereby achieving a sterile isolation effect between the entire robotic arm and the execution instrument, and also ensuring the stability and sealing of the sterile cover installation. At the same time, an electrical isolator is also provided between the connecting support and the robotic arm, which can further ensure the electrical isolation effect between the robotic arm and the execution instrument, and can make the overall use of the surgical robot safer.

[0018] It can be understood that the beneficial effects of the second to third aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 is a schematic structural diagram of the end connection mechanism provided in Example 1 of the present invention;

[0021] Figure 2 is a schematic structural diagram of the end connection mechanism provided in Example 2 of the present invention;

[0022] Figure 3 is a schematic structural diagram of the terminal connection mechanism provided in Example 3 of the present invention;

[0023] Figure 4 is a schematic structural diagram of the end connection mechanism provided by Example 4 of the present invention;

[0024] Figure 5 yes Figure 3 Schematic diagram of the enlarged structure at A in the middle;

[0025] Figure 6 yes Figure 4 Schematic diagram of the enlarged structure at B in the middle;

[0026] Figure 7 yes Figure 4 Schematic diagram of the enlarged structure at point C in the middle.

[0027] Description of reference numerals:

[0028] 1. Electrical isolator; 2. Connecting support; 3. Torque sensor; 4. User interaction component; 401. Interactive support; 402. Interactive button; 403. Indication unit; 5. Sterile cover; 501. Support mounting member; 6. First positioning unit; 601. First positioning surface; 602. First positioning pin; 603. First positioning hole; 7. Executing instrument; 701. Executing connector; 8. Quick release mechanism; 801. Locking pin; 8011. Card-mounting protrusion; 8012. Limiting cap body; 802. Card slot structure; 8021. Main body through hole; 8022. Avoidance groove; 8023. Limiting surface; 8024. Limiting groove; 803. Elastic member; 9. Second positioning unit; 901. Second positioning surface; 902. Second positioning pin; 903. Second positioning hole; 10. Robotic arm. DETAILED DESCRIPTION

[0029] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0030] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0032] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0033] During the operation of the surgical robot, the execution instrument is usually installed at the end of the robotic arm 10 of the surgical robot. The control system of the surgical robot drives the execution instrument 7 to perform predetermined operations by controlling the robotic arm 10 of the surgical robot. The robotic arm 10 of the surgical robot is an active component, that is, the robotic arm 10 of the surgical robot needs to be powered by a power supply. The robotic arm 10 may have leakage, and the execution instrument 7 is usually a metal part. If it is not electrically isolated, it will cause the execution instrument 7 to be conductive when it comes into contact with the human body during the operation, which will affect the safety and health of the patient. At the same time, due to the complex structure of the surgical robot, it is difficult to fully disinfect the surgical robot. Therefore, the surgical robot is usually in a sterile state. If the execution instrument 7 is directly connected to the robotic arm 10 without sterile isolation, it may cause contamination of the execution instrument 7. During the operation, the execution instrument 7 is required to be in a sterile environment. Therefore, it is necessary to electrically and sterilely isolate the execution instrument 7 from the robotic arm 10 of the surgical robot. In order to ensure that the above-mentioned technical problems are solved, the present application provides an end connection mechanism, an execution device and a surgical robot. The specific solution is as follows:

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0035] See also Figures 1 to 7 In an embodiment of the present invention, in the first aspect, an end connection mechanism is provided for connecting an execution instrument 7 with a robotic arm 10, comprising an electrical isolator 1, a connecting support 2 and a sterile cover 5; the electrical isolator 1 is installed at the end of the robotic arm 10, for electrically isolating the robotic arm 10 from the execution instrument 7; the connecting support 2 is connected to a side of the electrical isolator 1 away from the end of the robotic arm 10, and the connecting support 2 is used to install the execution instrument 7; the sterile cover 5 is connected between the electrical isolator 1 and the connecting support 2, and the electrical isolator 1 and the end of the robotic arm 10 are covered in the sterile cover 5 to isolate the connecting support 2 on the sterile side.

[0036] Specifically, the electrical isolator 1 refers to a component used to prevent the accidental transmission of electric current. The electrical isolator 1 needs to have a certain volume or thickness. The shape of the electrical isolator 1 can be plate-shaped, block-shaped, column-shaped, etc., and the electrical isolator 1 can also be a combination of multiple shapes. The electrical isolator 1 can be made entirely of insulating materials, such as ceramics, rubber, glass, etc.; it can also be made by insulating the outside of a base component with good strength, where the insulating material can be ceramics, rubber, glass, etc., which can ensure the strength of the electrical isolator 1 itself while playing the role of electrical isolation.

[0037] The connecting support 2 refers to a component with a certain volume. The shape of the connecting support 2 can be plate-shaped, block-shaped, column-shaped, etc., and the connecting support 2 can also be a combination of multiple shapes. The connection and installation with the execution device 7 can be achieved by providing a corresponding installation structure on the connecting support 2. The side of the electrical isolator 1 away from the end of the robotic arm 10 refers to the side facing away from the end of the robotic arm 10 after the electrical isolator 1 is installed. The connecting support 2 can be directly connected to the electrical isolator 1; the connecting support 2 can also be indirectly connected to the electrical isolator 1, for example, other components are provided between the two, and the connection between the connecting support 2 and the electrical isolator 1 is achieved through other components. When the connecting support 2 is connected to the electrical isolator 1, the connecting support 2 can be connected to the electrical isolator 1 by fasteners, clipping, pasting, etc.

[0038] The sterile cover 5 is a thin film member with a certain surface area. Its function is to isolate the environment and provide a sterile environment. By enclosing part or all of the robotic arm 10 and the electrical isolator 1, and other components other than the connecting support 2 and the actuator 7, within the sterile cover 5, and then connecting the connecting support 2 to the electrical isolator 1, the connecting support 2 and the actuator 7 can be sterilely isolated from the other components.

[0039] The end connection mechanism provided by the embodiment of the present invention is provided with an electrical isolator 1 on the robotic arm 10, and the connecting support 2 for installing the execution instrument 7 is connected to the electrical isolator 1. Finally, the execution instrument 7 can be installed on the connecting support 2, thereby realizing the installation of the execution instrument 7 on the robotic arm 10. At the same time, the part of the sterile cover 5 is also sealed and clamped between the electrical isolator 1 and the connecting support 2, and the other part of the sterile cover 5 is covered outside the robotic arm 10 and the electrical isolator 1. Compared with the surgical robot in the prior art, the connection support 2 and the execution instrument 7 are isolated on the sterile side by the provision of the sterile cover 5, thereby achieving a sterile isolation effect between the entire robotic arm 10 and the execution instrument 7, and also ensuring the stability and sealing of the installation of the sterile cover 5. At the same time, an electrical isolator 1 is also provided between the connecting support 2 and the robotic arm 10, which can further ensure the electrical isolation effect between the robotic arm 10 and the execution instrument 7, and can make the use of the surgical robot as a whole safer.

[0040] In an alternative embodiment, see Figure 1 or Figure 2 The electrical isolator 1 is in the shape of a plate, and the two plate surfaces of the electrical isolator 1 are connection surfaces, so that the electrical isolator 1 can be connected to other components. And the shape of the electrical isolator 1 can be circular, elliptical or polygonal, etc. One of the plate surfaces of the electrical isolator 1 can be directly or indirectly connected to the end of the robotic arm 10, and the other plate surface is away from the end of the robotic arm 10 and is directly or indirectly connected to the connecting support 2. The electrical isolator 1 is in the shape of a plate and uses the plate surface as a connection surface. While ensuring the connection area with other components, it can also reduce the size of the electrical isolator 1 in the thickness direction, reduce the volume occupied by the electrical isolator 1, and reduce manufacturing costs.

[0041] Furthermore, the connecting support 2 can also be plate-shaped, with both surfaces of the connecting support 2 serving as connecting surfaces. The outer shape of the connecting support 2 can be circular, elliptical, or polygonal, among others. One surface of the connecting support 2 is connected to the electrical isolator 1, while the other surface is connected to the actuator 7. Similarly, while maintaining sufficient connection area with other components, the thickness of the connecting support 2 can be reduced, thereby reducing the volume occupied by the electrical isolator 1.

[0042] In one embodiment, see Figure 1 or Figure 2A torque sensor 3 is provided between the electrical isolator 1 and the end of the robotic arm 10 to detect the magnitude of the force acting on the robotic arm 10. Specifically, the torque sensor 3 is a component used to measure force, also known as a torque sensor or torsion sensor. It is primarily used to detect torsional torque on various rotating or non-rotating mechanical components. It converts physical changes in torque into precise electrical signals for subsequent measurement, analysis, and control. By setting a torque sensor 3 between the end of the robotic arm 10 and the electrical isolation member 1, since the execution instrument 7 is indirectly installed at the end of the robotic arm 10 through the connecting support member 2, when the user moves or drags the execution instrument 7 (for example, performing a surgical teaching operation), the robotic arm 10 will be driven to move together. At this time, the torque sensor 3 will detect the dragging force or torque exerted on the robotic arm 10, and convert the physical change of the detected torque into an accurate electrical signal and send it to the control unit of the robotic arm 10. The control unit can adjust the robotic arm 10 of the surgical robot accordingly according to the detection result of the torque sensor 3, so that the robotic arm 10 cooperates with the dragging or moving direction of the user, thereby making the robotic arm 10 of the surgical robot react more promptly and respond more quickly.

[0043] In addition, the torque sensor 3 can also detect the reaction torque applied to the actuator 7 when the robotic arm 10 controls the actuator 7 to perform surgery. During surgery, the robotic arm's control unit can adjust the position of the actuator 7 and the torque applied by the actuator 7 to the patient based on the force applied to the robotic arm detected by the torque sensor 3. This can make the positioning of the actuator and the surgical operation more precise, thereby improving the accuracy of the surgical operation.

[0044] In an alternative embodiment, see Figure 1 or Figure 2 The torque sensor 3 has a cylindrical overall shape, with its two end faces serving as connecting surfaces to other components. The cross-section of the torque sensor 3 can be circular, elliptical, or multifaceted. A cross-section is defined as a section taken along a plane perpendicular to the axis of the torque sensor 3.

[0045] In one embodiment, see Figure 1 and Figure 2, a user interaction component 4 is provided between the electrical isolator 1 and the end of the robotic arm 10. Specifically, the user interaction component 4 refers to a component that allows the user to interact with the surgical robot or the robotic arm 10 of the surgical robot. The user interaction component 4 enables the user to input information, receive feedback, execute commands, and control the robotic arm 10 to complete various tasks. Among them, common user interaction methods may include one or more of key input, touch screen input, voice input, sound indication, light indication, screen pop-up indication, etc. The user interaction component 4 can prompt the status of the robotic arm 10, or the user can also send instructions to the surgical robot through the user interaction component 4. By providing the user interaction component 4 between the electrical isolator 1 and the end of the robotic arm 10, the user can interact with the surgical robot at the end of the robotic arm 10 without using the surgical robot's trolley or display screen to complete the interaction, making the interaction between the user and the surgical robot more convenient and also improving the efficiency of the operation.

[0046] In another embodiment, see Figures 1 to 3 , a torque sensor 3 and a user interaction component 4 are provided between the electrical isolator 1 and the end of the robotic arm 10. Specifically, a torque sensor 3 and a user interaction component 4 are provided between the electrical isolator 1 and the end of the robotic arm 10, which makes the interaction between the user and the surgical robot more convenient. At the same time, it can also make the robotic arm 10 of the surgical robot react more promptly and respond more quickly during the teaching operation, making it more convenient to drag the robotic arm 10. Finally, the torque sensor 3 and the user interaction component 4 are isolated from the execution device 7 through the provision of the electrical isolator 1, which can reduce the risk of electric shock to the patient to a certain extent and improve the safety of the use of the surgical robot.

[0047] In an alternative embodiment, see Figure 1 or Figure 2 The electrical isolator 1, the torque sensor 3 and the user interaction component 4 can be installed in the following order: the torque sensor 3 is connected to the end of the robotic arm 10, the user interaction component 4 is then connected to the torque sensor 3, and finally the electrical isolator 1 is connected to the user interaction component 4, making the installation and connection of multiple components more convenient.

[0048] In another alternative embodiment, see Figure 3 The electrical isolator 1, the torque sensor 3 and the user interaction component 4 can be installed in the following order: first, the user interaction component 4 is connected to the end of the robotic arm 10, then the torque sensor 3 is connected to the user interaction component 4, and finally the electrical isolator 1 is connected to the torque sensor 3, so that the installation and connection of multiple components are more convenient.

[0049] In one embodiment, the user interaction component 4 includes an interactive support 401 connected between the electrical isolator 1 and the end of the robotic arm 10. The user interaction component 4 also includes an interactive button 402 and / or an indicator unit 403 disposed on the interactive support 401. Specifically, the interactive support 401 is a component that provides support and can be connected to other components to facilitate installation of the user interaction component 4. The interactive support 401 typically has a certain amount of internal space to accommodate the electrical components required to form the user interaction component 4 without exposing them to the outside. The interactive support 401 can be a block-shaped structure, a plate-shaped structure, or a ring-shaped structure. The interactive button 402 is a component that can output commands when pressed. The indicator unit 403 is a component that displays the device's operating status to the user or issues alarms and prompts. The indicator unit 403 can use one or more of sound, vibration, or light indication. For example, when the indicator unit 403 uses light indication, the color of the light can indicate different states of the robotic arm.

[0050] The user interaction component 4 also includes an interaction button 402 and / or an indicator unit 403 disposed on the interaction support 401, including the following scenarios: First, only the interaction button 402 is disposed on the interaction support 401; second, only the indicator unit 403 is disposed on the interaction support 401; and third, both the interaction button 402 and the indicator unit 403 are disposed on the interaction support 401. During operation of the robotic arm 10, the user interaction component 4 is disposed between the electrical isolation element 1 and the distal end of the robotic arm 10. The interaction button 402 allows commands to be input to the surgical robot, while the indicator unit 403 displays the current status of the robotic arm 10, making the use of the surgical robot more convenient.

[0051] In an alternative embodiment, see Figure 1As shown, the user interaction component 4 includes an interactive support 401, an interactive button 402 and an indication unit 403. The interactive support 401 is an annular structure as a whole, the indication unit 403 is a light indication unit, and the interactive button 402 and the light indication unit are arranged on the circumferential surface of the interactive support 401. In addition, the number of the light indication unit and the interactive button 402 can be multiple, and multiple interactive buttons 402 can be arranged at intervals along the axial direction of the interactive support 401. The light indication unit can also be arranged at intervals along the axial direction of the interactive support 401. The light indication unit and the interactive button 402 can be staggered, for example, one or more light indication units are arranged between two interactive buttons 402. The light indication unit and the interactive button 402 are both arranged along the circumference of the interactive support 401, so that the arrangement of the light indication unit and the interactive button 402 is more reasonable, which can make the interactive support 401 have a smaller axial distance, thereby reducing the volume of the interactive support 401 and making the entire user interaction component 4 smaller and lighter.

[0052] In another alternative embodiment, see Figure 2 As shown, the user interaction component 4 includes an interactive support 401, an interactive button 402 and an indication unit 403. The interactive support 401 is an annular structure as a whole, and the indication unit 403 is a light indication unit. The number of interactive buttons 402 can be multiple, and the multiple interactive buttons 402 are arranged at circumferential intervals around the interactive support 401. The light indication unit is arranged on the side of the interactive support 401 along its own axial direction. The specific installation method of the light indication unit can be to provide a mounting portion on the side of the interactive support 401 along the axial direction, and to provide a luminous light strip around the circumference of the mounting portion, and to provide a translucent shell on the outside of the mounting portion and the luminous light strip, and the translucent shell and the luminous light strip constitute the above-mentioned light indication unit.

[0053] In another alternative embodiment, see Figure 3 As shown, the user interaction component 4 includes an interactive support 401 and an indicator unit 403. The interactive support 401 is annular in structure. The indicator unit 403 is a light indicator unit. The light indicator unit may include a light strip arranged around the circumference of the interactive support 401 and a light-transmitting housing arranged outside the interactive support 401.

[0054] In one embodiment, see Figure 1, a support mounting member 501 is provided on the sterile cover 5, the outer periphery of the support mounting member 501 is sealed and connected to the sterile cover 5, and the support mounting member 501 is provided between the electrical isolator 1 and the connecting support member 2. Specifically, the support mounting member 501 refers to a component with a certain rigidity. The support mounting member 501 can be in the shape of a plate, a block, etc. By sealingly providing the support mounting member 501 on the sterile cover 5 to support a part of the sterile cover 5, it is more convenient to clamp the sterile cover 5 between the electrical isolator 1 and the connecting support member 2. At the same time, the provision of the support mounting member 501 can also prevent the sterile cover 5 from moving between the electrical isolator 1 and the connecting support member 2, making the fixation of the sterile cover 5 more secure and the sealing better.

[0055] In an optional embodiment, if Figure 1 As shown, a avoidance hole can be provided on the sterile cover 5. The provision of the avoidance hole allows only the area around the avoidance hole to be clamped between the connecting support 2 and the electrical isolator 1 when the connecting support 2 is connected to the electrical isolator 1, while the main connecting parts on the connecting support 2 can pass through the avoidance hole and directly contact the electrical isolator 1, thereby avoiding the presence of the sterile cover 5 affecting the installation accuracy of the connecting support 2 and the electrical isolator 1.

[0056] Based on the above feature avoidance holes, please refer to Figure 1 The support and mounting member 501 is annular in structure and can be positioned at the avoidance hole and sealed around the perimeter of the avoidance hole. The support and mounting member 501 supports the avoidance hole, making it easier to clamp the sterile cover 5 between the electrical isolator 1 and the connecting support member 2 without affecting the function of the avoidance hole. This also makes the sterile cover 5 more securely fixed and provides a better seal.

[0057] In one embodiment, see Figures 1 to 3 , a first positioning unit 6 is further provided between the electrical isolator 1 and the connecting support 2 to ensure the installation accuracy between the two. Specifically, the first positioning unit 6 refers to a positioning structure provided between the electrical isolator 1 and the connecting support 2. The provision of the first positioning unit 6 can ensure the connection accuracy between the electrical isolator 1 and the connecting support 2, and the execution instrument 7 is connected to the end of the robotic arm 10 through the connecting support 2 and the electrical isolator 1 and other components. The improvement of the installation accuracy of the connecting support 2 also improves the installation accuracy of the execution instrument 7, making the surgical operation more precise.

[0058] In one embodiment, Figure 3As shown, the first positioning unit 6 includes first positioning surfaces 601 respectively provided on the electrical isolator 1 and the connecting support 2. The two first positioning surfaces 601 abut against each other, and a first positioning pin 602 is protruding from one of the first positioning surfaces 601, and a first positioning hole 603 matching the first positioning pin 602 is provided on the other first positioning surface 601. Specifically, the first positioning surface 601 refers to a surface structure provided on the electrical isolator 1 or the connecting support 2. The first positioning surface 601 can be a single plane, a curved surface or an inclined surface. The first positioning surface 601 can also be a combination of multiple surface structures, for example, multiple planes are arranged at an angle to form a V-shaped surface structure. The V-shaped surface structure can be a concave structure or a convex structure. The first positioning surface 601 provided on the electrical isolator 1 and the first positioning surface 601 provided on the connecting support 2 can be adapted to each other. The first positioning pin 602 refers to a columnar component with a certain length. The axis of the first positioning pin 602 is generally arranged along the installation direction of the connecting support 2.

[0059] Among them, a first positioning pin 602 is protruding from one first positioning surface 601, and a first positioning hole 603 matching the first positioning pin 602 is provided on the other first positioning surface 601; when the first positioning pin 602 is provided on the electrical isolator 1, the first positioning hole 603 that cooperates with the first positioning pin 602 is provided on the connecting support 2. That is to say, the electrical isolator 1 and the connecting support 2 can be provided with the first positioning hole 603 and the first positioning pin 602 at the same time, or only one of the first positioning hole 603 or the first positioning pin 602 can be provided. When the electrical isolator 1 and the connecting support 2 are installed, the first positioning pin 602 can be inserted into the first positioning hole 603 until the two first positioning surfaces 601 touch each other. Through the cooperation of the two first positioning surfaces 601 and the cooperation of the first positioning pin 602 and the first positioning hole 603, the connection and positioning between the electrical isolator 1 and the connecting support 2 can be made more accurate, thereby improving the installation accuracy of the connecting support 2.

[0060] To prevent the electrical isolator 1 and the connecting support 2 from rotating about the axis of the first locating pin 602, there are generally at least two first locating pins 602, and two adjacent first locating pins 602 are spaced apart from each other. For example, when there are two first locating pins 602, the two first locating pins 602 can be spaced apart along a straight line; when there are three first locating pins 602, the three first locating pins 602 can be arranged in a triangle or spaced apart along a straight line. By providing at least two first locating pins 602, multi-point positioning can be achieved, making the positioning between the electrical isolator 1 and the connecting support 2 more precise.

[0061] Multiple first positioning pins 602 can also be positioned in a combination of sizes. For example, among the multiple first positioning pins 602, one or more first positioning pins 602 have a diameter that is larger than the diameter of other first positioning pins 602. The larger first positioning pins 602 can increase the strength, while the other first positioning pins 602 with smaller diameters only need to play a positioning role, which can reduce the production cost of the entire first positioning unit 6 while ensuring the connection strength.

[0062] After the electrical isolator 1 and the connecting support 2 are positioned by the first positioning unit 6, fasteners can be used to connect the electrical isolator 1 and the connecting support 2, which can make the installation of the electrical isolator 1 and the connecting support 2 more convenient and firm.

[0063] In an alternative embodiment, see Figure 3 The first positioning pin 602 can be an integrally formed structure with the electrical isolator 1 or the connecting support 2, for example, it can be made by machining, casting or injection molding. The first positioning pin 602 can be a separate structure with the electrical isolator 1 or the connecting support 2, for example, a mounting hole is machined on the electrical isolator 1 or the connecting support 2, and then the first positioning pin 602 is inserted into and fixed to the mounting hole, thereby realizing the installation of the first positioning pin 602, which can reduce production costs.

[0064] In a specific embodiment, see Figure 3 , the first positioning surface 601 is a planar structure on the electrical isolator 1 and the connecting support 2 respectively, and a first positioning pin 602 and a first positioning hole 603 are provided on the first positioning surface 601 on the electrical isolator 1, and a first positioning pin 602 and a first positioning hole 603 are also provided on the first positioning surface 601 of the connecting support 2, wherein the first positioning pin 602 is arranged perpendicular to the first positioning surface 601. When installing the electrical isolator 1 and the connecting support 2, it is only necessary to insert the first positioning hole 603 into the corresponding first positioning hole 603 along the axial direction of the first positioning hole 603 until the two first positioning surfaces 601 are in contact to complete the installation. This can make the installation and positioning between the electrical isolator 1 and the connecting support 2 more convenient, and also make the installation accuracy of the connecting support 2 better.

[0065] In a second aspect, an actuator is provided, comprising an actuator 7 and any of the aforementioned end connection mechanisms, wherein the actuator 7 is connected to the connection support 2. Specifically, the actuator 7 refers to various instruments used for performing surgical operations. By attaching the actuator 7 to the end of the robotic arm 10 via the end connection mechanism, sterile and electrical isolation between the actuator 7 and the robotic arm 10 can be achieved, thereby ensuring safer surgical procedures.

[0066] In one embodiment, see Figures 1 to 3 One end of the actuator 7 is provided with an actuator connector 701. A quick-release mechanism 8 is further provided between the actuator connector 701 and the connecting support 2. The actuator connector 701 is detachably connected to the connecting support 2 via the quick-release mechanism 8. Specifically, the actuator connector 701 refers to a component having a certain volume. The quick-release mechanism 8 refers to a mechanism that can achieve rapid connection and disassembly of two components. By providing the quick-release mechanism 8 between the actuator connector 701 and the connecting support 2, the actuator 7 can be quickly installed and disassembled, making the replacement of the actuator 7 more convenient, thereby improving the efficiency of the operation.

[0067] In an alternative embodiment, see Figures 1 to 3 The execution connection member 701 is disc-shaped. By setting the execution connection member 701 to a disc shape, the contact area between the execution device 7 and the connecting support member 2 can be increased, thereby making the connection and installation of the execution device 7 and the connecting support member 2 more convenient, and also providing a larger space for the setting of the quick release mechanism 8.

[0068] In one embodiment, see Figure 6 and Figure 7 The quick-release mechanism 8 includes a locking pin 801 and a slot structure 802. The first end of the locking pin 801 is rotatably connected to the actuator connection member 701. The slot structure 802 is provided on the connecting support member 2. The locking pin 801 can be rotated to switch the locking pin 801 between the engaging position and the disassembly position. When the locking pin 801 is in the engaging position, the second end of the locking pin 801 is engaged in the slot structure 802. When the locking pin 801 is in the disassembly position, the second end of the locking pin 801 can be inserted into or withdrawn from the slot structure 802. Specifically, the locking pin 801 is a columnar component having a certain length. The first end of the locking pin 801 is rotatably connected to the actuator connection member 701, which means that the locking pin 801 can rotate around its own axis relative to the actuator connection member 701. The slot structure 802 is a receiving structure for accommodating the locking pin 801. The slot structure 802 has an installation position and a removal position. The locking pin 801 can be rotated to switch the second end of the locking pin 801 between the installation position and the removal position. When the second end of the locking pin 801 is inserted into the slot structure 802 and rotated to the installation position, the second end of the locking pin 801 is retained within the slot structure 802. When the locking pin 801 is in the removal position, the second end of the locking pin 801 can be inserted into or removed from the slot structure 802.

[0069] When it is necessary to connect the execution connection member 701 and the connecting support member 2 to each other, the locking pin 801 is placed in the disassembly position and then the second end of the locking pin 801 is inserted into the slot structure 802. Then, the locking pin 801 is rotated to the locking position so that the second end of the locking pin 801 is clamped in the slot structure 802, and the execution connection member 701 and the connecting support member 2 are connected to each other through the locking pin 801; when it is necessary to disassemble the execution connection member 701 and the connecting support member 2, it is only necessary to rotate the locking pin 801 to the disassembly position to pull the locking pin 801 out of the slot structure 802, so that the execution connection member 701 and the connecting support member 2 can be freely separated. The quick-release mechanism 8 uses the locking pin 801 and the slot structure 802 to cooperate to make the replacement of the execution device 7 more convenient.

[0070] In a specific embodiment, see Figure 6 and Figure 7 The second end of the locking pin 801 is provided with a snap-fitting protrusion 8011, which extends in a direction perpendicular to the axis of the locking pin 801. The number of snap-fitting protrusions 8011 can be one or two. When there are two snap-fitting protrusions 8011, the two snap-fitting protrusions 8011 extend in opposite directions. The slot structure 802 includes a main body through-hole 8021 for matching the diameter of the locking pin 801, and an avoidance groove 8022 recessed on the side wall of the main body through-hole 8021 and positioned to match the snap-fitting protrusion 8011 on the locking pin 801. Both ends of the avoidance groove 8022 are open, and the avoidance groove 8022 and the main body through-hole 8021 constitute the entire slot structure 802. The slot structure 802 has two openings, one of which is closer to the actuator connector 701 and the other is farther from the actuator connector 701. A limiting surface 8023 is provided on the connecting support 2, and the limiting surface 8023 is arranged around the second opening. Thus, when the locking protrusion 8011 on the locking pin 801 rotates to a position corresponding to the avoidance groove 8022, the locking pin 801 is in the disassembly position. The locking pin 801 and the locking protrusion 8011 can pass through the entire slot structure 802 together. After the locking protrusion 8011 passes through the second opening of the slot structure 802, the locking pin 801 is rotated so that the locking protrusion 8011 abuts the limiting surface 8023. At this point, the locking pin 801 is in the locking position and is fixed in the slot structure 802. This makes the locking pin 801 more convenient to install.

[0071] In an alternative embodiment, see Figure 7The first end of the locking pin 801 is rotatably connected to the execution connection member 701. A through hole can be provided on the execution connection member 701, and the locking pin 801 is rotatably inserted into the through hole. A limiting cap body 8012 is also provided at the first end of the locking pin 801. The limiting cap body 8012 abuts against the side of the execution connection member 701 away from the connection support member 2, which can make the locking pin 801 rotate while limiting the locking pin 801 from moving along its own axis toward the direction close to the connection support member 2, thereby realizing a locked connection to the execution connection member 701.

[0072] like Figure 5 As shown, an elastic member 803 may also be provided between the limiting cap body 8012 and the execution connection member 701. The elastic member 803 is used to apply a force to the limiting cap body 8012 away from the execution connection member 701. Specifically, the elastic member may be a spring, a disc spring, or a rubber sleeve. The elastic member 803 may be sleeved on the outside of the locking pin 801 to make the installation of the elastic member 803 more stable. When the clamping protrusion 8011 on the second end of the locking pin 801 abuts the limiting surface 8023, the elastic member 803 is compressed. The elastic member 803 can push the limiting cap body 8012 to drive the clamping protrusion 8011 to move toward the limiting surface 8023, thereby making the abutment between the clamping protrusion 8011 and the limiting surface 8023 tighter, thereby making the second end of the locking pin 801 more firmly clamped in the slot structure 802.

[0073] In an alternative embodiment, see Figure 5 The elastic member 803 is a disc spring that fits over the locking pin 801. Depending on the spring's stiffness and the required elasticity for the locking pin 801, multiple disc springs can be used in combination, or a single disc spring can be used. Using a disc spring provides both elasticity and space savings.

[0074] Among them, such as Figure 6 As shown, in order to prevent the locking protrusion 8011 from sliding relative to the limiting surface 8023 when the locking pin 801 is not driven by the rotational force, a limiting groove 8024 for accommodating the locking protrusion 8011 is also provided on the limiting surface 8023. The locking protrusion 8011 can be inserted into the limiting groove 8024 when it rotates to the limiting groove 8024 together with the locking pin 801. When the locking protrusion 8011 is inserted into the limiting groove 8024, the disc spring will also be compressed. The tension of the disc spring will push the limiting cap body 8012 to make the locking protrusion 8011 inserted into the limiting groove 8024 more firmly, thereby ensuring that the locking pin always remains in the groove, making the second end of the locking pin 801 more firmly fixed.

[0075] In addition, if Figure 6As shown, the limiting surfaces 8023 on both sides of the limiting groove 8024 are inclined, and the limiting surfaces 8023 gradually decrease in height from approaching the limiting groove 8024 to moving away from the limiting groove 8024. In this way, when the locking pin 801 rotates toward the limiting groove 8024, the engaging protrusion 8011 will be in a climbing state under the action of the limiting surfaces 8023, that is, the distance between the engaging protrusion 8011 and the actuator 701 will become increasingly farther. During the entire climbing process, the presence of the elastic member 803 can compensate for manufacturing errors and provide a locking force to ensure the locking of the locking pin 801.

[0076] In one embodiment, see Figures 1 to 3 A second positioning unit 9 is further provided between the connecting support 2 and the actuator connector 701 to ensure the installation accuracy therebetween. Specifically, the second positioning unit 9 refers to a positioning structure provided between the connecting support 2 and the actuator connector 701. The provision of the second positioning unit 9 ensures the connection accuracy between the connecting support 2 and the actuator connector 701, making the overall installation position of the actuator 7 more accurate and the surgical operation more precise.

[0077] In one embodiment, see Figures 1 to 3 The second positioning unit 9 includes second positioning surfaces 901 respectively provided on the execution connection member 701 and the connection support member 2. The two second positioning surfaces 901 abut against each other, and a second positioning pin 902 is convexly provided on one of the second positioning surfaces 901, and a second positioning hole 903 matching the second positioning pin 902 is provided on the other second positioning surface 901. Specifically, the second positioning surface 901 refers to a surface structure provided on the connection support member 2 or the execution connection member 701. The second positioning surface 901 can be a single plane, a curved surface or an inclined surface. The second positioning surface 901 can also be a combination of multiple surface structures, for example, multiple planes are arranged at an angle to form a V-shaped surface structure. The V-shaped surface structure can be a concave surface or a convex surface. The second positioning surface 901 provided on the electrical isolator 1 and the second positioning surface 901 provided on the connection support member 2 can be adapted to each other. The second positioning pin 902 refers to a columnar component with a certain length. The axis of the second positioning pin 902 is generally arranged along the installation direction of the execution device 7.

[0078] The second positioning pin 902 is protruding from one second positioning surface 901, and the second positioning hole 903 that matches the second positioning pin 902 is provided on the other second positioning surface 901. When the second positioning pin 902 is provided on the second positioning surface 901 of the connecting support 2, the second positioning hole 903 that cooperates with the second positioning pin 902 is provided on the actuator connector 701. In other words, the actuator connector 701 and the connecting support 2 can both be provided with the second positioning hole 903 and the second positioning pin 902, or only with the second positioning hole 903 or the second positioning pin 902. When the actuator connector 701 and the connecting support 2 are connected and installed, the second positioning pin 902 can be inserted into the second positioning hole 903 until the two second positioning surfaces 901 abut against each other. The cooperation between the two second positioning surfaces 901 and the cooperation between the second positioning pin 902 and the second positioning hole 903 can make the connection and positioning between the actuator connector 701 and the connecting support 2 more accurate, thereby improving the installation accuracy of the actuator 7.

[0079] To prevent the actuator connector 701 and the connecting support 2 from rotating about the axis of the second locating pins 902, the number of second locating pins 902 is generally at least two, and two adjacent second locating pins 902 are spaced apart from each other. For example, when there are two second locating pins 902, the two second locating pins 902 can be spaced apart along a straight line; when there are three second locating pins 902, the three second locating pins 902 can be arranged in a triangle or spaced apart along a straight line. By providing at least two second locating pins 902, multi-point positioning can be achieved, making the positioning between the actuator connector 701 and the connecting support 2 more precise.

[0080] Multiple second positioning pins 902 can also be positioned in a combination of sizes. For example, among the multiple second positioning pins 902, one or more second positioning pins 902 have a diameter that is larger than the diameter of other second positioning pins 902. The larger second positioning pins 902 can increase the strength, while the other second positioning pins 902 with smaller diameters only need to play a positioning role, which can reduce the production cost of the entire second positioning unit 9 while ensuring the connection strength.

[0081] After the electrical isolator 1 and the connecting support 2 are positioned by the second positioning unit 9, the electrical isolator 1 and the connecting support 2 can be connected using the quick release mechanism 8, which can make the installation of the electrical isolator 1 and the connecting support 2 more convenient and firm.

[0082] In an alternative embodiment, see Figures 1 to 3When a torque sensor 3 and a user interaction component 4 are provided between the electrical isolator 1 and the end of the robotic arm 10, a third positioning unit is further provided between the electrical isolator 1 and the torque sensor 3 or the user interaction component 4, a fourth positioning unit is provided between the torque sensor 3 and the user interaction component 4, and a fifth positioning unit is provided between the torque sensor 3 or the user interaction component 4 and the end of the robotic arm 10. By providing the third positioning unit, the fourth positioning unit, and the fifth positioning unit, the precise installation position of each component in the end connection mechanism can be ensured, ultimately achieving the purpose of ensuring the precise installation position of the execution instrument 7 at the end of the robotic arm 10, thereby improving the accuracy of the surgery.

[0083] Among them, the structures of the third positioning unit, the fourth positioning unit and the fifth positioning unit may be similar to the structure of the first positioning unit 6 or the second positioning unit 9, and all adopt the method of positioning by matching the positioning surface with the positioning pin, which will not be repeated here.

[0084] In a third aspect, a surgical robot is provided, comprising a robotic arm 10 and any of the aforementioned actuators, wherein the actuator is connected to the end of the robotic arm 10. It is understood that the beneficial effects of the third aspect can be found in the relevant description of the first aspect, and will not be repeated here.

[0085] The foregoing description is merely a preferred embodiment of the present invention and specifically describes the technical principles of the present invention. These descriptions are intended solely to explain the principles of the present invention and should not be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention, as well as other specific embodiments of the present invention that can be devised by those skilled in the art without inventive effort, shall be included within the scope of protection of the present invention.

Claims

1. An end connection mechanism for connecting an actuator (7) to a robotic arm (10), characterized in that: The invention comprises an electrical isolator (1), a connecting support (2) and a sterile cover (5); the electrical isolator (1) is installed at the end of the robot arm (10) and is used to electrically isolate the robot arm (10) from the execution instrument (7); the connecting support (2) is connected to the side of the electrical isolator (1) away from the end of the robot arm (10), and the connecting support (2) is used to install the execution instrument (7); the sterile cover (5) is connected between the electrical isolator (1) and the connecting support (2), and the electrical isolator (1) and the end of the robot arm (10) are covered in the sterile cover (5) to isolate the connecting support (2) on the sterile side.

2. The end connection mechanism according to claim 1, wherein: A torque sensor (3) for detecting the magnitude of the force applied to the robotic arm (10) is provided between the electrical isolator (1) and the end of the robotic arm (10).

3. The end connection mechanism according to claim 1 or 2, characterized in that: A user interaction component (4) is provided between the electrical isolator (1) and the end of the mechanical arm (10).

4. The end connection mechanism according to claim 3, wherein: The user interaction component (4) includes an interaction support (401) connected between the electrical isolation component (1) and the end of the robotic arm (10), and the user interaction component (4) also includes an interaction button (402) and / or an indication unit (403) arranged on the interaction support (401).

5. The end connection mechanism according to claim 1, wherein: The sterile cover (5) is provided with a support mounting member (501), the outer periphery of the support mounting member (501) is sealedly connected to the sterile cover (5), and the support mounting member (501) is provided between the electrical isolation member (1) and the connection support member (2).

6. The end connection mechanism according to claim 1, wherein: A first positioning unit (6) is further provided between the electrical isolator (1) and the connecting support (2) for ensuring the installation accuracy between the two.

7. The end connection mechanism according to claim 6, wherein: The first positioning unit (6) comprises first positioning surfaces (601) respectively arranged on the electrical isolator (1) and the connecting support (2), the two first positioning surfaces (601) being in contact with each other, a first positioning pin (602) being protruding from one of the first positioning surfaces (601), and a first positioning hole (603) matching the first positioning pin (602) being provided on the other of the first positioning surfaces (601).

8. An execution device, characterized in that: It comprises an execution instrument (7) and an end connection mechanism according to any one of claims 1 to 7, wherein the execution instrument (7) is connected to the connection support (2).

9. The execution device according to claim 8, characterized in that: An execution connection piece (701) is provided at one end of the execution device (7), and a quick release mechanism (8) is further provided between the execution connection piece (701) and the connection support piece (2), and the execution connection piece (701) is detachably connected to the connection support piece (2) via the quick release mechanism (8).

10. The execution device according to claim 9, characterized in that: The quick-release mechanism (8) comprises a locking pin (801) and a slot structure (802), wherein a first end of the locking pin (801) is rotatably connected to the execution connection member (701), and the slot structure (802) is provided on the connection support member (2). The locking pin (801) can be rotated so that the locking pin (801) switches between a mounting position and a dismounting position. When the locking pin (801) is located at the mounting position, the second end of the locking pin (801) is mounted in the slot structure (802). When the locking pin (801) is located at the dismounting position, the second end of the locking pin (801) can be inserted into or withdrawn from the slot structure (802).

11. The execution device according to claim 9, characterized in that: A second positioning unit (9) is also provided between the connecting support (2) and the execution connecting member (701) for ensuring the installation accuracy between the two.

12. The execution device according to claim 11, characterized in that: The second positioning unit (9) includes second positioning surfaces (901) respectively arranged on the execution connection member (701) and the connection support member (2), the two second positioning surfaces (901) abutting against each other, one of the second positioning surfaces (901) being provided with a second positioning pin (902) protruding thereon, and the other second positioning surface (901) being provided with a second positioning hole (903) matching the second positioning pin (902).

13. A surgical robot, characterized in that: The invention comprises a robotic arm (10), and an execution device according to any one of claims 8 to 12, wherein the execution device is connected to the end of the robotic arm (10).

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