A quick release mechanism, a mechanical arm and a surgical robot

Abstract

A quick-release mechanism, a robotic arm, and a surgical robot are disclosed. The robotic arm includes a first arm and a second arm, which are fixedly connected. A first proximal end of the first arm faces the second arm, and a first distal end of the first arm faces away from the second arm. A second proximal end of the second arm faces the first arm, and a second distal end of the second arm faces away from the first arm. The quick-release mechanism includes a first docking mechanism and a second docking mechanism. The first docking mechanism is disposed on the first arm and includes a first electrical component. The second docking mechanism is disposed on the second arm and includes a second electrical component. The first docking mechanism is detachably connected to the second docking mechanism, and when the first docking mechanism is connected to the second docking mechanism, the first proximal end of the first arm and the second proximal end of the second arm are fixedly connected and coaxial, and the first electrical component and the second electrical component are electrically connected by contact.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to a quick-release mechanism, a robotic arm, and a surgical robot. Background Technology

[0002] Surgical robots have been successfully applied to various minimally invasive surgeries due to their advantages such as dexterity, intuitive operation, and short learning curve. However, the robotic arms of current surgical robots are generally quite heavy, requiring the assistance of multiple personnel to pre-attach the robotic arm to the adjustment arm for support, and then connect and fix the mechanical structure and connect the electrical interfaces to ensure that the robotic arm can be used normally on the equipment.

[0003] Therefore, there is a need to achieve quick-release robotic arms. Current quick-release solutions for surgical robot robotic arms are mostly corner-type connection mechanisms. Generally, the back cover is removed at the corner of the adjusting arm adapter. To achieve quick-release connection, the back cover needs to be removed in advance, and then the robotic arm is pre-attached to the adjusting arm adapter. Then, screws are tightened from one end of the opened back cover hole to strengthen the mechanical connection rigidity or to achieve electrical connection.

[0004] However, this method still suffers from low efficiency during the installation and disassembly of the robotic arm, significantly increasing labor costs. Furthermore, corner-type quick-release designs increase the number of irregularly shaped parts on the machine body, limiting the configuration of the adjustment arm and the quick-release position, thus hindering the design of new robotic arms.

[0005] Therefore, a quick-release mechanism, robotic arm, and surgical robot are needed to at least partially solve the above problems. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] To at least partially solve the above problems, a first aspect of this application provides a quick-release mechanism for a robotic arm in a surgical robot system. The robotic arm includes a first arm portion and a second arm portion, which are fixedly connected. The position of the first arm portion facing the second arm portion is a first proximal end, and the position of the first arm portion away from the second arm portion is a first distal end. The position of the second arm portion facing the first arm portion is a second proximal end, and the position of the second arm portion away from the first arm portion is a second distal end. The quick-release mechanism includes:

[0008] A first docking mechanism is disposed on the first arm, and the first docking mechanism includes a first electrical component;

[0009] A second docking mechanism is disposed on the second arm, and the second docking mechanism includes a second electrical component;

[0010] The first docking mechanism is detachably connected to the second docking mechanism, and when the first docking mechanism is connected to the second docking mechanism, the first proximal end of the first arm and the second proximal end of the second arm are fixedly connected and coaxial, and the first electrical component and the second electrical component are electrically connected in contact.

[0011] According to the quick-release mechanism of this application, the physical connection of structural components and the electrical connection of cables can be realized simultaneously using the straight cylindrical structure, which greatly improves the efficiency of quick assembly and disassembly. Moreover, the straight-through structure has a wide range of applications and the quick-release mechanism can be set at any position as needed, which is conducive to the further functional design of the robotic arm.

[0012] Optionally, the first docking mechanism further includes a first adapter component, the first electrical component is fixedly disposed on the first adapter component, and the first adapter component is provided with a snap-fit ​​component;

[0013] The second docking mechanism further includes a second adapter component, the second electrical component being rotatably connected to the second adapter component, the second adapter component having an insertion port and a snap-fit ​​groove, the snap-fit ​​groove communicating with the insertion port and extending along the circumference of the second docking mechanism;

[0014] The snap-fit ​​component can enter the snap-fit ​​slot through the insertion port. The first docking mechanism and the second docking mechanism rotate relative to each other to snap the snap-fit ​​component with the second adapter component. When the snap-fit ​​component is inserted into the snap-fit ​​slot, the first electrical component can contact the second electrical component to achieve electrical connection. When the first docking mechanism and the second docking mechanism rotate relative to each other to achieve snap-fit, the first electrical component and the second electrical component can rotate together.

[0015] Optionally, the second docking mechanism further includes:

[0016] A third adapter assembly is rotatably connected to the second adapter assembly, and the second electrical component is fixedly disposed on the third adapter assembly;

[0017] An elastic element is connected between the second adapter assembly and the third adapter assembly, and the elastic element has an elastic force that drives the third adapter assembly to return to its initial state.

[0018] Optionally, the second docking mechanism includes a bearing, wherein the second adapter assembly is connected to the outer ring of the bearing, and the third adapter assembly is connected to the inner ring of the bearing.

[0019] Optionally, the elastic element is constructed as a torsion spring, one end of which is fixed to the second adapter assembly, and the other end of which is fixedly connected to the third adapter assembly.

[0020] Optionally, the quick-release mechanism further includes a fastener, which is rotatably connected to the first docking mechanism and rotatably connected to the second docking mechanism.

[0021] Optionally, the first docking mechanism includes a first flange, and the fastener includes a second flange, the fastener being sleeved on the outer periphery of the first flange, and the second flange being capable of engaging with the first flange, or

[0022] The first docking mechanism is provided with an external thread, and the fastener is provided with an internal thread. The external thread of the first docking mechanism and the internal thread of the fastener can be engaged.

[0023] Optionally, the second docking mechanism is provided with an external thread, and the fastener is provided with an internal thread, so that the external thread of the second docking mechanism and the internal thread of the fastener can cooperate.

[0024] Optionally, the quick-release mechanism further includes an elastic kit, which is used to be positioned between the fastener and the first adapter component after the fastener is fixed to the first and second docking mechanisms by the fastener.

[0025] Optionally, one of the first adapter component or the third adapter component is provided with a positioning hole, and the other of the first adapter component or the third adapter component is provided with a positioning pin, wherein the positioning pin can be inserted when the first adapter component and the second adapter component are mated.

[0026] Optionally, the positioning pin is located on the first adapter assembly, and the positioning pin protrudes from the side end face of the first adapter assembly facing the second adapter assembly; or

[0027] The positioning pin is located on the third adapter assembly, and the positioning pin protrudes from the side end face of the second or third adapter assembly facing the first adapter assembly.

[0028] Optionally, the first adapter assembly includes a first electrical support portion, and the third adapter assembly includes a second electrical support portion. One or both of the first electrical support portion and the second electrical support portion are provided with an isolation component. When the first electrical component is electrically connected to the second electrical component, the isolation component is located between the first electrical component and the second electrical component.

[0029] Optionally, the first electrical component includes a pin connector, and the second electrical component includes a socket connector.

[0030] A second aspect of this application provides a robotic arm that includes the quick-release mechanism described in the first aspect above.

[0031] The robotic arm according to this application has similar technical effects to the quick-release mechanism of the first aspect described above.

[0032] A third aspect of this application provides a surgical robot system, the surgical robot including the robotic arm described in the second aspect above.

[0033] The surgical robot according to this application has similar technical effects to the robotic arm described in the second aspect above. Attached Figure Description

[0034] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the invention and their descriptions to explain the principles of the invention.

[0035] In the attached image:

[0036] Figure 1 This is a schematic diagram of a surgical robotic system according to one embodiment of this application;

[0037] Figure 2 This is a schematic diagram of a robotic arm system according to one embodiment of this application;

[0038] Figure 3 This is a schematic diagram of a quick-release mechanism according to one embodiment of this application;

[0039] Figure 4 This is a schematic diagram of the quick-release mechanism in a disengaged state according to one embodiment of this application;

[0040] Figure 5 This is a cross-sectional schematic diagram of a quick-release mechanism according to one embodiment of this application;

[0041] Figure 6 An exploded view of a quick-release mechanism according to one embodiment of this application; and

[0042] Figure 7 This is an exploded view of another embodiment of the quick-release mechanism according to this application.

[0043] Explanation of reference numerals in the attached figures:

[0044] 1: Surgical robot system; 20: Doctor's console

[0045] 30: Imaging system; 10: Robotic arm system

[0046] 11: Base 12: Handle

[0047] 13: Column 14: Robotic Arm

[0048] 15: Adjusting arm section 16: Operating arm section

[0049] 17: Connecting arm 14A: First arm section

[0050] 14B: Second arm NE1: First proximal end

[0051] NE2: Second proximal end; FE1: First distal end

[0052] FE2: Second distal end 100: Quick-release mechanism

[0053] 110: First docking mechanism; 111: First electrical component

[0054] 112: First adapter component; 113: Snap-on connector

[0055] 114: First flange; 115: First electrical support section

[0056] 120: Second docking mechanism; 121: Second electrical component

[0057] 122: Second adapter component; 123: Insertion port

[0058] 124: Socket slot; 125: Third adapter assembly

[0059] 126: Elastic component; 127: Bearing

[0060] 128: Second electrical support unit; 129: Isolation component

[0061] 130: Fastener; 131: Second flange

[0062] 132: Elastic kit 133: Positioning hole

[0063] 134: Locating pin; 135: Outer ring cover plate

[0064] 136: Mounting slot Detailed Implementation

[0065] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0066] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0067] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0068] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0069] refer to Figure 1 and Figure 2 The surgical robot system 1 is a robot that can be remotely controlled to perform surgery. It consists of three components: a doctor's console 20, a patient-side robotic arm system 10, and an imaging system 30.

[0070] The doctor's console 20 includes a display unit (also called a monitor) for showing the surgical instruments and environment, a master hand control device, and armrests. The display unit has an observation window for the doctor to observe, the movements of the master hand control device correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arm. The master hand control device can also be called an input device. It typically includes at least one master manipulator (also called a control arm, master robotic arm 14, etc.), which the doctor can operate to control the movements of the adjacent robotic arm system 10 to perform surgical procedures. In other words, the master manipulator serves as one type of input device for the doctor's console 20. The master manipulator typically includes multiple connected arms 17 connected in sequence, with adjacent connecting arms 17 rotatably connected via a first rotary joint. Furthermore, the master manipulator may also include an input handle, such as a clamp assembly, which can be rotatably connected to the final wrist connecting arm 17 via a rotary joint. In addition, the doctor's console 20 has other control switches that are conveniently touched or pressed by hand or foot for various functional operations and human-computer interaction. The doctor's console 20 can also be called a control system. The display unit, main control device, armrests, etc. are all mounted on the support.

[0071] The imaging system 30 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0072] The patient-side robotic arm system 10 includes several robotic arms 14, each with several connecting arms 17. Adjacent connecting arms 17 move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm 14 to achieve multiple degrees of freedom (e.g., seven degrees of freedom, depending on the instrument). A holding arm is located at the end joint of the robotic arm 14, and an instrument actuator is mounted on the holding arm. Surgical instruments or endoscopes are detachably mounted on the instrument actuator. Surgical instruments typically have an end effector in the form of a surgical tool, such as forceps, scissors, or clamps, at one end of a slender tube. The conventional motion structure of the end effector uses a steel cable to rotate the end effector to perform pitch, yaw, and gripping movements.

[0073] For details on the patient-side robotic arm system 10, please refer to [link / reference]. Figure 2 It includes a movable base 11 and a column 13, on which the robotic arm 14 can move up and down. Figure 2 Only one robotic arm 14 is shown in the diagram. A handle 12 can also be installed on the base 11, allowing the operator to assist in moving the base 11. The lifting and lowering of the robotic arm 14 on the column 13 can be driven by a lifting device. The increased load on the power unit due to gravity in the vertical direction of the robotic arm 14 poses a safety hazard during movement; therefore, a gravity compensation device is preferably installed to provide a relatively constant force during the movement of the robotic arm 14, achieving gravity compensation and counteraction.

[0074] The robotic arm 14 typically includes an adjusting arm portion 15 and a manipulator arm portion 16. The end of the manipulator arm portion 16 is used to mount an instrument manipulator arm, which is used to mount surgical instruments or endoscopes. The instrument manipulator arm may also be equipped with an instrument drive mechanism to drive the surgical instruments to perform insertion, clamping, and other actions. Before operating the robot to perform surgery, the adjusting arm portion 15 needs to be operated to move the surgical instruments mounted at the end of the manipulator arm portion 16 to the designated position, and then the joints of the adjusting arm portion 15 are locked. During surgery, the manipulator arm portion 16 is remotely controlled to perform surgical operations, while the joints of the adjusting arm portion 15 are kept locked to prevent relative movement between the linkages or connecting arms 17 of the adjusting arm portion 15 during the operation.

[0075] Among them, reference Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7The adjustment arm portion 15 and the operating arm portion 16, or the connecting arm 17, can be connected via a quick-release mechanism 100. Exemplarily, the robotic arm 14 includes a first arm portion 14A and a second arm portion 14B. The first arm portion 14A and the second arm portion 14B are fixedly connected. The position of the first arm portion 14A facing the second arm portion 14B is the first proximal end NE1, the position of the first arm portion 14A away from the second arm portion 14B is the first distal end FE1, the position of the second arm portion 14B facing the first arm portion 14A is the second proximal end NE2, and the position of the second arm portion 14B away from the first arm portion 14A is the second distal end FE2. The first arm portion 14A can be the adjustment arm portion 15, and the second arm portion 14B can be the operating arm portion 16.

[0076] The quick-release mechanism 100 includes a first docking mechanism 110 and a second docking mechanism 120. The first docking mechanism 110 is disposed on the first arm 14A and includes a first electrical component 111. The second docking mechanism 120 is disposed on the second arm 14B and includes a second electrical component 121. The first docking mechanism 110 is detachably connected to the second docking mechanism 120, and when the first docking mechanism 110 and the second docking mechanism 120 are connected, the first proximal end NE1 of the first arm 14A and the second proximal end NE2 of the second arm 14B are fixedly connected and coaxial, and the first electrical component 111 and the second electrical component 121 are electrically connected by contact.

[0077] According to the quick-release mechanism 100 of this application, the physical connection of structural components and the electrical connection of cables can be realized simultaneously using the straight cylindrical structure, which greatly improves the efficiency of quick assembly and disassembly. Moreover, the straight-through structure has a wide range of applications and the quick-release mechanism 100 can be set at any position as needed, which is conducive to the further functional design of the robotic arm 14.

[0078] More specifically, the first docking mechanism 110 also includes a first adapter assembly 112, and a first electrical component 111 is fixedly disposed on the first adapter assembly 112. As an example, the first adapter assembly 112 includes a first electrical support portion 115, and the first electrical component 111 is fixedly disposed on the first electrical support portion 115.

[0079] The second docking mechanism 120 further includes a second adapter component 122, to which the second electrical component 121 is rotatably connected. As an optional embodiment, the second docking mechanism 120 also includes a third adapter component 125, rotatably connected to the second adapter component 122. The third adapter component 125 includes a second electrical support portion 128, to which the second electrical component 121 is fixedly disposed, so as to rotate together with the third adapter component 125.

[0080] An isolation member 129 is provided in one or both of the first electrical support part 115 or the second electrical support part 128. When the first electrical component 111 is electrically connected to the second electrical component 121, the isolation member 129 is located between the first electrical component 111 and the second electrical component 121.

[0081] To achieve a physical connection between the first docking mechanism 110 and the second docking mechanism 120, the first adapter assembly 112 is provided with a snap-fit ​​member 113, and the second adapter assembly 122 has an insertion port 123 and a snap-fit ​​groove 124. The snap-fit ​​groove 124 communicates with the insertion port 123 and extends circumferentially along the second docking mechanism 120. The snap-fit ​​member 113 can enter the snap-fit ​​groove 124 through the insertion port 123. The relative rotation of the first docking mechanism 110 and the second docking mechanism 120 causes the snap-fit ​​member 113 to snap into the second adapter assembly 122. When the snap-fit ​​member 113 is inserted into the snap-fit ​​groove 124, the first electrical component 111 can contact the second electrical component 121 to achieve an electrical connection. When the first docking mechanism 110 and the second docking mechanism 120 rotate relative to each other to achieve snap-fit, the first electrical component 111 and the second electrical component 121 can rotate together. This structural form allows the electrical connection to be automatically and synchronously connected and disconnected as the mechanical connection is assembled and disassembled, further reducing the difficulty of operation, improving efficiency, and making it more suitable for single-person assembly and disassembly; it can also prevent the first electrical component 111 and the second electrical component 121 from being damaged by lateral forces.

[0082] To facilitate the joint rotation of the first electrical component 111 and the second electrical component 121, they are preferably connected by a pin-type connection. For example, the first electrical component 111 includes a pin connection portion, and the second electrical component 121 includes a socket connection portion.

[0083] In a preferred embodiment, the second docking mechanism 120 further includes an elastic element 126. The elastic element 126 is connected between the second adapter assembly 122 and the third adapter assembly 125, and provides an elastic force to the third adapter assembly 125 to drive it back to its initial state. The elastic element 126 can be configured as a torsion spring, with one end fixed to the second adapter assembly 122 and the other end fixedly connected to the third adapter assembly 125. This allows the second electrical assembly 121 to reset after disassembly, facilitating quick alignment during the next installation.

[0084] The second docking mechanism 120 also includes a bearing 127, a second adapter assembly 122 connected to the outer ring of the bearing 127, and a third adapter assembly 125 connected to the inner ring of the bearing 127. For more details, please refer to [link / reference needed]. Figure 5 , Figure 6 and Figure 7The second docking mechanism 120 also includes an outer ring cover plate 135 and an inner ring cover plate. The outer ring cover plate 135 is fixedly connected to the outer ring of the bearing 127 and is also fixedly connected to the second adapter assembly 122. The inner ring cover plate is fixedly connected to the inner ring of the bearing 127, and the third adapter assembly 125 is fixedly connected to the inner ring cover plate. As an example, the third adapter assembly 125 and the inner ring cover plate can be an integral component or the two can be the same part.

[0085] As one implementation, the outer ring cover plate 135 has a mounting groove 136, which is constructed to fit the shape of the torsion spring so as to accommodate the torsion spring and fix one end of the torsion spring.

[0086] One of the first adapter component 112 or the third adapter component 125 is provided with a positioning hole 133, and the other of the first adapter component 112 or the third adapter component 125 is provided with a positioning pin 134. When the first adapter component 112 and the second adapter component 122 are connected, the positioning pin 134 can be inserted.

[0087] exist Figure 6 and Figure 7 In the illustrated embodiment, the positioning pin 134 is located on the third adapter assembly 125, and the positioning pin 134 protrudes from the side end face of the second adapter assembly 122 or the third adapter assembly 125 facing the first adapter assembly 112. In an embodiment not shown, the positioning pin 134 is located on the first adapter assembly 112, and the positioning pin 134 protrudes from the side end face of the first adapter assembly 112 facing the second adapter assembly 122.

[0088] refer to Figure 5 , Figure 6 and Figure 7 The quick-release mechanism 100 also includes a fastener 130, which is rotatably connected to the first docking mechanism 110 and rotatably connected to the second docking mechanism 120. In other words, the fastener 130 is used to make a secondary physical connection between the first docking mechanism 110 and the second docking mechanism 120.

[0089] More specifically, as one implementation, the first mating mechanism 110 includes a first flange 114, and the fastener 130 includes a second flange 131. The fastener 130 is sleeved on the outer periphery of the first flange 114, and the second flange 131 can engage with the first flange 114. The second mating mechanism 120 is provided with an external thread, and the fastener 130 is provided with an internal thread. The external thread of the second mating mechanism 120 and the internal thread of the fastener 130 can mate.

[0090] In another implementation, the fastener 130 is connected to both the first docking mechanism 110 and the second docking mechanism 120 via threads. That is, the first docking mechanism 110 is provided with external threads, and the fastener 130 is provided with internal threads, and the external threads of the first docking mechanism 110 and the internal threads of the fastener 130 can mate.

[0091] Optionally, the quick-release mechanism 100 further includes an elastic kit 132, which is used to be positioned between the fastener 130 and the first adapter assembly 112 after the fastener 130 is fixed to the first docking mechanism 110 and the second docking mechanism 120 by the fastener 130.

[0092] The processes and steps described in all the preferred embodiments above are merely examples. Unless adverse effects occur, various processing operations can be performed in a different order than the above-described processes. The order of steps in the above processes can also be added, combined, or deleted according to actual needs.

[0093] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0094] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. This application is not limited to the above embodiments. Many variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A quick-release mechanism for a robotic arm in a surgical robot system, the robotic arm comprising a first arm portion and a second arm portion, the first arm portion and the second arm portion being fixedly connected, a position of the first arm portion facing the second arm portion being a first proximal end, a position of the first arm portion away from the second arm portion being a first distal end, a position of the second arm portion facing the first arm portion being a second proximal end, and a position of the second arm portion away from the first arm portion being a second distal end, characterized in that... The quick-release mechanism includes: A first docking mechanism is disposed on the first arm, and the first docking mechanism includes a first electrical component; A second docking mechanism is disposed on the second arm, and the second docking mechanism includes a second electrical component; The first docking mechanism is detachably connected to the second docking mechanism, and when the first docking mechanism is connected to the second docking mechanism, the first proximal end of the first arm and the second proximal end of the second arm are fixedly connected and coaxial, and the first electrical component and the second electrical component are electrically connected in contact.

2. The quick-release mechanism according to claim 1, characterized in that, The first docking mechanism further includes a first adapter component, the first electrical component is fixedly disposed on the first adapter component, and the first adapter component is provided with a snap-fit ​​component; The second docking mechanism further includes a second adapter assembly, the second electrical assembly being rotatably connected to the second adapter assembly, the second adapter assembly having an insertion port and a snap-fit ​​groove, the snap-fit ​​groove communicating with the insertion port and extending along the circumference of the second docking mechanism; The snap-fit ​​component can enter the snap-fit ​​slot through the insertion port. The first docking mechanism and the second docking mechanism rotate relative to each other to snap the snap-fit ​​component with the second adapter component. When the snap-fit ​​component is inserted into the snap-fit ​​slot, the first electrical component can contact the second electrical component to achieve electrical connection. When the first docking mechanism and the second docking mechanism rotate relative to each other to achieve snap-fit, the first electrical component and the second electrical component can rotate together.

3. The quick-release mechanism according to claim 2, characterized in that, The second docking mechanism also includes: A third adapter assembly is rotatably connected to the second adapter assembly, and the second electrical component is fixedly disposed on the third adapter assembly; An elastic element is connected between the second adapter assembly and the third adapter assembly, and the elastic element has an elastic force that drives the third adapter assembly to return to its initial state.

4. The quick-release mechanism according to claim 3, characterized in that, The second docking mechanism includes a bearing, wherein the second adapter assembly is connected to the outer ring of the bearing, and the third adapter assembly is connected to the inner ring of the bearing.

5. The quick-release mechanism according to claim 3, characterized in that, The elastic element is a torsion spring, one end of which is fixed to the second adapter assembly, and the other end of which is fixedly connected to the third adapter assembly.

6. The quick-release mechanism according to claim 2, characterized in that, The quick-release mechanism also includes a fastener, which is rotatably connected to the first docking mechanism and rotatably connected to the second docking mechanism.

7. The quick-release mechanism according to claim 6, characterized in that, The first docking mechanism includes a first flange, and the fastener includes a second flange. The fastener is sleeved on the outer periphery of the first flange, and the second flange can engage with the first flange. The first docking mechanism is provided with an external thread, and the fastener is provided with an internal thread. The external thread of the first docking mechanism and the internal thread of the fastener can be engaged.

8. The quick-release mechanism according to claim 7, characterized in that, The second docking mechanism is provided with an external thread, and the fastener is provided with an internal thread. The external thread of the second docking mechanism and the internal thread of the fastener can be engaged.

9. The quick-release mechanism according to any one of claims 6 to 8, characterized in that, The quick-release mechanism also includes an elastic kit, which is used to be positioned between the fastener and the first adapter component after the fastener is fixed to the first docking mechanism and the second docking mechanism by the fastener.

10. The quick-release mechanism according to claim 3, characterized in that, One of the first adapter component or the third adapter component is provided with a positioning hole, and the other of the first adapter component or the third adapter component is provided with a positioning pin. When the first adapter component and the second adapter component are connected, the positioning pin can be inserted into the positioning pin.

11. The quick-release mechanism according to claim 10, characterized in that, The positioning pin is located on the first adapter assembly, and the positioning pin protrudes from the side end face of the first adapter assembly facing the second adapter assembly; or The positioning pin is located on the third adapter assembly, and the positioning pin protrudes from the side end face of the second or third adapter assembly facing the first adapter assembly.

12. The quick-release mechanism according to claim 3, characterized in that, The first adapter assembly includes a first electrical support portion, and the third adapter assembly includes a second electrical support portion. One or both of the first electrical support portion and the second electrical support portion are provided with an isolation component. When the first electrical component is electrically connected to the second electrical component, the isolation component is located between the first electrical component and the second electrical component.

13. The quick-release mechanism according to claim 1, characterized in that, The first electrical component includes a pin connector, and the second electrical component includes a socket connector.

14. A robotic arm, characterized in that, The robotic arm includes a quick-release mechanism according to any one of claims 1-13.

15. A surgical robot system, characterized in that, The surgical robot includes the robotic arm according to claim 14.

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