Mechanical arm unlocking handle for interventional surgical robot

Abstract

The utility model provides a mechanical arm unlocking handle for an interventional operation robot, the interventional operation robot comprises a mechanical arm and a robot body connected to the tail end of the mechanical arm, and the mechanical arm unlocking handle is connected to the robot body. The mechanical arm unlocking handle comprises a handle body and a control button, the handle body comprises an upper shell and a lower shell, and the upper shell is fixedly connected with the lower shell; the control button is arranged on the lower shell and faces the robot body, and the control button is used for controlling the locking state of the mechanical arm; the mechanical arm can be unlocked by holding the mechanical arm unlocking handle and pressing down the control button, and the control button can be automatically reset by loosening the control button, so that the mechanical arm is restored to a locked state. Through the combination of the handle and the control button, the control button can synchronously control the locking states of all the rotating joints of the mechanical arm, the posture of the robot body can be conveniently adjusted, the stability of the mechanical arm is improved, and therefore the safety of an operation is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical machinery, and in particular to a robotic arm unlocking handle for an interventional surgical robot. Background Art

[0002] Vascular interventional surgery robots are important medical devices that replace human interventional surgery. Through the control of the master end, medical interventional devices such as catheters and guidewires located at the slave end are introduced into the blood vessels in the body to perform minimally invasive diagnosis and treatment of diseases. The benefit of vascular intervention is that it is easy to introduce the device into the patient without using a large incision, which significantly reduces the patient's pain and the potential for bleeding or infection. Vascular intervention incisions are smaller, so they are easier to seal and heal faster after surgery.

[0003] Since human blood vessels are thin and mostly curved, it is necessary to be very careful when controlling the movement of medical interventional devices such as catheters and guidewires in blood vessels during interventional surgery. Improper operation may puncture blood vessels. Therefore, it is necessary to ensure the stability of the vascular interventional surgery robot during surgery. Generally, a mechanical arm is used to support the robot body. The mechanical arm includes multiple extension arms, which are connected by rotating joints. The position and posture of the slave mechanism are adjusted by rotating the multiple extension arms to meet different clinical use requirements.

[0004] The robotic arms currently in use have poor motion control stability. The robotic arms cannot freely lock each rotating joint during movement. The robotic arms are prone to shaking during use, causing the position and posture of the end mechanism to deviate from the predetermined position, affecting the progress of the operation.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Utility Model Content

[0006] The purpose of the present disclosure is to overcome at least one of the above-mentioned shortcomings of the related art and provide a robotic arm unlocking handle for an interventional surgical robot.

[0007] Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

[0008] According to one aspect of the present disclosure, a robot arm unlocking handle for an interventional surgical robot is provided, the interventional surgical robot comprising a robot arm and a robot body connected to an end of the robot arm, the robot arm unlocking handle being connected to the robot body, and the robot arm unlocking handle comprising:

[0009] A handle body, the handle body comprising an upper shell and a lower shell, the upper shell being fixedly connected to the lower shell;

[0010] A control button, disposed on the lower shell and facing the robot body, the control button being used to control the locking state of the robot arm;

[0011] The robotic arm can be unlocked by holding the robotic arm unlocking handle and pressing the control button; and the control button is automatically reset by releasing the control button, so that the robotic arm returns to the locked state.

[0012] In an exemplary embodiment of the present disclosure, the control button includes:

[0013] A moving button is slidably embedded in the lower shell, and when holding the handle body, the moving button can be pressed to drive the handle body to move;

[0014] A touch button, the touch button is fixedly connected to the lower shell, and the end of the touch button is inserted into the inside of the moving button;

[0015] Among them, when the moving button is pressed, the moving button moves and abuts the touch button, the mechanical arm is powered on, and the mechanical arm is unlocked; when the moving button is released, the moving button is reset and does not abut the touch button, and the mechanical arm returns to the locked state.

[0016] In an exemplary embodiment of the present disclosure, the control button further includes:

[0017] A fixing plate, fixed on the lower shell, wherein the touch button passes through the fixing plate and is fixedly connected to the fixing plate;

[0018] An elastic member is provided between the fixed plate and the movable key. When the movable key is pressed, the elastic member is compressed, and the movable key moves toward the direction approaching the touch key; when the movable key is released, the elastic member rebounds, and the movable key moves toward the direction away from the touch key.

[0019] In an exemplary embodiment of the present disclosure, when the movable key is not pressed, the elastic member is in a compressed state or a free state, and the end of the movable key away from the touch key protrudes out of the surface of the lower shell.

[0020] In an exemplary embodiment of the present disclosure, threading holes and fixing holes are formed at both ends of the lower shell.

[0021] In an exemplary embodiment of the present disclosure, a communicating cavity is formed between the upper shell and the lower shell, and the cavity is used to pass a control line.

[0022] In an exemplary embodiment of the present disclosure, one end of the touch button away from the movement button is electrically connected to the control circuit in the cavity.

[0023] In an exemplary embodiment of the present disclosure, the upper shell and the lower shell are both integral structures and are fastened together.

[0024] According to another aspect of the present disclosure, there is also provided an interventional surgery robot, comprising:

[0025] Robot body;

[0026] A robot arm, comprising a support arm and a plurality of connecting arms connected in sequence, wherein the plurality of connecting arms connected in sequence have two free ends, one of which is rotatably connected to the support arm, and the other end is connected to the robot body, and two adjacent connecting arms are rotatably connected;

[0027] As described above, the robot arm unlocking handle is arranged on the robot body;

[0028] Wherein, by pressing the control button, the mechanical arm is unlocked, at which time, the connection between the connecting arm and the supporting arm, as well as the connection between two adjacent connecting arms, can rotate;

[0029] When the control button is released, the control button is automatically reset, so that the mechanical arm returns to the locked state. At this time, the connection between the connecting arm and the supporting arm, as well as the connection between two adjacent connecting arms, cannot rotate.

[0030] In an exemplary embodiment of the present disclosure, the support arm and the connecting arm, as well as two adjacent connecting arms, are connected via a joint assembly, and the joint assembly includes an electromagnetic valve and a reducer.

[0031] The mechanical arm unlocking handle for an interventional surgical robot disclosed in the present invention has the following beneficial effects:

[0032] The robot arm unlocking handle in the present disclosure is used for an interventional surgical robot, which includes a robot arm and a robot body connected to the end of the robot arm. The robot arm unlocking handle includes a handle body and a control button. The handle body is connected to the robot arm body, and the position of the robot body can be adjusted by dragging the handle, and the control button can control the unlocking state of the robot arm. Holding the handle body and pressing the control button to unlock the rotation joint of the robot arm, and then applying a thrust or a pull force to the handle, the robot arm can be pushed arbitrarily within the coverage range of the robot arm, thereby adjusting the position and posture of the robot body. Releasing the control button causes each rotation joint of the robot arm to be locked synchronously, and the position of the robot body is also fixed. The control button 4 is arranged on the lower shell 32 and is arranged in the direction of the robot body 1. When holding the handle body 3, the inner knuckle of the palm of the operator can contact the control button 4, which is convenient for pressing the control button 4 while dragging the handle, thereby improving the convenience of adjusting the posture of the robot arm 2. By combining the handle and the control button, the control button can synchronously control the locking state of all the rotating joints of the robotic arm. On the one hand, it can make the adjustment of the position of the robot body more convenient. On the other hand, after the robot body is adjusted to the appropriate position, all the rotating joints of the robotic arm are synchronously locked, which can prevent the robotic arm from shaking during the operation, improve the stability of the robotic arm, and thus improve the safety of the operation.

[0033] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0035] Figure 1 It is a schematic diagram of the structure of the interventional surgery robot disclosed in the present invention.

[0036] Figure 2 It is a schematic diagram of the structure of the interventional surgery robot disclosed in the present invention.

[0037] Figure 3 It is a schematic diagram of the structure of the unlocking handle of the mechanical arm disclosed in the present invention.

[0038] Figure 4 It is a structural exploded diagram of the unlocking handle of the robotic arm disclosed in the present invention.

[0039] Figure 5 It is a dismissal cross-sectional view of the unlocking handle of the mechanical arm disclosed in the present invention.

[0040] The main structural marks in the figure are explained as follows:

[0041] 1. Robot body; 2. Robot arm; 21. Support arm; 22. Connecting arm; 221. First connecting arm; 222. Second connecting arm; 223. Third connecting arm; 3. Handle body; 31. Upper shell; 32. Lower shell; 4. Control button; 41. Move button; 42. Touch button; 43. Fixed plate; 44. Elastic member. DETAILED DESCRIPTION

[0042] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0043] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the diagram to another component, these terms are used in this specification only for convenience, such as according to the direction of the examples in the drawings. It is understood that if the device of the diagram is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

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

[0045] An interventional surgical robot generally includes a master end located outside the operating room and a slave end located inside the operating room. The master end for control includes a master end control device, and the slave end for execution includes a connected robot body and a robotic arm. The robot body is connected to the operating table through the robotic arm, and can adjust its own posture through the robotic arm. The robot body includes an interventional consumable drive device, which is used to drive the interventional consumables to move. In order to provide a safer and sterile surgical environment and prevent doctors from being exposed to radiation from medical devices, interventional surgery is performed in a doctor-patient isolation manner. Among them, the robotic arm and the robot body are both located in the operating room. The robotic arm supports the robot body and can drive the robot body to move and pitch to achieve preoperative posture adjustment of the robot body, while the operator can operate the master end control device outside the operating room and perform surgery with the assistance of medical images to control the interventional consumable drive device.

[0046] During interventional surgery, the operator needs to control the main end control device to introduce the interventional consumables such as the guidewire and catheter installed on the slave end into the vascular lesions in the body for treatment. The interventional consumables drive device installed on the robot body clamps, delivers or rotates the interventional consumables. Before the operation, by adjusting the robot body to the appropriate position by adjusting the robotic arm, the interventional consumables can be easily introduced into the blood vessels at a better angle, which is conducive to improving the safety of the operation.

[0047] The existing robot arm is a multi-axis robot arm, including a multi-section extension arm, which is connected by multiple rotation joints. Each section of the extension arm can rotate along the rotation joint. Through the coordinated rotation of the multi-section extension arm, the position and posture of the robot body can be adjusted. However, most of the existing robot arms cannot control the locking state of each rotation joint of the robot arm, resulting in the robot arm being difficult to control when adjusting the position, and the robot arm is prone to shaking during the operation, thereby causing the robot body to deviate from the predetermined position, which has a great impact on the safety of the operation.

[0048] Based on this, Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the embodiment of the present disclosure provides a robot arm unlocking handle for an interventional surgical robot, the interventional surgical robot comprises a robot arm 2 and a robot body 1 connected to the end of the robot arm 2, and the robot arm unlocking handle is connected to the robot body 1. The robot arm unlocking handle comprises a handle body 3 and a control button 4, wherein the handle body 3 comprises an upper shell 31 and a lower shell 32, the upper shell 31 is fixedly connected to the lower shell 32; the control button 4 is arranged on the lower shell 32 and is arranged toward the robot body 1, and the control button 4 is used to control the locking state of the robot arm 2; holding the robot arm unlocking handle and pressing the control button 4 can unlock the robot arm 2, and releasing the control button 4 can automatically reset the control button 4 to restore the robot arm 2 to the locked state.

[0049] The robot arm unlocking handle provided by the present disclosure includes a handle body 3 and a control button 4. The handle body 3 is connected to the robot arm 2 body. The position of the robot body 1 can be adjusted by dragging the handle, and the control button 4 can control the unlocking state of the robot arm 2. When the position of the robot body 1 needs to be adjusted, the handle body 3 is held and the control button 4 is pressed to unlock the rotation joint of the robot arm 2, and then a thrust or a pull is applied to the handle, and the robot arm 2 can be pushed arbitrarily within the coverage of the robot arm 2, so that the position and posture of the robot body 1 can be adjusted. When the robot body 1 moves to an appropriate position, the control button 4 is released to lock the various rotation joints of the robot arm 2 synchronously, and the position of the robot body 1 is also fixed. The control button 4 is arranged on the lower shell 32 and arranged in the direction of the robot body 1. When holding the handle body 3, the inner knuckle of the palm of the operator can contact the control button 4, which is convenient for pressing the control button 4 while dragging the handle, thereby improving the convenience of adjusting the posture of the robot arm 2.

[0050] In addition, by combining the handle and the control button 4, the control button 4 can synchronously control the locking state of all the rotating joints of the robot arm 2. On the one hand, it can make the adjustment of the posture of the robot body 1 more convenient. On the other hand, after the robot body 1 is adjusted to the appropriate position, all the rotating joints of the robot arm 2 are synchronously locked, which can prevent the robot arm 2 from shaking during the operation, improve the stability of the robot arm 2, and thus improve the safety of the operation.

[0051] The following will describe in detail the various parts of the mechanical arm unlocking handle provided by the embodiment of the present disclosure in conjunction with the accompanying drawings:

[0052] like Figure 1 and Figure 2As shown, the robot arm unlocking handle provided by the present disclosure is used for an interventional surgical robot, which includes a robot arm 2 and a robot body 1, wherein the robot body 1 is connected to the end of the robot arm 2, and the robot arm 2 unlocking handle is fixedly connected to the robot body 1. The gripping handle can adjust the position of the robot body 1 arbitrarily within the adjustable coverage range of the robot arm 2, and the operation is convenient.

[0053] The handle body 3 includes an upper shell 31 and a lower shell 32, and the upper shell 31 and the lower shell 32 are buckled and fixedly connected to each other. For example, the lower shell 32 can be U-shaped, and the two ends of the lower shell 32 are fixed ends. The lower shell 32 can be fixedly connected to the robot body 1 through the fixed ends at both ends. A card slot can be provided on the lower shell 32, and a buckle can be provided on the upper shell 31. The upper shell 31 is buckled on the lower shell 32 to form a handle body 3 that is easy to hold. The interior of the upper shell 31 and the lower shell 32 is used to install other parts. When the upper shell 31 and the lower shell 32 are buckled, it can play a certain protective role on other internal parts and can also facilitate the operator to hold. In addition, the upper shell 31 and the lower shell 32 are both integrated structures, which are easy to install, not easy to be damaged after long-term use, and can also facilitate the inspection and maintenance of internal parts.

[0054] The control button 4 is arranged on the lower shell 32, and the control button 4 is arranged in the direction of the robot body 1, so that the operator can press the control button 4 after holding the handle body 3. When the operator holds the handle body 3, the inner knuckles of the operator's palm contact the control button 4, so that it is convenient to apply pressure to the control button 4. This arrangement makes it easy for the operator to unlock while holding the handle, which simplifies the rotation operation of the robot arm 2 and better avoids misoperation. After pressing the control button 4, the various rotation joints of the robot arm 2 can be unlocked synchronously. At this time, the position of the robot body 1 can be adjusted by the handle body 3; when the robot body 1 moves to an appropriate position, the control button 4 is released, and the various rotation joints of the robot arm 2 can be locked synchronously, so that the robot body 1 is fixed at the set position, and the robot arm 2 no longer rotates, which can effectively avoid the deviation of the position of the robot body 1 caused by the rotation of the robot arm 2 during the operation, which is conducive to improving the safety of the operation.

[0055] In the embodiments of the present disclosure, Figure 3 , Figure 4 and Figure 5As shown, the control button 4 includes a moving button 41 and a touch button 42. The moving button 41 is slidably embedded in the lower shell 32. When holding the handle body 3, the moving button 41 can be pressed to drive it to move; the touch button 42 is fixedly connected to the lower shell 32, and the end of the touch button 42 is inserted into the moving button 41; wherein, when the moving button 41 is pressed, the moving button 41 moves and abuts against the touch button 42, and the mechanical arm 2 is powered on to unlock the mechanical arm 2; when the moving button 41 is released, the moving button 41 is reset and does not abut against the touch button 42, and the mechanical arm 2 returns to the locked state. A mounting hole that cooperates with the moving button 41 is opened on the lower shell 32, and the edge of the mounting hole is stepped so that the moving button 41 will not fall from the mounting hole. The moving button 41 is embedded in the mounting hole and its end protrudes from the surface of the lower shell 32, which is convenient for the operator to press the moving button 41.

[0056] At the same time, the touch button 42 can be cylindrical, one end of the touch button 42 is inserted into the moving button 41, and the other end is arranged inside the upper shell 31 and the lower shell 32. The touch button 42 can be used as a power switch for the rotating joint of the robot arm 2. When the moving button 41 is pressed, the moving button 41 moves and abuts against the touch button 42, so that the rotating joint of the robot arm 2 is powered on, thereby unlocking the robot arm 2; when the moving button 41 is released, the moving button 41 automatically resets and does not abut against the touch button 42, so that the rotating joint of the robot arm 2 is powered off, thereby locking the robot arm 2.

[0057] In the disclosed embodiment, the control button 4 further includes a fixing plate 43 and an elastic member 44. The fixing plate 43 is fixed to the lower shell 32, and the touch button 42 passes through the fixing plate 43 and is fixedly connected to the fixing plate 43; the elastic member 44 is arranged between the fixing plate 43 and the moving button 41. When the moving button 41 is pressed, the elastic member 44 is compressed, and the moving button 41 moves in a direction close to the touch button 42; when the moving button 41 is released, the elastic member 44 rebounds, and the moving button 41 moves in a direction away from the touch button 42. The fixing plate 43 and the moving button 41 are respectively located on both sides of the mounting hole, and the fixing plate 43 covers the mounting hole and is fixedly connected to the lower shell 32. A hole for the touch button 42 to pass through is opened on the fixing plate 43, and the end of the touch button 42 away from the moving button 41 passes through the fixing plate 43, and its side is fixedly connected to the fixing plate 43. When the moving button 41 is pressed, the moving button 41 abuts against the head of the touch button 42 , that is, the end of the touch button 42 inserted into the moving button 41 , thereby energizing the robot arm 2 .

[0058] It should be noted that one end of the elastic member 44 abuts against the fixed plate 43, and the other end abuts against the movable button 41. When the movable button 41 is pressed, the movable button 41 can compress the elastic member 44. After the movable button 41 is released, the movable button 41 can automatically rebound under the action of the elastic member 44. The elastic member 44 can be a spring or other elastic structure, and those skilled in the art can select it according to actual conditions. For example, the elastic member 44 is a spring, and two springs can be provided, and are respectively located on both sides of the touch button 42, and the spring can also be sleeved on the touch button 42. The specific structure of the elastic member 44 is not specifically limited in this disclosure.

[0059] In addition, in the embodiment of the present disclosure, when the moving button 41 is not pressed, the elastic member 44 is in a compressed state or a free state, and the end of the moving button 41 away from the touch button 42 protrudes from the surface of the lower shell 32. The free state refers to a state in which the elastic member 44 is neither compressed nor stretched. Therefore, under the action of the elastic member 44, the end of the moving button 41 away from the touch button 42 can always protrude from the surface of the lower shell 32, which can facilitate the operator to press the moving button 41.

[0060] In the disclosed embodiment, a cavity can be formed between the upper shell 31 and the lower shell 32, which can be used to pass the control circuit, and threading holes and fixing holes are provided at both ends of the lower shell 32. The lower shell 32 is fixedly connected to the robot arm 2 or other equipment through the fixing holes, and the control circuit for controlling the power supply of the rotating joint of the robot arm 2 can be passed through the threading holes into the cavity. The end of the touch button 42 away from the moving button 41 is also in the cavity, so that the touch button 42 is electrically connected to the control circuit in the cavity, and pressing the end of the touch button 42 can power on the rotating joint of the robot arm 2, and then the locking state of the rotating joint of the robot arm 2 can be controlled by the touch button 42, so that the position of the robot arm 2 can be adjusted conveniently.

[0061] According to another aspect of the present disclosure, an interventional surgical robot is proposed, comprising a robot body 1 and a robotic arm 2. The robotic arm 2 comprises a support arm 21 and a plurality of connecting arms 22 connected in sequence, wherein the plurality of connecting arms 22 connected in sequence have two free ends, wherein one free end is rotationally connected to the support arm 21, and the other end is connected to the robot body 1, and two adjacent connecting arms 22 are rotationally connected. A robotic arm unlocking handle is provided on the robot body 1. The control button 4 is pressed to unlock the robotic arm 2. At this time, the connection between the connecting arm 22 and the support arm 21, and the connection between the two adjacent connecting arms 22 can all be rotated, so that the position of the robot body 1 can be adjusted by holding the handle body 3 and rotating the robotic arm 2. The control button 4 is released, and the control button 4 is automatically reset, so that the robotic arm 2 returns to the locked state. At this time, the connection between the connecting arm 22 and the support arm 21, and the connection between the two adjacent connecting arms 22 cannot be rotated, so that the position of the robotic arm 2 and the robot body 1 can be fixed.

[0062] For example, Figure 2 As shown, the robot arm 2 includes a support arm 21 and a connecting arm 22. Among them, the support arm 21 can be fixed on the operating table. The multiple connecting arms 22 include a first connecting arm 221, a second connecting arm 222 and a third connecting arm 223. One end of the first connecting arm 221 is a free end and is rotatably connected to the support arm 21. The other end of the first connecting arm 221 is rotatably connected to the second connecting arm 222. One end of the third connecting arm 223 is rotatably connected to an end of the second connecting arm 222 away from the first connecting arm 221. The other end of the third connecting arm 223 is a free end and is rotatably connected to the robot body 1. Press the control button 4 to unlock the robot arm 2. When the robot body 1 is pushed and pulled by the robot arm unlocking handle, the robot body 1 and the multiple connecting arms 22 can be rotated. Within the rotation coverage range of the multiple connecting arms 22, the position and posture of the robot body 1 can be arbitrarily adjusted. When the robot body 1 is adjusted to the appropriate position, release the control button 4 to lock the robot arm 2. At this time, the positions of the robot body 1 and the multiple connecting arms 22 are fixed, and the robot body 1 will not shake during the operation, which provides greater protection for the safety of the operation.

[0063] In one embodiment of the present disclosure, the support arm 21 and the connecting arm 22, as well as the two adjacent connecting arms 22, are connected by a joint assembly, and the joint assembly includes an electromagnetic holding valve and a reducer. Among them, the electromagnetic holding valve includes an electromagnetic coil, a magnet and a valve body, and the on-off control of the valve body can be achieved by controlling the on-off of the current passed into the electromagnetic coil. For example, when the valve body is opened, the rotation joints between the support arm 21 and the connecting arm 22, as well as the two adjacent connecting arms 22 can all rotate; when the valve body is closed, the rotation joints between the support arm 21 and the connecting arm 22, as well as the two adjacent connecting arms 22 are locked. Therefore, if the touch button 42 can control the on-off of the current passed into the electromagnetic coil, the locking state of the rotation joints between the support arm 21 and the connecting arm 22, as well as the two adjacent connecting arms 22 can be controlled by touching the button 42. At the same time, under the action of the reducer, the faster the support arm 21 and the connecting arm 22 rotate, the greater the resistance to rotation. Thereby, the rotation speed of the support arm 21 and the connecting arm 22 can be limited, and damage to the robotic arm 2 due to excessive rotation speed can be avoided. When adjusting the posture of the robot body 1, the stability and smoothness of the rotation of the support arm 21 and the connecting arm 22 can be ensured.

[0064] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The utility model is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A robot arm unlocking handle for an interventional surgical robot, the interventional surgical robot comprising a robot arm and a robot body connected to the end of the robot arm, characterized in that: The mechanical arm unlocking handle is connected to the robot body, and the mechanical arm unlocking handle includes: A handle body, the handle body comprising an upper shell and a lower shell, the upper shell being fixedly connected to the lower shell; A control button, disposed on the lower shell and facing the robot body, the control button being used to control the locking state of the robot arm; The robotic arm can be unlocked by holding the robotic arm unlocking handle and pressing the control button; and the control button is automatically reset by releasing the control button, so that the robotic arm returns to the locked state.

2. The mechanical arm unlocking handle according to claim 1, characterized in that: The control buttons include: A moving button is slidably embedded in the lower shell, and when holding the handle body, the moving button can be pressed to drive the handle body to move; A touch button, the touch button is fixedly connected to the lower shell, and the end of the touch button is inserted into the inside of the moving button; Among them, when the moving button is pressed, the moving button moves and abuts the touch button, the mechanical arm is powered on, and the mechanical arm is unlocked; when the moving button is released, the moving button is reset and does not abut the touch button, and the mechanical arm returns to the locked state.

3. The robot arm unlocking handle according to claim 2, characterized in that: The control button also includes: A fixing plate, fixed on the lower shell, wherein the touch button passes through the fixing plate and is fixedly connected to the fixing plate; An elastic member is provided between the fixed plate and the movable key. When the movable key is pressed, the elastic member is compressed, and the movable key moves toward the direction approaching the touch key; when the movable key is released, the elastic member rebounds, and the movable key moves toward the direction away from the touch key.

4. The robot arm unlocking handle according to claim 3, characterized in that: When the movable key is not pressed, the elastic member is in a compressed state or a free state, and the end of the movable key away from the touch key protrudes from the surface of the lower shell.

5. The robot arm unlocking handle according to any one of claims 1 to 4, characterized in that: The two ends of the lower shell are provided with threading holes and fixing holes.

6. The robot arm unlocking handle according to any one of claims 1 to 4, characterized in that: A communicating cavity is formed between the upper shell and the lower shell, and the cavity is used for passing a control line.

7. The robot arm unlocking handle according to claim 6, characterized in that: One end of the touch button away from the moving button is electrically connected to the control circuit in the cavity.

8. The robot arm unlocking handle according to any one of claims 1 to 4, characterized in that: The upper shell and the lower shell are both integral structures and are fastened together.

9. An interventional surgery robot, characterized in that: include: Robot body; A robot arm, comprising a support arm and a plurality of connecting arms connected in sequence, wherein the plurality of connecting arms connected in sequence have two free ends, one of which is rotatably connected to the support arm, and the other end is connected to the robot body, and two adjacent connecting arms are rotatably connected; The robot arm unlocking handle according to any one of claims 1 to 8, wherein the robot arm unlocking handle is arranged on the robot body; Wherein, by pressing the control button, the mechanical arm is unlocked, at which time, the connection between the connecting arm and the supporting arm, as well as the connection between two adjacent connecting arms, can rotate; When the control button is released, the control button is automatically reset, so that the mechanical arm returns to the locked state. At this time, the connection between the connecting arm and the supporting arm, as well as the connection between two adjacent connecting arms, cannot rotate.

10. The interventional surgery robot according to claim 9, characterized in that: The support arm and the connecting arm, as well as two adjacent connecting arms, are connected via a joint assembly, and the joint assembly includes an electromagnetic valve and a reducer.

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