Robot surgical arm cleaning device

Abstract

The utility model relates to a robot operation arm cleaning device, on the device, through the arrangement of a liquid storage mechanism, a liquid conveying mechanism and a liquid guide mechanism, cleaning liquid can be automatically input into an operation arm for cleaning, the complexity of manual liquid injection is avoided, and the cleaning convenience is improved. After a worker fixes the robot operation arm on the object carrying frame and correspondingly places the robot operation arm in the cleaning tank, the driving device is in driving fit with the transmission mechanism, torque can be input to a preset position on the operation arm, the function end of the operation arm can be cleaned while moving, it is ensured that all positions of the function end are cleaned in a targeted mode, and the cleaning efficiency is improved. The cleaning effect is greatly improved; meanwhile, the fixing mechanism also ensures that the operation arm does not shake in the cleaning process, so that the cleaning stability is improved, and the cleaning effect is effectively ensured. The cleaning liquid can be sprayed to the position, difficult to clean or needing to be emphatically cleaned, on the operation arm in a targeted mode through the liquid spraying mechanism, and the cleaning effect is further improved.

Description

Technical Field

[0001] The utility model relates to the field of robot surgical arms, in particular to cleaning equipment for robot surgical arms. Background Art

[0002] With the continuous advancement of medical technology, the da Vinci surgical robot, as an advanced medical auxiliary device, has been widely used in many surgical fields. Its high-precision operation ability and three-dimensional field of view provide doctors with an unprecedented surgical experience, significantly improving surgical results and the quality of life of patients. However, the use and maintenance of surgical robots also face some difficulties, among which the cleaning process of the surgical arm is particularly cumbersome and complicated.

[0003] At present, the cleaning process of the surgical arm requires manual injection of cleaning fluid into each flushing port through tools such as syringes to ensure that the cleaning fluid can fully fill the entire instrument. This process is not only time-consuming, but also places high demands on the operator's skills and patience. In addition, in order to thoroughly clean the surgical arm, it is necessary to manually rotate the instrument arm to ensure that the instrument's shaft joints, functional ends, surfaces with openings, cables, pulleys and other parts can be thoroughly cleaned. This cleaning method that relies on manual operation is not only inefficient, but also prone to incomplete cleaning due to improper operation, affecting the subsequent use of the surgical arm.

[0004] Therefore, the surgical arm cleaning process in the related art has problems such as complicated operation, low efficiency and unstable cleaning effect. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a robot surgical arm cleaning device, which can solve the problems of complicated surgical arm cleaning process, low cleaning efficiency and poor cleaning effect.

[0006] The utility model provides a robot surgical arm cleaning device, which comprises:

[0007] A cleaning table, wherein at least one cleaning tank is provided on the cleaning table;

[0008] A carrying device, the carrying device comprises a cleaning frame, a loading frame, a liquid guiding mechanism, a fixing mechanism and a transmission mechanism, the loading frame is rotatably arranged on the cleaning frame, the liquid guiding mechanism, the fixing mechanism and the transmission mechanism are respectively arranged on the loading frame, the liquid guiding mechanism is used to communicate with the flushing port of the surgical arm, the fixing mechanism is used to fix the surgical arm, and the transmission mechanism is used to be drivingly connected with the surgical arm;

[0009] A driving device, the driving device is disposed on the cleaning table; and

[0010] A cleaning device, the cleaning device comprising a liquid storage mechanism, a liquid spraying mechanism and a liquid infusion mechanism, the liquid storage mechanism is arranged on the cleaning table, the liquid spraying end of the liquid spraying mechanism is used to spray cleaning liquid, the input end of the liquid infusion mechanism is connected to the liquid storage mechanism, and the output end of the liquid infusion mechanism is respectively connected to the liquid spraying mechanism and the liquid guiding mechanism;

[0011] Wherein, the cleaning frame is configured to be able to be aligned and inserted into the cleaning tank, so that the driving device is driven and connected to the transmission mechanism, and then the driving device drives the surgical arm through the transmission mechanism, and also aligns the liquid spray end with the surgical arm.

[0012] Preferably, the transmission mechanism comprises at least one transmission plate, a transmission rod, at least one first transmission gear, at least one second transmission gear and a third transmission gear;

[0013] The transmission disc and the transmission rod are respectively rotatably arranged on the loading frame, the transmission disc is used to be connected to the operating arm drive, the first transmission gear is connected to the transmission disc, the second transmission gear and the third transmission gear are respectively arranged on the transmission rod, the second transmission gear is meshed with the first transmission gear, and the third transmission gear is used to be connected to the driving device drive.

[0014] Preferably, the carrying device includes a plurality of transmission mechanisms, and each of the transmission rods is provided with a plurality of the second transmission gears;

[0015] The object-carrying frame is provided with a plurality of fixed areas, each of which is provided with a plurality of transmission positions, and each of the transmission positions in each of the fixed areas is provided with a transmission disk of a different transmission mechanism.

[0016] Preferably, the robot surgical arm cleaning device comprises a plurality of driving devices, each of which comprises a driving motor and a reduction gear, each of which is arranged on the cleaning table, and each of which is drive-connected to each of the driving motors in a one-to-one correspondence;

[0017] A avoidance groove is provided on the groove wall of each cleaning groove, and each transmission rod can fall into the avoidance groove one by one under the drive of the cleaning frame, so that each third transmission gear is meshed with each reduction gear one by one.

[0018] Preferably, each of the transmission discs is provided with a soft rubber pad, and the soft rubber pad is used to support the surgical arm, so that the transmission disc can drive the surgical arm through the soft rubber pad.

[0019] Preferably, the fixing mechanism comprises a limit frame, a pressing member and two limit clamping members, the two limit clamping members are arranged on the object-carrying frame opposite to each other, the limit frame is arranged on the object-carrying frame, the limit frame is located between the two limit clamping members, and the limit frame and the two limit clamping members jointly define a fixing area on the object-carrying frame for accommodating the surgical arm;

[0020] The pressing member is rotatably arranged on the object-carrying frame, and the pressing member, the limiting frame and the two limiting clamping members are used together to fix the surgical arm.

[0021] Preferably, the limiting frame is provided with an escape space for the functional end of the surgical arm to pass through; and / or

[0022] A plurality of limiting protrusions are arranged on the limiting frame, and the pressing member includes a connecting portion, two elastic edges and two protective sleeves, the connecting portion connects the two elastic edges, each of the elastic edges is provided with a pressing arch surface, each of the pressing arch surfaces is used to hold against the surgical arm, the two protective sleeves are arranged on each of the elastic edges in a one-to-one correspondence, and the elastic edges are configured to be detachably clamped on the limiting protrusions.

[0023] Preferably, the liquid guide mechanism includes a socket, a plurality of plugs and a plurality of catheters, each of the plugs is arranged on the socket, each of the catheters is connected to each of the plugs one by one, each of the catheters is connected to the output end of the infusion mechanism, each of the plugs is detachably inserted on the surgical arm, the infusion mechanism pumps the liquid to each of the plugs through each of the catheters, and each of the plugs guides the liquid into the surgical arm.

[0024] Preferably, the liquid spraying mechanism comprises a plurality of liquid spraying protrusions arranged in the cleaning tank, each of the liquid spraying protrusions is provided with a plurality of liquid spraying holes, each of the liquid spraying holes is correspondingly connected to the liquid infusion mechanism, and the liquid spraying holes are used to guide the liquid to be sprayed toward the functional end of the surgical arm; and / or

[0025] The liquid spraying mechanism includes a plurality of telescopic tubes and a plurality of nozzles, each of the telescopic tubes is respectively arranged on the cleaning table, each of the nozzles is arranged on each of the telescopic tubes in a one-to-one correspondence, each of the telescopic tubes is connected to the infusion mechanism, and each of the nozzles is used to guide the liquid to be sprayed toward the functional end of the surgical arm.

[0026] Preferably, the cleaning device further comprises a brushing mechanism, and the brushing mechanism comprises a brushing moving motor, a screw rod, a slide seat, a brushing motor and a brush head;

[0027] The scrubbing moving motor is arranged on the cleaning table, the screw rod is drivingly connected to the scrubbing moving motor, the screw rod is screwed to the slide seat, the slide seat is slidingly arranged on the cleaning table, the scrubbing motor is arranged on the slide seat, the brush head is drivingly connected to the scrubbing motor, and the brush head is exposed in the cleaning tank;

[0028] The scrubbing moving motor drives the screw to rotate, the screw drives the slide to drive the brush head to slide, the scrubbing motor drives the brush head to rotate, and the brush head is used to scrub the surgical arm.

[0029] The implementation of this utility model has the following beneficial effects:

[0030] The utility model relates to a robot surgical arm cleaning device, on which, on one hand, by providing a liquid storage mechanism, a liquid infusion mechanism and a liquid guide mechanism, the cleaning liquid can be automatically input into the surgical arm for cleaning, thereby eliminating the tedious manual liquid injection and improving the convenience of cleaning;

[0031] On the other hand, after the staff fixes the robot surgical arm on the loading frame and places it in the cleaning tank, the driving device cooperates with the transmission mechanism, and the torque is input to the predetermined position on the surgical arm, so that the functional end of the surgical arm can be cleaned while moving, ensuring that each position of the functional end can be cleaned in a targeted manner, greatly improving the cleaning effect; at the same time, the fixing mechanism also ensures that the surgical arm will not shake during the cleaning process, improving the cleaning stability and effectively ensuring the cleaning effect;

[0032] In other aspects, the cleaning liquid can be sprayed through the liquid spraying mechanism to the positions on the surgical arm that are difficult to clean or require intensive cleaning, thereby further improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present invention.

[0034] Figure 1 It is a schematic diagram of the structure of a surgical robot in the related art;

[0035] Figure 2 It is a schematic diagram of the structure of some surgical arms in the related art;

[0036] Figure 3 It is a schematic diagram of the structure of other surgical arms in the related art;

[0037] Figure 4 is a schematic diagram of the structure of a robot surgical arm cleaning device in some embodiments of the utility model;

[0038] Figure 5 From another perspective Figure 4 The schematic diagram of the structure of the robot surgical arm cleaning device shown;

[0039] Figure 6 It is a schematic diagram of the structure of a robot surgical arm cleaning device in some embodiments of the utility model;

[0040] Figure 7 is a schematic diagram of the internal structure of a robot surgical arm cleaning device in some embodiments of the utility model;

[0041] Figure 8 yes Figure 5 An enlarged view of the cleaning device of the robotic surgical arm at position A is shown;

[0042] Fig. 9 It is a schematic diagram of the structure of the carrying device in some embodiments of the utility model;

[0043] Fig.10 is an exploded view of the carrying device in some embodiments of the utility model;

[0044] Fig.11 It is a partial structural schematic diagram of the carrying device in some embodiments of the utility model;

[0045] Fig.12 yes Fig.11 A schematic structural diagram of the carrying device from another angle;

[0046] Fig.13 yes Figure 7 An enlarged view of the load-bearing device shown at position B;

[0047] Fig.14 It is a partial structural schematic diagram of a robot surgical arm cleaning device in some embodiments of the utility model;

[0048] Fig.15 It is a structural schematic diagram of the scrubbing mechanism in some embodiments of the utility model;

[0049] Fig.16 It is a schematic diagram of the structure of the cleaning device in some embodiments of the utility model. DETAILED DESCRIPTION

[0050] The embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0051] It should be understood that although the terms "first", "second", "third", etc. may be used to describe various information in the present invention, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] 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, and do not indicate or imply 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 a limitation on the present invention.

[0053] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0054] Figure 1 A schematic diagram of the structure of a part of a surgical robot 200 in the related art is shown; Figure 2 and Figure 3 A schematic diagram of the structure of a surgical arm 20 on a part of a surgical robot in the related art is shown; Figures 4 to 7 The robot surgical arm cleaning device 10 in some embodiments of the utility model is shown. The robot surgical arm cleaning device 10 is used to clean the surgical arm 20 of the surgical robot 200. Of course, the shape of the surgical arm that can be cleaned by the utility model is not limited to Figure 2 and Figure 3 The appearance and size specifications of the surgical arm shown in can be configured as various surgical arms in the prior art.

[0055] like Figure 2 and Figure 3As shown, the surgical arm 20 includes a housing 30, a surgical rod 40 and a torque input disk 50. The surgical rod 40 and the torque input disk 50 are rotatably disposed on the housing 30, respectively. The end of the surgical rod 40 is provided with a movable functional end 41a. The torque input disk 50 is drivingly connected to the functional end 41a. The torque input disk 50 is driven to rotate to correspondingly drive the functional end 41a to move, so that the functional end 41a performs corresponding surgery-related actions. A flushing port 31a is provided on the housing 30, and the flushing port 31a is used to allow cleaning fluid to flow into the housing 30, thereby cleaning the interior of the housing 30.

[0056] It should be noted that the above-mentioned surgical robot 200 and surgical arm 20 are both existing technologies, and the surgical robot 200 and surgical arm 20 are not the contents to be protected by the present utility model, and therefore they are not described in detail.

[0057] like Figures 4 to 7 As shown, the robot surgical arm cleaning device 10 includes a cleaning table 1, a carrying device 2, a driving device 3 and a cleaning device 4. The cleaning table 1 is used to install other devices. The carrying device 2 is used to carry and fix the surgical arm 20. The driving device 3 is used to transmit torque to the carrying device 2, so that the torque can be further transmitted to the surgical arm 20 through the carrying device 2. The cleaning device 4 is used to clean the surgical arm 20 and is also used to guide the cleaning liquid to the corresponding device.

[0058] like Figures 4 to 7 As shown, at least one cleaning tank 11 is provided on the cleaning table 1 .

[0059] It can be understood that the number of cleaning tanks 11 can be flexibly set, and the locations of the cleaning tanks 11 can also be flexibly set, and can be adjusted according to usage requirements and design requirements.

[0060] like Figures 8 to 12 As shown, the carrying device 2 includes a cleaning frame 21, a loading frame 22, a liquid guiding mechanism 23, a fixing mechanism 24 and a transmission mechanism 25. The loading frame 22 is rotatably arranged on the cleaning frame 21. The liquid guiding mechanism 23, the fixing mechanism 24 and the transmission mechanism 25 are respectively arranged on the loading frame 22. The liquid guiding mechanism 23 is used to communicate with 31a of the surgical arm 20. The fixing mechanism 24 is used to fix the surgical arm 20. The transmission mechanism 25 is used to be driven and connected with the surgical arm 20.

[0061] It can be understood that the cleaning frame 21 is used to support the rotation of the object frame 22. The object frame 22 is used to carry the surgical arm 20. The liquid guide mechanism 23 is used to guide the cleaning liquid into the surgical arm 20 to clean the inside of the surgical arm 20. The fixing mechanism 24 is used to locate and fix the position of the surgical arm 20 on the object frame 22. The transmission mechanism 25 is used to further transmit the torque to the surgical arm 20 fixed on the object frame 22.

[0062] It should be noted that the liquid guiding mechanism 23 and the fixing mechanism 24 can be configured to have a linkage effect, so that when the staff operates the fixing mechanism 24 to complete the fixation of the surgical arm 20, the connection between the liquid guiding mechanism 23 and the flushing port 31a can be completed accordingly, thereby eliminating the tedious manual alignment of the liquid guiding mechanism 23 and the flushing port 31a, and further improving the convenience of the cleaning operation.

[0063] After the cleaning frame 21 is correctly aligned and assembled into the cleaning tank 11 , the transmission mechanism 25 will also be connected and cooperated with the driving device 3 , so that the torque of the driving device 3 can be correspondingly transmitted to the surgical arm 20 through the transmission mechanism 25 .

[0064] like Figure 7 As shown, the driving device 3 is arranged on the cleaning table 1.

[0065] It is understandable that the drive device 3 can be a pneumatic, electric or hydraulic drive element in the prior art, as long as it can output the required torque, and can be adjusted and set according to actual application requirements, etc. The drive device 3 is a prior art and will not be described in detail here.

[0066] like Figures 5 to 7 As shown, the cleaning device 4 includes a liquid storage mechanism 41, a liquid spraying mechanism 42 and a liquid infusion mechanism 43. The liquid storage mechanism 41 is arranged on the cleaning table 1. The liquid spraying end of the liquid spraying mechanism 42 is used to spray the cleaning liquid. The input end of the liquid infusion mechanism 43 is connected to the liquid storage mechanism 41, and the output end of the liquid infusion mechanism 43 is respectively connected to the liquid spraying mechanism 42 and the liquid guiding mechanism 23.

[0067] It can be understood that the liquid storage mechanism 41 is used to store the cleaning liquid, which is a prior art and is adjusted and selected according to the cleaning requirements. The liquid spraying mechanism 42 is used to guide the cleaning liquid to be sprayed in a predetermined direction. The liquid infusion mechanism 43 is used to guide the cleaning liquid to the liquid spraying mechanism 42 for liquid spray cleaning; on the other hand, it is also used to guide the cleaning liquid to the liquid guiding mechanism 23 to clean the inside of the surgical arm 20.

[0068] In actual application, the cleaning frame 21 is configured to be aligned and inserted into the cleaning tank 11, so that the driving device 3 is driven to be connected to the transmission mechanism 25, and then the driving device 3 drives the surgical arm 20 through the transmission mechanism 25, and also aligns the liquid spray end with the surgical arm 20.

[0069] It can be understood that, in the process of aligning and inserting the cleaning frame 21 into the cleaning tank 11, the transmission mechanism 25 will gradually align with the driving device 3; after the cleaning frame 21 is correctly installed in place, the transmission mechanism 25 will also be connected and matched with the driving device 3, and the torque can be correspondingly transmitted to the transmission mechanism 25. In addition, after the cleaning frame 21 is aligned and installed, the part of the surgical arm 20 that needs to be cleaned will also be aligned with the liquid spraying end.

[0070] During the actual cleaning process, the driving device 3 will drive the torque input disk 50 to rotate through the transmission mechanism 25. The torque input disk 50 is directly related to the movement of the functional end 41a, so that the functional end 41a can move, and the movement of the functional end 41a will enable each position of the functional end 41a to move to a position where the cleaning device 4 can be used for spraying, thereby achieving all-round cleaning of the cleaning device 4, greatly ensuring the cleaning effect, and avoiding residues remaining at the functional end 41a to cause subsequent surgical infection or corrosion to the functional end 41a, thereby improving the surgical reliability and durability of the surgical arm 20.

[0071] Furthermore, the cleaning liquid in the liquid storage mechanism 41 can be transferred to the flushing port 31a through the liquid infusion mechanism 43, eliminating the tediousness of manually injecting the cleaning liquid, thereby improving the convenience of cleaning. Moreover, if necessary, the liquid can be continuously injected to form a continuously flowing liquid to continuously flush the inside of the surgical arm 20, thereby further improving the flushing effect.

[0072] like Figure 8 As shown, in some embodiments, a corresponding positioning mechanism 26 can be added between the cleaning frame 21 and the cleaning tank 11 to accurately position the cleaning frame 21 in the cleaning tank 11, ensuring that after the cleaning frame 21 is placed, the cleaning device 4 can be accurately aligned and spray the cleaning liquid to the predetermined position on the surgical arm 20, thereby further improving the cleaning effect.

[0073] It can be understood that the positioning mechanism 26 is provided so that the cleaning frame 21 can be gradually aligned and moved to a preset position in the cleaning tank 11 through the positioning mechanism 26 during the process of being positioned in the cleaning tank 11 .

[0074] Specifically, Figures 8 to 10 As shown, in some embodiments, the positioning mechanism 26 may include a plurality of positioning blocks 261 and positioning grooves 262 . The groove depth of the positioning groove 262 is provided with a guide curved surface 263 . The positioning blocks 261 slide against the guide curved surface 263 . Each positioning block 261 corresponds to each positioning groove 262 one by one.

[0075] The arrangement positions of the positioning blocks 261 and the positioning grooves 262 may include at least the following embodiments: First, each positioning block 261 is arranged on the cleaning frame 21, and each positioning groove 262 is arranged on the wall of the cleaning tank 11. Second, each positioning block 261 is arranged on the wall of the cleaning tank 11, and each positioning groove 262 is arranged on the cleaning frame 21. Third, some positioning blocks 261 are arranged on the cleaning frame 21, and some positioning grooves 262 are arranged on the wall of the cleaning tank 11.

[0076] It should be noted that no matter what implementation method is adopted for the setting position of the positioning block 261 and the positioning groove 262, it can play a role in guiding the cleaning frame 21 to be correctly installed and aligned.

[0077] During the process of aligning the cleaning frame 21 into the cleaning tank 11, the positioning block 261 will be correspondingly inserted into the positioning groove 262. Subsequently, as the insertion depth of the cleaning frame 21 into the cleaning tank 11 increases, the relative positions of the positioning block 261 and the positioning groove 262 will also change accordingly, so that the positioning block 261 is supported and slides along the guide curved surface 263, so that the cleaning frame 21 is gradually aligned with the predetermined installation position in the cleaning tank 11.

[0078] Furthermore, in some embodiments, each positioning block 261 is preferably configured to be disposed on different sides of the cleaning frame 21 , so as to jointly define the position of the cleaning frame 21 from different directions, thereby achieving the purpose of positioning the cleaning frame 21 .

[0079] like Figures 8 to 11 As shown, in some embodiments of the robotic surgical arm cleaning device 10, an angle adjustment hole 211 is opened on the cleaning frame 21, and an angle adjustment component 223 is also provided on the angle adjustment component 223, and the angle adjustment component 223 includes an angle adjustment rope 2231, a first angle adjustment hook 2232 and a second angle adjustment hook 2233; the angle adjustment rope 2231 is arranged on the loading frame 22, and the first angle adjustment hook 2232 and the second angle adjustment hook 2233 are respectively arranged at different positions on the angle adjustment rope 2231.

[0080] It can be understood that in actual use, either the first angle adjustment hook 2232 or the second angle adjustment hook 2233 can be selected to be correspondingly hung in the angle adjustment hole 211, so as to adjust the effective use length of the angle adjustment rope 2231 between the angle adjustment hole 211 and the loading frame 22, and then adjust the relative angle between the loading frame 22 and the cleaning frame 21, so as to drive the surgical arm 20 on the loading frame 22 to be fixed in different directions or angles, etc., to adapt to the different angle requirements of the surgical arm 20 during the cleaning process.

[0081] like Figures 8 to 12 As shown, in some embodiments of the robot surgical arm cleaning device 10, the transmission mechanism 25 includes at least one transmission disc 251, a transmission rod 252, at least one first transmission gear 253, at least one second transmission gear 254 and a third transmission gear 255;

[0082] The transmission disk 251 and the transmission rod 252 are respectively rotatably set on the loading frame 22, the transmission disk 251 is used to drive and connect with the surgical arm 20, the first transmission gear 253 is connected to the transmission disk 251, the second transmission gear 254 and the third transmission gear 255 are respectively set on the transmission rod 252, the second transmission gear 254 is meshed with the first transmission gear 253, and the third transmission gear 255 is used to drive and connect with the driving device 3.

[0083] It can be understood that the transmission disc 251 is used to abut against and cooperate with the torque input disc 50, so as to drive the torque input disc 50 to rotate. The transmission rod 252 is used to transmit torque, so that the second transmission gear 254 and the third transmission gear 255 rotate coaxially, that is, the rotation angular speeds of the second transmission gear 254 and the third transmission gear 255 are equal. The first transmission gear 253 rotates coaxially with the transmission disc 251, that is, the rotation angular speeds of the first transmission gear 253 and the transmission disc 251 are equal.

[0084] During the process of assembling the cleaning frame 21, the transmission rod 252 will also move accordingly, so that the third transmission gear 255 arranged thereon gradually aligns and approaches the driving device 3. When the installation of the cleaning frame 21 is completed, the alignment and connection between the third transmission gear 255 and the driving device 3 will also be completed at the same time, so that the torque output by the driving device 3 can drive the third transmission gear 255 to rotate.

[0085] The third transmission gear 255 rotates and drives the transmission rod 252 to rotate, the transmission rod 252 drives the second transmission gear 254 to rotate, the second transmission gear 254 drives the first transmission gear 253 meshing therewith to rotate, the first transmission gear 253 drives the transmission disk 251 to rotate, the transmission disk 251 drives the torque input disk 50 to rotate, thereby driving the functional end 41a of the surgical arm 20 to move.

[0086] It should be noted that a plurality of second transmission gears 254 may be provided on the transmission rod 252, so that the plurality of second transmission gears 254 on a single transmission rod 252 simultaneously drive the plurality of first transmission gears 253, and further simultaneously drive the plurality of transmission disks 251. Further, the transmission mechanism 25 may be configured such that a single transmission rod 252 transmits torque to a plurality of torque input disks 50 on the same surgical arm 20, or a single transmission rod 252 transmits torque to a plurality of torque input disks 50 on different surgical arms 20.

[0087] It should be particularly noted that in the present invention, the surgical rod 40 and the torque input disk 50 on different types of surgical robots in the related art are either arranged on the same plane of the shell 30, or the surgical rod 40 and the torque input disk 50 are arranged on different planes of the shell 30. Therefore, in the actual application of the present invention, the setting position of the transmission disk 251 on the loading frame 22 can be adjusted accordingly according to the position of the torque input disk 50 on the shell 30 to ensure that the driving connection between the torque input disk 50 and the transmission disk 251 can be completed once the surgical arm 20 is fixed.

[0088] like Fig.11 and Fig.12As shown, in some embodiments of the robot surgical arm cleaning device 10, the carrying device 2 includes a plurality of transmission mechanisms 25, and each transmission rod 252 is provided with a plurality of second transmission gears 254;

[0089] The object-carrying frame 22 is provided with a plurality of fixed areas 221 , each of which is provided with a plurality of transmission positions 222 , and each transmission position 222 in each of the fixed areas 221 is provided with a transmission disk 251 of a different transmission mechanism 25 .

[0090] It can be understood that the number of transmission mechanisms 25 in this type of embodiment is set to be multiple, and the number of transmission mechanisms 25 is equal to the number of surgical arms 20 that can be fixed on a single carrier frame 22. Each transmission mechanism 25 in this type of embodiment is provided with a transmission disc 251 in a transmission position 222 in each fixed position 221, so that each transmission mechanism 25 can transmit power to each fixed area 221, that is, each torque input disc 50 on each surgical arm 20 will be input with torque by different transmission mechanisms 25.

[0091] like Figure 7 and Fig.13 As shown, in some embodiments of the robot surgical arm cleaning device 10, the robot surgical arm cleaning device 10 includes a plurality of driving devices 3, each driving device 3 includes a driving motor 31 and a reduction gear 32, each driving motor 31 is disposed on the cleaning table 1, and each reduction gear 32 is drivingly connected to each driving motor 31 in a one-to-one correspondence;

[0092] Each cleaning tank 11 has a groove wall provided with an avoidance groove 12 , and each transmission rod 252 can fall into the avoidance groove 12 one by one under the drive of the cleaning frame 21 , so that each third transmission gear 255 is meshed with each reduction gear 32 one by one.

[0093] It can be understood that the driving motor 31 is used to output torque to the reduction gear 32. The reduction gear 32 can be configured to include one gear or multiple gears meshing in sequence. The avoidance groove 12 is used to provide a moving space for the transmission rod 252 to avoid the transmission rod 252 from being stuck outside the cleaning tank 11 as the cleaning frame 21 moves, ensuring that the cleaning frame 21 is installed in place.

[0094] It should be noted that the opening of the avoidance groove 12 allows the drive device 3 to be aligned and connected with the transmission mechanism 25 without being directly arranged in the cleaning tank 11, thereby preventing the cleaning liquid in the cleaning tank 11 from penetrating into the drive device 3 and causing a malfunction.

[0095] like Fig.12As shown, in some embodiments of the robot surgical arm cleaning device 10, each transmission disk 251 is provided with a soft rubber pad, and the soft rubber pad is used to support the surgical arm 20, so that the transmission disk 251 can drive the surgical arm 20 through the soft rubber pad.

[0096] It can be understood that in the process of fixing the surgical arm 20, the torque input disk 50 will be aligned and held against the soft rubber pad, and the soft rubber pad will deform accordingly to fit the torque input disk 50, thereby increasing the contact area between the transmission disk 251 and the torque input disk 50. In addition, the soft rubber pad is made of soft rubber material and has a larger friction coefficient. Therefore, the friction force can be greatly increased, thereby preventing the torque input disk 50 from rotating and slipping.

[0097] It should be particularly noted that the torque input disk 50 on the surgical arm 20 usually has two snap holes. During the actual operation, the drive connection is achieved by snapping or snapping the snap holes. However, the soft rubber pad used in the utility model does not need to clamp the holes to complete the drive connection. There is no need to manually align the snap holes, which greatly improves the convenience of operation and the cleaning efficiency. At the same time, it also effectively buffers the force between the torque input disk 50 and the transmission disk 251.

[0098] like Figures 8 to 12 As shown, in some embodiments of the robot surgical arm cleaning device 10, the fixing mechanism 24 includes a limit frame 241, a pressing member 242 and two limit clamping members 243, the two limit clamping members 243 are relatively arranged on the object frame 22, the limit frame 241 is arranged on the object frame 22, the limit frame 241 is located between the two limit clamping members 243, and the limit frame 241 and the two limit clamping members 243 jointly define a fixing area 221 on the object frame 22 for accommodating the surgical arm 20;

[0099] The pressing member 242 is rotatably disposed on the object-carrying frame 22 . The pressing member 242 , the limiting frame 241 and the two limiting clamping members 243 are used together to fix the surgical arm 20 .

[0100] It can be understood that the limiting frame 241 is a frame structure, which has the advantage of being light and reduces the weight of the carrying device 2. The pressing member 242 is used to press the surgical arm 20 on the object frame 22. The two limiting clamping members 243 are used to limit and clamp the surgical arm 20 from two opposite directions.

[0101] like Figures 8 to 12 As shown, in some embodiments of the robot surgical arm cleaning device 10, a clearance space is provided on the limit frame 241 for the functional end 41a of the surgical arm 20 to pass through.

[0102] It can be understood that, when the surgical arm 20 is correctly positioned and fixed, the surgical rod 40 on the surgical arm 20 will be inserted into the avoidance position, so that the fixing mechanism 24 can specifically fix the housing 30 portion of the surgical arm 20. In this way, the size of the object frame 22 can be effectively reduced, and the functional end 41a can be fully exposed, so as to avoid the fixing structure from blocking the cleaning liquid, so that the subsequent cleaning process such as spraying liquid can be cleaned more comprehensively.

[0103] like Fig.12 As shown, in some embodiments of the robotic surgical arm cleaning device 10, a plurality of limiting protrusions 2411 are provided on the limiting frame 241, and the holding member 242 includes a connecting portion 2421, two elastic edges 2422 and two protective sleeves 2423, the connecting portion 2421 connects the two elastic edges 2422, each elastic edge 2422 is provided with a holding arch surface 2424, each holding arch surface 2424 is used to hold against the surgical arm 20, two protective sleeves 2423 are provided on each elastic edge 2422 in a one-to-one correspondence, and the elastic edge 2422 is configured to be detachably clamped on the limiting protrusion 2411.

[0104] It can be understood that the limiting protrusion 2411 is used to fix the pressing member 242 so that the pressing member 242 can maintain the pressing state of the surgical arm 20, thereby ensuring that sufficient pressing force can be maintained between the transmission disk 251 and the torque input disk 50, thereby ensuring that the torque can be stably transmitted to the surgical arm 20. The connecting portion 2421 is used to fix the relative positions of the two elastic edges 2422. The elastic edge 2422 has a certain elastic force, which can prevent the elastic edge 2422 from crushing the surgical arm 20. After the elastic edge 2422 is separated from the limiting protrusion 2411, the protective cover 2423 can prevent the elastic edge 2422 from directly colliding with the object frame 22, and prevent the elastic edge 2422 from being deformed due to collision, resulting in insufficient pressing force on the surgical arm 20.

[0105] It should be noted that the pressing arch surface 2424 can be configured to be formed by an arch structure set on the elastic edge 2422, or directly formed by the outer shape structure of the elastic edge 2422. The pressing arch surface 2424 has a large contact area with the surgical arm 20, which can avoid damage caused by stress concentration and improve the fixation reliability.

[0106] like Fig.12As shown, in some embodiments of the robotic surgical arm cleaning device 10, the liquid guiding mechanism 23 includes a socket 231, a plurality of plugs 232 and a plurality of catheters 233, each plug 232 is arranged on the socket 231, and each catheter 233 is connected to each plug 232 one by one, and each catheter 233 is connected to the output end of the infusion mechanism 43, and each plug 232 is detachably inserted into the surgical arm 20. The infusion mechanism 43 pumps the liquid to each plug 232 through each catheter 233, and each plug 232 guides the liquid into the surgical arm 20.

[0107] It can be understood that the number of liquid-conducting mechanisms 23 can be configured as one or more. For example, the number of liquid-conducting mechanisms 23 can be configured to be equal to the number of surgical arms 20 that can be fixed on the carrier frame 22, so that a single liquid-conducting mechanism 23 supplies cleaning liquid to a single surgical arm 20.

[0108] The socket 231 is used to fix the relative position of each plug 232, so that the staff can complete the plugging and fixing of multiple plugs 232 at the same time, improving the convenience of operation. The plug 232 is used to guide the cleaning liquid. Each conduit 233 is used to guide the cleaning liquid to the plug 232.

[0109] It should be noted that the plug 232 can be configured as an injection head structure on a syringe in the prior art, so that it can be correspondingly inserted into the flushing port 31 a on the surgical arm 20 .

[0110] like Fig.14 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the spray mechanism 42 includes a plurality of spray protrusions 421 arranged in the cleaning tank 11, each of the spray protrusions 421 is provided with a plurality of spray holes 422, each of the spray holes 422 is correspondingly connected to the infusion mechanism 43, and the spray holes 422 are used to guide the liquid to be sprayed toward the functional end 41a of the surgical arm 20.

[0111] It can be understood that the liquid spraying protrusion 421 can be configured to be disposed on the bottom or wall of the cleaning tank 11. The direction of the liquid spraying hole 422 in the cleaning tank 11 is fixed. After the cleaning frame 21 is correctly aligned and installed, the correctly fixed surgical arm 20 will be aligned with the liquid spraying hole 422, so that the cleaning liquid sprayed through the liquid spraying hole 422 can be flushed to the predetermined position on the surgical arm 20.

[0112] like Figure 5 and Figure 6 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the spray mechanism 42 includes a plurality of telescopic tubes 423 and a plurality of nozzles 424, each telescopic tube 423 is respectively arranged on the cleaning table 1, and each nozzle 424 is arranged one by one on each telescopic tube 423, each telescopic tube 423 is connected to the infusion mechanism 43, and each nozzle 424 is used to guide the liquid to be sprayed toward the functional end 41a of the surgical arm 20.

[0113] It can be understood that the telescopic tube 423 can be adjusted to bend and retract, and can maintain the current shape and length after the telescopic adjustment. Therefore, the spray direction of the nozzle 424 on the telescopic tube 423 can be flexibly adjusted. In this way, for the functional end 41a that is difficult to clean and has high cleaning requirements, the nozzle 424 can spray to the functional end 41a accordingly.

[0114] like Fig.15 As shown, in some embodiments of the robot surgical arm cleaning device 10, the cleaning device 4 further includes a brushing mechanism 44, and the brushing mechanism 44 includes a brushing moving motor 441, a screw rod 442, a slide 443, a brushing motor 444 and a brush head 445;

[0115] The scrubbing moving motor 441 is arranged on the cleaning table 1, the screw rod 442 is driven and connected to the scrubbing moving motor 441, the screw rod 442 is screwed to the slide 443, the slide 443 is slidably arranged on the cleaning table 1, the scrubbing motor 444 is arranged on the slide 443, the brush head 445 is driven and connected to the scrubbing motor 444, and the brush head 445 is exposed in the cleaning tank 11;

[0116] The scrubbing moving motor 441 drives the screw rod 442 to rotate, the screw rod 442 drives the slide seat 443 to drive the brush head 445 to slide, and the scrubbing motor 444 drives the brush head 445 to rotate. The brush head 445 is used to scrub the surgical arm 20.

[0117] It can be understood that the brushing mechanism 44 is used to directly contact the surgical arm 20 to achieve the purpose of cleaning. The brushing moving motor 441 is used to drive the screw 442 to rotate. The screw 442 has an external thread. The slide seat 443 is provided with a threaded hole that is screwed to the screw 442. The brushing motor 444 is used to output torque to the brush head 445, and the brush head 445 is used to brush the surgical arm 20 during the rotation process.

[0118] It should be noted that, since the external thread of the screw rod 442 will match the internal thread of the slide 443, and the slide 443 and the cleaning table 1 are in sliding connection, the screw rod 442 will drive the slide 443 to slide during the rotation process. The slide 443 will drive the brush head 445 to move, that is, the brush head 445 can move in the avoidance groove 12 toward or away from the functional end 41a. When the rotating brush head 445 contacts the functional end 41a, the brush head 445 can clean the pollutants on the functional end 41a accordingly.

[0119] It should also be noted that the size, specifications and materials of the brush head 445 can be flexibly set and selected, and can be adjusted specifically according to the cleaning requirements of the surgical arm 20.

[0120] like Fig.16As shown, in some embodiments of the robotic surgical arm cleaning device 10, the infusion mechanism 43 includes a liquid pump 431 and a flow meter 432, the input end 4311 of the liquid pump 431 is connected to the liquid storage mechanism 41, the output end 4312 of the liquid pump 431 is connected to one end of the flow meter 432, and the other end of the flow meter 432 is respectively connected to the liquid guiding mechanism 23 and the liquid spraying mechanism 42.

[0121] It can be understood that the cleaning liquid in the liquid storage mechanism 41 is introduced through the input end 4311, pressurized by the liquid pump 431 and pumped out from the output end 4312. The output cleaning liquid flows through the flow meter 432 and then flows to the liquid guide mechanism 23 and the liquid spray mechanism 42.

[0122] It should be noted that the liquid pump can be any pump in the prior art that can pressurize and deliver liquid. Preferably, the liquid pump 431 can be configured as a peristaltic pump. The flow meter 432 is used to measure the flow rate of the cleaning liquid output by the liquid pump 431.

[0123] Furthermore, in some embodiments, a liquid valve may be provided between the liquid guiding mechanism 23 and the liquid infusion mechanism 43 , and a liquid valve may be provided between the liquid infusion mechanism 43 and the liquid spraying mechanism 42 .

[0124] It can be understood that in this type of embodiment, the cleaning liquid can be selectively guided to one of the liquid spraying mechanism 42 and the liquid guiding mechanism 23, and the flow of the cleaning liquid separately input into one of the liquid spraying mechanism 42 and the liquid guiding mechanism 23 can be monitored, so that the flow of the corresponding circuit can be cut off or connected when a certain flow value reaches a predetermined value, or the operation of the corresponding liquid valve can be controlled according to other conditions.

[0125] In the embodiment where the liquid guiding mechanism 23 includes multiple liquid outlets, a liquid valve can be further provided to each liquid outlet for control, so that the outflow of the cleaning liquid from each liquid outlet can be controlled separately. Of course, liquid valves can also be provided to only some of the liquid outlets for flow control.

[0126] Specifically, the liquid valve includes a solenoid valve, which has the advantages of flow regulation and easy control.

[0127] like Fig.16 As shown, in some embodiments of the robotic surgical arm cleaning device 10, the infusion mechanism 43 also includes an internal circulation pump 45, the pump suction end of the internal circulation pump 45 is connected to the cleaning tank 11, and the pump outlet end of the internal circulation pump 45 is respectively connected to the liquid guiding mechanism 23 and the liquid spraying mechanism 42.

[0128] It can be understood that the internal circulation pump 45 pumps the liquid in the cleaning tank 11 through the pump suction end, pressurizes the cleaning liquid, and then pumps it from the pump outlet end to the liquid guiding mechanism 23 and the liquid spraying mechanism 42.

[0129] Furthermore, in some embodiments of the liquid guiding mechanism 23, the liquid guiding mechanism 23 can be configured as a liquid guiding internal circulation loop. The liquid guiding internal circulation is to absorb liquid from the cleaning tank 11 and then pump it to the inside of the surgical arm 20 for cleaning.

[0130] In other embodiments of the liquid guiding mechanism 23, the liquid guiding mechanism 23 can be configured as an external liquid guiding circulation loop. The external liquid guiding circulation loop pumps liquid from the liquid storage mechanism 41 and then pressurizes and pumps the liquid to the inside of the surgical arm 20 for cleaning.

[0131] In other embodiments of the liquid guiding mechanism 23, the liquid guiding mechanism 23 may be configured to include an inner liquid guiding loop and an outer liquid guiding loop, and the inner liquid guiding loop and the outer liquid guiding loop are controlled by a corresponding liquid valve, so that liquid can be pumped from the liquid storage mechanism 41 or the cleaning frame 21 according to the cleaning requirements. For example, in a certain cleaning stage, the cleaning liquid in the liquid storage mechanism 41 needs to be used to clean the inside of the surgical arm 20, and then after a certain period of time or after a certain cleaning step is performed, the outer liquid guiding loop can be cut off by the liquid valve, and the liquid is pumped from the cleaning tank 11 through the outer liquid guiding loop to flush the inside of the surgical arm 20.

[0132] It should be noted that, after a certain amount of cleaning liquid is continuously input into some surgical arms in the prior art, the cleaning liquid will overflow to the outside of the shell, while in the present application, the overflowed part will be retained in the cleaning tank 11. In addition, the surgical arms in the related art will have a soaking requirement during the cleaning process, so the liquid required for soaking can be configured to be pumped from the liquid storage mechanism 41, or configured to be overflowed from the cleaning liquid input into the surgical arm 20, or configured to come from the first two places.

[0133] In some embodiments of the liquid spraying mechanism 42 , the liquid spraying mechanism 42 may be configured to include an internal liquid spraying circulation loop, which is used to absorb liquid from the cleaning tank 11 and pump it, and then pressurize and pump it toward the surgical arm 20 .

[0134] In some other embodiments of the liquid spraying mechanism 42 , the liquid spraying mechanism 42 may be configured to include an external liquid spraying circulation circuit, which is used to absorb liquid from the liquid storage mechanism 41 , pump it, and then pressurize and pump it toward the surgical arm 20 .

[0135] In other embodiments of the liquid spraying mechanism 42, the liquid spraying mechanism 42 can be configured to include an inner liquid spraying circulation loop and an outer liquid spraying circulation loop. The inner liquid spraying circulation loop is used to absorb liquid from the cleaning tank 11 and then pump it, and then pressurize and pump it to spray it toward the surgical arm 20. The outer liquid spraying circulation loop is used to absorb liquid from the liquid storage mechanism 41 and then pump it, and then pressurize and pump it toward the surgical arm 20. Among them, both the inner liquid spraying circulation loop and the outer liquid spraying circulation loop can be controlled by a liquid valve, and one of the loops can be enabled separately or both loops can be enabled simultaneously during the cleaning process, which is adjusted according to the corresponding cleaning requirements.

[0136] In some other embodiments of the liquid spraying mechanism 42, in the embodiment where the liquid spraying mechanism 42 includes a telescopic tube 423 and a nozzle 424, the telescopic tube 423 is connected to the nozzle 424, and the telescopic tube 423 is used to guide the liquid to the nozzle 424 and spray it to the surgical arm 20 for cleaning. The telescopic tube 423 can be configured to be connected to other positions other than the liquid storage mechanism 41 and the cleaning tank 11, that is, the telescopic tube 423 does not receive the liquid from the liquid storage mechanism 41 and the cleaning tank 11, but obtains the liquid from other positions. For example, the telescopic tube 423 can be configured to be connected to another container containing a cleaning liquid, and the cleaning liquid in the container can be configured to be the same as or different from the cleaning liquid in the liquid storage mechanism 41, and the corresponding cleaning liquid is selected according to the cleaning requirements of the surgical arm 20.

[0137] In some embodiments, the cleaning device 4 may include a filter element, which may be disposed in a corresponding circuit through which the corresponding liquid flows, thereby preventing contaminants from flowing with the cleaning liquid and contaminating other locations. For example, the liquid flowing into the liquid guide mechanism 23 may be filtered to prevent contaminants from flowing into the surgical arm 20.

[0138] like Figure 4 and Figure 6 As shown, in some embodiments of the robot surgical arm cleaning device 10 , a baffle 13 is further provided on the cleaning table 1 , a drain rack 14 is provided on the baffle 13 , and a plurality of drain holes 141 are opened on the drain rack 14 .

[0139] It can be understood that the baffle 13 can be used to hang or fix corresponding parts, etc., and also prevent liquid splashing during the cleaning process. The drain rack 14 is used to carry the cleaning frame 21, and the drain hole 141 is used to drain the liquid remaining on the cleaning frame 21 and the surgical arm 20.

[0140] The implementation of this utility model has the following beneficial effects:

[0141] The utility model relates to a robot surgical arm cleaning device, on which, on one hand, by providing a liquid storage mechanism, a liquid infusion mechanism and a liquid guide mechanism, the cleaning liquid can be automatically input into the surgical arm for cleaning, thereby eliminating the tedious manual liquid injection and improving the convenience of cleaning;

[0142] On the other hand, after the staff fixes the robot surgical arm on the loading frame and places it in the cleaning tank, the driving device cooperates with the transmission mechanism, and the torque is input to the predetermined position on the surgical arm, so that the functional end of the surgical arm can be cleaned while moving, ensuring that each position of the functional end can be cleaned in a targeted manner, greatly improving the cleaning effect; at the same time, the fixing mechanism also ensures that the surgical arm will not shake during the cleaning process, improving the cleaning stability and effectively ensuring the cleaning effect;

[0143] In other aspects, the cleaning liquid can be sprayed through the liquid spraying mechanism to the positions on the surgical arm that are difficult to clean or require intensive cleaning, thereby further improving the cleaning effect.

[0144] The scheme of the utility model has been described in detail above with reference to the accompanying drawings. In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. Those skilled in the art should also know that the actions and modules involved in the specification are not necessarily required for the utility model. In addition, it can be understood that the steps in the method of the embodiment of the utility model can be adjusted in order, merged and deleted according to actual needs, and the modules in the device of the embodiment of the utility model can be merged, divided and deleted according to actual needs.

[0145] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A robot surgical arm cleaning device, characterized in that: include: A cleaning table, wherein at least one cleaning tank is provided on the cleaning table; A carrying device, comprising a cleaning frame, a loading frame, a liquid guiding mechanism, a fixing mechanism, and a transmission mechanism. The loading frame is rotatably mounted on the cleaning frame. The liquid guiding mechanism, the fixing mechanism, and the transmission mechanism are respectively mounted on the loading frame. The liquid guiding mechanism is configured to communicate with a flushing port of a surgical arm. The fixing mechanism is configured to fix the surgical arm. The transmission mechanism is configured to be drivingly connected to the surgical arm. A driving device, the driving device being arranged on the washing table; and A cleaning device, comprising a liquid storage mechanism, a liquid spraying mechanism, and a liquid infusion mechanism, wherein the liquid storage mechanism is disposed on the cleaning table, a liquid spraying end of the liquid spraying mechanism is used to spray cleaning liquid, an input end of the liquid infusion mechanism is connected to the liquid storage mechanism, and an output end of the liquid infusion mechanism is connected to the liquid spraying mechanism and the liquid guiding mechanism, respectively; The cleaning frame is configured to be aligned and inserted into the cleaning tank, so that the driving device is connected to the transmission mechanism, and then the driving device drives the surgical arm through the transmission mechanism, and also aligns the liquid spray end with the surgical arm.

2. The robot surgical arm cleaning device according to claim 1, characterized in that: The transmission mechanism includes at least one transmission plate, a transmission rod, at least one first transmission gear, at least one second transmission gear and a third transmission gear; The transmission disc and the transmission rod are respectively rotatably arranged on the loading frame, the transmission disc is used to be connected to the driving force of the surgical arm, the first transmission gear is connected to the transmission disc, the second transmission gear and the third transmission gear are respectively arranged on the transmission rod, the second transmission gear is engaged with the first transmission gear, and the third transmission gear is used to be connected to the driving force of the driving device.

3. The robot surgical arm cleaning device according to claim 2, characterized in that: The carrying device includes a plurality of transmission mechanisms, and each of the transmission rods is provided with a plurality of second transmission gears; The object-carrying frame is provided with a plurality of fixed areas, each of which is provided with a plurality of transmission positions, and each of the transmission positions in each of the fixed areas is provided with a transmission disk of a different transmission mechanism.

4. The robot surgical arm cleaning device according to claim 3, characterized in that: The robotic surgical arm cleaning device includes a plurality of drive devices, each of which includes a drive motor and a reduction gear. Each of the drive motors is disposed on the cleaning table, and each of the reduction gears is drive-connected to each of the drive motors in a one-to-one correspondence. A avoidance groove is provided on the wall of each cleaning groove, and each transmission rod can fall into the avoidance groove one by one under the drive of the cleaning frame, so that each third transmission gear is meshed with each reduction gear one by one.

5. The robot surgical arm cleaning device according to any one of claims 2 to 4, characterized in that: Each of the transmission discs is provided with a soft rubber pad, and the soft rubber pad is used to support the surgical arm, so that the transmission disc can drive the surgical arm through the soft rubber pad.

6. The robot surgical arm cleaning device according to claim 1, characterized in that: The fixing mechanism includes a limit frame, a pressing member, and two limit clamping members, wherein the two limit clamping members are arranged on the object carrier frame relative to each other, and the limit frame is arranged on the object carrier frame, and the limit frame is located between the two limit clamping members. The limit frame and the two limit clamping members jointly define a fixing area on the object carrier frame for accommodating the surgical arm; The pressing member is rotatably arranged on the object-carrying frame, and the pressing member, the limiting frame and the two limiting clamping members are used together to fix the surgical arm.

7. The robot surgical arm cleaning device according to claim 6, characterized in that: The limiting frame is provided with a clearance space for the functional end of the surgical arm to pass through; and / or Several limiting protrusions are provided on the limiting frame, and the pressing part includes a connecting part, two elastic edges and two protective sleeves. The connecting part connects the two elastic edges, and each of the elastic edges is provided with a pressing arch surface, and each of the pressing arch surfaces is used to support the surgical arm. The two protective sleeves are provided on each of the elastic edges in a one-to-one correspondence, and the elastic edges are configured to be detachably clamped on the limiting protrusions.

8. The robot surgical arm cleaning device according to claim 1, characterized in that: The liquid guide mechanism includes a socket, several plugs and several catheters. Each plug is arranged on the socket. Each catheter is connected to each plug in a one-to-one correspondence. Each catheter is connected to the output end of the infusion mechanism. Each plug is detachably inserted into the surgical arm. The infusion mechanism pumps the liquid to each plug through each catheter, and each plug guides the liquid into the surgical arm.

9. The robot surgical arm cleaning device according to claim 1, characterized in that: The liquid spraying mechanism includes a plurality of liquid spraying protrusions arranged in the cleaning tank, each of the liquid spraying protrusions is provided with a plurality of liquid spraying holes, each of the liquid spraying holes is correspondingly connected to the liquid infusion mechanism, and the liquid spraying holes are used to guide the liquid to be sprayed toward the functional end of the surgical arm; and / or The liquid spraying mechanism includes a plurality of telescopic tubes and a plurality of nozzles. Each of the telescopic tubes is respectively arranged on the cleaning table. Each of the nozzles is arranged on each of the telescopic tubes in a one-to-one correspondence. Each of the telescopic tubes is connected to the infusion mechanism. Each of the nozzles is used to guide the liquid to be sprayed toward the functional end of the surgical arm.

10. The robot surgical arm cleaning device according to claim 1 or 9, characterized in that: The cleaning device also includes a brushing mechanism, which includes a brushing moving motor, a screw rod, a slide, a brushing motor and a brush head; The scrubbing moving motor is arranged on the cleaning table, the screw is driven and connected to the scrubbing moving motor, the screw is screwed to the slide, the slide is slidably arranged on the cleaning table, the scrubbing motor is arranged on the slide, the brush head is driven and connected to the scrubbing motor, and the brush head is exposed in the cleaning tank; The scrubbing movement motor drives the screw to rotate, the screw drives the slide to drive the brush head to slide, the scrubbing motor drives the brush head to rotate, and the brush head is used to scrub the surgical arm.

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