Medical shadowless lamp

Abstract

The utility model discloses a medical shadowless lamp. The medical shadowless lamp comprises a lamp holder, a mechanical arm and a base, the mechanical arm is provided with a free end and a fixed end, the lamp holder is installed at the free end, the fixed end of the mechanical arm is fixedly connected with the base, and the medical shadowless lamp aims at improving operation convenience and flexibility.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a medical shadowless lamp. Background Art

[0002] Currently, medical shadowless lamps are commonly used lighting equipment in operating rooms. Most of them are composed of a lamp head, a rotating arm and a spring arm. The rotating arm and the spring arm need to be adjusted manually. When the position of the lamp head needs to be changed, the rotating arm needs to be rotated or the height of the spring arm needs to be stretched to move the lamp head to the target position. However, the rotating arm and the spring arm need to be adjusted manually. There are many adjustment steps and manual adjustment is laborious, which makes the operation of the medical shadowless lamp time-consuming and laborious, resulting in the problem of inconvenient and inflexible operation of the medical shadowless lamp. Utility Model Content

[0003] The main purpose of the utility model is to provide a medical shadowless lamp, aiming to improve the convenience and flexibility of operation of the medical shadowless lamp.

[0004] In order to achieve the above-mentioned purpose, the medical shadowless lamp proposed by the utility model comprises:

[0005] Lamp holder;

[0006] A mechanical arm, wherein the mechanical arm is provided with a free end and a fixed end, and the lamp holder is mounted on the free end;

[0007] A base, wherein the fixed end of the mechanical arm is mounted on the base.

[0008] In one embodiment of the present invention, the mechanical arm comprises:

[0009] A first rotary joint, the first rotary joint having a mounting end and a movable end that are rotatably connected, the mounting end being used to drive the movable end to tilt up or lie flat;

[0010] A second rotary joint, the second rotary joint having a mounting end and a rotating end that are rotatably connected, the mounting end being used to drive the rotating end to rotate;

[0011] Wherein, the assembly end is installed on the movable end.

[0012] In an embodiment of the present invention, a rotation axis of the rotating end relative to the assembly end is perpendicular to a rotation axis of the movable end relative to the installation end.

[0013] In one embodiment of the present invention, the first rotation joint comprises:

[0014] A first driving component, the driving component comprising a first fixed portion and a first rotating portion, the first fixed portion being used to drive the first rotating portion to rotate;

[0015] a first right-angle elbow, one end of which is connected to the first fixing portion, and the other end of which is mounted on the base;

[0016] A second right-angle elbow, one end of the second right-angle elbow is connected to the first rotating part, and the assembly end is installed at the other end of the second right-angle elbow.

[0017] In one embodiment of the utility model, the first fixing portion includes a first lower shell and a first motor disposed in the first lower shell;

[0018] The first rotating part includes a first upper shell and a first reducer disposed in the first upper shell;

[0019] The first reducer is transmission-connected to the first motor, the first upper shell is rotationally connected to the first lower shell, and the first lower shell drives the first reducer to rotate through the first motor.

[0020] In one embodiment of the present invention, the second rotation joint comprises:

[0021] A second driving component, the driving component comprising a second fixed portion and a second rotating portion, the second fixed portion being used to drive the second rotating portion to rotate;

[0022] A turntable is connected to the second rotating part.

[0023] In one embodiment of the utility model, the second fixing portion includes a second lower shell and a second motor disposed in the second lower shell;

[0024] The second rotating part includes a second upper shell and a second reducer disposed in the second upper shell;

[0025] The second reducer is transmission-connected to the second motor, the second upper shell is rotationally connected to the second lower shell, and the second lower shell drives the second reducer to rotate through the second motor.

[0026] In an embodiment of the utility model, the mechanical arm includes three of the first rotation joints and one of the second rotation joints;

[0027] The mounting end of the first rotary joint located at the bottom layer is connected to the base, the mounting end of the first rotary joint located at the middle layer is connected to the movable end of the first rotary joint located at the bottom layer, the mounting end of the first rotary joint located at the top layer is connected to the movable end of the first rotary joint located at the middle layer, and the assembly end of the second rotary joint is connected to the movable end of the first rotary joint located at the top layer.

[0028] In one embodiment of the utility model, the robotic arm also includes two extension rods, the mounting end of the first rotation joint located in the middle layer is connected to the movable end of the first rotation joint located in the bottom layer through one of the extension rods, and the mounting end of the first rotation joint located in the top layer is connected to the movable end of the first rotation joint located in the middle layer through another extension rod.

[0029] In an embodiment of the present invention, the three first rotating joints are arranged in a circuitous manner.

[0030] The technical solution of the utility model replaces the manually operated rotating arm of the medical shadowless lamp with a mechanical arm. The mechanical arm has a free end and a fixed end. The fixed end of the mechanical arm is connected to the base. A lamp head is provided on the free end of the mechanical arm to realize the adjustment of the position and irradiation direction of the lamp head on the mechanical arm, thereby reducing the process of manual operation of the shadowless lamp. The lamp head can be adjusted by remote control, avoiding the time-consuming and labor-intensive operation of the medical shadowless lamp, and improving the operational convenience and flexibility of the medical shadowless lamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0032] Figure 1 This is a schematic structural diagram of an embodiment of the utility model medical shadowless lamp;

[0033] Figure 2 This is an exploded schematic diagram of the second rotating joint of an embodiment of the medical shadowless lamp of the utility model;

[0034] Figure 3 It is an exploded schematic diagram of the first rotating joint of an embodiment of the medical shadowless lamp of the utility model;

[0035] Figure 4 This is a schematic diagram of the first rotating joint of an embodiment of the medical shadowless lamp of the utility model;

[0036] Figure 5 This is a schematic diagram of the second rotating joint of an embodiment of the medical shadowless lamp of the present utility model.

[0037] Description of Figure Numbers:

[0038]

[0039]

[0040] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0043] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0044] The utility model provides a medical shadowless lamp 100, aiming to improve the operating convenience and flexibility of the medical shadowless lamp 100.

[0045] In the embodiment of the present utility model, in combination with reference to Figure 1 The medical shadowless lamp 100 includes a lamp head 10 , a mechanical arm 20 and a base 30 . The mechanical arm 20 is provided with a free end 21 and a fixed end 22 . The lamp head 10 is mounted on the free end 21 , and the fixed end 22 of the mechanical arm 20 is mounted on the base 30 .

[0046] It can be understood that the robotic arm 20 in the medical shadowless lamp 100 has the same effect as the common industrial robotic arm 20 on the market, that is, both have a fixed end 22 and a free end 21. The fixed end 22 of the robotic arm 20 is fixed on the base 30, and the robotic arm 20 is divided into multiple small segments by various "joints". The robotic arm 20 controls the movement of each "joint" to coordinate the movement of each small segment on the robotic arm 20 in various directions, thereby making the free end 21 of the robotic arm 20 have multiple degrees of freedom, thereby realizing the displacement of the free end 21 in various directions. Similarly, the robotic arm 20 in the medical shadowless lamp 100 also has a similar effect.

[0047] In this way, the medical shadowless lamp 100 includes a lamp head 10, a robotic arm 20 and a base 30. The fixed end 22 of the robotic arm 20 is fixedly mounted on the base 30, and the lamp head 10 is mounted on the free end 21 of the robotic arm 20, so that the "joint" on the robotic arm 20 can transport the lamp head 10 on the free end 21 to different positions through movement, so as to achieve position adjustment of the shadowless lamp.

[0048] In some embodiments, in order to enable the lamp head 10 to move in the space in the three directions of X, Y, and Z of the standard coordinate system, the robotic arm 20 can be designed to be similar to a human arm, with a shoulder joint, an elbow joint, and a wrist joint, with the shoulder joint as the base 30, the elbow joint as the middle connecting joint, and the wrist joint connected to the lamp head 10, so that the lamp head 10 can have three degrees of freedom in space, and the lamp head 10 has more adjustment methods and position options, thereby enriching the use scenarios of the medical shadowless lamp 100.

[0049] In other embodiments, in order to simplify the structure of the medical shadowless lamp 100, according to the characteristics of the medical shadowless lamp 100, generally only the height of the lamp head 10 and the irradiation direction need to be adjusted, and the robotic arm 20 only needs to have two joints. At this time, the robotic arm 20 can be regarded as a simple double-rod structure, and the two ends of the double-rod structure are respectively connected to the base 30 and the lamp head 10, and the two joints are respectively connected to the connection between the base 30 and the double-rod structure, and the connection between the two rods. In this way, the height position and irradiation direction of the lamp head 10 can be adjusted by swinging the two joints.

[0050] Further, see Figures 1 to 5 In one embodiment, the robot arm 20 includes a first rotary joint 23 and a second rotary joint 24. The first rotary joint 23 has a mounting end 231 and a movable end 232 that are rotatably connected. The mounting end 231 is used to drive the movable end 232 to tilt up or lay flat. The second rotary joint 24 has an assembly end 241 and a rotating end 242 that are rotatably connected. The assembly end 241 is used to drive the rotating end 242 to rotate. The assembly end 241 is installed on the movable end 232.

[0051] With such a configuration, the robot arm 20 has two types of rotational joints, a first rotational joint 23 and a second rotational joint 24. The first rotational joint 23 rotates and swings its movable end 232 so that the movable end 232 can be rotated, and then the second rotational joint 24 connected to the movable end 232 can be tilted or laid flat. At the same time, the second rotational joint 24 rotates so that its rotational end 242 can be rotated about the rotation axis of the second rotational joint 24, and then the first rotational joint 23 realizes the height adjustment of the robot arm 20, and the second rotational joint 24 realizes the rotation of the robot arm 20 at a fixed height.

[0052] In some embodiments, the mounting section of the first rotating joint 23 is connected to the base 30, and the rotating end 242 of the second rotating joint 24 is connected to the lamp head 10. In this way, the medical shadowless lamp 100 includes the base 30, the first rotating joint 23, the second rotating joint 24 and the lamp head 10. The first rotating joint 23 rotates so that the second rotating joint 24 can be displaced in height, and the second rotating joint 24 rotates so that the irradiation direction of the lamp head 10 can be adjusted, thereby forming a medical shadowless lamp 100 with a simple structure and basic functions.

[0053] Further, see Figures 1 to 5 In one embodiment, the rotation axis of the rotating end 242 relative to the assembly end 241 is perpendicular to the rotation axis of the movable end 232 relative to the installation end 231 .

[0054] Such an arrangement is equivalent to the rotation axis of the rotating end 242 being perpendicular to the rotation axis of the movable end 232, that is, the rotation axis of the first rotating joint 23 is perpendicular to the rotation axis of the second rotating joint 24, so that when the first rotating joint 23 rotates, the tilting of the second rotating joint 24 is more obvious, and the height of the first rotating joint 23 relative to the second rotating joint 24 can be adjusted.

[0055] In some embodiments, in order to avoid loosening of the connection between the movable end 232 and the assembly end 241 due to the torque of the first rotary joint 23 or the second rotary joint 24 when rotating during use, thereby deteriorating the effect of the vertical connection, the movable end 232 and the assembly end 241 can be integrally formed so that loosening due to torque will not occur.

[0056] Further, see Figures 1 to 5In one embodiment, the first rotary joint 23 includes a first driving component 233, a first right-angle elbow 234 and a second right-angle elbow 235, the driving component includes a first fixed portion 2331 and a first rotating portion 2332, the first fixed portion 2331 is used to drive the first rotating portion 2332 to rotate, one end of the first right-angle elbow 234 is connected to the first fixed portion 2331, the other end of the first right-angle elbow 234 is installed on the base 30, one end of the second right-angle elbow 235 is connected to the first rotating portion 2332, and the assembly end 241 is installed on the other end of the second right-angle elbow 235.

[0057] It can be understood that the connection of the first rotating joint 23 is a straight line, and the order from left to right is the first right-angle elbow 234, the first fixing portion 2331, the first rotating portion 2332 and the second right-angle elbow 235.

[0058] In this configuration, in the first rotary joint 23 , the first right-angle elbow 234 is connected to the base 30 , and the second right-angle elbow 235 is connected to the second rotary joint 24 . The right-angle elbows allow the rotation axes of the first rotary joint 23 and the second rotary joint 24 to be vertically disposed.

[0059] In some embodiments, in order to make the connection between the right-angle elbow and the driving component more convenient, the right-angle elbow and the driving component are connected by threaded matching, so that the parts between the right-angle elbow and the driving component can be disassembled and replaced at any time, reducing the maintenance cost of the medical shadowless lamp 100.

[0060] Further, see Figures 1 to 5 In one embodiment, the first fixed portion 2331 includes a first lower shell 23311 and a first motor 23312 disposed in the first lower shell 23311, the first rotating portion 2332 includes a first upper shell 23321 and a first reducer 23322 disposed in the first upper shell 23321, the first reducer 23322 is transmission-connected to the first motor 23312, the first upper shell 23321 is rotationally connected to the first lower shell 23311, and the first lower shell 23311 drives the first reducer 23322 to operate through the first motor 23312 to drive the first upper shell 23321 to rotate.

[0061] In this arrangement, the first motor 23312 in the first fixed part 2331 is fixedly mounted on the first lower shell 23311, the first reducer 23322 in the first rotating part 2332 is installed on the first upper shell 23321, the first motor 23312 is transmission-connected to the first reducer 23322, and the first upper shell 23321 is also rotationally connected to the first lower shell 23311, so that when the first motor 23312 is started, it drives the first reducer 23322 to rotate, and then drives the first upper shell 23321 and the first lower shell 23311 to rotate, so that the entire driving component rotates to drive the first rotating joint 23 to rotate.

[0062] In some embodiments, in order to make the transmission effect between the first motor 23312 and the first reducer 23322 more stable, the first motor 23312 and the first reducer 23322 are connected through a coupling. The coupling enables the high-speed rotation of the first motor 23312 to be stably transmitted to the first reducer 23322, thereby driving the first reducer 23322 to rotate.

[0063] In other embodiments, since the function of the first reducer 23322 is to reduce the rotation speed of the first motor 23312, and when the rotation speed of the first motor 23312 is selected to be suitable for the rotation speed of the driving component, the first reducer 23322 may not be provided, and the first reducer 23322 may be replaced by a transmission member, and the transmission member does not change the rotation speed of the first motor 23312, thereby making the internal structure of the driving component simpler and reducing the difficulty of maintenance.

[0064] Further, see Figures 1 to 5 In one embodiment, the second rotating joint 24 includes a second driving component 243 and a turntable 244 , the driving component includes a second fixed portion 2431 and a second rotating portion 2432 , the second fixed portion 2431 is used to drive the second rotating portion 2432 to rotate, and the turntable 244 is connected to the second rotating portion 2432 .

[0065] It can be understood that the connection of the second rotating joint 24 is a straight line, and the order from left to right is the turntable 244, the second rotating part 2432 and the second fixing part 2431.

[0066] In this configuration, no right-angle elbow is provided on the second rotary joint 24, so that the external drive of the second rotary joint 24 is only to rotate around its own rotation axis, and the turntable 244 is connected to the second rotating part 2432, so that the rotation of the second rotary joint 24 is more stable and low-output by the turntable 244.

[0067] In some embodiments, in order to enable the lamp head 10 of the shadowless lamp to rotate more to adjust the irradiated light, the lamp head 10 is installed on a turntable 244, and a plurality of lamp heads 10 are provided on the turntable 244 to form a shadowless effect during irradiation, and the lamp head 10 rotates with the turntable 244 to adjust the irradiated light.

[0068] Further, see Figures 1 to 5In one embodiment, the second fixed portion 2431 includes a second lower shell 24311 and a second motor 24312 disposed in the second lower shell 24311, the second rotating portion 2432 includes a second upper shell 24321 and a second reducer 24322 disposed in the second upper shell 24321, the second reducer 24322 is transmission-connected to the second motor 24312, the second upper shell 24321 is rotationally connected to the second lower shell 24311, and the second lower shell 24311 drives the second reducer 24322 to operate through the second motor 24312 to drive the second upper shell 24321 to rotate.

[0069] In this arrangement, the second motor 24312 in the second fixed part 2431 is fixedly mounted on the second lower shell 24311, the second reducer 24322 in the second rotating part 2432 is installed on the second upper shell 24321, the second motor 24312 is transmission-connected to the second reducer 24322, and the second upper shell 24321 is also rotationally connected to the second lower shell 24311, so that when the second motor 24312 is started, it drives the second reducer 24322 to rotate, and then drives the second upper shell 24321 and the second lower shell 24311 to rotate, so that the entire driving component rotates to drive the second rotating joint 24 to rotate.

[0070] In some embodiments, in order to make the transmission of the turntable 244 on the second rotating part 2432 more stable, the second upper shell 24321 is replaced with the turntable 244, so that the second deceleration component is directly connected to the turntable 244 for transmission, thereby reducing the intermediate zero level and improving the stability of the turntable 244 during rotation.

[0071] Further, see Figures 1 to 5 In one embodiment, the robotic arm 20 includes three first rotation joints 23 and one second rotation joint 24, the mounting end 231 of the first rotation joint 23 located at the bottom layer is connected to the base 30, the mounting end 231 of the first rotation joint 23 located at the middle layer is connected to the movable end 232 of the first rotation joint 23 located at the bottom layer, the mounting end 231 of the first rotation joint 23 located at the top layer is connected to the movable end 232 of the first rotation joint 23 located at the middle layer, and the assembly end 241 of the second rotation joint 24 is connected to the movable end 232 of the first rotation joint 23 located at the top layer.

[0072] In this way, three first rotating joints 23 and one second rotating joint 24 are set, wherein the three first rotating joints 23 are divided into a bottom layer first rotating joint 23, a middle layer first rotating joint 23 and a top layer first rotating joint 23 according to the installation order, and the second rotating joint 24 is connected to the top layer first rotating joint 23, so that the bottom layer first rotating joint 23 rotates to drive the middle layer first rotating joint 23, and the middle layer first rotating joint 23 is raised in height, so that the horizontal position of the lamp head 10 is displaced, and the middle layer first rotating joint 23 continues to rotate, driving the top layer first rotating joint 23, so that the lamp head 10 returns to its original position in the horizontal position, but at this time, due to the rotation of the bottom and middle layer first rotating joints 23, the irradiation direction of the lamp head 10 is no longer vertically downward, so the top layer first rotating joint 23 rotates to change the irradiation direction of the lamp head 10 to vertically downward again, so that through the three first rotating joints 23, the lamp head 10 is only adjusted in height, and the second rotating joint 24 rotates to adjust the light of the lamp head 10 on the turntable 244.

[0073] It can be understood that the robotic arm 20 can not only realize the rotation through the three first rotating joints 23 as described above, so that the lamp head 10 is only adjusted in height, but the robotic arm 20 can also control the different rotation amounts of the three first rotating joints 23, so that the lamp head 10 can be adjusted in height, horizontal position and illumination direction.

[0074] In some embodiments, the three first rotating joints 23 are arranged in a stepped bend so that the base 30 and the lamp head 10 are not in the same straight line. In this way, when the base 30 is installed at a slightly farther place, the lamp head 10 can still provide lighting above the operating table. The base 30 does not need to be installed directly above the operating table, thereby improving the safety of the medical shadowless lamp 100.

[0075] Further, see Figures 1 to 5 In one embodiment, the robotic arm 20 also includes two extension rods 25, the mounting end 231 of the first rotary joint 23 located at the middle layer is connected to the movable end 232 of the first rotary joint 23 located at the bottom layer through an extension rod 25, and the mounting end 231 of the first rotary joint 23 located at the top layer is connected to the movable end 232 of the first rotary joint 23 located at the middle layer through another extension rod 25.

[0076] With such arrangement, the three first rotating joints 23 are sandwiched with two extension rods 25, so that when the bottom first rotating joint 23 rotates, the extension rods 25 are driven to rotate, so that the middle first rotating joint 23 has more adjustable positions in height. Similarly, when the middle first rotating joint 23 rotates, the extension rods 25 are driven to rotate, so that the top first rotating joint 23 has more adjustable positions in height.

[0077] In some embodiments, in order to ensure that the middle first rotation joint 23 can offset the horizontal movement caused by the rotation of the bottom first rotation joint 23, the lengths of the two extension rods 25 are equal, thereby ensuring that the middle first rotation joint 23 can offset the horizontal displacement caused by the bottom first rotation joint 23.

[0078] Further, see Figures 1 to 5 In one embodiment, the three first rotation joints 23 are arranged in a circuitous manner.

[0079] With such arrangement, the three first rotating joints 23 are arranged in a circuitous manner, so that the lamp head 10 can be as close to the central vertical line of the base 30 as possible, making the spatial volume of the entire medical shadowless lamp 100 smaller, thereby preventing the shadowless lamp from interfering with other equipment when adjusting the position of the lamp head 10, thereby preventing damage to the equipment or the medical shadowless lamp 100.

[0080] In some embodiments, the setting direction of the right-angle elbows between the three first rotating joints 23 can be adjusted to change the setting form of the three first rotating joints 23 to obtain more adjustment positions of the lamp head 10. At the same time, the medical shadowless lamp 100 can be adapted to more narrow spaces, avoiding interference with other equipment, thereby improving the versatility of the medical shadowless lamp 100.

[0081] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A medical shadowless lamp, characterized in that: include: Lamp holder; A mechanical arm, wherein the mechanical arm is provided with a free end and a fixed end, and the lamp holder is mounted on the free end; A base, on which the fixed end of the mechanical arm is mounted; Wherein, the mechanical arm comprises: A first rotary joint, wherein the first rotary joint includes a first driving component, a first right-angle elbow and a second right-angle elbow, wherein the first driving component includes a first fixed portion and a first rotating portion, wherein the first fixed portion is used to drive the first rotating portion to rotate, wherein one end of the first right-angle elbow is connected to the first fixed portion, and the other end of the first right-angle elbow is mounted on the base, wherein one end of the first right-angle elbow is connected to the first fixed portion, and the other end of the first right-angle elbow is mounted on the base; and a second rotating joint, the second rotating joint comprising a second driving component and a turntable, the second driving component comprising a second fixing portion and a second rotating portion, the second fixing portion being used to drive the second rotating portion to rotate, the turntable being connected to the second rotating portion, and the lamp holder being mounted on the turntable; The robotic arm includes three first rotation joints and one second rotation joint, the mounting end of the first rotation joint located at the bottom layer is connected to the base, the mounting end of the first rotation joint located at the middle layer is connected to the movable end of the first rotation joint located at the bottom layer, the mounting end of the first rotation joint located at the top layer is connected to the movable end of the first rotation joint located at the middle layer, the assembly end of the second rotation joint is connected to the movable end of the first rotation joint located at the top layer, and the three first rotation joints are arranged in a circuitous manner.

2. The medical shadowless lamp according to claim 1, characterized in that: The first fixing portion includes a first lower shell and a first motor disposed in the first lower shell; The first rotating part includes a first upper shell and a first reducer disposed in the first upper shell; The first reducer is transmission-connected to the first motor, the first upper shell is rotationally connected to the first lower shell, and the first lower shell drives the first reducer to rotate through the first motor.

3. The medical shadowless lamp according to claim 1, characterized in that: The second fixing portion includes a second lower shell and a second motor disposed in the second lower shell; The second rotating part includes a second upper shell and a second reducer disposed in the second upper shell; The second reducer is transmission-connected to the second motor, the second upper shell is rotationally connected to the second lower shell, and the second lower shell drives the second reducer to rotate through the second motor.

4. The medical shadowless lamp according to claim 1, characterized in that: The robotic arm also includes two extension rods, the mounting end of the first rotation joint located in the middle layer is connected to the movable end of the first rotation joint located in the bottom layer through one of the extension rods, and the mounting end of the first rotation joint located in the top layer is connected to the movable end of the first rotation joint located in the middle layer through another extension rod.

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