Positioning indicator and medical robot

Abstract

The utility model relates to a positioning indicator and a medical robot. The positioning indicator comprises a light-emitting part, a support assembly, a first driving part and a second driving part, and the light-emitting part is installed on the support assembly; the first driving part and the second driving part are both connected to the support assembly, the first driving part can drive the support assembly to rotate in the first direction, the second driving part can drive the support assembly to rotate in the second direction, the first direction is the axial direction of a motor shaft of the first driving part, and the second direction is the axial direction of a motor shaft of the second driving part. And the first direction is intersected with the second direction. The positioning indicator is simple in structure, the light-emitting part can be driven to rotate only by arranging the first driving part and the second driving part, the irradiation angle of the light-emitting part can be controlled only by controlling the rotation angle of the first driving part around the first direction and the rotation angle of the second driving part around the second direction, and operation is easy.

Description

Technical Field

[0001] This application relates to the field of medical technologies, and particularly to a positioning indicator and a medical robot. Background Art

[0002] In the traditional medical field, for certain medical conditions, visual positioning assistance is required during the treatment process to accurately reach the lesion location. Traditionally, doctors usually use a marker pen for scribing marks. This method relies on the doctor's experience, and due to individual differences, there is usually a large error between the scribed mark position and the actual position, affecting the diagnosis and treatment effect. With the development of the medical industry, currently, a positioning indicator is often used to perform visual positioning of the target position. However, the positioning indicator includes a light-emitting component, and by adjusting the irradiation angle of the light-emitting component, visual positioning in the target area of the patient is achieved. However, the existing positioning indicator has a complex structure and is not convenient for adjusting the irradiation angle of the light-emitting component. Summary of the Utility Model

[0003] Based on this, in view of the problems of the existing positioning indicator with a complex structure and inconvenient operation, it is necessary to provide a positioning indicator and a medical robot.

[0004] A positioning indicator, the positioning indicator includes:

[0005] A light-emitting component and a bracket assembly, the light-emitting component is installed on the bracket assembly, and the light-emitting component is configured to emit collimated light;

[0006] A first driving member and a second driving member, both connected to the bracket assembly, the first driving member can drive the bracket assembly to rotate around a first direction, the second driving member can drive the bracket assembly to rotate around a second direction, wherein the first direction is the axial direction of the motor shaft of the first driving member, the second direction is the axial direction of the motor shaft of the second driving member, and the first direction and the second direction are not parallel.

[0007] For the above positioning indicator, the light-emitting component is installed on the bracket assembly. By connecting both the first driving member and the second driving member to the bracket assembly, the first driving member can drive the bracket assembly and the light-emitting component to rotate around the first direction, and the second driving member can drive the bracket assembly and the light-emitting component to rotate around the second direction. Moreover, the first direction and the second direction are not parallel, thereby increasing the rotation range of the light-emitting component. The positioning indicator provided in this application has a simple structure. Only by setting the first driving member and the second driving member can the light-emitting component be driven to rotate. Moreover, only by controlling the rotation angle of the first driving member around the first direction and the rotation angle of the second driving member around the second direction can the irradiation angle of the light-emitting component be controlled, and the operation is simple.

[0008] In one embodiment, the bracket assembly includes an inner frame bracket and a fixed outer frame. The light-emitting element is mounted on the inner frame bracket, the inner frame bracket is mounted on the fixed outer frame, the output end of the first driving member is connected to the light-emitting element, and the output shaft of the second driving member is connected to the inner frame bracket.

[0009] The projection of the first direction on the projection plane intersects with the projection of the second direction on the projection plane. The projection plane is perpendicular to the third direction, and the third direction is perpendicular to both the first direction and the second direction at the same time. The collimated light emitted by the light-emitting element intersects with the projection plane, and the collimated light emitted by the light-emitting element extends in a direction away from the fixed outer frame.

[0010] In one embodiment, the bracket assembly further includes a light-emitting element bracket disposed on the inner frame bracket. The light-emitting element is mounted on the light-emitting element bracket, and the output end of the first driving member passes through the inner frame bracket and is connected to the light-emitting element bracket.

[0011] In one embodiment, the bracket assembly further includes a limiting member. The limiting member is mounted on the inner frame bracket, and the light-emitting element bracket can abut against the limiting member to limit the rotation angle of the light-emitting element bracket around the first direction.

[0012] In one embodiment, the positioning indicator further includes a first encoder connected to the inner frame bracket. The first encoder can detect the rotation angle of the light-emitting element bracket around the first direction.

[0013] In one embodiment, the positioning indicator further includes a second encoder connected to the fixed outer frame. The second encoder can detect the rotation angle of the inner frame bracket around the second direction.

[0014] The present application also provides a medical robot, including a fixed cantilever, a rotating cantilever, and the positioning indicator according to any one of the above. The fixed cantilever and the rotating cantilever are rotatably connected, and the positioning indicator is mounted on the rotating cantilever.

[0015] In one embodiment, the rotation angle range of the rotating cantilever is any one of 0° - 180°, 180° - 360°, and 0° - 360°.

[0016] The medical robot further includes a clamping structure, and the clamping structure is used to limit the relative rotation of the rotating cantilever and the fixed cantilever after the rotating cantilever rotates to a preset angle.

[0017] In one embodiment, the medical robot further includes a rotating shaft and an angle sensor connected to each other. The fixed cantilever and the rotating cantilever are distributed along the axial direction of the rotating shaft. The rotating shaft passes through the fixed cantilever and the rotating cantilever to rotatably connect the fixed cantilever and the rotating cantilever. The angle sensor is used to detect the rotation angle of the rotating cantilever.

[0018] In one embodiment, the medical robot further includes a depth camera. The rotating cantilever has a receiving cavity. The depth camera and the positioning indicator are both disposed in the receiving cavity, and the depth camera is located between the positioning indicator and the fixed cantilever. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the positioning indicator provided by the present application from a first perspective.

[0020] Figure 2 It is a schematic structural diagram of the positioning indicator provided by the present application from a second perspective.

[0021] Figure 3 It is a schematic structural diagram of the present application showing the setting of a limiting member on an inner frame bracket.

[0022] Figure 4 It is a schematic structural diagram of the medical robot provided by the present application.

[0023] In the figure:

[0024] 100, light-emitting member;

[0025] 200, bracket assembly; 210, light-emitting member bracket; 220, inner frame bracket; 230, fixed outer frame; 240, limiting member;

[0026] 300, first driving member;

[0027] 400, second driving member;

[0028] 500, first encoder;

[0029] 600, second encoder;

[0030] 700, fixed cantilever;

[0031] 800, rotating cantilever; 810, receiving cavity; 820, angle sensor; 830, positioning indicator;

[0032] 900, depth camera. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0034] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings. These are only for the convenience of describing the present application 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 thus should not be construed as a limitation to the present application.

[0035] In addition, if terms such as "first" and "second" appear, these terms are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0036] In the present application, unless otherwise clearly specified and limited, if terms such as "install", "connect", "join", "fix", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0037] In this application, unless otherwise clearly specified and defined, when a first feature is described as being "on" or "under" a second feature or the like, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0039] This application provides a positioning indicator 830, as Figures 1 to 3 shown, the positioning indicator 830 includes a light-emitting element 100, a bracket assembly 200, a first driving member 300 and a second driving member 400. The light-emitting element 100 is mounted on the bracket assembly 200, and the light-emitting element 100 is configured to emit collimated light; both the first driving member 300 and the second driving member 400 are connected to the bracket assembly 200. The first driving member 300 can drive the bracket assembly 200 to rotate around a first direction, and the second driving member 400 can drive the bracket assembly 200 to rotate around a second direction, where the first direction is the axial direction of the motor shaft of the first driving member 300, the second direction is the axial direction of the motor shaft of the second driving member 400, and the first direction and the second direction are not parallel.

[0040] For the above-mentioned positioning indicator 830, the light-emitting element 100 is mounted on the bracket assembly 200. By connecting both the first driving member 300 and the second driving member 400 to the bracket assembly 200, the first driving member 300 drives the bracket assembly 200 and the light-emitting element 100 to rotate around the first direction, and the second driving member 400 drives the bracket assembly 200 and the light-emitting element 100 to rotate around the second direction. Moreover, the first direction and the second direction are not parallel, thereby increasing the rotation range of the light-emitting element 100. The positioning indicator 830 provided by this application has a simple structure. Only by setting the first driving member 300 and the second driving member 400 can the light-emitting element 100 be driven to rotate. Moreover, only by controlling the rotation angle of the first driving member 300 around the first direction and the rotation angle of the second driving member 400 around the second direction can the irradiation angle of the light-emitting element 100 be controlled, and the operation is simple.

[0041] In some embodiments, if from 1 to Figure 3 As shown, both the first driving member 300 and the second driving member 400 are motors. In other embodiments, the first driving member 300 and / or the second driving member 400 is a motor.

[0042] Specifically, as Figures 1 to 3 shown, the axial direction of the motor shaft of the first driving member 300 is the first direction, and the axial direction of the motor shaft of the second driving member 400 is the second direction. The first direction and the second direction are not parallel, and there are two cases. The first case means that the axial direction of the motor shaft of the first driving member 300 intersects with the axial direction of the motor shaft of the second driving member 400. The second case means that the first direction and the second direction are skew.

[0043] Furthermore, when the first direction and the second direction intersect, the included angle between the first direction and the second direction is A, where 0° < A < 180°, and A can specifically be 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, etc. In this embodiment, the first direction and the second direction are perpendicular.

[0044] It should be noted that the first driving member 300 can drive the light-emitting member 100 to rotate around the first direction, and the maximum angle range for the light-emitting member 100 to rotate around the first direction is 0° - 360°. The rotation amplitude of the light-emitting member 100 is limited according to the working requirements. For example, the rotation range of the light-emitting member 100 can be reduced so that it makes a reciprocating swinging motion within a preset angle. The second driving member 400 can drive the light-emitting member 100 to rotate around the second direction, and the maximum angle range for the light-emitting member 100 to rotate around the second direction is 0° - 360°. The rotation amplitude of the light-emitting member 100 is limited according to the working requirements. For example, the rotation range of the light-emitting member 100 can be reduced so that it makes a reciprocating swinging motion within a preset angle.

[0045] In some embodiments, as Figures 1 to 3As shown, the bracket assembly 200 includes an inner frame bracket 220 and a fixed outer frame 230. The light-emitting component 100 is mounted on the inner frame bracket 220, and the inner frame bracket 220 is mounted on the fixed outer frame 230. The output end of the first driving member 300 is connected to the light-emitting component 100, and the output shaft of the second driving member 400 is connected to the inner frame bracket 220. The projection of the first direction on the projection plane intersects with the projection of the second direction on the projection plane. The projection plane is perpendicular to the third direction, and the third direction is perpendicular to both the first direction and the second direction at the same time. The collimated light emitted by the light-emitting component 100 intersects with the projection plane, and the collimated light emitted by the light-emitting component 100 extends in a direction away from the fixed outer frame 230. By providing the inner frame bracket 220, the light-emitting component 100 is fixed on the inner frame bracket 220, and the output end of the first driving member 300 is connected to the light-emitting component 100. The first driving member 300 drives the light-emitting component 100 to rotate around the first direction. By providing the fixed outer frame 230, the inner frame bracket 220 is arranged on the fixed outer frame 230, and the output shaft of the second driving member 400 is connected to the inner frame bracket 220. The second driving member 400 drives the inner frame bracket 220 and the light-emitting component 100 as a whole to rotate around the second direction. The light emitted by the light-emitting component 100 intersects with the projection plane, and the light emitted by the light-emitting component 100 extends in a direction away from the fixed outer frame 230. By defining the relative position of the light emitted by the light-emitting component 100 and the bracket assembly 200, it is ensured that the light emitted by the light-emitting component 100 is emitted outside the positioning indicator 830.

[0046] Specifically, as Figures 1 to 3 shown, the inner frame bracket 220 is provided with a first cavity communicating with the outside. The light-emitting component 100 is arranged in the first cavity. The fixed outer frame 230 is provided with a second cavity communicating with the outside. The inner frame bracket 220 is arranged in the second cavity. The output end of the first driving member 300 passes through the inner frame bracket 220 and is connected to the light-emitting component 100. The output end of the second driving member 300 passes through the fixed frame 230 and is connected to the inner frame bracket 220.

[0047] Specifically, as Figures 1 to 3 shown, the bracket assembly 200 further includes a light-emitting component bracket 210 arranged on the inner frame bracket 220. The light-emitting component 100 is mounted on the light-emitting component bracket 210. The output end of the first driving member 300 passes through the inner frame bracket 220 and is connected to the light-emitting component bracket 210. By providing the light-emitting component bracket 210, it is convenient to mount the light-emitting component 100 on the inner frame bracket 220.

[0048] More specifically, as Figures 1 to 3 shown, the light-emitting component bracket 210 is mounted in the first cavity of the inner frame bracket 220.

[0049] In some embodiments, as Figures 1 to 3As shown, the bracket assembly 200 further includes a limiting member 240. The limiting member 240 is installed on the inner frame bracket 220, and the light-emitting member bracket 210 can abut against the limiting member 240 to limit the rotation angle of the light-emitting member bracket 210 around the first direction. By providing the limiting member 240 on the inner frame bracket 220, the rotation angle of the light-emitting member bracket 210 is restricted, and thus the rotation angle of the light-emitting member 100 around the first direction is restricted.

[0050] Specifically, as Figure 3 shown, the limiting member 240 includes two limiting pieces, and the two limiting pieces are respectively located on both sides of the light-emitting member bracket 210 along the second direction. By providing two limiting pieces, when the first driving member 300 drives the light-emitting member bracket 210 and the light-emitting member 100 to rotate around the first direction, the light-emitting member bracket 210 can abut against one of the limiting pieces to limit the rotation angle of the light-emitting member bracket 210 around the first direction.

[0051] In some embodiments, as Figures 1 to 3 shown, the positioning indicator 830 further includes a first encoder 500 connected to the inner frame bracket 220. The first encoder 500 can detect the rotation angle of the light-emitting member bracket 210 around the first direction. By providing the first encoder 500 to detect the rotation angle of the light-emitting member bracket 210 around the first direction, the first encoder 500 sends the detection result to the controller, and the controller controls the change amount of the rotation angle of the first driving member 300 according to the detection result of the first encoder 500 to achieve precise control of the rotation angle of the light-emitting member 100.

[0052] Specifically, as Figures 1 to 3 shown, the first encoder 500 is installed on the inner frame bracket 220, and the first driving member 300, the light-emitting member bracket 210, and the first encoder 500 are arranged along the first direction.

[0053] In some embodiments, as Figures 1 to 3 shown, the positioning indicator 830 further includes a second encoder 600 connected to the fixed outer frame 230. The second encoder 600 can detect the rotation angle of the inner frame bracket 220 around the second direction. By providing the second encoder 600 to detect the rotation angle of the inner frame bracket 220 around the second direction, the second encoder 600 sends the detection result to the controller, and the controller controls the change amount of the rotation angle of the second driving member 400 according to the detection result of the second encoder 600 to achieve precise control of the rotation angle of the light-emitting member 100.

[0054] Specifically, as Figures 1 to 3 shown, the second encoder 600 is installed on the fixed outer frame 230, and the second driving member 400, the inner frame bracket 220, and the second encoder 600 are arranged along the second direction.

[0055] This application also provides a medical robot, asFigures 1 to 4 As shown, it includes a fixed cantilever 700, a rotating cantilever 800, and a positioning indicator 830. The fixed cantilever 700 and the rotating cantilever 800 are rotatably connected, and the positioning indicator 830 is installed on the rotating cantilever 800. By providing the fixed cantilever 700 and the rotating cantilever 800, and installing the positioning indicator 830 on the rotating cantilever 800, the rotating cantilever 800 rotates relative to the fixed cantilever 700, thereby driving the positioning indicator 830 to move relative to the fixed cantilever 700, thus adjusting the relative position between the positioning indicator 830 and the fixed cantilever 700. When performing surgery using the above-mentioned medical robot, the relative position between the positioning indicator 830 and the patient is adjusted by rotating the rotating cantilever 800.

[0056] In some embodiments, as Figures 1 to 4 shown, the rotation angle range of the rotating cantilever 800 is any one of 0° - 180°, 180° - 360°, and 0° - 360°; the medical robot further includes a positioning structure for restricting the relative rotation between the rotating cantilever 800 and the fixed cantilever 700 after the rotating cantilever 800 rotates to a preset angle. By providing the positioning structure, after the rotating cantilever 800 rotates to the preset angle, the positioning structure restricts the relative rotation between the rotating cantilever 800 and the fixed cantilever 700, so that the positioning indicator 830 can be set at the preset position.

[0057] Specifically, the positioning structure includes a protrusion and a groove. One of the protrusion and the groove is provided on the rotating cantilever 800, and the other is provided on the fixed cantilever 700. After the rotating cantilever 800 rotates to the preset angle, the protrusion is clamped in the groove to restrict the further rotation of the rotating cantilever 800.

[0058] In some embodiments, as Figures 1 to 4 shown, the medical robot further includes a rotating shaft and an angle sensor 820 connected to each other. The fixed cantilever 700 and the rotating cantilever 800 are distributed along the axial direction of the rotating shaft. The rotating shaft passes through the fixed cantilever 700 and the rotating cantilever 800 to rotatably connect the fixed cantilever 700 and the rotating cantilever 800. The angle sensor 820 is used to detect the rotation angle of the rotating cantilever 800. By providing the rotating shaft to rotatably connect the rotating cantilever 800 and the fixed cantilever 700, and installing the angle sensor 820 on the rotating shaft, the rotation angle of the rotating cantilever 800 is detected.

[0059] In some embodiments, as Figures 1 to 4As shown, the medical robot further includes a depth camera 900. The rotating cantilever 800 has a receiving cavity 810. Both the depth camera 900 and the positioning indicator 830 are disposed within the receiving cavity 810, and the depth camera 900 is located between the positioning indicator 830 and the fixed cantilever 700. By disposing the depth camera 900 within the receiving cavity 810 of the rotating cantilever 800, the depth camera 900 can assist in 3D patient image modeling and improve the accuracy of laser indication. The positioning indicator 830 is located on the side of the rotating cantilever 800 facing away from the fixed cantilever 700. The positioning indicator 830 is closer to the patient, facilitating adjustment of the indication range of the light-emitting member 100. Moreover, by disposing the depth camera 900 between the positioning indicator 830 and the fixed cantilever 700, not only is the structure of the structural members installed within the rotating cantilever 800 made compact, but also the balance of the rotating cantilever 800 and the structural members installed within the receiving cavity 810 is adjusted, improving the stability of the rotating cantilever 800 and the structural members installed within the rotating cantilever 800, and reducing the risk of tipping over.

[0060] Specifically, as Figures 1 to 4 shown, the rotating cantilever 800 is provided with a through hole communicating with the receiving cavity 810, and the light of the light-emitting member 100 of the positioning indicator 830 can be emitted through the through hole.

[0061] Specifically, as Figures 1 to 4 shown, the positioning indicator 830 is installed within the receiving cavity 810 of the rotating cantilever 800, and the second direction of the positioning indicator 830 is parallel or coincident with the length direction of the rotating cantilever 800, and the first direction of the positioning indicator 830 is perpendicular to the length direction of the rotating cantilever 800. It should be noted that the second direction of the positioning indicator 830 refers to the axial direction of the motor shaft of the second driving member 400, and the first direction of the positioning indicator 830 refers to the axial direction of the motor shaft of the first driving member 300.

[0062] It should be noted that, as Figure 4 shown, the length direction of the rotating cantilever 800 refers to the direction in which the long side of the rotating cantilever 800 extends.

[0063] In other embodiments, the positioning indicator 830 is installed within the receiving cavity 810 of the rotating cantilever 800, and the second direction of the positioning indicator 830 is perpendicular to the length direction of the rotating cantilever 800, and the first direction of the positioning indicator 830 is parallel or coincident with the length direction of the rotating cantilever 800.

[0064] It can be understood that the specific position of the positioning indicator 830 installed within the receiving cavity 810 of the rotating cantilever 800, that is, the relative position between the positioning indicator 830 and the rotating cantilever 800, can be determined according to actual operation requirements.

[0065] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0066] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A positioning indicator, characterized in that, The positioning indicator includes: a light-emitting member (100) and a bracket assembly (200), the light-emitting member (100) is mounted on the bracket assembly (200), and the light-emitting member (100) is configured to emit collimated light; a first driving member (300) and a second driving member (400), both connected to the bracket assembly (200), the first driving member (300) can drive the bracket assembly (200) to rotate about a first direction, and the second driving member (400) can drive the bracket assembly (200) to rotate about a second direction, wherein the first direction is the axial direction of the motor shaft of the first driving member (300), the second direction is the axial direction of the motor shaft of the second driving member (400), and the first direction and the second direction are not parallel.

2. The positioning indicator according to claim 1, wherein, The bracket assembly (200) includes an inner frame bracket (220) and a fixed outer frame (230), the light-emitting member (100) is mounted on the inner frame bracket (220), the inner frame bracket (220) is mounted on the fixed outer frame (230), the output end of the first driving member (300) is connected to the light-emitting member (100), and the output shaft of the second driving member (400) is connected to the inner frame bracket (220); The projection of the first direction on the projection plane intersects with the projection of the second direction on the projection plane, the projection plane is perpendicular to a third direction, the third direction is perpendicular to both the first direction and the second direction at the same time, the collimated light emitted by the light-emitting member (100) intersects with the projection plane, and the collimated light emitted by the light-emitting member (100) extends in a direction away from the fixed outer frame (230).

3. The positioning indicator according to claim 2, wherein The bracket assembly (200) further includes a light-emitting member bracket (210) provided on the inner frame bracket (220), the light-emitting member (100) is mounted on the light-emitting member bracket (210), and the output end of the first driving member (300) passes through the inner frame bracket (220) and is connected to the light-emitting member bracket (210).

4. The positioning indicator according to claim 3, characterized in that, The bracket assembly (200) further includes a limiting member (240), the limiting member (240) is mounted on the inner frame bracket (220), and the light-emitting member bracket (210) can abut against the limiting member (240) to limit the rotation angle of the light-emitting member bracket (210) about the first direction.

5. The positioning indicator according to claim 3, wherein The positioning indicator further includes a first encoder (500) connected to the inner frame bracket (220), and the first encoder (500) can detect the rotation angle of the light-emitting member bracket (210) about the first direction.

6. The positioning indicator according to claim 2, characterized in that, The positioning indicator further includes a second encoder (600) connected to the fixed outer frame (230), and the second encoder (600) can detect the rotation angle of the inner frame bracket (220) about the second direction.

7. A medical robot, characterized in that, Comprising a fixed cantilever (700), a rotating cantilever (800), and a positioning indicator according to any one of claims 1-6, wherein the fixed cantilever (700) and the rotating cantilever (800) are rotatably connected, and the positioning indicator is mounted on the rotating cantilever (800).

8. The medical robot according to claim 7, wherein The rotation angle range of the rotating cantilever (800) is any one of 0°-180°, 180°-360°, 0°-360°; The medical robot further comprises a positioning structure for restricting the relative rotation of the rotating cantilever (800) and the fixed cantilever (700) after the rotating cantilever (800) rotates to a preset angle.

9. The medical robot according to claim 7 or 8, characterized in that, The medical robot further comprises a rotating shaft and an angle sensor (820) connected thereto. The fixed cantilever (700) and the rotating cantilever (800) are distributed along the axial direction of the rotating shaft. The rotating shaft passes through the fixed cantilever (700) and the rotating cantilever (800) to rotatably connect the fixed cantilever (700) and the rotating cantilever (800). The angle sensor (820) is used to detect the rotation angle of the rotating cantilever (800).

10. The medical robot according to claim 7, characterized in that, The medical robot further comprises a depth camera (900). The rotating cantilever (800) has a receiving cavity (810). The depth camera (900) and the positioning indicator are both disposed in the receiving cavity (810), and the depth camera (900) is located between the positioning indicator and the fixed cantilever (700).

Images