Flange connecting piece and surgical robot execution system

Abstract

The utility model relates to the field of medical instruments, in particular to a flange connecting piece and a surgical robot execution system. The flange connecting piece comprises a mounting piece, a flange main body and a locking piece; the mounting piece is rotatably connected with the flange main body, and the locking piece is movably connected with the flange main body and used for limiting rotation of the mounting piece relative to the flange; wherein the mounting piece is used for being in butt joint with an end effector, and the flange body is used for being connected with a mechanical arm. The flange connecting piece is applied to a surgical robot execution system, the use flexibility of an end effector can be improved, the surgical period can be shortened, meanwhile, other bones or tissues can be prevented from being damaged in the surgical process, and then the surgical safety can be improved.

Description

Technical Field

[0001] The utility model relates to the field of medical devices, and in particular to a flange connector and a surgical robot execution system. Background Art

[0002] Currently, in robot-assisted joint replacement surgery, a robotic arm is often used to drive surgical tools. The surgical instrument, serving as the end effector, is rigidly connected to the driving end of the robotic arm via a connecting flange. This connection method eliminates the freedom of movement between the end effector and the robotic arm, which in turn prevents the end effector from being adjusted relative to the robotic arm according to the needs of the operation. The robotic arm must be adjusted to reach the desired position, but some positions are beyond the reach of the robotic arm. This reduces the flexibility of the end effector and increases the duration of the operation. This is especially true when the aforementioned device is used to cut the tibial plateau during knee replacement surgery, as the tool can easily damage the patellar ligament, compromising surgical safety. Utility Model Content

[0003] The purpose of the present utility model is to provide a flange connector and a surgical robot execution system, which can increase the flexibility of the end effector, help shorten the operation time, and avoid damage to other bones or tissues during the operation, thereby helping to improve the safety of the operation.

[0004] The embodiment of the present utility model is achieved as follows:

[0005] In a first aspect, the present invention provides a flange connector, which includes a mounting member, a flange body, and a locking member;

[0006] The mounting member is rotatably connected to the flange body, and the locking member is movably connected to the flange body and is used to limit the rotation of the mounting member relative to the flange;

[0007] Among them, the mounting part is used to dock with the end effector, and the flange body is used to connect with the robotic arm.

[0008] In an optional embodiment, the locking member includes a locking slider and a locking knob;

[0009] The locking slider is movably connected to the flange body; the locking knob is rotatably connected to the flange body, and the locking knob is used to drive the locking slider to move toward the direction close to the mounting part to abut against the mounting part, thereby limiting the rotation of the mounting part relative to the flange, or drive the locking slider to move toward the direction away from the mounting part to disengage from the mounting part.

[0010] In an optional embodiment, the locking member further includes a limit spring, which is connected to the locking slider and the flange body and enables the locking slider to have a tendency to move toward a direction close to the mounting member.

[0011] In an optional embodiment, the flange body is further provided with a first mounting hole, a second mounting hole and a mounting slot; the locking slider can be movably arranged in the first mounting hole, and the first mounting hole is connected to the mounting slot; the second mounting hole is connected to the first mounting hole, and the locking knob can be rotatably arranged in the second mounting hole; the limit spring is installed in the mounting slot, and the mounting slot is connected to the first mounting hole.

[0012] In an optional embodiment, the mounting member is provided with a first limiting portion, and the locking slider is provided with a second limiting portion cooperating with the first limiting portion at one end thereof facing the mounting member;

[0013] Among them, one of the first limiting portion and the second limiting portion is a limiting groove, and the other is a limiting protrusion.

[0014] In an optional embodiment, the flange connector further includes at least one positioning member, which is connected to the flange body and is used to abut against the locking knob when the first limiting portion and the second limiting portion cooperate.

[0015] In an optional embodiment, the flange body is provided with a first guide portion, and the mounting member is provided with a second guide portion cooperating with the first guide portion;

[0016] Among them, one of the first guide portion and the second guide portion is a guide groove, and the guide groove is bent around the axis of rotation of the mounting member relative to the flange body, and the other is a guide protrusion.

[0017] In an optional embodiment, the flange body is provided with a rotation groove, and a portion of the mounting member is rotatably connected to the rotation groove; and the first guide portion is provided on a groove wall of the rotation groove.

[0018] In an optional embodiment, the locking slider is provided with a positioning hole, and the locking knob is provided with a first abutting portion and a second abutting portion, at least portions of the first abutting portion and the second abutting portion are both located within the positioning hole, and one of the first abutting portion and the second abutting portion abuts against an inner wall of the positioning hole;

[0019] The first abutting portion and the second abutting portion are spaced apart around the axis of the locking knob, and the distance between the first abutting portion and the axis of the locking knob is greater than the distance between the second abutting portion and the axis of the locking knob;

[0020] Wherein, the distance between the first supporting portion and the axis of the locking knob and the distance between the second supporting portion and the axis of the locking knob are both smaller than the inner diameter of the positioning hole.

[0021] In a second aspect, the present invention provides a surgical robot execution system, the surgical robot execution system comprising a robotic arm, an end effector, and the above-mentioned flange connector;

[0022] The end effector is connected to the robot arm through a flange connection.

[0023] The beneficial effects of the embodiments of the present utility model include:

[0024] The flange connector includes a mounting member, a flange body, and a locking member. The mounting member is rotatably connected to the flange body, and the locking member is movably connected to the flange body and is used to limit the rotation of the mounting member relative to the flange. The mounting member is used to interface with the end effector, and the flange body is used to connect to the robotic arm. This flange connector is used in surgical robotic execution systems. It can increase the flexibility of the end effector, help shorten the surgical cycle, and avoid damage to other bones or tissues during the operation, thereby improving surgical safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a structural diagram of a flange connector from a first perspective in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the connection between the flange connector and the end effector in an embodiment of the present utility model;

[0028] Figure 3 This is a structural diagram of the flange connector from a second perspective in an embodiment of the present invention;

[0029] Figure 4 for Figure 3 Cross-sectional view at AA in the middle;

[0030] Figure 5 This is a structural diagram of the locking slider in an embodiment of the utility model;

[0031] Figure 6 This is a structural diagram of the locking knob in an embodiment of the present utility model;

[0032] Figure 7 This is a schematic structural diagram of the flange body in an embodiment of the present utility model;

[0033] Figure 8 This is a cross-sectional view of the flange body in the embodiment of the present utility model;

[0034] Figure 9 This is a schematic structural diagram of the mounting member in an embodiment of the present utility model;

[0035] Figure 10 for Figure 3 Cross-sectional view at the middle BB.

[0036] Icons: 100-flange connector; 110-mounting member; 120-flange body; 130-locking member; 131-locking slider; 132-locking knob; 133-limiting spring; 121-first mounting hole; 122-second mounting hole; 123-mounting slot; 111-first limiting portion; 134-second limiting portion; 140-positioning member; 124-first guide portion; 112-second guide portion; 125-rotating slot; 135-positioning hole; 136-first supporting portion; 137-second supporting portion; 210-end actuator. DETAILED DESCRIPTION

[0037] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition or explanation in subsequent drawings.

[0040] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the utility model product is typically placed when in use. These terms are intended solely to facilitate the description of this utility model and to simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0042] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0043] Please refer to Figure 1 and- Figure 3 , this embodiment provides a surgical robot execution system, the surgical robot execution system includes a robotic arm, an end effector 210 and a flange connector 100;

[0044] The end effector 210 is connected to the robotic arm through the flange connector 100. Specifically, the flange connector 100 includes a mounting member 110, a flange body 120 and a locking member 130; the mounting member 110 is rotatably connected to the flange body 120, and the locking member 130 is movably connected to the flange body 120 and is used to limit the rotation of the mounting member 110 relative to the flange; wherein, the mounting member 110 is used to dock with the end effector 210, and the flange body 120 is used to connect to the robotic arm.

[0045] Please refer to Figure 1 and- Figure 3 The working principle of the flange connector 100 in the surgical robot execution system is:

[0046] The flange connector 100 includes a mounting member 110, a flange body 120, and a locking member 130; wherein the mounting member 110 is used to dock with the end effector 210, and the flange body 120 is used to connect to the robotic arm; and the mounting member 110 and the flange body 120 are rotatably connected. Thus, in this way, when the flange connector 100 connects the end effector 210 to the robotic arm, the position or angle of the end effector connected to the mounting member 110 relative to the robotic arm can be adjusted by rotating the mounting member 110 relative to the flange body 120, thereby meeting different usage requirements and preventing the end effector 210 or a tool connected to the end effector 210 from damaging the patellar ligament or other bones and tissues when cutting the tibial plateau during knee replacement surgery;

[0047] After the position of the end effector 210 relative to the robotic arm is adjusted to a suitable position, in order to prevent the mounting member 110 from being dislocated or shifted relative to the flange body 120 during the operation due to the movement state of the mounting member 110 relative to the flange body 120 not being locked, thereby affecting the operation or causing harm to the patient, the flange connector 100 is provided with a locking member 130, the purpose of which is to limit the rotation of the mounting member 110 relative to the flange, so that the end effector 210 connected to the mounting member 110 can remain in a constant position relative to the flange body 120 during use, thereby improving the stability of use;

[0048] In summary, the flange connector 100 is applied to the surgical robot execution system, which can increase the flexibility of the end effector 210, which is conducive to shortening the operation cycle, and at the same time can avoid damage to other bones or tissues during the operation, thereby helping to improve the safety of the operation.

[0049] Further, please refer to Figures 1-6 In this embodiment, based on the above content, it can be seen that the flange connector 100 has two states during use. One of the states is that the installation position of the mounting member 110 relative to the flange body 120 needs to be adjusted, that is, the mounting member 110 is in a state of being rotatable relative to the flange body 120; the other state is that during surgery, the installation position of the end effector 210 relative to the flange body 120 needs to be kept fixed to improve its stability in use. Based on this, this embodiment adopts the structural setting of the locking member 130 to meet the above-mentioned use requirements. Specifically, the locking member 130 includes a locking slider 131 and a locking knob 132;

[0050] The locking slider 131 is movably connected to the flange body 120; the locking knob 132 is rotatably connected to the flange body 120, and the locking knob 132 is used to drive the locking slider 131 to move toward the direction close to the mounting member 110 to abut against the mounting member 110, thereby limiting the rotation of the mounting member 110 relative to the flange, or drive the locking slider 131 to move toward the direction away from the mounting member 110 to disengage from the abutment with the mounting member 110.

[0051] Therefore, through the arrangement of the above-mentioned locking slider 131 and the locking knob 132, the position of the locking slider 131 relative to the flange body 120 can be adjusted by rotating the locking knob 132 during use, so that the locking slider 131 and the mounting member 110 can be abutted to limit the rotation of the mounting member 110 relative to the flange, or the locking slider 131 can be driven to move in a direction away from the mounting member 110 to disengage from the abutment with the mounting member 110, and then the state of the flange connector 100 can be switched by operating the locking knob 132, thereby simplifying the operating efficiency.

[0052] The locking member 130 is provided with a spring 133 which is arranged to move the locking member 131 toward the mounting member 110 so as to prevent the locking member 131 from sliding out of engagement with the mounting member 110.

[0053] Based on the above, please refer to Figures 1-8, in this embodiment, when configuring the locking member 130, the locking member 130 is configured in a manner that includes a locking slider 131, a locking knob 132 and a limiting spring 133. Therefore, in order to enable the locking slider 131 to slide relative to the flange body 120, the locking knob 132 to rotate relative to the flange body 120, and the limiting spring 133 to apply a force to the locking slider 131, the flange body 120 is further provided with a first mounting hole 121, a second mounting hole 122 and a mounting groove 123; the locking slider 131 is movably disposed in the first mounting hole 121, the first mounting hole 121 is communicated with the mounting groove 123; the second mounting hole 122 is communicated with the first mounting hole 121, the locking knob 132 is rotatably disposed in the second mounting hole 122; the limiting spring 133 is installed in the mounting groove 123, and the mounting groove 123 is communicated with the first mounting hole 121;

[0054] Through the arrangement of the above-mentioned first mounting hole 121, the second mounting hole 122 and the mounting groove 123, the movement of the locking slider 131 can be guided, so that the locking slider 131 can move in the direction of abutting against the mounting member 110, so that the rotation of the locking knob 132 can drive the locking slider 131 to move. At the same time, the elastic force of the limit spring 133 can act on the locking slider 131, so that it has a tendency to move in the direction of the mounting member 110. In addition, such a structural arrangement can also optimize the overall structure of the flange connector 100 while maintaining the structural strength of the flange connector 100, which is conducive to reducing the structural volume of the flange connector 100.

[0055] For further information, please refer to Figures 1-9 In this embodiment, it can be seen from the above content that when the mounting member 110 of this embodiment is in a locked state, the rotation of the mounting member 110 relative to the flange body 120 is restricted. Based on this, in order to improve the stability of the restricting effect, the locking slider 131 is configured with a second limiting portion 134 that cooperates with the first limiting portion 111 at one end facing the mounting member 110; wherein, one of the first limiting portion 111 and the second limiting portion 134 is a limiting groove, and the other is a limiting protrusion.

[0056] It should be noted that such a setting method can limit the rotation, that is, lock the locking part, through the cooperation between the limiting groove and the limiting protrusion, thereby improving the locking stability; and because the locking slider 131 has a tendency to move toward the mounting part 110 under the action of the limiting spring 133, therefore, when the locking slider 131 is not subjected to external force, if the initial state of the locking slider 131 is the cooperation state of the limiting groove and the limiting protrusion, its state can be maintained unchanged by the limiting spring 133.

[0057] It is understood that in this embodiment, the rotational state of the mounting member 110 is adjusted by operating the locking knob 132. When the locking knob 132 is rotated, in order to locate the position of the locking knob 132, the flange connector 100 further includes at least one positioning member 140. The positioning member 140 is connected to the flange body 120 and is used to abut against the locking knob 132 when the first limiting portion 111 and the second limiting portion 134 cooperate. Therefore, when the locking knob 132 is rotated to adjust the state of the mounting member 110, the locking knob 132 can be positioned by the positioning member 140 to confirm that the locking knob 132 is in a position that drives the locking slider 131 to abut against the mounting member 110 to restrict the rotation of the mounting member 110, or in a position that drives the locking slider 131 to separate from the mounting member 110 to release the rotation restriction of the mounting member 110.

[0058] For further information, please refer to Figures 1-10 In this embodiment, it can be seen from the above content that the mounting member 110 of this embodiment can rotate relative to the flange body 120 when it is in the unlocked state. During its rotation, in order to guide its rotation and limit its rotation stroke, the flange body 120 is provided with a first guide portion 124, and the mounting member 110 is provided with a second guide portion 112 that cooperates with the first guide portion 124; wherein, one of the first guide portion 124 and the second guide portion 112 is a guide groove, and the guide groove is bent around the axis of rotation of the mounting member 110 relative to the flange body 120, and the other is a guide protrusion.

[0059] It should be noted that such a setting method can play a role of rotational guidance through the cooperation of the guide groove and the guide protrusion, thereby improving its rotational stability; in addition, such a structural setting can also limit the rotational stroke through the cooperation of the guide groove and the guide protrusion, that is, when the mounting member 110 rotates relative to the flange body 120 under the action of external force, relative movement occurs between the guide protrusion and the guide groove, and when the guide protrusion moves in the same direction to the end of the guide groove, the rotation of the mounting member 110 in a single direction is restricted, thereby limiting the rotational stroke of the mounting member 110 relative to the flange body 120; it should be noted that in this embodiment, the above-mentioned mounting member 110 is used to be used with the locking slide The position where the block 131 abuts is relatively located in the middle of the first guide portion 124, that is, the first limiting portion 111 is relatively located in the middle of the first guide portion 124. Therefore, when the rotation of the mounting member 110 relative to the locking member 130 is restricted, the position where the mounting member 110 abuts against the locking slider 131 is relatively located in the middle of the first guide portion 124. When the locking slider 131 is disengaged from the abutment with the mounting member 110 to unlock its rotational freedom, the mounting member 110 can be rotated clockwise or counterclockwise under the action of an external force. Moreover, by setting the guide groove, the locking slider 131 can be disengaged from the abutment with the mounting member 110 to unlock its rotational freedom. Under the action of an external force, the mounting member 110 can be rotated 45° clockwise or counterclockwise respectively.

[0060] In order to facilitate the connection between the mounting member 110 and the flange body 120, the flange body 120 is provided with a rotation groove 125, and a portion of the mounting member 110 is rotatably connected to the rotation groove 125; and on this basis, when configuring the first guide portion 124, the first guide portion 124 can be configured to be configured on the groove wall of the rotation groove 125.

[0061] Based on the above, please refer to Figures 1-10 In this embodiment, the rotation state of the mounting member 110 is adjusted by rotating the locking knob 132. When the locking knob 132 is rotated, in order to enable the locking slider 131 to slide relative to the first mounting hole 121, the locking slider 131 is provided with a positioning hole 135. The locking knob 132 is provided with a first abutting portion 136 and a second abutting portion 137. At least portions of the first abutting portion 136 and the second abutting portion 137 are both located in the positioning hole 135, and one of the first abutting portion 136 and the second abutting portion 137 abuts against the inner wall of the positioning hole 135.

[0062] The first abutting portion 136 and the second abutting portion 137 are spaced apart around the axis of the locking knob 132 , and the distance between the first abutting portion 136 and the axis of the locking knob 132 is greater than the distance between the second abutting portion 137 and the axis of the locking knob 132 ;

[0063] The distance between the first abutting portion 136 and the axis of the locking knob 132 and the distance between the second abutting portion 137 and the axis of the locking knob 132 are both smaller than the inner diameter of the positioning hole 135 .

[0064] Therefore, by such an arrangement, the first abutting portion 136 and the second abutting portion 137 can be arranged on the outer circumference of the locking knob 132, so that the distances between the first abutting portion 136 and the second abutting portion 137 and the rotation axis of the locking knob 132 are inconsistent, and the first abutting portion 136 and the second abutting portion 137 are arranged at intervals around the axis of the locking knob 132, and the critical surfaces of the first abutting portion 136 and the second abutting portion 137 are continuous, so that the first abutting portion 136 and the second abutting portion 137 can jointly form an offset on the outer circumference of the locking knob 132. The eccentric structure is relatively located in the positioning hole 135 and is loosely matched with the positioning hole 135. The eccentric structure can abut against the inner wall of the positioning hole 135 at different positions of the eccentric structure, thereby driving the locking slider 131 to move relative to the first mounting hole 121. Due to the provision of the limit spring 133, the eccentric structure can be kept in a state of abutment or contact with the inner wall of the positioning hole 135 during use, thereby causing one of the first abutting portion 136 and the second abutting portion 137 to abut against the inner wall of the positioning hole 135.

[0065] It should be noted that, in this embodiment, one of the first supporting portion 136 and the second supporting portion 137 is selectively supported against the inner wall of the positioning hole 135, and when configuring the first supporting portion 136 and the second supporting portion 137, on the basis of forming the above-mentioned eccentric structure, the first supporting portion 136 and the second supporting portion 137 can respectively refer to the positions in the formed annular eccentric structure at the maximum and minimum distances from the rotation axis of the locking knob 132.

[0066] In summary, please refer to Figures 1-10 The working process of the surgical robot execution system using the above-mentioned flange connector 100 is as follows:

[0067] First, taking the application of the surgical robot execution system in knee replacement surgery as an example, since the connection between the existing robotic arm end and the end effector 210 is a rigid connection without adjustable degrees of freedom, such a connection is likely to damage the patellar ligament when the tibial plateau is cut, which is not conducive to surgical safety; the surgical robot execution system in this embodiment, by adopting the above-mentioned flange connector 100, can increase the rotational freedom of the end effector 210 relative to the flange body 120 while maintaining the corresponding rigidity, and its rotation direction can be adjusted according to the needs of use. The purpose is to limit the rotational freedom of the end effector 210 relative to the flange body 120 when performing femoral osteotomy during surgery through such a structural setting. At this time, the end effector 210 can maintain stable rigidity relative to the flange body 120 and the robotic arm;

[0068] When performing tibial plateau osteotomy, the locking knob 132 can be operated to drive the locking slider 131 to overcome the elastic force of the limit spring 133 and slide relative to the flange body 120, thereby unlocking the rotational freedom of the mounting member 110 relative to the flange body 120, so that the end effector 210 can now rotate relative to the flange body 120 and the robotic arm, that is, the relative position of the end effector 210 and the end of the robotic arm can be adjusted. As a result, the doctor can freely adjust the angle within the structural design adjustment range according to actual surgical needs, so that the patellar ligament can be effectively avoided during osteotomy;

[0069] Therefore, when the flange connector 100 is applied to a surgical robot execution system, it can increase the flexibility of the end effector 210, which is beneficial to shortening the operation cycle, and at the same time can avoid damage to other bones or tissues during the operation, thereby helping to improve the safety of the operation.

[0070] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A flange connection, characterized in that: The flange connection piece includes a mounting piece, a flange body and a locking piece; The mounting member is rotatably connected to the flange body, and the locking member is movably connected to the flange body and is used to limit the rotation of the mounting member relative to the flange; Wherein, the mounting member is used to dock with the end effector, and the flange body is used to connect with the robotic arm.

2. The flange connection according to claim 1, characterized in that: The locking member includes a locking slider and a locking knob; The locking slider is movably connected to the flange body; the locking knob is rotatably connected to the flange body, and the locking knob is used to drive the locking slider to move toward the direction close to the mounting member to abut against the mounting member, thereby limiting the rotation of the mounting member relative to the flange, or drive the locking slider to move toward the direction away from the mounting member to disengage from the mounting member.

3. The flange connection according to claim 2, wherein: The locking member further includes a limiting spring, which is connected to the locking slider and the flange body and enables the locking slider to have a tendency to move toward a direction close to the mounting member.

4. The flange connection according to claim 3, characterized in that: The flange body is also provided with a first mounting hole, a second mounting hole and a mounting slot; the locking slider can be movably arranged in the first mounting hole, and the first mounting hole is connected to the mounting slot; the second mounting hole is connected to the first mounting hole, and the locking knob is rotatably arranged in the second mounting hole; the limit spring is installed in the mounting slot, and the mounting slot is connected to the first mounting hole.

5. The flange connection according to claim 2, wherein: The mounting member is provided with a first limiting portion, and the locking slider is provided with a second limiting portion cooperating with the first limiting portion at one end thereof facing the mounting member; Wherein, one of the first limiting portion and the second limiting portion is a limiting groove, and the other is a limiting protrusion.

6. The flange connection according to claim 5, characterized in that: The flange connector further includes at least one positioning member, which is connected to the flange body and is used to abut against the locking knob when the first limiting portion and the second limiting portion are engaged.

7. The flange connection according to claim 2, characterized in that: The flange body is provided with a first guide portion, and the mounting member is provided with a second guide portion cooperating with the first guide portion; Wherein, one of the first guide portion and the second guide portion is a guide groove, and the guide groove is bent around the axis of rotation of the mounting member relative to the flange body, and the other is a guide protrusion.

8. The flange connection according to claim 7, characterized in that: The flange body is provided with a rotation groove, and a portion of the mounting member is rotatably connected to the rotation groove; the first guide portion is provided on a groove wall of the rotation groove.

9. The flange connection according to claim 2, characterized in that: The locking slider is provided with a positioning hole, and the locking knob is provided with a first abutting portion and a second abutting portion, at least portions of the first abutting portion and the second abutting portion are both located in the positioning hole, and one of the first abutting portion and the second abutting portion abuts against an inner wall of the positioning hole; The first abutting portion and the second abutting portion are spaced apart around the axis of the locking knob, and a distance between the first abutting portion and the axis of the locking knob is greater than a distance between the second abutting portion and the axis of the locking knob; Wherein, the distance between the first supporting portion and the axis of the locking knob and the distance between the second supporting portion and the axis of the locking knob are both smaller than the inner diameter of the positioning hole.

10. A surgical robot execution system, characterized in that: The surgical robot execution system includes a robotic arm, an end effector, and the flange connector according to claim 1; The end effector is connected to the robotic arm via the flange connection.

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