Docking device, patient-side operating device, and surgical robot

Abstract

This utility model provides a docking device, a patient-side operating device, and a surgical robot. The docking device includes a first docking assembly, a second docking assembly, and a connector. The first docking assembly includes a first housing and a first electrical connection assembly. The second docking assembly includes a second housing and a second electrical connection assembly. The connector is movably connected to one of the first housing and the second housing. The first housing is rotatable relative to the second housing between a first position and a second position about a first axis; when the first housing is in the first position, the first housing and the second housing are engaged, and the connector can connect to the other of the first and second housings to lock the first housing and the second housing in the first position, and the first electrical connection assembly is electrically connected to the second electrical connection assembly; when the first housing is in the second position, the first housing can disengage from the second housing, allowing the first docking assembly and the second docking assembly to be separated. This design simplifies the assembly and disassembly of the robotic arm.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, and more specifically to a docking device, a patient-side operating device, and a surgical robot. Background Technology

[0002] The robotic arm of a patient-side manipulation device typically consists of an adjusting arm and a manipulator arm, with the manipulator arm fixed to the end of the adjusting arm. Different surgeries may require manipulator arms of different lengths, angles, or functions. Therefore, the manipulator arm and adjusting arm are designed to be detachably connected.

[0003] However, current surgical robot arms are generally quite heavy, requiring the assistance of multiple personnel for installation. Typically, they will first pre-attach the operating arm to the adjusting arm, and then connect and fix the mechanical structure and connect the electrical interfaces to ensure that the robotic arm can be used normally.

[0004] Therefore, there is a need to provide a docking device, a patient-side operating device, and a surgical robot to at least partially solve the above problems. Utility Model Content

[0005] The utility model description section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This utility model description section is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] To at least partially solve the above problems, the first aspect of this utility model provides a docking device for a surgical robot, comprising:

[0007] A first docking assembly, the first docking assembly including a first housing and a first electrical connection assembly, the first electrical connection assembly being fixedly disposed relative to the first housing;

[0008] The second docking assembly includes a second housing and a second electrical connection assembly, the second electrical connection assembly being fixedly disposed relative to the second housing;

[0009] A connector, which is movably connected to one of the first housing and the second housing;

[0010] The first housing is rotatable about a first axis relative to the second housing between a first position and a second position;

[0011] When the first housing is in the first position, the first housing and the second housing are engaged, and the connector can be connected to the other of the first housing and the second housing to lock the first housing and the second housing in the first position, and the first electrical connection assembly is electrically connected to the second electrical connection assembly;

[0012] When the first housing is in the second position, the first housing can disengage from the second housing, so that the first docking assembly and the second docking assembly can be separated.

[0013] According to the docking device of the first aspect of this utility model, the rapid assembly and disassembly of the operating arm is achieved through the first docking component, the second docking component, and the movable connecting member, making the installation process simpler, reducing reliance on multiple personnel, and improving installation efficiency. The first and second docking components each include fixed electrical connection components. When the two are engaged, the electrical connection components automatically achieve electrical connection, avoiding the cumbersome process of manually connecting electrical interfaces in traditional methods, thus improving the efficiency and reliability of the electrical connection. This docking device simplifies the assembly and disassembly of the operating arm, saving significant manpower and time costs during maintenance and replacement, reducing the overall maintenance cost of the surgical robot, and improving equipment utilization and economic benefits.

[0014] Optionally, the connector is fitted onto the outer periphery of one of the first housing and the second housing, and when the first housing is in the second position, at least a portion of the connector can extend to the outer periphery of the other of the first housing and the second housing.

[0015] Optionally, a connecting groove is provided on the outer periphery of one of the first housing and the second housing. The connecting member includes a sliding part and a connecting part that are connected to each other. The sliding part is axially movable and connected to the connecting groove, and the connecting part extends to the outside of the connecting groove.

[0016] The connecting portion is movable with the sliding portion, so that the connecting portion can be selectively connected to the other of the first housing and the second housing.

[0017] Optionally, the width of the sliding portion along the axial direction is smaller than the width of the connecting groove along the axial direction.

[0018] Optionally, the docking device further includes a decorative element that can be installed into the connecting groove when the first housing is in the first position, thereby restricting the axial displacement of the connector within the connecting groove.

[0019] Optionally, the first housing and the second housing are rotatable relative to each other; and / or

[0020] The connector is rotatably connected to one of the first housing and the second housing, and is threadedly connected to the other of the first housing and the second housing.

[0021] Optionally, the docking device further includes a decorative element that engages with the connector when the first housing is in the first position to restrict relative rotation between the two.

[0022] Optionally, one of the first housing and the second housing is provided with a positioning member, and the positioning member can rotate with the rotation of the housing;

[0023] The first housing and the other of the second housing are provided with positioning holes;

[0024] During the relative rotation of the first housing and the second housing, the positioning member is inserted into the positioning hole, and the positioning hole is adapted to the movement trajectory of the positioning member.

[0025] Optionally, the first electrical connection assembly includes a plurality of first electrical connectors, and the second electrical connection assembly includes a plurality of second electrical connectors, wherein the plurality of first electrical connectors and the plurality of second electrical connectors correspond one-to-one.

[0026] When the first housing is in the first position, each first electrical connector and its corresponding second electrical connector are in contact; when the first housing is in the second position, each first electrical connector and its corresponding second electrical connector are offset from each other; or

[0027] When the first housing is in the first position, each first electrical connector is in contact with its corresponding second electrical connector, and during the rotational movement of the first housing between the first and second positions, each first electrical connector is always in contact with its corresponding second electrical connector.

[0028] Optionally, a first mounting plate is provided on the side of the first housing facing the second housing, and the first electrical connection assembly is mounted to the first mounting plate;

[0029] The second housing has a second mounting plate on the side facing the first housing, and the second electrical connection assembly is mounted to the second mounting plate.

[0030] Optionally, one of the first electrical connector and the second electrical connector is configured as a spring pin, a brush contact, or a ball, and the other of the first electrical connector and the second electrical connector is configured as a contact piece;

[0031] When the first housing is in the first position, the first electrical connector is in contact with the second electrical connector.

[0032] Optionally, multiple sets of the first electrical connection components are spaced apart, and a shield is provided between adjacent sets of the first electrical connection components.

[0033] Optionally, with the rotation axis of the relatively rotating first housing and the second housing as the center, a plurality of first electrical connectors are arranged in an array along the circumferential direction, and a plurality of second electrical connectors are arranged in an array along the circumferential direction.

[0034] Optionally, multiple sets of the first electrical connection components are arranged at intervals in the radial direction, and a shield is provided between adjacent sets of the first electrical connection components.

[0035] Optionally, the first docking assembly further includes a first snap-fit ​​connector connected to the first housing;

[0036] The second docking assembly further includes a second snap-fit ​​component, which is connected to the second housing.

[0037] The first snap-fit ​​component is adapted to snap-fit ​​with the second snap-fit ​​component, and when the first housing is in the first position, the first snap-fit ​​component and the second snap-fit ​​component are snapped into place.

[0038] Optionally, the first housing and the second housing can rotate relative to each other;

[0039] One of the first snap-fit ​​member and the second snap-fit ​​member is constructed as a groove, the groove including a first sliding groove extending along the circumferential direction of the housing and a second sliding groove extending along the axial direction of the housing, the first sliding groove and the second sliding groove are connected.

[0040] The other of the first and second snap-fit ​​components is configured as a slider, which is slidably connected to the slot.

[0041] The second aspect of this utility model provides a patient-side operating device, including an adjusting arm, an operating arm, and the aforementioned docking device;

[0042] The first docking component is connected to the adjusting arm, and the second docking component is connected to the operating arm.

[0043] The third aspect of this utility model provides a surgical robot, including the above-mentioned patient-side operating device. Attached Figure Description

[0044] The following drawings, which illustrate embodiments of the present invention, are incorporated herein as part of the present invention for understanding the invention. The drawings show embodiments of the present invention and their descriptions, serving to explain the principles of the present invention. In the drawings,

[0045] Figure 1 This is a schematic diagram of a surgical robot according to a preferred embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of a preferred embodiment of the patient-side operation device of the present invention;

[0047] Figure 3 This is a three-dimensional exploded view of a docking device according to a preferred embodiment of the present invention;

[0048] Figure 4 An exploded three-dimensional view of the docking device according to a preferred embodiment of the present invention.

[0049] Figure 5 This is a cross-sectional schematic diagram of a preferred embodiment of the docking device of this utility model;

[0050] Figure 6 This is a three-dimensional schematic diagram of a docking device according to a preferred embodiment of the present invention;

[0051] Figure 7 This is a front view schematic diagram of the first docking component according to a preferred embodiment of the present invention;

[0052] Figure 8 This is a perspective view of the second docking assembly according to a preferred embodiment of the present invention;

[0053] Figure 9 This is a front view schematic diagram of the second docking assembly according to a preferred embodiment of the present invention;

[0054] Figure 10 This is a front view schematic diagram of a first electrical connection assembly according to a preferred embodiment of the present invention; and

[0055] Figure 11 This is a front view schematic diagram of the second electrical connection assembly according to a preferred embodiment of the present invention.

[0056] Explanation of reference numerals in the attached figures

[0057] 1: Doctor's Control Panel

[0058] 2: Patient-side operating equipment

[0059] 3: Imaging System

[0060] 4: Base

[0061] 5: Columns

[0062] 6: Robotic arm

[0063] 10: Docking device

[0064] 20: Adjusting arm

[0065] 30: Operating arm

[0066] 100: First docking component

[0067] 110: First shell

[0068] 120: First electrical connection

[0069] 130: Connecting slot

[0070] 140: Positioning hole

[0071] 150: First mounting plate

[0072] 160: Shielding components

[0073] 170: First card received

[0074] 200: Second docking component

[0075] 210: Second shell

[0076] 220: Second electrical connection

[0077] 230: Positioning component

[0078] 240: Second mounting plate

[0079] 250: Second card connector

[0080] 251: First Slide

[0081] 252: Second Slide

[0082] 300: Connector

[0083] 310: Sliding part

[0084] 320: Connecting part

[0085] 400: Decorative parts Detailed Implementation

[0086] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that embodiments of the present invention may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with embodiments of the present invention.

[0087] In this document, ordinal numbers such as "first" and "second" used in this invention are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first component" does not imply the existence of "second component," and the term "second component" does not imply the existence of "first component."

[0088] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0089] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0090] In this invention, the terms "distal" and "proximal" are used as directional terms, which are commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during surgery, while "proximal" refers to the end closest to the operator. In a master-slave remote control medical system, the operator can be understood as the one operating the device.

[0091] The terms "parallel" and "perpendicular" as used in this invention include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by -5° to +5°), and can achieve equivalent effects.

[0092] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0093] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0094] Reference Figure 1The surgical robot according to the present invention is a robot that can be remotely operated to complete surgery, and it may include a doctor's console 1, a patient-side operating device 2, and an imaging system 3.

[0095] The doctor's control console 1 is the main operating device, featuring a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 1 also has other control switches that are easily accessible by hand or foot for various functional operations and human-computer interaction.

[0096] The imaging system 3 includes a display screen, endoscope controller, system electronics, and image processor. The imaging system 3 can be set up independently or integrated into the doctor's console 1 or the patient-side operating device 2.

[0097] The patient-side operating device 2 is a slave operating device, which may include at least one robotic arm 6. The robotic arm 6 has several connecting arms, and adjacent connecting arms move relative to each other with specific degrees of freedom, so that the end of the robotic arm 6 can achieve multiple degrees of freedom (such as 7 degrees of freedom, which may vary depending on the surgical instrument). The end of the robotic arm 6 is used to hold surgical instruments or endoscopes.

[0098] Reference Figure 2 The patient-side operating device 2 includes a base 4, a column 5 mounted on the base 4, and at least one robotic arm 6 mounted on the column 5 that can be raised and lowered relative to the base 4. A handle may also be mounted on the base 4, allowing the operator to assist in moving the base 4.

[0099] The robotic arm 6 typically includes an adjusting arm 20 and an operating arm 30. The distal segment of the operating arm 30 is the instrument holding arm, which is used to mount surgical instruments or endoscopes. The instrument holding arm may also be equipped with an instrument drive device to drive the surgical instruments to perform insertion, clamping, and other actions.

[0100] Different surgeries may require manipulator arms 30 of varying lengths, angles, or functions. Generally, the manipulator arm 30 is detachably connected to the adjustment arm 20. This detachable connection allows for quick replacement of the appropriate manipulator arm 30 according to the specific needs of the surgery, thereby improving the flexibility and adaptability of the procedure. The detachable connection design must consider the precision of the mechanical structure and electrical interface connections to ensure that the robotic arm 6 can quickly return to its preset working state after reinstallation.

[0101] Because the operating arm 30 has a complex structure and is heavy, the traditional installation process often requires the assistance of multiple people. First, the operating arm 30 is pre-hung on the adjusting arm 20 to maintain balance, and then the tedious mechanical structure connection and fixing and electrical interface docking work is carried out.

[0102] The robotic arm 6 provided by this utility model can improve or overcome one or more of the above-mentioned problems, and achieve electrical connection while mechanically connecting the operating arm 30 and the adjusting arm 20.

[0103] Reference Figures 2 to 11 This solution provides a docking device 10. The docking device 10 includes a first docking component 100, a second docking component 200, and a connector 300. The first docking component 100 is connected to the adjusting arm 20, and the second docking component 200 is connected to the operating arm 30.

[0104] The first docking assembly 100 includes a first housing 110 and a first electrical connection assembly. The first electrical connection assembly is fixedly disposed relative to the first housing 110. Therefore, the first electrical connection assembly can rotate with the rotation of the first housing 110. The second docking assembly 200 includes a second housing 210 and a second electrical connection assembly. The second electrical connection assembly is fixedly disposed relative to the second housing 210. Therefore, the second electrical connection assembly can rotate with the rotation of the second housing 210. The first and second electrical connection assemblies are mated to achieve an electrical connection. By fixing the electrical connection assembly to the housing, alignment of the electrical connection can be achieved more easily, thereby improving the accuracy and reliability of the electrical connection.

[0105] Connector 300 is movably connected to one of the first housing 110 and the second housing 210. The first housing 110 is rotatable about a first axis relative to the second housing 210 between a first position and a second position. When the first housing 110 is in the first position, the first housing 110 and the second housing 210 are engaged, and connector 300 can connect to the other of the first housing 110 and the second housing 210 to lock the first housing 110 and the second housing 210 in the first position, and the first electrical connection assembly and the second electrical connection assembly are electrically connected. When the first housing 110 is in the second position, the first housing 110 can disengage from the second housing 210, allowing the first mating assembly 100 and the second mating assembly 200 to be separable. In this design, by allowing the first housing 110 to rotate relative to the second housing 210 and engaging in the first position, the operator can more easily align and connect the first mating assembly 100 and the second mating assembly 200. Similarly, when separation is required, it can be easily achieved by simply rotating the first housing 110 to the second position. This solution simplifies the connection and separation process and improves operational efficiency. In this solution, while the first housing 110 and the second housing 210 are snapped together and locked, the first electrical connection component and the second electrical connection component are electrically connected, ensuring the continuity of electrical signals and data transmission between the operating arm 30 and the adjusting arm 20. This also prevents the connection from loosening or breaking due to movement or vibration of the operating arm 30 during surgery, thus ensuring the smooth progress of the operation. The docking device 10 in this solution makes the connection and separation process between the operating arm 30 and the adjusting arm 20 faster and simpler. The operator does not need to perform cumbersome mechanical connection and electrical interface docking work; the connection can be completed simply by rotation and locking, thereby improving the preparation speed and efficiency of the surgery.

[0106] In some embodiments of this utility model, the connector 300 is sleeved onto the outer periphery of one of the first housing 110 and the second housing 210, and when the first housing 110 is in the first position, at least a portion of the connector 300 can extend to the outer periphery of the second housing 210. The connector 300 and the first housing 110 and the second housing 210 are respectively nested connection structures, resulting in high stability and strength of the connection. Positioning the connector 300 on the outer periphery of the housings makes it easier for the operator to manipulate the connector 300 when connecting or disconnecting the two housings, thus making the assembly and disassembly process simpler and faster; the connection and separation of the housings can be achieved simply through rotation, pushing, or pulling. It is understood that the first housing 110 in the first position and the second housing 210 in the second position are at the same position relative to the second housing 210 in the axial direction; the first housing 110 in the first position and the second housing 210 in the second position are at different positions relative to the second housing 210 in the circumferential direction. That is, when the first housing 110 is in the second position, at least part of the connector 300 can extend to the outer periphery of the second housing 210. In this solution, the relative position of the connector 300 and the first housing 110 in the second position is not particularly limited.

[0107] In some embodiments of this utility model, a connecting groove 130 is provided on the outer periphery of one of the first housing 110 and the second housing 210. The connector 300 includes a sliding portion 310 and a connecting portion 320 connected to each other. The sliding portion 310 is axially movable and connected to the connecting groove 130, and the connecting portion 320 extends to the outside of the connecting groove 130. The connecting portion 320 can move with the sliding portion 310, so that the connecting portion 320 can be selectively connected to the other of the first housing 110 and the second housing 210. By axially movablely connecting the sliding portion 310 of the connector 300 to the connecting groove 130, the connecting portion 320 can easily extend to the outside of the connecting groove 130 and connect with the other housing.

[0108] Optionally, the sliding portion 310 of the connector 300 is threadedly connected to the connecting groove 130, thereby allowing the connector 320 to be selectively connected to the second housing 210. The threaded connection makes the movement of the connector 300 on the first housing 110 more reliable.

[0109] In some embodiments of this utility model, the width of the sliding part 310 in the axial direction is smaller than the width of the connecting groove 130 in the axial direction. In this embodiment, the width of the sliding part 310 is smaller than the width of the connecting groove 130, which provides sufficient space for the sliding part 310 to move within the connecting groove 130, ensuring smoothness and stability of sliding.

[0110] Based on the above embodiments, a locking structure is provided at the connection between the connecting part 320 and the second housing 210 to further improve the reliability and stability of the connection. Exemplarily, the connecting part 320 and the second housing 210 are connected by threads. Locking via a threaded connection ensures that the connection structure between the connecting part 320 and the second housing 210 has high strength and durability, capable of withstanding large tensile and compressive forces. In this solution, the first housing 110 and the second housing 210 are rotatable relative to each other. The connecting member 300 is circumferentially rotatable to one of the first housing 110 and the second housing 210, and the connecting member 300 is threadedly connected to the other of the first housing 110 and the second housing 210. Specifically, the sliding part 310 of the connecting member 300 is threadedly connected to the first housing 110, and the connecting part 320 of the connecting member 300 is threadedly connected to the second housing 210. Through the combined effect of circumferential rotation and threaded connection, a tight fit and secure connection between the connecting member 300 and the first housing 110 and the second housing 210 can be ensured.

[0111] In this solution, the threaded connection between the connector 300 and the housing not only ensures a stable connection under static load and prevents loosening, but also facilitates disassembly and assembly.

[0112] Based on the above embodiments, the docking device 10 further includes a decorative element 400. When the first housing 110 is in the first position, the decorative element 400 can be installed into the connecting groove 130 to limit the axial displacement of the connector 300 within the connecting groove 130. The decorative element 400 not only serves a decorative function but also provides an additional fixing and locking mechanism. With the decorative element 400 installed in the connecting groove 130, a tight fit and stable connection between the connector 300 and the housing can be ensured, thereby improving the overall performance and reliability of the robotic arm 6.

[0113] Based on the above embodiments, when the first housing 110 is in the first position and the connector 300 is locked at the connection between the first housing 110 and the second housing 210, the decorative part 400 and the connector 300 are snap-fitted together. The axial movement of the connector 300 leads to its circumferential rotation. For example, when the decorative part 400 and the connector 300 are snap-fitted together, the decorative part 400 and the connector 300 are flush with the outer peripheral surfaces of the first housing 110 and the second housing 210. The decorative part 400 protrudes axially, and the connector 300 is recessed axially. The shapes of the decorative part 400 and the connector 300 are complementary. The decorative part 400 and the connector 300 fit tightly together in the state where the first housing 110 and the second housing 210 are docked, and the connector 300 is installed relative to the second housing 210. As mentioned above, the width of the sliding portion 310 of the connector 300 is smaller than the width of the connecting groove 130. A gap is formed between the connector 300 and the connecting groove 130, and the decorative part 400 is installed into this gap. The decorative part 400 is tightly connected to the connector 300, thereby restricting the axial movement of the connector 300 and thus restricting the rotation of the connector 300.

[0114] Optionally, the decorative element 400 is made of an elastic material. For example, the decorative element 400 is made of rubber. When the connector 300 slides within the connecting groove 130, i.e., during the axial movement of the connector 300 along the first housing 110, the decorative element 400 is fitted onto the outer periphery of the first housing 110 or the second housing 210. Specifically, the decorative element 400 is located outside the connecting groove 130. At this time, the decorative element 400 does not interfere with the axial movement of the connector 300, and the decorative element 400 is in a stretched state. When the connector 300 is in place, the decorative element 400 can be installed within the connecting groove 130; at this time, the decorative element 400 is in a natural or stretched state.

[0115] In some embodiments of this utility model, one of the first housing 110 and the second housing 210 is provided with a positioning member 230, and the positioning member 230 can rotate with the rotation of the housing. The other of the first housing 110 and the second housing 210 is provided with a positioning hole 140. Exemplarily, the positioning hole 140 is provided in the first housing 110, and the positioning member 230 is provided in the second housing 210. During the relative rotation of the first housing 110 and the second housing 210, the positioning member 230 and the positioning hole 140 are engaged, and the movement trajectories of the positioning hole 140 and the positioning member 230 are matched. In this embodiment, the engagement of the positioning member 230 and the positioning hole 140 restricts the relative rotation between the first housing 110 and the second housing 210 at the first position, improving the stability of the connection. The matching movement trajectories of the positioning hole 140 and the positioning member 230 ensure smooth engagement. Optionally, the positioning member 230 is a cylindrical structure, and the positioning hole 140 is an arc-shaped hole. The positioning element 230 provides precise positioning and locking for rotation between the first housing 110 and the second housing 210. Optionally, the positioning element 230 is an elastic element.

[0116] The specific structure of the positioning element 230 includes, but is not limited to, a spring pin and a spring ball. The positioning element 230 is movably connected to the first housing 110 along its axial direction. That is, the positioning element 230 can protrude from or be flush with the surface of the first housing 110. During the docking process of the first housing 110 and the second housing 210, the positioning element 230 can be compressed or deformed, thereby ensuring that the positioning element 230 does not obstruct or interfere with the docking of the first housing 110 and the second housing 210.

[0117] In some embodiments of this utility model, the first electrical connection assembly includes a plurality of first electrical connectors 120, and the second electrical connection assembly includes a plurality of second electrical connectors 220, with a one-to-one correspondence between the plurality of first electrical connectors 120 and the plurality of second electrical connectors 220. The second electrical connectors 220 are matched with the first electrical connectors 120 in shape, size, and electrical characteristics to ensure that they can establish a reliable electrical connection. Optionally, one of the first electrical connectors 120 and the second electrical connectors 220 may be configured as a spring pin, brush contact, or ball bearing, and the other may be configured as a contact piece.

[0118] In this scheme, the connection state between the two electrical connection components changes when the first housing 110 is in a different position relative to the second housing 210.

[0119] In one example, when the first housing 110 is in the first position, each first electrical connector 120 and its corresponding second electrical connector 220 are in contact, i.e., each first electrical connector 120 is in close contact with its corresponding second electrical connector 220, thereby establishing an electrical connection to enable the transmission of electrical signals and / or the supply of power. When the first housing 110 is in the second position, each first electrical connector 120 and its corresponding second electrical connector 220 are staggered, disconnecting the electrical connection to protect the circuit. In this example, precise alignment and close contact ensure high reliability and stability of the electrical connection, reducing the risk of electrical failure.

[0120] In one example, when the first housing 110 is in the first position, each first electrical connector 120 is in contact with its corresponding second electrical connector 220, and during the rotational movement of the first housing 110 between the first and second positions, each first electrical connector assembly remains in contact with its corresponding second electrical connector 220. In this example, the electrical connection is maintained throughout the rotation, thus ensuring continuous power or signal transmission. This continuous electrical connection reduces the risk of electrical failures due to disconnection. Simultaneously, it allows for a degree of tolerance in the relative positions of the first housing 110 and the second housing 210, enhancing the flexibility and adaptability of the device to meet different application scenarios and requirements.

[0121] Based on the above embodiments, referring to Figure 11 The shape and layout of electrical connectors can be either arc-shaped or linear. Arc-shaped electrical connectors are arranged along an arc centered on the axis of rotation. This shape ensures that the electrical connectors maintain their relative position to the axis of rotation during rotation, thus ensuring the stability and continuity of the electrical connection. Linear electrical connectors are arranged along straight lines tangent to a circle centered on the axis of rotation. This shape ensures that the electrical connectors maintain a certain distance from the axis of rotation during rotation, while also ensuring the continuity and stability of the electrical connection.

[0122] Based on the above embodiment, a first mounting plate 150 is provided on the side of the first housing 110 facing the second housing 210, and the first electrical connection assembly is mounted to the first mounting plate 150. A second mounting plate 240 is provided on the side of the second housing 210 facing the first housing 110, and the second electrical connection assembly is mounted to the second mounting plate 240. The mounting plate and the housing are optionally connected by fasteners such as bolts and are integrally formed. The mounting plate provides a stable positioning and fixing platform for the electrical connection assembly, ensuring that the position and angle of the electrical connection assembly on the housing are accurate, thereby ensuring the reliability and stability of the electrical connection. In this embodiment, by mounting the electrical connection assembly on the mounting plate, a modular setting of the electrical connection part is realized, making it easier to remove and replace the electrical connection assembly from the housing, improving the maintainability and scalability of the equipment.

[0123] In some embodiments of this utility model, multiple sets of first electrical connection components are arranged at intervals, and a shield 160 is provided between adjacent sets of first electrical connection components. By providing the shield 160, electrical interference between adjacent electrical connection components is avoided, ensuring the stability and reliability of the electrical connection.

[0124] Optionally, multiple sets of first electrical connection assemblies are arranged at intervals along the radial direction, and a shield 160 is provided between adjacent sets of first electrical connection assemblies. Optionally, the shield 160 is annular, arc-shaped, or short linear.

[0125] In some embodiments of this invention, with the rotation axis of the relatively rotating first housing 110 and second housing 210 as the center, a plurality of first electrical connectors 120 are arranged in a circumferential array, and a plurality of second electrical connectors 220 are arranged in a circumferential array. Arranging the electrical connectors in a circumferential array between the relatively rotating housings maximizes space utilization and avoids occupying excessive space in the radial or axial directions. Simultaneously, the circumferential array of electrical connectors maintains a relatively stable connection state during rotation, improving the reliability and durability of the electrical connection.

[0126] In some embodiments of this utility model, the first docking assembly 100 further includes a first snap-fit ​​member 170, which is connected to the first housing 110. The second docking assembly 200 further includes a second snap-fit ​​member 250, which is connected to the second housing 210. Optionally, the snap-fit ​​member and the housing are integrally formed. The snap-fit ​​member can rotate with the rotation of the housing. The first snap-fit ​​member 170 is adapted to engage with the second snap-fit ​​member 250, and when the first housing 110 is in the first position, the first snap-fit ​​member 170 and the second snap-fit ​​member 250 are engaged in place. In this solution, the engagement of the first snap-fit ​​member 170 and the second snap-fit ​​member 250 effectively enhances the connection strength between the first docking assembly 100 and the second docking assembly 200 (or the first housing 110 and the second housing 210). The snap-fit ​​method provides a more stable mechanical connection, preventing loosening or detachment during use. Meanwhile, the snap-fit ​​method can greatly simplify the installation and disassembly process between the first docking component 100 and the second docking component 200.

[0127] In some embodiments of this utility model, one of the first snap-fit ​​member 170 and the second snap-fit ​​member 250 is constructed as a groove, which includes a first sliding groove 251 extending along the circumferential direction of the housing and a second sliding groove 252 extending along the axial direction of the housing, and the first sliding groove 251 and the second sliding groove 252 are connected. The other of the first snap-fit ​​member 170 and the second snap-fit ​​member 250 is constructed as a slider, which is slidably connected to the groove. The engagement between the groove and the slider allows them to maintain connection while rotating without interference. The first sliding groove 251 extends along the circumferential direction of the housing, providing guidance for the circumferential rotation of the slider, and the first housing 110 and the second housing 210 can maintain a stable connection when rotating relative to each other. The second sliding groove 252 extends along the axial direction of the housing and is used for positioning and adjusting the slider in the axial direction, allowing the first housing 110 and the second housing 210 to engage along the second sliding groove 252. By setting the first slide 251 and the second slide 252, the movement trajectory of the slider in the slide is ensured to be controllable and reliable, which makes it easier to manufacture and assemble and improves production efficiency.

[0128] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of the invention. Terms such as “set” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0129] This utility model has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this utility model to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this utility model, and all such variations and modifications fall within the scope of protection claimed by this utility model.

Claims

1. A docking device for a surgical robot, characterized in that, include: A first docking assembly, the first docking assembly including a first housing and a first electrical connection assembly, the first electrical connection assembly being fixedly disposed relative to the first housing; The second docking assembly includes a second housing and a second electrical connection assembly, the second electrical connection assembly being fixedly disposed relative to the second housing; A connector, which is movably connected to one of the first housing and the second housing; The first housing is rotatable about a first axis relative to the second housing between a first position and a second position. When the first housing is in the first position, the first housing and the second housing are engaged, and the connector can be connected to the other of the first housing and the second housing to lock the first housing and the second housing in the first position, and the first electrical connection assembly is electrically connected to the second electrical connection assembly; When the first housing is in the second position, the first housing can disengage from the second housing, so that the first docking assembly and the second docking assembly can be separated.

2. The docking device according to claim 1, characterized in that, The connector is fitted onto the outer periphery of one of the first housing and the second housing, and when the first housing is in the second position, at least a portion of the connector can extend to the outer periphery of the other of the first housing and the second housing.

3. The docking device according to claim 2, characterized in that, A connecting groove is provided on the outer periphery of one of the first housing and the second housing. The connecting member includes a sliding part and a connecting part that are connected to each other. The sliding part is axially movable and connected to the connecting groove, and the connecting part extends to the outside of the connecting groove. The connecting portion is movable with the sliding portion, so that the connecting portion can be selectively connected to the other of the first housing and the second housing.

4. The docking device according to claim 3, characterized in that, The width of the sliding part along the axial direction is smaller than the width of the connecting groove along the axial direction.

5. The docking device according to claim 3 or 4, characterized in that, The docking device also includes a decorative element, which can be installed into the connecting groove when the first housing is in the first position to limit the axial displacement of the connector in the connecting groove.

6. The docking device according to any one of claims 1 to 4, characterized in that, The first housing and the second housing are rotatable relative to each other; and / or The connector is rotatably connected to one of the first housing and the second housing, and is threadedly connected to the other of the first housing and the second housing.

7. The docking device according to claim 6, characterized in that, The docking device also includes a decorative element, which engages with the connector when the first housing is in the first position to restrict relative rotation between the two.

8. The docking device according to claim 1, characterized in that, One of the first housing and the second housing is provided with a positioning member, and the positioning member can rotate with the rotation of the housing; The first housing and the other of the second housing are provided with positioning holes; During the relative rotation of the first housing and the second housing, the positioning member is inserted into the positioning hole, and the positioning hole is adapted to the movement trajectory of the positioning member.

9. The docking device according to claim 1, characterized in that, The first electrical connection assembly includes a plurality of first electrical connectors, and the second electrical connection assembly includes a plurality of second electrical connectors, wherein the plurality of first electrical connectors and the plurality of second electrical connectors correspond one-to-one. When the first housing is in the first position, each first electrical connector and its corresponding second electrical connector are in contact; when the first housing is in the second position, each first electrical connector and its corresponding second electrical connector are offset from each other. or When the first housing is in the first position, each first electrical connector is in contact with its corresponding second electrical connector, and during the rotational movement of the first housing between the first and second positions, each first electrical connector is always in contact with its corresponding second electrical connector.

10. The docking device according to claim 1, characterized in that, A first mounting plate is provided on the side of the first housing facing the second housing, and the first electrical connection assembly is mounted to the first mounting plate; The second housing has a second mounting plate on the side facing the first housing, and the second electrical connection assembly is mounted to the second mounting plate.

11. The docking device according to claim 9, characterized in that, One of the first electrical connector and the second electrical connector is configured as a spring pin, a brush contact, or a ball, and the other of the first electrical connector and the second electrical connector is configured as a contact piece; When the first housing is in the first position, the first electrical connector is in contact with the second electrical connector.

12. The docking device according to claim 11, characterized in that, Multiple sets of the first electrical connection components are spaced apart, and a shielding component is provided between adjacent sets of the first electrical connection components.

13. The docking device according to claim 9, characterized in that, Centered on the rotation axis of the relatively rotating first housing and the second housing, a plurality of first electrical connectors are arranged in an array along the circumferential direction, and a plurality of second electrical connectors are arranged in an array along the circumferential direction.

14. The docking device according to claim 12, characterized in that, Multiple sets of the first electrical connection components are arranged at intervals along the radial direction, and a shielding component is provided between adjacent sets of the first electrical connection components.

15. The docking device according to any one of claims 1-4 and 8-9, characterized in that, The first docking assembly further includes a first snap-fit ​​connector, which is connected to the first housing. The second docking assembly further includes a second snap-fit ​​component, which is connected to the second housing. The first snap-fit ​​component is adapted to snap-fit ​​with the second snap-fit ​​component, and when the first housing is in the first position, the first snap-fit ​​component and the second snap-fit ​​component are snapped into place.

16. The docking device according to claim 15, characterized in that, The first housing and the second housing are rotatable relative to each other; One of the first snap-fit ​​member and the second snap-fit ​​member is constructed as a groove, the groove including a first sliding groove extending along the circumferential direction of the housing and a second sliding groove extending along the axial direction of the housing, the first sliding groove and the second sliding groove are connected. The other of the first and second snap-fit ​​components is configured as a slider, which is slidably connected to the slot.

17. A patient-side operating device, characterized in that, It includes an adjusting arm, an operating arm, and a docking device according to any one of claims 1 to 16; The first docking component is connected to the adjusting arm, and the second docking component is connected to the operating arm.

18. A surgical robot, characterized in that, Includes the patient-side operating device according to claim 17.

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