Instrument holding arm and medical system

Abstract

The application relates to the technical field of medical instruments, in particular to a medical instrument holding arm and a medical system. The medical instrument holding arm comprises a first encoder and a second encoder, and the moving parts of the first encoder and the second encoder are respectively in transmission connection with a lead screw. Since the transmission ratio of the moving part of the first encoder to the moving part of the second encoder is not equal to 1, and the transmission ratio makes the maximum value of the angle difference between the moving part of the first encoder and the moving part of the second encoder less than 360 degrees, the application records the number of turns of the lead screw through the transmission difference of the encoders, and can meet the measurement requirement of multiple turns. Meanwhile, the first encoder and the second encoder can be arranged flexibly according to the actual space condition, compared with the prior art, the requirement for the whole space can be reduced, the arrangement mode is more flexible, the miniaturization and light weight of the medical instrument holding arm are facilitated, the flexibility of the operation is improved, and the risk of collision during the operation is reduced.

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