A surgical robot clutch joint, a surgical robot and a surgical robot system

Abstract

The application relates to a surgical robot clutch joint, a surgical robot and a surgical robot system. The clutch joint comprises a shell, a motor arranged in the shell, a speed reducer connected to the motor, a clutch arranged at the end of the speed reducer away from the motor, a brake arranged between the motor and the speed reducer or at the end of the motor away from the speed reducer, a first encoder assembly arranged between the motor and the speed reducer or at the end of the motor away from the speed reducer, and a second encoder assembly arranged in the clutch stator. Through the clutch joint with the clutch function, the problem of large reverse driving force of the active joint in the arm adjustment of the surgical robot is solved, and through the design of the double-encoder assembly, the problem of obtaining the rotation angle information of the joint in the disconnection state of the clutch is solved, so that the continuous monitoring of the rotation angle in the use of the clutch joint is ensured.

Description

Technical Field

[0001] This application relates to the field of surgical robots, and in particular to a surgical robot clutch joint, a surgical robot, and a surgical robot system. Background Technology

[0002] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. A laparoscopic surgical robot system consists of a main control panel, slave control devices, and a display device. The slave control devices include the trolley arm, adjusting arm, and telecentric stationary mechanism. To better utilize the performance of the laparoscopic surgical robot, its position needs to be adjusted before surgery to achieve the optimal working space. Therefore, it is often necessary to drag the adjusting arm to position the robot in this optimal working space. This dragging requirement places high demands on the dragging performance of each joint of the robot. Currently, some existing technologies use passive joints—joints without drive and unable to be actively controlled—to ensure dragging performance in the adjusting arm.

[0003] However, the adjustment arm plays a crucial role in preoperative positioning. Limited by the operator's understanding of the robotic arm's workspace and the numerous degrees of freedom of laparoscopic surgical robots, manual adjustments are difficult to quickly achieve optimal working conditions, often requiring repeated adjustments, which is time-consuming. Therefore, an active joint adjustment arm could be automatically positioned preoperatively by the control system based on the type of surgery to be performed and the current position of the robot, significantly reducing preoperative preparation time. However, in existing technologies, the active joint of the adjustment arm requires a large output torque. Limited by joint size, the motor cannot be made large enough to directly drive the active joint; a reducer is needed to reduce the motor requirements. However, the use of a reducer significantly increases the joint's counter-drive torque, greatly reducing drag performance. Therefore, a low counter-drive torque active joint needs to be designed. Summary of the Invention

[0004] This invention proposes a clutch joint for surgical robots to solve the problem of large counter-drive torque in active joints with reducers.

[0005] In a first aspect, this application proposes a clutch joint for a surgical robot. The clutch joint includes a housing, an output shaft rotatably connected to the housing, a motor disposed within the housing, a reducer connected to the motor, a clutch disposed at the end of the reducer away from the motor, a brake disposed between the motor and the reducer or at the end of the motor away from the reducer, a first encoder assembly disposed between the motor and the reducer or at the end of the motor away from the reducer, and a second encoder assembly disposed on the clutch stator. The first encoder assembly is supported by the housing and is used at least to detect the rotation information of the motor; the brake is supported by the housing and is used to brake the motor; the reducer is supported by the housing and is used for the transmission connection between the motor and the output shaft; and the second encoder assembly is used to detect the rotation information of the housing relative to the clutch stator.

[0006] In another embodiment, the clutch joint further includes an upper support flange and a lower support flange. The upper support flange is fixedly connected to the output shaft and rotatably connected to the housing. The lower support flange is fixedly connected to the clutch stator and rotatably connected to the housing. The upper support flange is used to rotatably connect to the suspension plate, and the lower support flange is used to be fixedly connected to the suspension plate.

[0007] In another embodiment, the motor includes an input shaft that is sleeved outside the output shaft.

[0008] In another embodiment, the input shaft is fixedly connected to the motor rotor, and the input shaft is connected to the brake rotor and the input end of the reducer.

[0009] In another embodiment, the clutch rotor is fixedly connected to the output end of the reducer, and the output end of the reducer is also fixedly connected to the output shaft.

[0010] In another embodiment, the first encoder assembly includes an input encoder and an output encoder, wherein the input encoder is used to detect rotation information of the motor and the output encoder is used to detect rotation information of the output shaft.

[0011] In another embodiment, the sidewall of the housing is provided with a wiring hole, which is used for wiring between the motor and the motor controller.

[0012] Secondly, this application proposes a surgical robot, which includes a movable carriage seat, a carriage arm disposed on the carriage seat, a suspension plate connected to the carriage arm, an adjustment arm connected to the suspension plate, and an end effector connected to the adjustment arm, wherein at least the connection between the adjustment arm and the suspension plate adopts the clutch joint described in any one of the above.

[0013] In another embodiment, a drag control button is provided on the adjusting arm or end effector unit. When the drag control button is not activated, the clutch in the clutch joint is in the engaged state. When the drag control button is activated, the clutch switches to the disengaged state.

[0014] Thirdly, this application proposes a surgical robot system, which includes a doctor's console and the aforementioned surgical robot.

[0015] The aforementioned surgical robot clutch joint, surgical robot, and surgical robot system solve the problem of large counter-drive force in the active joint of the surgical robot adjustment arm by using a clutch joint with clutch function, and solve the problem of obtaining the rotation angle information of the joint in the clutch disengaged state by using a dual encoder component design, thus ensuring continuous monitoring of the rotation angle during use of the clutch joint. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structural layout of the suspension plate and adjusting arm according to an embodiment of this application;

[0018] Figure 2 yes Figure 1 The diagram shows a clutch joint connecting the adjusting arm and the suspension plate.

[0019] Figure 3 yes Figure 2 A schematic diagram of the internal structure of the clutch joint is shown below.

[0020] Figure 4 This is a schematic diagram of the structure of the surgical robot trolley according to an embodiment of this application;

[0021] Icon labels:

[0022] 1100-Overhead crane;

[0023] 1110 - Sliding base;

[0024] 1120 - First Arm;

[0025] 1130 - Second Arm;

[0026] 1140 - Suspension plate, 1141 - Upper support section;

[0027] 1150 - Third arm; 1151 - Clutch joint; 1151-01 - Upper support flange; 1151-02 - Upper shell; 1151-03 - First encoder assembly; 1151-04 - Brake rotor; 1151-05 - Brake stator; 1151-06 - Motor rotor; 1151-07 - Motor stator; 1151-08 - Input shaft; 1151-09 - Output shaft; 1151-10 - Reducer; 1151-11 - Middle shell; 1151-12 - Reducer flange; 1151-13 - Clutch rotor; 1151-14 - Clutch stator; 1151-15 - Lower shell; 1151-16 - Second encoder assembly; 1151-17 - Lower support flange; 1151-18 - Wire hole;

[0028] 1160 - Fourth Arm;

[0029] 1200 - End Execution Unit;

[0030] 1300-Sky Track;

[0031] In the accompanying drawings, the same parts are referred to by the same reference numerals, and the drawings are not drawn to scale. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0035] In this specification, references to "one embodiment," "some embodiments," or simply "embodiment" mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. Furthermore, in one or more embodiments, specific features, structures, or characteristics may be combined in any suitable manner.

[0036] To illustrate the technical solution of this application, the following description is provided in conjunction with specific accompanying drawings and embodiments.

[0037] In one embodiment, such as Figure 4 As shown, a surgical robot is provided. The robot is suspended from the ceiling and includes a ceiling track 1300, a crane 1100 slidably disposed on the ceiling track 1300, and an end effector 1200 connected to the crane 1100.

[0038] The overhead crane 1100 includes: a sliding base 1110, a first arm 1120, a second arm 1130, a suspension plate 1140, and at least one adjusting arm, each adjusting arm including a third arm 1150 and a fourth arm 1160; wherein, the sliding base 1110 is slidably connected to the overhead rail 1300, forming a linear joint P1; the first arm 1120 is rotatably connected to the sliding base 1110, forming a rotary joint R2; or the first arm 1120 is slidably connected to the sliding base 1110, forming a linear joint P2; the second arm 1130 is fixedly connected to the first arm 1120 at a position away from the rotation center of the first arm 1120, and the second arm 1130 is a telescopic arm. The retractable arm forms a linear joint P3; the suspension plate 1140 is rotatably connected to the end of the second arm 1130 away from the first arm 1120, forming a rotary joint R4; at least one third arm 1150 is rotatably connected to the suspension plate 1140, and the rotatable connection between any third arm 1150 and the suspension plate 1140 forms a rotary joint R5; the fourth arm 1160 is slidably connected to the third arm 1150, forming a linear joint P6, wherein the fourth arm 1160 is a telescopic arm, forming a linear joint P8, and the fourth arm 1160 can rotate around the telescopic direction, forming a rotary joint R7; the end effector 1200 is connected to the end of the fourth arm 1160 away from the third arm 1150.

[0039] In another embodiment, a surgical robot is provided, which is set on the ground in the form of a mobile trolley. The first arm 1120 is fixedly set on the mobile trolley and connected to the second arm 1130. Other components such as the suspension plate 1140, the adjusting arm, and the end stop unit are the same as in the above embodiment, and will not be described in detail here.

[0040] In the aforementioned surgical robot, the adjustment arm is used to adjust the positioning of the end effector. In the prior art, one solution is to use a fully passive joint design for the adjustment arm to facilitate dragging and adjusting the posture of the adjustment arm; however, automatic posture adjustment and positioning cannot be achieved. Another solution is to use a fully active joint design for the adjustment joint to facilitate automated posture adjustment. However, the active joint design has a structure that adds a reducer 1151-10 to the joint to increase the motor output torque, resulting in a large back-drive resistance when the adjustment arm is passively dragged, which limits the passive dragging function of the adjustment arm.

[0041] This utility model proposes a solution to the problem of high counter-drive resistance in the active joint of the adjusting arm. The main point is to propose a structural design for an active rotary joint that can effectively solve the counter-drive resistance problem, such as... Figure 1 The diagram below shows the connection between the adjusting arm and the suspension plate 1140. The following explanation uses the rotating joint R5, which connects the adjusting arm and the suspension plate 1140, as an example.

[0042] Firstly, such as Figure 2 and 3 As shown, this application proposes a design for a rotary joint with a clutch function, namely a clutch joint 1151. The clutch joint 1151 includes a housing, a motor disposed within the housing, a reducer 1151-10 connected to the motor, a clutch disposed at the end of the reducer 1151-10 away from the motor, a brake disposed between the motor and the reducer 1151-10 or at the end of the motor away from the reducer 1151-10, and a brake disposed between the motor and the reducer 1151-10 or at the end of the motor away from the reducer 1151-10. The first encoder assembly 1151-03 at one end of 51-10 is disposed on the second encoder assembly 1151-16 of the clutch stator; wherein, the first encoder assembly 1151-03 is supported by the housing and is used at least for detecting the rotation information of the motor, the brake is supported by the housing and is used for braking the motor, the reducer 1151-10 is supported by the housing and is used for the transmission connection between the motor and the output shaft 1151-09, and the second encoder is used to detect the rotation information of the housing relative to the clutch stator 1151-14.

[0043] The clutch joint 1151 includes a housing and an output shaft 1151-09 rotatably connected to the housing. The motor includes a motor stator 1151-07, a motor rotor 1151-06, and an input shaft 1151-08. The input shaft 1151-08 is sleeved on the outside of the output shaft 1151-09 and can rotate relative to the output shaft 1151-09. This nested arrangement helps to reduce the size of the clutch joint 1151 along the direction of the output shaft 1151-09, making the spatial layout of the internal components of the clutch joint 1151 more compact. The motor stator 1151-07 is fixedly connected to the housing. The brake includes a brake stator 1151-05 and a brake rotor 1151-04. The brake stator 1151-05 is connected to the housing, and the brake rotor 1151-04 is fixedly connected to the input shaft 1151-08. The first encoder assembly 1151-03 includes an encoder and a code disk. The encoder is fixedly connected to the housing, and one code disk is fixedly connected to either the brake rotor 1151-04 or the input shaft 1151-08, enabling the encoder to detect motor rotation information via the brake rotor 1151-04 or the input shaft 1151-08. The brake can be positioned at the end of the motor furthest from the reducer 1151-10, or it can be positioned between the motor and the reducer 1151-10. The layout can be customized according to specific needs and is not limited here. The position of the first encoder assembly 1151-03 can also be set at the end of the motor away from the reducer 1151-10, or it can be set between the motor and the reducer 1151-10; there is no limitation here. Figure 3 As shown, in one embodiment of this application, a first encoder assembly 1151-03, a brake, a motor, a reducer 1151-10, and a clutch are sequentially arranged inside the housing along the axial direction of the output shaft 1151-09. The input end of the reducer 1151-10 is connected to the input shaft 1151-08, and the output end of the reducer 1151-10 is connected to the output shaft 1151-09. The clutch is located on one side of the output end of the reducer 1151-10, and the rotor of the clutch is fixedly connected to the output end of the reducer 1151-10. The clutch stator 1151-14 is rotatably connected to the housing. The second encoder assembly 1151-16 includes an encoder and a code disk. The encoder is connected to the clutch stator 1151-14, and the code disk is connected to the housing. This allows the second encoder assembly 1151-16 to detect the rotation information of the housing relative to the clutch stator 1151-14. When the clutch switches from the connected state to the disconnected state and then back to the connected state, the detection information of the second encoder assembly 1151-16 is used to update the detection information of the first encoder assembly 1151-03, that is, to replace the detection information of the first encoder with the detection information of the second encoder assembly 1151-16. The reducer 1151-10 is supported by a housing. In one specific embodiment, the reducer 1151-10 is a harmonic reducer 1151-10.

[0044] In another embodiment, the clutch joint 1151 further includes an upper support flange 1151-01 and a lower support flange 1151-17. The upper support flange 1151-01 is fixedly connected to the output shaft 1151-09 and rotatably connected to the housing. The lower support flange 1151-17 is fixedly connected to the clutch stator 1151-14 and rotatably connected to the housing. The upper support flange 1151-01 is used to rotatably connect to the suspension plate 1140, and the lower support flange 1151-17 is used to be fixedly connected to the suspension plate 1140.

[0045] Specifically, the outer casing includes an upper outer casing and a lower outer casing. The upper support flange 1151-01 is rotatably connected to the upper outer casing, and the lower support flange 1151-17 is rotatably connected to the lower outer casing.

[0046] As shown in Figure 3, one end of the output shaft 1151-09 is fixedly connected to the output end of the reducer 1151-10, and the other end is fixedly connected to the upper support flange 1151-01. The outer shell of the clutch joint 1151 includes an upper shell 1151-02, a middle shell 1151-11, and a lower shell 1151-15. The upper shell 1151-02 and the lower shell 1151-15 are respectively fixedly connected to both ends of the middle shell 1151-11 to form a receiving cavity; the upper support flange 1151-01 is rotatably connected to the upper shell 1151-02; the lower support flange 1151-17 is fixedly connected to the clutch stator 1151-14 and rotatably connected to the lower shell 1151-15; the rotation center of the upper support flange 1151-01, the axis of the output shaft 1151-09, the rotation center of the lower support flange 1151-17, the rotation center of the brake rotor 1151-04, and the rotation center of the clutch rotor 1151-13 all coincide, thus the upper support flange 1151-01 and the lower support flange 1151-17 form the connecting ends of the clutch joint 1151; wherein, as Figure 1The upper support flange is rotatably connected to the upper support part 1141 of the suspension plate 1140, and the lower support flange is fixedly connected to the suspension plate 1140. This allows the output shaft 1151-09 to communicate with the clutch stator 1151-14 when the clutch is engaged, thus forming a fixed connection between the output shaft 1151-09 and the suspension plate 1140. In this state, the rotation of the motor will cause the housing of the clutch joint 1151 to rotate relative to the output shaft 1151-09. However, when the clutch is engaged, reverse rotation of the housing of the clutch joint 1151 will encounter the back-drive resistance of the reducer 1151-10, making it difficult to drive the transducer housing to rotate relative to the output shaft. When the clutch is disengaged, the output shaft 1151-09 and the clutch stator 1151-14 are connected. When the stator 1151-14 of the clutch is disconnected, the output shaft 1151-09 can rotate relative to the suspension plate 1140. At this time, the rotation of the motor will not drive the housing to rotate relative to the suspension plate 1140, but will instead rotate the housing of the clutch joint 1151 in the opposite direction. Since there is a counter-drive resistance of the reducer 1151-10 between the housing and the output shaft 1151-09, and the rotating shaft can rotate freely at this time, the clutch joint 1151 as a whole will rotate relative to the suspension plate 1140 with the rotation center of the output shaft 1151-09 as the axis. That is, the reducer 1151-10 is inactive at this time, and there is no counter-drive resistance. As a result, the resistance is greatly reduced when the adjusting arm connected to the housing of the clutch joint 1151 is passively dragged. Since the first encoder assembly 1151-03 is located at the front or rear of the motor, when the clutch is disengaged, the clutch joint 1151 rotates relative to the suspension plate 1140, so the detection information of the first encoder assembly 1151-03 does not change. At this time, the rotation information of the clutch joint 1151 relative to the suspension plate 1140 is obtained through the second encoder assembly 1151-16. During this process, the rotation information of the second encoder assembly 1151-16 can be used to update the detection information of the first encoder assembly 1151-03 in real time. Alternatively, when the clutch is engaged again, the rotation information detected by the second encoder assembly 1151-16 can be used to update the detection information of the first encoder assembly 1151-03. Thus, the continuous detection function of the clutch joint 1151 being in the engaged and disengaged states is realized through the first encoder assembly and the second encoder assembly.

[0047] In another embodiment, the first encoder assembly 1151-03 includes an input encoder and an output encoder, wherein the input encoder is used to detect the rotation information of the motor and the output encoder is used to detect the rotation information of the output shaft 1151-09.

[0048] The first encoder assembly 1151-03 includes a first encoder and a first code disk. The first encoder includes an input encoder and an output encoder, and the first code disk includes an input code disk and an output code disk. The input code disk is connected to the input shaft 1151-08, and the output code disk is connected to the output shaft 1151-09. Both the input encoder and the output encoder are fixedly connected to the housing. Thus, when the motor rotates and drives the output shaft 1151-09 to rotate through the reducer 1151-10, the input encoder can detect the rotation state of the motor, and the output encoder can detect the rotation information of the output shaft 1151-09. Therefore, the control device controlling the joint rotation can use the input encoder and / or the output encoder to perform joint motion control, forming a dual encoder redundant control, improving the fault tolerance of the joint control. At the same time, the detection information of the dual encoders can also be used to judge the accuracy and operation of the internal transmission structure of the joint, such as whether the transmission is faulty. In the clutch joint 1151 of this application, the second encoder assembly 1151-16 includes a second encoder and a second code disk. The second encoder includes a clutch encoder, and the second code disk includes a clutch code disk. The clutch code disk is connected to the housing, and the clutch encoder is connected to the clutch stator 1151-14, thereby enabling real-time detection of the rotation information of the housing relative to the clutch stator 1151-14. The clutch stator 1151-14 is fixedly connected to the lower support flange 1151-17, which is in turn fixedly connected to the suspension plate 1140. Therefore, the rotation information detected by the clutch encoder is the rotation of the housing relative to the suspension plate 1140. During the process from the clutch being in the disengaged state to switching to the engaged state, the detection information of the input encoder and the output encoder is updated using the detection information of the clutch encoder, thereby synchronizing the detection information of the three encoders without affecting the motion control of the clutch joint 1151 by the control device when the clutch switches to the engaged state.

[0049] In another embodiment, such as Figure 2 As shown, the side wall of the housing has a wire hole 1151-18, which is used for wiring between the motor and the motor controller.

[0050] Due to the size limitations of the clutch joint, the motor controller and other components cannot be housed within the housing. Therefore, the controller is located outside the clutch joint 1151. Consequently, motor control and communication with the encoder require communication wires to run from inside the clutch joint 1151 to the outside. This necessitates the creation of wiring holes 1151-18 at appropriate locations on the side wall of the housing to connect the inside and outside of the housing. In one specific embodiment, the motor controller is located in the third arm 1150 of the adjusting arm, which is the arm rotatably connected to the suspension plate 1140. This location in the third arm 1150 is advantageous because it offers ample internal space and is relatively close to the front and rear active joints, facilitating centralized layout of controllers for other joints and better integration of the control circuitry. When the motor controller is located in the third arm 1150, the wiring holes 1151-18 are located in the area where the third arm 1150 connects to the housing. This allows the wiring to be concealed internally after the third arm 1150 is connected to the clutch joint 1151, improving the protection of the communication wires and enhancing the aesthetics. In other embodiments, the motor controller may also be located in the suspension plate 1140.

[0051] Secondly, this application proposes a surgical robot, which includes a movable carriage seat, a carriage arm disposed on the carriage seat, a suspension plate 1140 connected to the carriage arm, an adjustment arm connected to the suspension plate 1140, and an end effector connected to the adjustment arm, wherein at least the connection between the adjustment arm and the suspension plate 1140 adopts the clutch joint 1151 described in any one of the above.

[0052] Among them, such as Figure 4 As shown, the trolley base is a sliding base connected to a slide rail on the ceiling. In another embodiment, the trolley base is a robotic trolley that moves on the ground. The above embodiment uses the rotary joint R5, which connects the adjusting arm and the suspension plate 1140, as an example to illustrate the structural design of the clutch joint 1151. In specific embodiments, all rotary joints in the trolley arm and adjusting joint can adopt the clutch joint 1151 of the above embodiment according to actual needs.

[0053] In another embodiment, a drag control button is provided on the adjusting arm or end effector unit. When the drag control button is not activated, the clutch in the clutch joint 1151 is in the engaged state. When the drag control button is activated, the clutch switches to the disengaged state.

[0054] In the adjusting arm that uses at least the clutch joint 1151 of the above embodiments, the robot can automatically control the adjusting arm to move the end effector to the target position before surgery, thus completing the preoperative positioning. However, in actual use, this preoperative positioning may not meet the user's needs. Therefore, the adjusting arm needs to be able to be easily dragged by the user. To better recognize the user's dragging command, a drag control button is provided on the adjusting arm in a place that the user can easily reach. This button is used to control the on / off state of the clutch. During the robot's automatic control of the adjusting arm's movement, the brake in the clutch joint is in a non-braking state. In the active state, the clutch is engaged; when the automatic control ends, the brake is engaged, and the clutch is engaged, at which point the clutch joint 1151 is locked; when it is necessary to drag the adjusting arm, press the drag control button to control the clutch to switch to the disengaged state, at which point the clutch joint 1151 is unlocked relative to the suspension plate 1140, and the whole can rotate relative to the suspension plate 1140, that is, the clutch joint 1151 can rotate flexibly without being affected by the reducer 1151-10; when the drag is completed, release the drag control button, the clutch switches to the engaged state, at which point the clutch joint 1151 is locked again.

[0055] Thirdly, this application proposes a surgical robot system, which includes a doctor's control panel and the aforementioned surgical robot trolley.

[0056] The physician-controlled cart includes a local control cart and / or a remote control cart. The local control cart is located in the operating room or an operating room outside the operating room, while the remote control cart connects to the surgical robot cart via 5G communication, enabling remote control of the surgical robot. The surgical robot includes suspended surgical robots, such as... Figure 4 The robot shown, or trolley-type surgical robot, is a robot that can be pushed and moved on the ground.

[0057] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A disengagement joint for a surgical robot, characterized in that, The clutch joint (1151) includes a housing, an output shaft rotatably connected to the housing, a motor disposed within the housing, a reducer (1151-10) connected to the motor, a clutch disposed at the end of the reducer (1151-10) away from the motor, a brake disposed between the motor and the reducer (1151-10) or at the end of the motor away from the reducer (1151-10), and a first encoder assembly (1151-03) disposed between the motor and the reducer (1151-10) or at the end of the motor away from the reducer (1151-10). The first encoder assembly (1151-03) is supported by the housing and is used to detect the rotation information of the motor. The brake is supported by the housing and is used to brake the motor. The reducer (1151-10) is supported by the housing and is used for transmission connection between the motor and the output shaft (1151-09). The second encoder assembly (1151-16) is used to detect the rotation information of the housing relative to the clutch stator (1151-14).

2. The clutch joint as described in claim 1, characterized in that, The clutch joint (1151) further includes an upper support flange (1151-01) and a lower support flange (1151-17). The upper support flange (1151-01) is fixedly connected to the output shaft (1151-09) and rotatably connected to the housing. The lower support flange (1151-17) is fixedly connected to the clutch stator (1151-14) and rotatably connected to the housing. The upper support flange (1151-01) is used to rotatably connect to the suspension plate (1140), and the lower support flange (1151-17) is used to be fixedly connected to the suspension plate (1140).

3. The clutch joint as described in claim 2, characterized in that, The motor includes an input shaft (1151-08), which is sleeved on the outside of the output shaft (1151-09).

4. The clutch joint as described in claim 3, characterized in that, The brake includes a brake stator (1151-05) and a brake rotor (1151-04). The brake stator (1151-05) is connected to the housing. The input shaft (1151-08) is fixedly connected to the motor rotor (1151-06), and the input shaft (1151-08) is connected to the brake rotor (1151-04) and to the input end of the reducer (1151-10).

5. The clutch joint as described in claim 4, characterized in that, The clutch rotor (1151-13) is fixedly connected to the output end of the reducer (1151-10), and the output end of the reducer (1151-10) is also fixedly connected to the output shaft (1151-09).

6. The clutch joint as described in any one of claims 1 to 5, characterized in that, The first encoder assembly (1151-03) includes an input encoder and an output encoder. The input encoder is used to detect the rotation information of the motor, and the output encoder is used to detect the rotation information of the output shaft (1151-09).

7. The clutch joint as described in claim 2, characterized in that, The side wall of the housing is provided with wiring holes (1151-18), which are used for wiring between the motor and the motor controller.

8. A surgical robot, characterized in that, The robot includes a movable trolley base, a trolley arm disposed on the trolley base, a suspension plate (1140) connected to the trolley arm, an adjusting arm connected to the suspension plate (1140), and an end effector connected to the adjusting arm, wherein the connection between the adjusting arm and the suspension plate (1140) adopts a clutch joint (1151) as described in any one of claims 1 to 7.

9. The surgical robot as described in claim 8, characterized in that, The adjusting arm or the end effector is provided with a drag control button. When the drag control button is not activated, the clutch in the clutch joint (1151) is in the engaged state. When the drag control button is activated, the clutch switches to the disengaged state.

10. A surgical robot system, characterized in that, The surgical robot system includes a doctor's console and a surgical robot as described in any one of claims 8 to 9.

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