Butt joint mechanism, and combination of medical mechanical arm and operation bed

Abstract

The present application provides a butt joint mechanism, and a combination of a medical mechanical arm and an operation bed. The butt joint mechanism comprises : a suspension mechanism, a guide column, a guide sleeve, a locker, and a locking sleeve, wherein one of the guide column and the guide sleeve is installed on a component A, and the other one of the guide column and the guide sleeve is installed on a component B, and by means of cooperation of the guide column and the guide sleeve, connection between the component A and the component B is guided, such that butt joint between the locker and the locking sleeve is assisted. One of the locker and the locking sleeve is installed on the component A, the other one of the locker and the locking sleeve is installed on the component B, and by means of cooperation of the locker and the locking sleeve, the component A and the component B can be connected together. The suspension mechanism is installed on the component A or the component B, the suspension mechanism enables the component A or the component B to float up and down relative to the ground, and then the relative position between the guide column and the guide sleeve, and the relative position between the locker and the locking sleeve can be adjusted, such that butt joint between the component A and the component B is facilitated; and in addition, the floating degree can be adjusted by the suspension mechanism.

Description

A docking mechanism, medical robotic arm and operating table combination Technical Field

[0001] The present application relates to a connection structure, involving a docking mechanism, a medical robotic arm and an operating table combination. Background Art

[0002] In robotic-assisted orthopedic interventional surgeries, a mobile robotic arm with casters is typically placed in a suitable position next to the operating table before surgery, with the arm's operating space covering the surgical area. The mobile robotic arm is then kept stationary to the ground, and the operating table is also kept stationary to the ground. During surgery, if the operating table needs to be moved, the mobile robotic arm adjusts its position accordingly. After the procedure is complete, the mobile robotic arm needs to be moved to another area for storage, and the operating table must also be moved to a suitable location. Therefore, the relative position between the mobile robotic arm and the operating table must be constantly readjusted for each surgery, and the robotic arm's operating space must cover the surgical area, making the operation cumbersome, time-consuming, and labor-intensive.

[0003] In order to solve the above problems, some public technologies have proposed corresponding solutions. For example, in the Chinese utility model patent with publication number CN218356370U, a bedside fixing device is proposed, including a positioning part, multiple robotic arms, multiple rotary joints and connectors. The positioning part is a part of the surgical robot. A clamping mechanism is provided on the positioning part, which can manually adjust the position of the connector on the operating bed from three directions. The fixing method uses threaded clamping to realize the connection between the vascular interventional surgical robot and the operating bed, and can move with the operating bed. For example, in the PCT international application with publication number WO2023104798A1, a connecting mechanism between a medical robotic arm and an operating bed is disclosed. The connecting mechanism is fixed on the medical robotic arm, one end of which is connected to a mobile trolley by a lock, and the other end is connected to the guide rail of the operating bed by a threaded slider clamping method. When the medical robotic arm needs to be used, the mobile trolley carrying the medical robotic arm is placed at the appropriate position of the operating bed. The height and angle of the connecting mechanism are manually adjusted to align with the guide rail beside the operating bed, and then it is fixed to the guide rail by means of a slider clamp through a thread. The connection with the mobile trolley is then unlocked to achieve a fixed connection between the medical robotic arm and the operating bed, and it can move with the operating bed.

[0004] The above solutions all have the following disadvantages: the connection device of the medical robotic arm needs to be constantly adjusted to align with the guide rail or connection target on the operating table. The operation process is still relatively cumbersome, time-consuming and labor-intensive. In actual applications, it may require the cooperation of multiple people to complete the alignment and clamping operations. Technical issues

[0005] The purpose of this application is to solve the problems in the prior art and provide a docking mechanism, a medical robotic arm and an operating table combination. Technical Solutions

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, the present application proposes a docking mechanism for connecting a movable component A and a movable component B; comprising a suspension mechanism, a guide column, a guide sleeve, a locker, and a locking sleeve;

[0008] Of the guide post and guide sleeve, one is mounted on component A and the other is mounted on component B, and the guide post and guide sleeve are adapted to each other;

[0009] Of the locker and the locking sleeve, one is mounted on component A and the other is mounted on component B, and the locker and the locking sleeve are adapted to each other;

[0010] The suspension mechanism is installed on component A or component B, and is used to enable component A or component B where the suspension mechanism is located to float up and down relative to the ground, and to adjust the degree of floatability.

[0011] Furthermore, the suspension mechanism is an air suspension mechanism.

[0012] Furthermore, the suspension mechanism includes a support plate, an air bag, an air pump and a connecting plate;

[0013] The airbag is installed between the support plate and the connecting plate, and the connecting plate is connected to the A component or the B component where the suspension mechanism is located;

[0014] The air bag is connected to the air pump, and an adjustable pressure valve is arranged between the air bag and the air pump.

[0015] Further, a damper is included;

[0016] The damper is installed on the supporting plate, and the working end of the damper is connected to the connecting plate.

[0017] Furthermore, the locking device is a spherical locking device, and the locking sleeve is a wedge-shaped sleeve.

[0018] Furthermore, the locking device includes a pressing block, an elastic member, a connecting rod, a wedge, a locking sleeve and at least two locking balls;

[0019] The locking sleeve is connected to the A component or the B component where the locker is located. The locking sleeve is a hollow structure, and the hollow structure forms a limiting channel;

[0020] The pressure block, connecting rod, elastic member and wedge block are all installed in the limiting channel, the pressure block is located at one end of the connecting rod, the wedge block is connected to the other end of the connecting rod, the elastic member is sleeved on the connecting rod, one end of the elastic member is connected to or connected to the pressure block, and the other end is connected to or abuts against the connecting rod;

[0021] The side wall of the locking sleeve is provided with at least two through holes at the small end of the side wall of the wedge block, and each locking ball is located in each through hole, and the locking balls correspond to the through holes one by one;

[0022] At least two locking grooves are formed on the inner wall of the locking sleeve, and the locking grooves correspond to the locking balls one by one.

[0023] Furthermore, it also includes a screw cap;

[0024] The rotary cover is sleeved on the outside of one end of the lock sleeve, and the rotary cover is connected to the pressing block.

[0025] Furthermore, a limiting step is provided on the side wall of the limiting channel;

[0026] A limit block is provided between the connecting rod and the wedge block, and the limit block abuts against the limit step to limit the axial movement range of the wedge block.

[0027] In a second aspect, the present application proposes a medical robotic arm and operating table combination, comprising an operating table, a robotic arm, and a cart, wherein the robotic arm is mounted on the cart; the cart and the operating table are connected using the above-mentioned docking mechanism;

[0028] The operating table is used as component A, and the trolley is used as component B.

[0029] Furthermore, the locking sleeve, guide sleeve and suspension mechanism are all mounted on the cart;

[0030] The guide column and the locking device are mounted on the operating table;

[0031] The bottom of the cart is provided with four casters, and the suspension mechanisms are provided with four casters, respectively installed on the four casters. Beneficial effects

[0032] Compared with the prior art, this application has the following beneficial effects:

[0033] The present application proposes a docking mechanism, including a suspension mechanism, a guide post, a guide sleeve, a locker, and a locking sleeve. One of the guide post and the guide sleeve is installed on component A, and the other is installed on component B. Through the cooperation of the guide post and the guide sleeve, the connection between component A and component B is guided, and the docking between the locker and the locking sleeve is assisted. One of the locker and the locking sleeve is installed on component A, and the other is installed on component B. Through the cooperation between the locker and the locking sleeve, component A and component B can be connected together. The suspension mechanism is installed on component A or component B. The suspension mechanism causes component A or component B to float up and down relative to the ground, thereby being able to adjust the relative position between the guide post and the guide sleeve, and between the locker and the locking sleeve, to facilitate the docking of component A and component B. In addition, the suspension mechanism can adjust the degree of floatability. When component A and component B move, the degree of floatability can be reduced to ensure stability. When docking is required, the degree of floatability can be increased to facilitate docking. The docking mechanism of the present application is easy to operate, saves time and effort, can achieve automatic adjustment and alignment through the suspension mechanism to a certain extent, and has strong practicality.

[0034] This application also proposes a combination of a medical robotic arm and an operating table, in which the cart equipped with the robotic arm and the operating table are docked and connected via the above-mentioned docking mechanism, and possesses all the advantages of the above-mentioned docking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, 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 application 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.

[0036] FIG1 is a structural diagram of an embodiment of a docking mechanism of the present application;

[0037] FIG2 is a schematic diagram of the structure of the locking device and the locking sleeve when they are not connected;

[0038] FIG3 is a schematic diagram of the structure of a locking device and a locking sleeve after docking;

[0039] FIG4 is a structural diagram of a suspension mechanism;

[0040] FIG5 is a schematic diagram of a state in which the operating table and the trolley are not connected in the embodiment of the present application;

[0041] FIG6 is a schematic diagram of a state where an operating table and a trolley are connected in accordance with an embodiment of the present application;

[0042] FIG7 is a schematic diagram of an air supply principle when four air suspension mechanisms are provided in an embodiment of the present application;

[0043] FIG8 is a schematic diagram of a process for achieving connection and locking of a medical robotic arm and an operating table combination in an embodiment of the present application.

[0044] Among them: 1-A component, 2-B component, 3-suspension mechanism, 301-support plate, 302-air bag, 303-air pump, 304-connecting plate, 305-adjustable pressure valve, 306-damper, 307-trachea, 308-gas collecting valve island, 4-guide column, 5-guide sleeve, 6-locker, 601-pressure block, 602-elastic part, 603-connecting rod, 604-wedge block, 605-locking sleeve, 606-locking ball, 607-through hole, 608-screw cover, 609-limiting step, 7-locking sleeve, 8-robotic arm, 9-castor, 10-armrest, 11-operating bed, 12-trolley. Modes for Carrying Out the Invention

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0047] 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 need to be further defined or explained in subsequent drawings.

[0048] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the product of the invention is usually placed when in use. This is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0049] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0050] In the description of the embodiments of this application, it should also be noted that, 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; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in this application based on specific circumstances.

[0051] During orthopedic interventional surgery assisted by a robotic arm 8, the robotic arm 8 sometimes needs to move synchronously with the operating table 11, and sometimes needs to move separately. Therefore, the robotic arm 8 and the operating table 11 need to be connected and easily assembled and disassembled. To address this problem, the present application proposes a docking mechanism, a medical robotic arm, and an operating table combination. The docking mechanism can not only connect the robotic arm 8 and the operating table 11, but can also connect other two components with similar requirements.

[0052] The present application is further described in detail below with reference to the embodiments and drawings:

[0053] Figure 1 shows a schematic diagram of the structure of a docking mechanism proposed in this application. This application proposes a docking mechanism for connecting a movable component A 1 and a movable component B 2. For any two components requiring a connection, such as a robotic arm 8 and an operating table 11, the docking mechanism of this application can be used for connection. The docking mechanism may include a suspension mechanism 3, a guide post 4, a guide sleeve 5, a lock 6, and a locking sleeve 7.

[0054] One of the guide posts 4 and guide sleeves 5 is mounted on component A 1, and the other on component B 2. The guide posts 4 and guide sleeves 5 are compatible. When required for connection, the guide posts 4 are inserted into the guide sleeves 5 to provide guidance and positioning. The guide posts 4 and guide sleeves 5 can be installed on component A 1 and component B 2, respectively. In actual applications, the specific installation location, structure, and number of guide posts 4 and guide sleeves 5 can be adjusted according to actual needs and are not limited by this application.

[0055] One of the locker 6 and locking sleeve 7 is mounted on component A 1, and the other is mounted on component B 2. The locker 6 and locking sleeve 7 are compatible. When connected, the guide post 4 and guide sleeve 5 position the locker 6 and locking sleeve 7, ensuring precise docking and locking. In actual use, the specific installation position, structure, and number of the locker 6 and locking sleeve 7 can be adjusted according to actual needs. The specific structure of the locker 6 and locking sleeve 7 is sufficient to facilitate the locking operation.

[0056] The suspension mechanism 3 is mounted on component A 1 or component B 2 to enable component A 1 or component B 2 on which the suspension mechanism 3 is mounted to float up and down relative to the ground, and to adjust the degree of floatability. In actual applications, the specific type and suspension principle of the suspension mechanism 3 can be adjusted according to the actual use scenario.

[0057] As a structure of the locker 6 and the locking sleeve 7 in the present application, as shown in Figure 2, it is a structural schematic diagram of the locker 6 and the locking sleeve 7 when the structure is not connected, and as shown in Figure 3, it is a structural schematic diagram of the locker 6 and the locking sleeve 7 after the structure is connected.

[0058] As shown in FIG2 , the locking device 6 can be a spherical locking device 6 , and the locking sleeve 7 can be a wedge-shaped sleeve. The locking device 6 includes a pressure block 601 , an elastic member 602 , a connecting rod 603 , a wedge block 604 , a locking sleeve 605 , and at least two locking balls 606 . The number of locking balls 606 can be adjusted as needed, and generally, there are at least two.

[0059] The locking sleeve 605 is connected to the A component 1 or B component 2 where the locking device 6 is located. The locking sleeve 605 has a hollow structure that forms a limiting channel. The pressure block 601, connecting rod 603, elastic member 602, and wedge block 604 are all installed in the limiting channel. The pressure block 601 is located at one end of the connecting rod 603, the wedge block 604 is connected to the other end of the connecting rod 603, and the elastic member 602 is sleeved on the connecting rod 603. One end of the elastic member 602 is connected to or connected to the pressure block 601, and the other end is connected to or abuts the connecting rod 603. At least two through holes 607 are formed in the side wall of the locking sleeve 605 at the small end of the side wall of the wedge block 604. Each locking ball 606 is respectively located in each through hole 607, and the locking ball 606 corresponds to the through hole 607. At least two locking grooves are formed on the inner wall of the locking sleeve 7, and the locking grooves correspond to the locking balls 606.

[0060] In actual application, when the locking sleeve 605 is inserted into the wedge sleeve, the pressure block 601 moves downward, driving the wedge block 604 to move downward synchronously, while compressing the spring. Since the locking ball 606 is located on the side of the small end of the wedge block 604, after the wedge block 604 moves downward, the side wall of the wedge block 604 gradually squeezes the locking ball 606, causing the locking ball 606 to move into the through hole 607. At the same time, the pressure block 601 is rotated, and the wedge block 604 drives the locking ball 606 to rotate synchronously until the locking ball 606 enters the locking groove on the inner wall of the wedge sleeve, thereby achieving locking. As shown in Figure 3, after the locking sleeve 605 is inserted into the wedge sleeve, the locking ball 606 and the locking groove are locked. This structure can achieve rapid clamping and convenient operation. The locking and release functions can be achieved by rotating the rotary cover 608 to push the ball to extend and retract.

[0061] In other embodiments of the present application, to facilitate operation, the lock 6 may further include a rotary cap 608, which is mounted on the outside of one end of the locking sleeve 605. The rotary cap 608 is connected to the pressure block 601. Rotating and pressing the rotary cap 608 causes the wedge 604 to rotate and move axially downward. When unlocking is required, the wedge 604 moves axially upward, the locking ball 606 moves toward the through hole 607, and the wedge 604 is rotated to unlock. At the same time, the elastic member 602 can play a rebound and buffering role. It should be noted that the connection between the rotary cap 608, the pressure block 601, and the locking sleeve 605 can be various. For example, the rotary cap 608 can be threadedly connected to the locking sleeve 605, or an electrically driven method such as an electromagnetic switch or a pneumatic switch can be used. Other connection methods can also be used as long as they can achieve the corresponding functions.

[0062] In other embodiments of the present application, in order to limit the axial movement range of the wedge block 604, a limiting step 609 can also be set on the side wall of the limiting channel, and a limiting block is provided between the connecting rod 603 and the wedge block 604, and the limiting block is against the limiting step 609.

[0063] As shown in Figure 4, this is a schematic diagram of the structure of the suspension mechanism 3 of the present application. The air suspension mechanism 3 may include a support plate 301, an airbag 302, an air pump 303, and a connecting plate 304. The airbag 302 is installed between the support plate 301 and the connecting plate 304. The connecting plate 304 is connected to the A component 1 or the B component 2 where the suspension mechanism 3 is located. The airbag 302 is connected to the air pump 303. An adjustable pressure valve 305 is provided between the airbag 302 and the air pump 303. In order to ensure smooth floating, a damper 306 may also be provided. The damper 306 is installed on the support plate 301, and the working end of the damper 306 is connected to the connecting plate 304. The air pump 303 delivers gas to the airbag 302, and the adjustable pressure valve 305 can adjust the pressure of the delivered gas. As shown in Figure 7, this is a schematic diagram of the air supply principle when four air suspension mechanisms 3 are provided. In practice, the specific number of air suspension mechanisms 3 for component A 1 and component B 2 can be adjusted as needed. For example, if the movement of component A 1 and component B 2 is achieved via casters 9, the casters 9 can be integrated with the air suspension mechanism 3 and mounted on the bottom of the support plate 301. Existing casters 9 with locking functions can be used, and this application does not limit the specific structure of the casters 9. In practice, the air pump 303 outputs gas, and the adjustable pressure valve 305 regulates the gas pressure. The gas is first delivered to the gas manifold valve island 308 and then, via four air pipes 307, is delivered to the airbags 302 of each suspension mechanism 3. To increase the suspension state, the adjustable pressure valve 305 reduces the pressure in the airbag 302, thereby reducing the stiffness of the airbag 302. Conversely, to decrease the suspension state, the adjustable pressure valve 305 increases the pressure in the airbag 302, thereby increasing the stiffness of the airbag 302. The damper 306 can provide a more stable suspension.

[0064] Based on the aforementioned docking mechanism, this application also proposes a medical robotic arm and operating table combination, comprising an operating table 11, a robotic arm 8, and a cart 12. The robotic arm 8 is mounted on the cart 12. The cart 12 and the operating table 11 are connected using the docking mechanism proposed in this application, thereby connecting the robotic arm 8 and the operating table 11. Figure 5 shows the operating table 11 and cart 12 when they are not connected. As an example, the locking sleeve 7, guide sleeve 5, and suspension mechanism 3 are all mounted on the cart 12. The cart 12 may also be provided with a handrail 10 to facilitate pushing and pulling the cart 12. The bottom of the cart 12 is provided with four casters 9, and the suspension mechanism 3 is provided with four casters 9. The guide post 4 and the lock 6 are mounted on the operating table 11. The mounting positions of the locking sleeve 7, guide sleeve 5, and suspension mechanism 3 on the cart 12, as well as the mounting positions of the guide post 4 and the lock 6 on the operating table 11, can be adjusted so as not to affect the functions of the operating table 11, the cart 12, and the robotic arm 8. As shown in Figure 6, it is a schematic diagram of the state after the operating table 11 and the trolley 12 are connected. The guide column 4 is located in the guide sleeve 5, and the locker 6 and the locking sleeve 7 cooperate to achieve locking.

[0065] As shown in FIG8 , a schematic diagram of the process of connecting and locking the medical robotic arm and the operating table combination in this application may include:

[0066] S101, the casters 9 of the operating table 11 are locked, the robotic arm 8 is pushed to a position near the operating table 11 via the cart 12, and the adjustable pressure valve 305 is adjusted to reduce the stiffness of the airbag 302 and increase the suspension.

[0067] S102 , adjusting the position and angle of the guide column 4 by applying force to the armrest 10 of the cart 12 , and roughly aligning the guide sleeve 5 .

[0068] S103, relying on the floating state of the suspension mechanism 3, the guide column 4 is pushed into the guide sleeve 5 to the bottom.

[0069] S104, rotating the rotary cover 608 of the locker 6 to a certain angle for clamping, accompanied by a click feeling when clamping.

[0070] S105 , at this time, the cart 12 equipped with the robotic arm 8 is completely fixedly connected to the operating table 11 and can move together with the operating table 11 .

[0071] S106, when the robotic arm 8 needs to be separated from the operating table 11, the knob of the locker 6 is first rotated in the opposite direction to a certain angle to release it, and there is a click feeling when it is released.

[0072] S107 , by applying force to the armrest 10 of the cart 12 to pull open the robotic arm 8 , the guide column 4 can be pulled out from the guide sleeve 5 , thereby achieving complete separation of the robotic arm 8 from the operating table 11 .

[0073] S108 , adjusting the adjustable pressure valve 305 of the suspension mechanism 3 to increase the rigidity of the airbag 302 so that the robotic arm 8 can move smoothly.

[0074] In the medical robotic arm and operating table combination of the present application, precise alignment of the cart 12 and operating table 11 is not required when they are connected. Instead, the alignment function can be achieved by applying force to the cart 12, which allows the guide post 4 to be inserted into the guide sleeve 5, while the free suspension state of the suspension mechanism 3 is maintained. Furthermore, the lock 6 and locking sleeve 7 enable quick clamping and release, making operation simple.

[0075] It should be noted that the docking mechanism of the present application can also realize other scenarios with similar connection requirements, such as mobile charging.

[0076] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A docking mechanism for connecting a movable component A (1) and a movable component B (2); characterized in that, It includes a suspension mechanism (3), a guide post (4), a guide sleeve (5), a locking device (6) and a locking sleeve (7); Among the guide post (4) and the guide sleeve (5), one is installed on the A component (1), and the other is installed on the B component (2), and the guide post (4) and the guide sleeve (5) are adapted to each other; Among the locking device (6) and the locking sleeve (7), one is installed on the A component (1), and the other is installed on the B component (2), and the locking device (6) and the locking sleeve (7) are adapted to each other; The suspension mechanism (3) is installed on the A component (1) or the B component (2), and is used to enable the A component (1) or the B component (2) where the suspension mechanism (3) is located to float up and down relative to the ground and adjust the floating degree.

2. The docking mechanism according to claim 1, characterized in that: The suspension mechanism (3) is an air suspension mechanism (3).

3. The docking mechanism according to claim 2, characterized in that: The suspension mechanism (3) includes a support plate (301), an airbag (302), an air pump (303) and a connecting plate (304); The airbag (302) is installed between the support plate (301) and the connecting plate (304), and the connecting plate (304) is connected to the A component (1) or the B component (2) where the suspension mechanism (3) is located; The airbag (302) is connected to the air pump (303), and an adjustable pressure valve (305) is arranged between the airbag (302) and the air pump (303).

4. The docking mechanism according to claim 3, characterized in that: It also includes a damper (306); The damper (306) is installed on the support plate (301), and the working end of the damper (306) is connected to the connecting plate (304).

5. The docking mechanism according to any one of claims 1 to 4, characterized in that: The locking device (6) is a spherical locking device (6), and the locking sleeve (7) is a wedge-shaped sleeve.

6. The docking mechanism according to claim 5, characterized in that: The locking device (6) includes a pressing block (601), an elastic member (602), a connecting rod (603), a wedge block (604), a locking sleeve (605) and at least two locking balls (606); The locking sleeve (605) is connected to the A component (1) or the B component (2) where the locking device (6) is located, and the locking sleeve (605) is a hollow structure, and the hollow structure forms a limiting channel; The pressing block (601), the connecting rod (603), the elastic member (602) and the wedge block (604) are all installed in the limiting channel. The pressing block (601) is located at one end of the connecting rod (603), the wedge block (604) is connected to the other end of the connecting rod (603), the elastic member (602) is sleeved on the connecting rod (603), and one end of the elastic member (602) is connected or connected to the pressing block (601), and the other end is connected or abutted to the connecting rod (603); At least two through holes (607) are opened on the side wall of the locking sleeve (605) at the small end of the side wall of the wedge block (604), and each of the locking balls (606) is respectively located in each through hole (607), and the locking balls (606) correspond to the through holes (607) one by one; At least two locking grooves are opened on the inner wall of the locking sleeve (7), and the locking grooves correspond to the locking balls (606) one by one.

7. The docking mechanism according to claim 6, characterized in that: It also includes a rotary cover (608); The rotary cover (608) is sleeved outside one end of the locking sleeve (605), and the rotary cover (608) is connected to the pressing block (601).

8. The docking mechanism according to claim 7, characterized in that: A limiting step (609) is arranged on the side wall of the limiting channel; A limiting block is provided between the connecting rod (603) and the wedge block (604), and the limiting block abuts against the limiting step (609) to limit the axial movement range of the wedge block (604).

9. A combination of a medical robotic arm and an operating table, comprising an operating table (11), a robotic arm (8) and a trolley (12), the robotic arm (8) being installed on the trolley (12); characterized in that: The docking mechanism according to any one of claims 1 to 8 is used to connect the trolley (12) and the operating table (11); The operating table (11) is used as component A (1), and the trolley (12) is used as component B (2).

10. The combination of a medical robotic arm and an operating table according to claim 9, characterized in that: The locking sleeve (7), the guide sleeve (5) and the suspension mechanism (3) are all installed on the trolley (12); The guide post (4) and the lock (6) are installed on the operating table (11); Four casters (9) are provided at the bottom of the trolley (12), and four suspension mechanisms (3) are provided and installed at the four casters (9) respectively.

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