Medical robotic arm, mounting method therefor, and medical robot

Abstract

A medical robotic arm, a mounting method therefor, and a medical robot. A first mounting area (1000a) is provided on a first robotic arm (1000); the first mounting area (1000a) is at least provided with a first abutment element (1100), a first snap-fit element (1200), and a first electrically controlled connection element (1300); the first abutment element (1100) is located at an edge of the first mounting area (1000a); a second mounting area (2000a) is provided on a second robotic arm (2000); the second mounting area (2000a) is at least provided with a second abutment element (2100), a second snap-fit element (2200), and a second electrically controlled connection element (2300); the second abutment element (2100) is located at an edge of the second mounting area (2000a); the first abutment element (1100) is configured to be abutted against the second abutment element (2100); the first snap-fit element (1200) is configured to be snap-fitted to the second snap-fit element (2200); and the first electrically controlled connection element (1300) is configured to be electrically connected to the second electrically controlled connection element (2300). By means of the abutment between the second abutment element (2100) and the first abutment element (1100), assembly can be completed only by a single abutment operation and a single rotational snap-fit operation. The operation is simple, time and labor are saved, and the mounting efficiency can also be improved.

Description

Medical robotic arm and installation method thereof, medical robot Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a medical robotic arm and an installation method thereof, and a medical robot. Background Art

[0002] A surgical robot is a specialized robot designed for surgical operations. Its robotic arm primarily controls the movement of medical devices, allowing them to perform medical procedures on the human body. The robotic arm incorporates both mechanical and electrical signal transmission. Installation typically begins with the mechanical components, followed by the electrical components. The conventional assembly method for a surgical robot's robotic arm is threaded butt-joint mounting. Because the robotic arm is heavy, multiple personnel are required to coordinate and securely position and assemble the arm. Maintenance holes are designed near the arm's separation surfaces to facilitate the separate installation of electrical wiring harnesses. After assembly, it's common for the electrical components to be damaged during disassembly or for the disassembly personnel to perform multiple tasks simultaneously, leading to poor coordination and poor electrical contact. These issues not only make the robotic arm installation time-consuming and labor-intensive, but also result in suboptimal assembly results.

[0003] It should be noted that the information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art. Summary of the Invention

[0004] Based on this, it is necessary to provide a medical robotic arm and its installation method, and a medical robot to address the above-mentioned technical problems.

[0005] The present application provides a medical robotic arm, comprising:

[0006] a first robotic arm, wherein a first mounting area is provided on the first robotic arm, wherein the first mounting area is provided with at least a first hanging element, a first clamping element, and a first electrically controlled connecting element, and the first hanging element is located at an edge of the first mounting area;

[0007] a second robotic arm, wherein a second mounting area is provided on the second robotic arm, wherein the second mounting area is provided with at least a second hanging element, a second clamping element, and a second electrically controlled connecting element, and the second hanging element is located at an edge of the second mounting area;

[0008] The first hanging element is used for hanging relative to the second hanging element, the first clamping element is used for clamping relative to the second clamping element, and the first electrically controlled connecting element is used for electrically connecting to the second electrically controlled connecting element.

[0009] In one embodiment, the first electrically controlled connecting element is located between the first hanging element and the first clamping element, and the second electrically controlled connecting element is located between the second hanging element and the second clamping element; and / or,

[0010] The first hooking element includes a first rotating portion, the second hooking element includes a second rotating portion, the first rotating portion is used for rotationally hooking with the second rotating portion; and / or,

[0011] The first clamping element includes a first clamping portion, the second clamping element includes a second clamping portion, the first clamping portion is configured to engage with the second clamping portion; and / or,

[0012] The first installation area is provided with at least one first connecting hole, and the second installation area is provided with at least one second connecting hole. The first connecting hole and the second connecting hole are used to pass through the connecting parts. The first installation area of ​​the first robotic arm and the second installation area of ​​the second robotic arm are used to be detachably connected through the connecting parts.

[0013] In one embodiment, the first rotating part is a rotating shaft, the second rotating part is a rotating shaft groove, and the rotating shaft is used to be rotatably connected to the rotating shaft groove; and / or,

[0014] The first clamping portion is a clamping groove, and the second clamping portion is a clamping column. The clamping column is used to be clamped and matched with the clamping groove.

[0015] In one embodiment, the first hanging element further includes a hanging recess, the hanging recess is arranged at the edge of the first installation area, the rotating shaft body is arranged in the hanging recess, the second hanging element further includes a hanging boss, the hanging boss is arranged at the edge of the second installation area, the rotating shaft groove is provided on the hanging boss, and the hanging recess is used to be hung with the hanging boss; and / or,

[0016] The first clamping element further includes an elastic clamping head, which is arranged in the clamping slot. The second clamping element further includes a docking slot, which is arranged on the clamping column. The elastic clamping head is elastically clamped with the docking slot.

[0017] In one embodiment, the first installation area is provided with an installation cavity, the first electrically controlled connection element is provided in the installation cavity, the second installation area is provided with a installation base, and the second electrically controlled connection element is provided on the installation base.

[0018] In one embodiment, the first electrically controlled connection element comprises a first circuit board, on which at least one of a first wiring socket, a first conductive element, and a first shielding element is disposed;

[0019] The second electrically controlled connection element comprises a second circuit board, on which at least one of a second wiring socket, a second conductive element, and a second shielding element is provided;

[0020] The first conductive element is conductively connected to the first wiring socket, the first wiring socket is used to connect to the first transmission wire harness, the second conductive element is conductively connected to the second wiring socket, the second wiring socket is used to connect to the second transmission wire harness, and the first conductive element is used to conductively connect to the second conductive element;

[0021] The first shielding element is used to shield at least a portion of the first transmission line bundle, the second shielding element is used to shield at least a portion of the second transmission line bundle, and the first shielding element is used to be connected to the second shielding element.

[0022] In one embodiment, the first wiring socket and the first conductive element are located on opposite sides of the first circuit board, and the second wiring socket and the second conductive element are located on opposite sides of the second circuit board; and / or,

[0023] There are multiple and identical first connection sockets and second connection sockets; and / or,

[0024] The first conductive element is a conductive contact, the second conductive element is a spring contact, and the number of the first conductive element and the second conductive element is the same; and / or,

[0025] At least one of the first shielding element and the second shielding element is an annular shielding element; and / or,

[0026] The first transmission harness has a first harness terminal and a first grounding terminal, the first harness terminal is used to be electrically connected to the first wiring socket, and the first grounding terminal is used to be grounded to the first robotic arm; the second transmission harness has a second harness terminal and a second grounding terminal, the second harness terminal is used to be electrically connected to the second wiring socket, and the second grounding terminal is used to be grounded to the second robotic arm; and / or,

[0027] At least one first fixing hole is provided on the first circuit board, and the first fixing hole is used to pass through a first fixing component, and the first fixing component is used to connect the first circuit board and the first robotic arm. At least one second fixing hole is provided on the second circuit board, and the second fixing hole is used to pass through a second fixing component, and the second fixing component is used to connect the second circuit board and the second robotic arm.

[0028] In one embodiment, a fitting recess is provided on the side surface of the end portion of the first robotic arm, and the first mounting area is located in the fitting recess;

[0029] The second robotic arm includes a main arm section and an auxiliary arm section. The auxiliary arm section is arranged at an angle relative to the main arm section. A mating base is provided on the side of the auxiliary arm section, and the second installation area is located on the mating base.

[0030] The present application provides an installation method based on the medical robotic arm, and the installation method comprises the following steps:

[0031] Hooking the second hooking element and the first hooking element to each other;

[0032] Taking the position where the first hanging element and the second hanging element are hung together as the rotation reference, the second robotic arm is controlled to rotate relative to the first robotic arm, and the second clamping element and the first clamping element are clamped together, so that the second electrically controlled connecting element and the first electrically controlled connecting element are conductively connected, and the first robotic arm and the second robotic arm are fixed.

[0033] The present application provides a medical robot, comprising:

[0034] Medical trolleys;

[0035] The medical robotic arm is arranged on the medical trolley;

[0036] A medical device is arranged on the medical robot arm.

[0037] In the aforementioned medical robotic arm, its installation method, and medical robot, the first hooking element, first clamping element, and first electrically controlled connecting element on the first robotic arm are all confined within a first installation area, while the second hooking element, second clamping element, and second electrically controlled connecting element on the second robotic arm are all confined within a second installation area. By leveraging the second hooking element's hooking function relative to the first hooking element, the weight of the second robotic arm can be transferred to the first hooking element, eliminating the need for an operator to bear the significant weight of the robotic arm. A single person can perform the assembly operation between the first and second robotic arms. Furthermore, the first and second clamping elements can be used to lock the first and second robotic arms. During this process, the second electrically controlled connecting element can also be electrically connected to the first electrically controlled connecting element, completing the electrical assembly. The entire operation can be performed by a single person, requiring only a single hooking operation and a single rotational clamping operation. This not only simplifies the operation, saves time and effort, but also improves installation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 is a schematic structural diagram of a medical robot provided by one embodiment of the present application;

[0039] FIG2 is a schematic diagram of the assembly of a medical trolley, medical equipment, a first robotic arm, and a second robotic arm provided in one embodiment of the present application;

[0040] FIG3 is a schematic diagram of the assembly of a medical device, a first robotic arm, and a second robotic arm according to an embodiment of the present application;

[0041] FIG4 is a schematic diagram of the assembly of a first robotic arm and a second robotic arm provided in one embodiment of the present application;

[0042] FIG5 is a schematic diagram of a partial structure of a first robotic arm provided in one embodiment of the present application;

[0043] FIG6 is a schematic diagram of a partial structure of a first electrically controlled connection element provided on a first robotic arm according to an embodiment of the present application;

[0044] FIG7 is a schematic diagram of the front structure of a first electrically controlled connecting element provided in one embodiment of the present application;

[0045] FIG8 is a schematic diagram of the back structure of a first electrically controlled connecting element provided in one embodiment of the present application;

[0046] FIG9 is a schematic diagram of the internal structure of a first robotic arm provided by one embodiment of the present application;

[0047] FIG10 is a schematic diagram of a partial structure of a second robotic arm provided in one embodiment of the present application;

[0048] FIG11 is a schematic diagram of a partial structure of a second electrically controlled connection element provided on a second robotic arm according to an embodiment of the present application;

[0049] FIG12 is a schematic diagram of the front structure of a second electrically controlled connecting element provided in one embodiment of the present application;

[0050] FIG13 is a schematic diagram of the back structure of a second electrically controlled connecting element provided in one embodiment of the present application;

[0051] FIG14 is a schematic diagram of the internal structure of a second robotic arm provided by one embodiment of the present application;

[0052] FIG15 is a schematic diagram of a first-view assembly process of a first robotic arm and a second robotic arm provided by one embodiment of the present application;

[0053] FIG16 is a schematic diagram of an assembly process of a first robotic arm and a second robotic arm from a second perspective according to one embodiment of the present application;

[0054] FIG17 is a schematic diagram of the assembly structure of the first robotic arm and the second robotic arm from a first perspective according to one embodiment of the present application;

[0055] FIG18 is a schematic diagram of the assembly structure of the first robotic arm and the second robotic arm from a second perspective according to an embodiment of the present application. DETAILED DESCRIPTION

[0056] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0057] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this 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 operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0058] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0059] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0060] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0061] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0062] Referring to Figures 1 and 2 , the present application provides a medical robot comprising a medical trolley 100, a medical robotic arm, a medical device 200, a control platform 300, an imaging platform 400, an instrument platform 500, and auxiliary equipment 600. The medical robotic arm is mounted on the medical trolley 100. Referring to Figure 3 , the medical device 200 is mounted on the medical robotic arm. Continuing with Figure 4 , the medical robotic arm comprises a first robotic arm 1000 and a second robotic arm 2000.

[0063] Referring to Figures 5 to 9 at the same time, a first installation area 1000a is provided on the first robotic arm 1000. The first installation area 1000a can be located at the end position of the first robotic arm 1000 or other suitable positions. The first installation area 1000a is provided with at least a first hanging element 1100, a first clamping element 1200 and a first electrically controlled connection element 1300. The first installation area 1000a is an area delineated on the first robotic arm 1000. The function of the first installation area 1000a is to limit the positions of the first hanging element 1100, the first clamping element 1200 and the first electrically controlled connection element 1300 on the first robotic arm 1000.

[0064] Referring to Figures 10 to 14 at the same time, a second installation area 2000a is provided on the second robotic arm 2000. The second installation area 2000a can be located at the end position of the second robotic arm 2000 or other suitable positions. The second installation area 2000a is provided with at least a second hanging element 2100, a second clamping element 2200 and a second electrically controlled connecting element 2300. The second installation area 2000a is an area delineated on the second robotic arm 2000. The function of the second installation area 2000a is to limit the positions of the second hanging element 2100, the second clamping element 2200 and the second electrically controlled connecting element 2300 on the first robotic arm 1000.

[0065] The side surface of the end of the first robotic arm 1000 is provided with a mating recess 1000b, and the first mounting area 1000a is located in the mating recess 1000b. The second robotic arm 2000 includes a main arm section 2400 and an auxiliary arm section 2500. The auxiliary arm section 2500 is arranged at an angle relative to the main arm section 2400. For example, the auxiliary arm section 2500 can be arranged perpendicular to the main arm section 2400. The side surface of the auxiliary arm section 2500 is provided with a mating base 2000b, and the second mounting area 2000a is located in the mating base 2000b. After the first robotic arm 1000 and the second robotic arm 2000 are assembled, the mating recess 1000b and the mating base 2000b can form a mutually mating assembly state. The mutual mating between the two can also improve the uniform force between the two and enhance the assembly stability between the first robotic arm 1000 and the second robotic arm 2000.

[0066] The first hanging element 1100 is located at the edge of the first mounting area 1000a, and the second hanging element 2100 is located at the edge of the second mounting area 2000a. Therefore, referring to Figures 15 and 16, the first hanging element 1100 can be used for relative hanging with the second hanging element. Furthermore, in the structures shown in Figures 15 and 16, the first hanging element 1100 can actually be located at the top of the edge of the first mounting area 1000a. The top of the edge of the first mounting area 1000a can refer to the top of the first robotic arm 1000 when installed. The second hanging element 2100 can actually be located at the top of the edge of the second mounting area 2000a. The top of the edge of the second mounting area 2000a can refer to the top of the second robotic arm 2000 when installed. Therefore, in the process of hanging the first robotic arm 1000 and the second robotic arm 2000 to each other, the first hanging element 1100 and the second hanging element 2100 can first be hung to each other through the top of the first installation area 1000a in the first robotic arm 1000 and the top of the second installation area 2000a in the second robotic arm 2000, and all gravity is first applied to the first hanging element 1100 and the second hanging element 2100.

[0067] For example, when the second robotic arm 2000 is hung relative to the first robotic arm 1000, the second hanging element 2100 can be hung relative to the first hanging element 1100. At this time, one person can operate it. After the second hanging element 2100 is hung on the first hanging element 1100, the weight of the second robotic arm 2000 can be transferred to the first hanging element by using the first hanging element 1100 to bear the force. It can be completed by one person. Next, as shown in Figures 17 and 18, with the position where the first hanging element 1100 and the second hanging element 2100 are hung together as the rotation reference, the operator can continue to single-handedly control the rotation of the second robotic arm 2000 relative to the first robotic arm 1000, and make the first installation area 1000a of the first robotic arm 1000 and the second installation area 2000a of the second robotic arm 2000 match each other through rotation. During the rotation process, the second clamping element 2200 and the first clamping element 1200 are gradually clamped to each other to complete the installation of the mechanical parts between the first robotic arm 1000 and the second robotic arm 2000.

[0068] 15 to 18 , since a first electrically-controlled connection element 1300 is provided in the first installation area 1000a of the first robotic arm 1000, and a second electrically-controlled connection element 2300 is also provided in the second installation area 2000a of the second robotic arm 2000, when the mechanical parts of the first robotic arm 1000 and the second robotic arm 2000 are matched and assembled, the first installation area 1000a and the second installation area 2000a can be matched and assembled with each other, and the second electrically-controlled connection element 2300 and the first electrically-controlled connection element 1300 can also be conductively connected at the same time.

[0069] As can be seen, since the first hanging element 1100, the first clamping element 1200, and the first electrically controlled connecting element 1300 on the first robotic arm 1000 are all confined within the first installation area 1000a, the second hanging element 2100, the second clamping element 2200, and the second electrically controlled connecting element 2300 on the second robotic arm 2000 are all confined within the second installation area 2000a. By virtue of the second hanging element 2100's hooking function relative to the first hanging element 1100, the weight of the second robotic arm 2000 can be transferred to the first hanging element 1100. This eliminates the need for an operator to bear the heavy weight of the robotic arms, allowing a single person to perform the assembly operation between the first robotic arm 1000 and the second robotic arm 2000. Furthermore, the first clamping element 1200 and the second clamping element 2200 can be used to complete the locking operation between the first robotic arm 1000 and the second robotic arm 2000. During this process, the second electrically controlled connecting element 2300 can also be conductively connected to the first electrically controlled connecting element 1300 at the same time, thereby completing the assembly of the electrical part.

[0070] The entire operation can be completed by one person, and only requires one hanging operation and one rotation and clamping operation. It is not only simple to operate, saving time and labor, but also can improve the efficiency of installation.

[0071] 5 and 6 , in one embodiment, the first electrically controlled connecting element 1300 is located between the first hanging element 1100 and the first clamping element 1200. Referring to FIG10 and 11 , the second electrically controlled connecting element 2300 is located between the second hanging element 2100 and the second clamping element 2200. Therefore, after the first robotic arm 1000 and the second robotic arm 2000 are connected to each other via the first hanging element 1100 and the second hanging element 2100, they can be clamped to each other via the first clamping element 1200 and the second clamping element 2200 on the other side, so that the first electrically controlled connecting element 1300 and the second electrically controlled connecting element 2300 are located in the center, forming a circuit connection of the electrical part.

[0072] The first hook element 1100 includes a first rotating portion 1110, and the second hook element 2100 includes a second rotating portion 2110. The first rotating portion 1110 can be rotatably coupled to the second rotating portion 2110. The first rotating portion 1110 can utilize a rotating shaft, while the second rotating portion 2110 utilizes a rotating shaft groove, with the rotating shaft rotatably coupled to the rotating shaft groove. Alternatively, the first rotating portion 1110 can utilize a rotating shaft groove, while the second rotating portion 2110 utilizes a rotating shaft. Furthermore, the first hook element 1100 may further include a hooking recess 1120, located at the edge of the first mounting area 1000a, to facilitate hooking and rotating operations. The rotating shaft is disposed within the hooking recess 1120. The second hook element 2100 may further include a corresponding hooking boss 2120, located at the edge of the second mounting area 2000a, to facilitate hooking and rotating operations. The rotating shaft groove is formed on the hooking boss 2120.

[0073] The hanging recess 1120 can be used to hang with the hanging boss 2120, and after the first rotating part 1110 and the second rotating part 2110 are rotated and hung with each other, the hanging recess 1120 and the hanging boss 2120 can not only assist in bearing the weight of the robotic arm by hanging with each other, but also form a mutually interlocked assembly state after assembly is completed. After assembly is completed, it can also provide a gravity-bearing function to ensure the assembly stability between the first robotic arm 1000 and the second robotic arm 2000, and reduce the gravity-bearing pressure between the first adapter part and the second adapter part.

[0074] The first clamping element 1200 includes a first clamping portion 1210, and the second clamping element 2200 includes a second clamping portion 2210. The first clamping portion 1210 is used to engage with the second clamping portion 2210. The first clamping portion 1210 can adopt a clamping groove, and the second clamping portion 2210 can adopt a clamping column. The clamping column can be used to engage with the clamping groove. Alternatively, the first clamping portion 1210 can adopt a clamping column, and the second clamping portion 2210 can adopt a clamping groove. The first clamping element 1200 also includes an elastic clamp 1220, which is disposed in the clamping groove. The second clamping element 2200 also includes a docking slot 2220, which is disposed on the clamping column. The elastic clamp 1220 is elastically engaged with the docking slot 2220. Therefore, after the engaging post and the engaging slot are engaged with each other, the elastic engaging head 1220 and the docking engaging slot 2220 can continue to be elastically engaged and locked, thereby improving the engaging and locking effect and enhancing the assembly stability.

[0075] The first mounting area 1000a is provided with at least one first connection hole 1000a2, for example, multiple first connection holes 1000a2 are distributed around the first mounting area 1000a. The second mounting area 2000a is provided with at least one second connection hole 2000a2, for example, multiple second connection holes 2000a2 are distributed around the second mounting area 2000a. The first connection hole 1000a2 and the second connection hole 2000a2 are used to pass a connecting component, which can be a threaded rod or the like. This allows the first mounting area 1000a of the first robotic arm 1000 and the second mounting area 2000a of the second robotic arm 2000 to be detachably connected via the connecting component, further achieving a locking connection between the first robotic arm 1000 and the second robotic arm 2000 after hooking and snapping.

[0076] As shown in FIG6 , the first mounting area 1000a is provided with a mounting cavity 1000a1, and the first electrically controlled connecting element 1300 is disposed within the mounting cavity 1000a1. As shown in FIG11 , the second mounting area 2000a is provided with a mounting base 2000a1, and the second electrically controlled connecting element 2300 is disposed on the mounting base 2000a1. The first electrically controlled connecting element 1300 includes a first circuit board 1310, on which is disposed at least one of a first wiring receptacle 1320, a first conductive element 1330, and a first shielding element 1340. The second electrically controlled connecting element 2300 includes a second circuit board 2310, on which is disposed at least one of a second wiring receptacle 2320, a second conductive element 2330, and a second shielding element 2340. There are multiple first and second wiring receptacles 1320 and 2320, and the number of the first and second wiring receptacles 2320 is the same. The first wiring socket 1320 and the first conductive element 1330 are located on opposite sides of the first circuit board 1310, and the second wiring socket 2320 and the second conductive element 2330 are located on opposite sides of the second circuit board 2310. The first conductive element 1330 is electrically connected to the first wiring socket 1320, which is used to connect to the first transmission harness 1350. The second conductive element 2330 is electrically connected to the second wiring socket 2320, which is used to connect to the second transmission harness 2350.

[0077] There are multiple and equal first conductive elements 1330 and second conductive elements 2330. The first conductive elements 1330 are used for conductive connection with the second conductive elements 2330. The first conductive elements 1330 can be conductive contacts, while the second conductive elements 2330 can be elastic contacts. The elastic contacts can adaptably cooperate with the conductive contacts to improve the contact effect of the electrical connection. Alternatively, the first conductive elements 1330 can be elastic contacts, while the second conductive elements 2330 can be conductive contacts.

[0078] The first shielding element 1340 is used to shield at least a portion of the first transmission bundle 1350, and the second shielding element 2340 is used to shield at least a portion of the second transmission bundle 2350. The first shielding element 1340 is connected to the second shielding element 2340. At least one of the first shielding element 1340 and the second shielding element 2340 is an annular shielding element. For example, as shown in FIG7 or FIG12, the annular shielding element can surround a portion of the first transmission bundle 1350 or a portion of the second transmission bundle 2350 to shield the first transmission bundle 1350 or the second transmission bundle 2350 surrounded by it.

[0079] The first transmission harness 1350 has a first harness terminal 1351 and a first grounding terminal 1352. The first harness terminal 1351 is used to be electrically connected to the first wiring socket 1320, and the first grounding terminal 1352 is used to be grounded to the first robotic arm 1000. The second transmission harness 2350 has a second harness terminal 2351 and a second grounding terminal 2352. The second harness terminal 2351 is used to be electrically connected to the second wiring socket 2320, and the second grounding terminal 2352 is used to be grounded to the second robotic arm 2000.

[0080] At least one first fixing hole 1310a is provided on the first circuit board 1310, and the first fixing hole 1310a is used to pass through the first fixing component, and the first fixing component is used to connect the first circuit board 1310 and the first robotic arm 1000. At least one second fixing hole 2310a is provided on the second circuit board 2310, and the second fixing hole 2310a is used to pass through the second fixing component, and the second fixing component is used to connect the second circuit board 2310 and the second robotic arm 2000.

[0081] The present application provides an installation method based on a medical robotic arm, which includes the following steps: hanging the second hanging element 2100 and the first hanging element 1100 to each other, using the position where the first hanging element 1100 and the second hanging element 2100 are hung to each other as a rotation reference, controlling the second robotic arm 2000 to rotate relative to the first robotic arm 1000, and clamping the second clamping element 2200 and the first clamping element 1200 to each other, so that the second electrically controlled connecting element 2300 is conductively connected to the first electrically controlled connecting element 1300, and fixing the first robotic arm 1000 and the second robotic arm 2000.

[0082] Therefore, referring to Figures 15 and 16, when the second robotic arm 2000 is hung relative to the first robotic arm 1000, the second hanging element 2100 can be hung relative to the first hanging element 1100. At this time, one person can operate it. After the second hanging element 2100 is hung on the first hanging element 1100, the weight of the second robotic arm 2000 can be transferred to the first hanging element by using the first hanging element 1100 to bear the force. It can be completed by one person. Next, as shown in Figures 17 and 18, with the position where the first hanging element 1100 and the second hanging element 2100 are hung together as the rotation reference, the operator can continue to single-handedly control the rotation of the second robotic arm 2000 relative to the first robotic arm 1000, and make the first installation area 1000a of the first robotic arm 1000 and the second installation area 2000a of the second robotic arm 2000 match each other through rotation. During the rotation process, the second clamping element 2200 and the first clamping element 1200 are gradually clamped to each other to complete the installation of the mechanical parts between the first robotic arm 1000 and the second robotic arm 2000.

[0083] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A medical robotic arm, characterized in that, The medical robotic arm includes: A first robotic arm, on which a first mounting area is provided. The first mounting area is provided with at least a first hanging element, a first clamping element, and a first electrically controlled connection element. The first hanging element is located at the edge of the first mounting area. A second robotic arm, on which a second mounting area is provided. The second mounting area is provided with at least a second hanging element, a second clamping element, and a second electrically controlled connection element. The second hanging element is located at the edge of the second mounting area. The first hanging element is used for opposite hanging connection with the second hanging element, the first clamping element is used for opposite clamping connection with the second clamping element, and the first electrically controlled connection element is used for electrical connection with the second electrically controlled connection element.

2. The medical robotic arm according to claim 1, wherein, The first electrically controlled connection element is located between the first hanging element and the first clamping element, and the second electrically controlled connection element is located between the second hanging element and the second clamping element; and / or, The first hanging element includes a first rotating part, the second hanging element includes a second rotating part, and the first rotating part is used for rotating hanging connection with the second rotating part; and / or, The first clamping element includes a first clamping part, the second clamping element includes a second clamping part, and the first clamping part is used for clamping cooperation with the second clamping part; and / or, At least one first connection hole is provided in the first mounting area, at least one second connection hole is provided in the second mounting area. The first connection hole and the second connection hole are used for passing through a connecting component, and the first mounting area of the first robotic arm and the second mounting area of the second robotic arm are used for detachable connection through the connecting component.

3. The medical robotic arm according to claim 2, characterized in that, The first rotating part is a rotating shaft body, the second rotating part is a rotating shaft groove, and the rotating shaft body is used for rotating hanging connection with the rotating shaft groove; and / or, The first clamping part is a clamping groove, the second clamping part is a clamping post, and the clamping post is used for clamping cooperation with the clamping groove.

4. The medical robotic arm according to claim 3, wherein, The first hanging element further includes a hanging depression, the hanging depression is provided at the edge of the first mounting area, the rotating shaft body is provided in the hanging depression, the second hanging element further includes a hanging boss, the hanging boss is provided at the edge of the second mounting area, the rotating shaft groove is opened on the hanging boss, and the hanging depression is used for mutual hanging connection with the hanging boss; and / or, The first clamping element further includes an elastic clamping head, the elastic clamping head is provided in the clamping groove, the second clamping element further includes a docking clamping groove, the docking clamping groove is provided on the clamping post, and the elastic clamping head is elastically clamped with the docking clamping groove.

5. The medical robotic arm according to claim 1, wherein, An installation cavity is provided in the first mounting area, the first electrically controlled connection element is provided in the installation cavity, an installation base is provided in the second mounting area, and the second electrically controlled connection element is provided on the installation base.

6. The medical robotic arm according to claim 1, characterized in that, The first electrically controlled connection element includes a first circuit board, and at least one of a first wiring socket, a first conductive element, and a first shielding element is provided on the first circuit board; The second electrically controlled connection element includes a second circuit board, on which at least one of a second wiring socket, a second conductive element, and a second shielding element is provided; The first conductive element is electrically connected to the first wiring socket, which is used to connect a first transmission wire harness. The second conductive element is electrically connected to the second wiring socket, which is used to connect a second transmission wire harness. The first conductive element is used to be electrically connected to the second conductive element; The first shielding element is used to shield at least a part of the first transmission wire harness, and the second shielding element is used to shield at least a part of the second transmission wire harness. The first shielding element is used to be connected to the second shielding element.

7. The medical robotic arm according to claim 6, characterized in that, The first wiring socket and the first conductive element are located on opposite sides of the first circuit board, and the second wiring socket and the second conductive element are located on opposite sides of the second circuit board; and / or, The number of the first wiring sockets and the second wiring sockets is multiple and the same; and / or, The first conductive element is a conductive contact, and the second conductive element is an elastic contact. The number of the first conductive element and the second conductive element is multiple and the same; and / or, At least one of the first shielding element and the second shielding element is a ring-shaped shielding element; and / or, The first transmission wire harness has a first wire harness terminal and a first grounding terminal. The first wire harness terminal is used to be electrically connected to the first wiring socket, and the first grounding terminal is used to be grounded to the first robotic arm. The second transmission wire harness has a second wire harness terminal and a second grounding terminal. The second wire harness terminal is used to be electrically connected to the second wiring socket, and the second grounding terminal is used to be grounded to the second robotic arm; and / or, At least one first fixing hole is provided on the first circuit board, and the first fixing hole is used to pass through a first fixing member, and the first fixing member is used to connect the first circuit board and the first robotic arm. At least one second fixing hole is provided on the second circuit board, and the second fixing hole is used to pass through a second fixing member, and the second fixing member is used to connect the second circuit board and the second robotic arm.

8. The medical robotic arm according to claim 1, wherein, A fitting recess is provided on the side surface of the end of the first robotic arm, and the first installation area is located in the fitting recess; The second robotic arm includes a main arm segment and a secondary connecting arm segment. The secondary connecting arm segment is arranged at an angle with respect to the main arm segment. A fitting base is provided on the side surface of the secondary connecting arm segment, and the second installation area is located in the fitting base.

9. An installation method of the medical robotic arm according to any one of claims 1-8, characterized in that, The installation method includes the following steps: Hook the second hanging element and the first hanging element to each other; Taking the position where the first hanging element and the second hanging element are hooked to each other as the rotation reference, control the second robotic arm to rotate relative to the first robotic arm, hook the second clamping element and the first clamping element to each other, so that the second electrically controlled connection element and the first electrically controlled connection element are electrically connected, and fix the first robotic arm and the second robotic arm.

10. A medical robot, characterized in that, The medical robot includes: Medical trolley; The medical robotic arm as claimed in any one of claims 1-8, wherein the medical robotic arm is provided on the medical trolley; Medical device, wherein the medical device is provided on the medical robotic arm.

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