Connecting mechanism and medical robot having connecting mechanism

Abstract

A connecting mechanism, which is used for connecting a mechanical arm and an end effector. The connecting mechanism comprises: a first connecting portion provided at an end of the mechanical arm, the first connecting portion being electrically connected to a power source and a signal source connected to the mechanical arm; and a second connecting portion provided at an end of the end effector, the second connecting portion being electrically connected to an actuator and a signal receiver of the end effector. One of the first connecting portion and the second connecting portion comprises at least two retractable conductors, and the other of the first connecting portion and the second connecting portion comprises at least two contact conductors. When the end effector is mounted at the end of the mechanical arm, the retractable conductors are compressed and respectively abut against the contact conductors, so that the power source can be electrically connected to the actuator, and the signal source can be electrically connected to the signal receiver. The connecting mechanism can achieve quick electrical connection between the mechanical arm and the end effector without manual operation by an operator. The present application further proposes a medical robot, a mechanical arm of the medical robot being connected to an end effector by means of the foregoing connecting mechanism.

Description

Connection mechanism and medical robot having the connection mechanism Technical Field

[0001] This disclosure relates to a connection mechanism for connecting, for example, a robotic arm of a robot to an actuator. This disclosure also relates to a medical robot having this connection mechanism. Background Technology

[0002] Medical robots typically have a robotic arm, at the end of which various end effectors can be mounted to perform different medical procedures. Therefore, in medical robots, the end effector is usually detachably connected to the end of the robot's robotic arm. This allows for the performance of different medical procedures depending on the application by removing or replacing the end effector.

[0003] When installing different end effectors, in addition to establishing a robust mechanical connection between the robot body and the end effector, it is also necessary to establish electrical and signal connections between them. The electrical connection allows the power supply in the robot body to power the actuators of the end effector, thereby driving the end effector to perform actions. The signal connection allows the control mechanism of the robot body to transmit signals to the control mechanism of the end effector, thereby controlling the actions performed by the end effector.

[0004] In existing medical robots, the electrical and signal connections between the robot body and the end effector are generally achieved through direct wire connections between the robotic arm and the end effector. However, it has been found that with this approach, the wires need to be rewired every time the end effector is replaced, which is not conducive to the rapid replacement of the end effector in medical robots. Furthermore, the connecting wires may become tangled when the end effector performs movements such as rotation.

[0005] Currently, another solution is to use plug-in terminals to achieve electrical and signal connections between the robotic arm's end effector and the end effector. However, even with plug-in terminals, technicians still need to perform plugging and unplugging operations each time the robot's end effector is replaced, which still affects the efficiency of end effector replacement.

[0006] Therefore, it is still desirable in the art to propose an electrical and signal connection mechanism for medical robots that not only facilitates the quick disassembly and replacement of the end effector installed at the end of the robotic arm of the medical robot, but also ensures a stable power supply and signal transmission between the medical robot body and the end effector. Summary of the Invention

[0007] This disclosure was made in view of the above-mentioned technical problems, and its purpose is to provide a connection mechanism for connecting a robotic arm and an actuator, by means of which an electrical connection between the robotic arm and the actuator can be realized, and power transmission and signal transmission can be realized between the robotic arm and the actuator.

[0008] In the context of this disclosure, unless otherwise stated, "electrical connection" or "electrical connection" means a connection within the low-voltage range.

[0009] According to the connection mechanism disclosed herein, a robotic arm and an actuator are connected, wherein the robotic arm is connected to a power source and a signal source, and the actuator has an actuator and a signal receiver. The connection mechanism includes:

[0010] -A first connecting part is located at the end of the robotic arm, and the first connecting part is electrically connected to the power supply and the signal source respectively.

[0011] -A second connecting part is provided at the end of the actuator, and the second connecting part is electrically connected to the actuator and the signal receiver respectively.

[0012] The first connecting portion and the second connecting portion each include at least two retractable conductors, while the other connecting portion includes at least two contact conductors.

[0013] When the actuator is installed at the end of the robotic arm, at least two retractable conductors are compressed and abut against at least two contact conductors, so that the power supply can be electrically connected to the actuator and the signal source can be electrically connected to the actuator's signal receiver.

[0014] When using the actuator and robotic arm according to this disclosure, the pressure exerted by the second connecting portion at the end of the actuator on the first connecting portion at the end of the robotic arm causes at least two retractable conductors in one connecting portion of the actuator to compress and deform, abutting against at least two contact conductors in the other connecting portion. This forms an electrical connection between the at least two retractable conductors and the at least two contact conductors, enabling power transmission and signal transmission between the robotic arm and the actuator. In this process, only the actuator needs to be installed at the end of the robotic arm, unlike the prior art mentioned at the beginning of this document, where operators need to additionally plug, unplug, or handle wires connected to different actuators as the actuator is replaced and installed.

[0015] Therefore, the connection mechanism according to this disclosure helps to achieve a fast and efficient connection between the robotic arm and the actuator, and does not require the operator to manually plug or unplug electrical interfaces when detaching the actuator from the end of the robotic arm to which it is connected.

[0016] In an optional embodiment, the first connecting portion of the connecting mechanism has at least two retractable conductors, including a first retractable conductor and a second retractable conductor, wherein the first retractable conductor is electrically connected to a power source, and the second retractable conductor is electrically connected to a signal source; the second connecting portion of the connecting mechanism has at least two contact conductors, including a first contact conductor and a second contact conductor, wherein the first contact conductor is electrically connected to the actuator of the actuator, and the second contact conductor is electrically connected to the signal receiver of the actuator.

[0017] When the actuator is installed at the end of the robotic arm, the first retractable conductor is compressed and contacts the first contact conductor, while the second retractable conductor is compressed and contacts the second contact conductor.

[0018] The first and second stretchable conductors are used for transmitting electricity and transmitting signals, respectively.

[0019] Optionally, the retractable conductor for transmitting power and the retractable conductor for transmitting signals are arranged at a certain distance apart. This ensures that the retractable conductor carrying a higher voltage for transmitting power is not positioned too close to the retractable conductor carrying a lower voltage for transmitting signals, thus guaranteeing electrical connection safety when the first connecting part and the second connecting part are electrically connected in the connecting mechanism.

[0020] In another alternative embodiment, when neither the first nor the second stretchable conductor is compressed, the length of the first stretchable conductor is shorter than the length of the second stretchable conductor.

[0021] In the connection mechanism according to this disclosure, the original length of the first retractable conductor for power transmission, i.e., its uncompressed length, is shorter than the original length of the second retractable conductor for signal transmission. This causes the second retractable conductor located at the end of the robotic arm or the end of the actuator to first contact the second contact conductor located at the end of the actuator or the end of the robotic arm as the actuator gradually approaches and is installed at the end of the robotic arm. Thus, the signal source and signal receiver to which they are respectively connected are first electrically connected, forming a loop for signal transmission. Then, the first retractable conductor with the shorter original length contacts the corresponding first contact conductor, so that the power source and actuator to which they are respectively connected are electrically connected to each other, forming a loop for power transmission.

[0022] The above arrangement ensures that during the connection process between the robotic arm and the actuator, the circuit for signal transmission will conduct before the circuit for power transmission. Otherwise, if the power transmission circuit conducts before the signal transmission circuit, an electric arc may be generated in the signal transmission circuit, adversely affecting the safety of the electrical connection.

[0023] In an optional embodiment, both the first retractable conductor and the second retractable conductor include a sleeve, a conductive needle body, and a spring, wherein the conductive needle body is retractably disposed in the sleeve by the spring.

[0024] Here, when the conductive needle comes into contact with the contact conductor, an electrical contact is formed, and the circuit is completed. After the conductive needle is subjected to pressure from the connection part where the contact conductor is located, the spring connected to it is compressed and deformed, causing the conductive needle to move downward under the guidance of the sleeve. When the actuator is removed from the robotic arm, the connection mechanism according to this disclosure is disconnected, the connection part where the contact conductor is located no longer applies pressure to the conductive conductor, and the conductive needle, under the restoring force of the spring, is guided back to its original position by the sleeve. The sleeve guides and protects the conductive needle, preventing it from deforming under pressure, and increases the probability of the conductive needle aligning with the corresponding contact conductor, thereby ensuring the success rate of the electrical connection of the connection mechanism according to this disclosure.

[0025] In another alternative embodiment, both the first contact conductor and the second contact conductor are conductive materials obtained by means of welding, riveting, fastening, material attachment, material conversion, etc., or include conductive surfaces obtained by such means.

[0026] In a non-limiting embodiment, both the first and second contact conductors are configured as conductive pads. Conductive pads are readily available and can be easily applied to the end of an actuator or robotic arm, enabling convenient use of the connection mechanism according to this disclosure.

[0027] Optionally, the size of the conductive pad can be customized according to the size of the spring pin in the first and second retractable conductors that are to be contacted for conduction.

[0028] In another alternative embodiment, the first connecting portion of the connecting mechanism is detachably mounted at the end of the robotic arm, while the second connecting portion is detachably mounted at the end of the actuator.

[0029] The detachable mounting configuration between the first connecting part and the robotic arm, and between the second connecting part and the actuator, allows the two connecting parts of the connecting mechanism according to this disclosure to be easily applied to the ends of existing robotic arms and actuators, and also enables a modular design. If any part of the connecting mechanism malfunctions or fails, the operator can replace the entire connecting part involving the malfunctioning or failed component. This replacement process is simple and does not damage the structure of the robotic arm and actuator, thereby improving the efficiency of maintenance and troubleshooting of the connecting mechanism according to this disclosure in the event of a malfunction.

[0030] In a non-limiting example, the first connection is detachably mounted to the end of the robotic arm by means of bolts, while the second connection is detachably mounted to the end of the actuator by means of bolts.

[0031] In another optional embodiment, the connecting mechanism further includes a locking mechanism for connecting and locking the first connecting portion to the second connecting portion. This locking mechanism securely connects the actuator to the end of the robotic arm, thereby ensuring the reliability of the connection between the actuator and the robotic arm during various actions, such as rotational movements relative to the robotic arm.

[0032] In particular, the locking mechanism can also ensure stable contact between the first connecting part and the second connecting part by applying pressure, thereby ensuring reliable and stable power transmission and signal transmission between the robotic arm and the actuator.

[0033] In another optional embodiment, the first connecting portion of the connecting mechanism includes a first substrate, a first retractable conductor and a second retractable conductor are both disposed on the first substrate, and the first connecting portion further includes a stepped portion disposed on the first substrate, the stepped portion having at least two through holes through which the first retractable conductor and the second retractable conductor respectively extend.

[0034] Here, during the fixing (e.g., welding, for example, soldering) of the retractable conductor in the first connecting part, the stepped portion with through holes serves to position each retractable conductor, preventing positional displacement during welding. The latter would prevent the welded retractable conductor from aligning with the corresponding contact conductor in the second connecting part. This would result in the misaligned retractable conductor failing to align and abut with the corresponding contact conductor when the first and second connecting parts come into contact. This would affect the electrical connection of the corresponding electrical interface between the first and second connecting parts, thereby affecting power transmission and / or signal transmission between the robotic arm and the actuator.

[0035] In another optional embodiment of this disclosure, the first connecting portion of the connecting mechanism includes a first substrate, on which at least two retractable conductors are disposed, and at least one first positioning hole is provided in the first substrate, and at least one first positioning post is provided at the end of the robotic arm, wherein when the first connecting portion is installed at the end of the robotic arm, the first positioning post is aligned with the first positioning hole.

[0036] Additionally or alternatively, the second connecting portion of the connecting mechanism includes a second substrate, on which at least two contact conductors are disposed, and at least one second positioning hole is also provided in the second substrate, while the actuator is provided with at least one second positioning post at its end, wherein when the second connecting portion is installed at the end of the actuator, the second positioning post and the second positioning hole are respectively aligned.

[0037] Since the components on the robotic arm and actuator are assembled with the external mechanical structure, their positions are relatively fixed. Therefore, the arrangement of the retractable conductors and contact conductors on the first and second connecting parts is also relatively fixed relative to the positions of these components. When installing the first and second connecting parts, especially when the first and second base plates of the first and second connecting parts are constructed with rotational or axial symmetry, the positions of the first connecting part relative to the robotic arm and the second connecting part relative to the actuator must be aligned and cannot be arbitrarily rotated.

[0038] Here, by means of the positioning holes provided in each connecting part of the connecting mechanism and the positioning pins provided at the ends of the actuator and the robotic arm, installation can be carried out efficiently and with precise positioning during the process of installing the first connecting part to the end of the robotic arm and the second connecting part to the end of the actuator.

[0039] This also ensures that after the installation of the connecting mechanism is completed, when the first connecting part contacts the second connecting part, each contact conductor can align and contact the corresponding compressed and stretchable conductor, thereby forming a corresponding circuit for power transmission or signal transmission.

[0040] Optionally, the first substrate of the first connecting part of the connecting mechanism is provided with two first positioning holes, which are configured to be non-centrally symmetrical with respect to the first substrate.

[0041] Alternatively, the second substrate of the second connecting part of the connecting mechanism is provided with two second positioning holes, which are configured to be non-centrally symmetrical with respect to the second substrate.

[0042] The non-centrally symmetrical arrangement of the first positioning hole relative to the first substrate and the non-centrally symmetrical arrangement of the second positioning hole relative to the second substrate is particularly advantageous when the first and / or second substrates are constructed with a centrally symmetrical geometry, such as a disk. This arrangement provides a foolproof protection when installing the first and second connecting parts. In other words, when the first and second connecting parts are installed to the ends of the robotic arm and actuator, because the positioning holes need to mate with positioning posts, and due to the aforementioned arrangement, even if the first and second substrates are constructed with, for example, circular shapes, there is only one correct orientation for the first and second connecting parts. Only under this orientation can they be installed to the ends of the robotic arm and actuator, respectively. This arrangement thus enhances the positioning guidance effect.

[0043] This disclosure also proposes a medical robot, which includes a power source, a signal source, a robotic arm, an actuator, and a connection mechanism for connecting the robotic arm to the actuator. The robotic arm is connected to the power source and the signal source. The actuator has an actuator and a signal receiver. The connection mechanism is a connection mechanism as described in any of the above embodiments.

[0044] The connection mechanism claimed in this disclosure allows for the rapid disassembly, replacement, and installation of different actuators at the end of the robotic arm of a medical robot, depending on the specific medical scenario. Furthermore, it enables rapid power transmission and signal handling between the installed actuators and the robot's power and signal sources, ensuring proper operation of the actuators without the need for additional terminal plugging / unplugging or handling of actuator wiring connections.

[0045] Optionally, at the end of the robotic arm of the medical robot according to the present disclosure, a recess is provided on its circumferential surface, i.e., the side surface, and when the actuator is connected to the robotic arm by means of a connecting mechanism, a protrusion provided on the circumferential surface at the end of the actuator engages in the recess.

[0046] Here, the actuator can only be installed into the robotic arm if the recessed portion on the circumferential surface of the robotic arm is aligned with the protruding portion on the circumferential surface of the actuator. This ensures the correct mechanical installation of the robotic arm and actuator in the medical robot. It also ensures the electrical connection between the two connecting parts of the robotic arm and actuator, achieved by the connecting mechanism.

[0047] Additional features and advantages described herein will be set forth in the detailed description below, and will be recognized by those skilled in the art as will be apparent from the following description or as a result of practice of the embodiments described herein, including the detailed description below, the claims, and the accompanying drawings. Attached Figure Description

[0048] With reference to the above objectives, the technical features of this disclosure are clearly described in the following claims, and its advantages will be apparent from the following detailed description with reference to the accompanying drawings, which illustrate preferred embodiments of this disclosure by way of example, without limiting the scope of the concept of this disclosure.

[0049] Figure 1 shows, in a perspective view, the robotic arm of the medical robot according to the present disclosure in a separated state, and the actuator to be attached to the end of the robotic arm.

[0050] Figure 2 shows, in perspective view, the connection mechanism according to the present disclosure used to connect the robotic arm and actuator shown in Figure 1;

[0051] Figure 3 shows the end effector and actuator of the robotic arm shown in Figure 1 in a detailed perspective view;

[0052] Figure 4 shows an exploded perspective view of the end of the robotic arm and the first connecting part shown in Figure 3;

[0053] Figure 5 shows an exploded perspective view of the actuator and the second connection shown in Figure 3; and

[0054] Figures 6A and 6B show the spring pins used in the connecting mechanism in its original and compressed states. Detailed Implementation

[0055] Reference will now be made in detail to various embodiments of this disclosure, examples of which are shown in the accompanying drawings and described below. Although this disclosure will be described in conjunction with exemplary embodiments, it should be understood that this specification is not intended to limit this disclosure to those exemplary embodiments. Rather, this disclosure is intended to cover not only these exemplary embodiments, but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of this disclosure as defined by the appended claims.

[0056] For ease of interpretation and precise definition in the appended claims, the terms “upper,” “lower,” “inner,” and “outer” are used to describe features with reference to their location in the exemplary embodiments shown in the figures.

[0057] Figure 1 shows a robotic arm RA of a medical robot and an actuator AC to be connected to the end of the robotic arm RA. A first connecting part 100 is provided at the end of the robotic arm RA. A second connecting part 200 is provided in the actuator AC. The first connecting part 100 and the second connecting part 200 together constitute a connecting mechanism CM for connecting the end effector AC to the robotic arm RA.

[0058] The medical robot is equipped with a power source, such as a battery (not shown), and a signal source, such as a control unit (also not shown), for sending various control signals. As shown in Figure 2, the power source and signal source in the medical robot are electrically connected to the feet F1 and F2 of the first connection part 100 via cables C1 and C2, respectively.

[0059] The actuator AC is used to perform various medical procedures, such as surgical or examination procedures. The actuator AC also includes an actuator (not shown), which performs the aforementioned operations after being electrically driven. The actuator AC also includes a signal receiver operably connected to the actuator. The signal receiver is configured to receive signals and instruct the actuator to perform corresponding operations. As shown in the figure, the signal receiver and actuator in the actuator AC are electrically connected to the legs F3 and F4 of the second connection part 200 via cables C3 and C4.

[0060] In the illustrated embodiment, feet F1 and F3 are used to connect to the power supply of the medical robot and the actuator of the actuator AC via cables C1 and C3, respectively, for power supply. Feet F2 and F4 are used to connect to the signal source of the medical robot and the signal receiver of the actuator AC via cables C2 and C4, respectively, for signal transmission. Therefore, feet F1 and F3 are larger than feet F2 and F4, and cables C1 and C3 are thicker than cables C2 and C4.

[0061] In embodiments not shown, the size of the corresponding feet of the first and second connecting parts and the thickness of the cables may differ from the design of the embodiments shown in the figures, depending on the electrical components to which the feet of the first and second connecting parts are connected via corresponding cables and the voltage they need to withstand.

[0062] When the actuator AC is connected to the robotic arm RA via the connecting mechanism CM, the actuator of the actuator AC is electrically connected to the power supply of the medical robot through the abutting contact between the first connecting part 100 and the second connecting part 200, thereby realizing the power supply to the actuator of the actuator AC. At the same time, the signal receiver of the actuator AC is also electrically connected to the signal source of the medical robot, thereby realizing the signal transmission between the medical robot and the actuator AC.

[0063] As shown in Figure 3, the robotic arm RA has a circumferential recess 401 extending axially on its circumferential side at its end. The circumferential recess 401 opens towards the end of the robotic arm RA. Correspondingly, the actuator AC has a circumferential protrusion 301 extending axially on its outer circumferential side. The circumferential recess 401 at the end of the robotic arm RA and the circumferential protrusion 301 on the outer circumferential side of the actuator AC are configured such that the actuator AC can only be connected to the end of the robotic arm RA via the connecting mechanism CM when the circumferential protrusion 301 of the actuator AC is inserted axially into the circumferential recess 401 of the robotic arm. This allows the first connecting portion 100 and the second connecting portion 200 of the connecting mechanism CM to contact and be electrically connected to each other. This enables the power and signal sources in the medical robot to be connected to the signal receiver and actuator of the actuator AC via the robotic arm RA and the connecting mechanism CM, respectively.

[0064] By utilizing the unique shape fit between the circumferential recess 401 of the robotic arm RA and the circumferential protrusion 301 of the actuator AC, the robotic arm RA and the actuator AC can be easily aligned during connection. This arrangement facilitates quick alignment of the actuator AC with the robotic arm RA for installation and replacement. Furthermore, once the robotic arm RA and the actuator AC are connected in a shape-fitting manner, the electrical interfaces between the first connecting portion 100 and the second connecting portion 200 in the connecting mechanism CM, which will be discussed below, can be aligned. Accordingly, the corresponding conductors in each connecting portion can reliably contact and conduct with each other.

[0065] With the help of a locking mechanism (not shown in the figure), after the actuator AC is connected to the end of the robotic arm RA, the locking mechanism can lock the actuator AC to the robotic arm RA. Thus, when the actuator AC moves relative to the robotic arm RA to perform a medical procedure, the actuator AC remains securely connected to the robotic arm RA and does not undergo relative movement. This also ensures stable contact between the first connecting part 100 and the second connecting part 200.

[0066] Figures 3, 4 and 5 show in detail the first connecting part 100 and the second connecting part 200 of the connecting mechanism CM.

[0067] First, turning to Figures 3 and 4, as can be seen from the figures, the first connecting portion 100 of the connecting mechanism CM has a first body 101. In the illustrated embodiment, the first body 101 is constructed as a disc-shaped CPB. Two sets of retractable conductors spaced apart from each other are provided on the first body 101, namely, first spring pins 102A to 102D for signal transmission, electrically connected to a support F2 provided on the lower side of the first body 101, and second spring pins 103A to 103H for power transmission, electrically connected to the support F1.

[0068] In the illustrated embodiment, the groups of first spring pins 102A to 102D and the groups of second spring pins 103A to 103H are arranged in 1x4 and 2x4 matrices, respectively. These two matrices are spaced apart from each other to prevent the power conductors carrying higher voltages (i.e., the second spring pins 103A to 103H) from being placed too close to other conductors (e.g., the first spring pins 102A to 102D).

[0069] In the illustrated embodiment, since the medical robot uses an 8-core network cable to transmit signals, the first spring pins 102A to 102D are arranged in a 1x4 matrix as shown in the figure. The first connecting part 100 has eight second spring pins 103A to 103H, which are redundantly configured according to the rated current of the first spring pins 102A to 102D.

[0070] Figures 6A and 6B illustrate in detail the construction of the first spring needle 102A. The first spring needle 102A includes a needle body 1021, a sleeve 1022, and a spring (not shown) sleeved on the needle body 1021. One end of the spring is connected to the needle body 1021, and the other end is fixedly connected to the first body 101. The needle body 1021 is made of a conductive material.

[0071] In the orientation shown in Figures 6A and 6B, when the actuator AC is to be installed onto the robotic arm RA, the second connecting part 200 moves toward the first connecting part 100. The second connecting part 200 moves downward until it contacts the upper end of the needle body 1021, and then continues to move downward, applying downward pressure to the needle body 1021. Under this pressure, the spring sleeved on the needle body 1021 is compressed, causing the needle body 1021 to move downward and retract into the sleeve 1022, as shown in Figure 6B.

[0072] Figure 6A shows the first spring needle 102A in its uncompressed state, at which point the first spring needle 102A has its original length. When, for example, the actuator AC is replaced or disassembled, the second connecting part 200 is disengaged from the first connecting part 100. The spring in the first spring needle 102A tends to return to its original length, and the needle body 1021 extends out of the sleeve 1022 under the restoring force of the spring, returning to the position shown in Figure 6A. At this time, the second connecting part 200 is disengaged from the first connecting part 100, and the electrical connection for signal transmission and power transmission via the connecting mechanism CM is also disconnected.

[0073] The remaining first spring pins 102B to 102D and second spring pins 103A to 103H of the first connecting portion 100 have the same structure, and will not be described in detail here for clarity. The only difference is that the first spring pins have a different original length than the second spring pins.

[0074] Specifically, within each set of spring pins, the spring pins have the same original length or uncompressed length; that is, the first spring pins 102A to 102D each have the same original length, and the second spring pins 103A to 103H each have the same original length. The original lengths of the first spring pins 102A to 102D are longer than those of the second spring pins 103A to 103H. This arrangement ensures that when the second connecting portion 200 moves toward the first connecting portion 100, the contact conductor of the second connecting portion 200 first contacts the longer first spring pins 102A to 102D in their uncompressed state. Therefore, the circuit between the first spring pins 102A to 102D and their respective contact conductors is established first, thus forming a circuit for signal transmission. In contrast, the second spring pins 103A to 103H, used for power transmission, contact the contact conductor of the second connecting portion 200 later. Consequently, the circuit between them is established later. If the second spring pins 103A to 103H first contact the corresponding contact conductor on the second connection portion 200, thereby causing the circuit for circuit transmission to be formed first, an electric arc may be generated during the later formation of the circuit for signal transmission, which may damage the circuit.

[0075] As can be seen from Figures 3 and 4, a stepped portion 109 is provided on the first body 101 of the first connecting portion 100. The first spring pins 102A to 102D and the second spring pins 103A to 103H, which are fixed to the first body 101, extend through through holes 1091 in the stepped portion 109. During the welding of the first spring pins 102A to 102D and the second spring pins 103A to 103H to the first body 101, these through holes 1091 in the stepped portion 109 can position each spring pin, preventing the welding position of the spring pins from shifting. Otherwise, such a shift would cause the spring pins in the first connecting portion 100 of the connecting mechanism MC to fail to align with the corresponding contact conductors in the second connecting portion 200 when the actuator AC is installed at the end of the robotic arm RA. This would prevent the electrical interface between the first connecting portion 100 and the second connecting portion 200 from making contact, and the electrical circuit would not be able to conduct. Ultimately, this would adversely affect the efficiency of the electrical connection achieved by the connecting mechanism MC.

[0076] Referring further to Figure 4, the outer periphery of the disc-shaped first body 101 is provided with three threaded holes 105 that are evenly spaced apart from each other in the circumferential direction. The first body 101 is detachably connected to the end of the robotic arm RA by three bolts 104 passing through the threaded holes 105 and engaging with the threaded holes 403 provided on the robotic arm RA, thereby detachably providing the first connecting part 100 at the end of the robotic arm RA.

[0077] Although the first body 101 is disc-shaped, its spring pins have a fixed connection with the electrical components at the robotic arm RA. Therefore, the first body 101 cannot be arbitrarily rotated and installed onto the end of the robotic arm RA; instead, it must adhere to a fixed connection position, particularly its relative angular position to the robotic arm RA. Accordingly, two positioning holes 108 are provided on the outer periphery of the disc-shaped first body 101. During the installation of the first body 101 onto the end of the robotic arm RA, by aligning the two positioning holes 108 with the two short posts 402 located at the end of the robotic arm RA, it can be quickly determined that the first body 101 is positioned at the correct angle, and thus it can be further fixed to the robotic arm RA. This improves the ease of installing the first connecting part 100.

[0078] As can be seen in Figure 4, the two positioning holes 108 are not centrally symmetrical.

[0079] Figures 3 and 5 also show the second connection portion 200 in detail. Corresponding to the first connection portion 100, on the side of the second body 201 of the second connection portion 200 facing the first connection portion 100, that is, on the lower side of the second body 201 in Figure 5, there are two sets of conductive pads in the form of contact conductors: first conductive pads 202A to 202D arranged in a 1x4 matrix and second conductive pads 203A to 203H arranged in a 2x4 matrix. The first conductive pads 202A to 202D are electrically connected to the support foot F4 provided on the other side of the second body 201 for transmitting signals to the signal receiver of the actuator AC. The second conductive pads 203A to 203H are electrically connected to the support foot F3 also provided on the other side of the second body 201 for transmitting power to the actuator of the actuator AC.

[0080] Similar to the first connecting part 100, three threaded holes 205, evenly spaced apart in the circumferential direction, are provided on the outer periphery of the second body 201, which is constructed in a disc shape. These holes are used for bolts 204 to pass through and engage with threaded holes 303 provided at the end of the actuator AC, so as to detachably fasten the second body 201 to the end of the actuator AC, thereby completing the detachable installation of the second connecting part 200 at the actuator AC.

[0081] To ensure that the second body 201 is installed at the end of the actuator AC with the correct relative angle, two positioning holes 208 are formed on the outer periphery of the second body 201 for aligning with the two short posts 302 provided at the end of the actuator AC for positioning. Similar to the two positioning holes 108 in the first body 101, these two positioning holes 208 are also located on the chord of the disc shape of the disc-shaped or near-disc-shaped second body 201, rather than on the diameter of the disc shape. Therefore, these two positioning holes 208 are also non-centrally symmetrical.

[0082] The following describes the installation method of the connecting mechanism CM: Align the positioning hole 108 in the first body 101 of the first connecting part 100 of the connecting mechanism CM with the short post 402 at the end of the robotic arm RA of the medical robot; fasten the first body 101 of the first connecting part 100 to the end of the robotic arm RA of the medical robot with bolts 104; align the positioning hole 208 in the second body 201 of the second connecting part 200 of the connecting mechanism CM with the short post 302 at the end of the actuator AC; fasten the second body 201 of the second connecting part 200 to the end of the actuator AC with bolts 204, thereby installing the two connecting parts of the connecting mechanism CM to the ends of the robotic arm RA and the actuator AC respectively.

[0083] When the first connecting part 100 or the second connecting part 200 malfunctions, the connecting mechanism CM can be put back into use simply by loosening the corresponding bolts 104 or 204, removing the corresponding first connecting part 100 or second connecting part 200 from the end of the robotic arm RA or the actuator AC, and replacing it with a new first connecting part or second connecting part.

[0084] The following explains the use of the connecting mechanism CM during the installation of the actuator AC onto the robotic arm RA: Align the circumferential protrusion 301 of the actuator AC to be installed with the circumferential recess 401 of the robotic arm RA, and insert the actuator AC into the robotic arm RA in this direction; as the actuator AC moves toward the end of the robotic arm RA, the first conductive pads 202A to 202D in the second connecting portion 200 of the actuator AC first align with and contact the first spring pins 102A to 102D in the first connecting portion 100 of the robotic arm RA, compressing the springs and connecting the pin bodies, thereby establishing an electrical connection for transmitting signals between the signal source of the medical robot and the signal receiver of the actuator AC; during this process, the first conductive pad 202A aligns with the first spring pin 102A, and the remaining first conductive pads align with the first spring pins one by one, that is, the first conductive pad 202B aligns with the first spring pin 102A. Alignment is performed as follows: 2B is aligned; the first conductive pad 202C is aligned with the first spring pin 102C; the first conductive pad 202D is aligned with the first spring pin 102D. As the actuator AC continues to be inserted, the second conductive pads 203A to 203H in the second connection portion 200 of the actuator AC align with and contact the first spring pins 103A to 103H in the first connection portion 100 of the robotic arm RA, compressing the springs and connecting the pin bodies. An electrical connection for transmitting power between the power supply of the medical robot and the actuator of the actuator AC is thus established. During this process, the second conductive pads and the second spring pins are aligned one by one. Finally, the circumferential protrusion 301 of the actuator AC fully fits into the circumferential recess 401 of the robotic arm RA, completing the connection between the actuator AC and the robotic arm RA. The conductors in the first connection portion 100 and the second connection portion 200 of the connecting mechanism CM maintain stable contact and conduction. If necessary, an additional locking mechanism is used to secure and lock the actuator AC to the robotic arm RA.

[0085] The following explains the removal and replacement of the actuator AC: When the actuator AC needs to be replaced for different operations, simply remove the actuator AC from the robotic arm RA along the axial direction. If the actuator AC is locked to the end of the robotic arm RA by a locking mechanism, unlock the locking mechanism first, then move the actuator AC axially away from the robotic arm RA. As the actuator AC gradually moves away from the end of the robotic arm RA, the conductive pads in the second connection 200 gradually disengage from the needle body of the spring pin in the first connection 100. Thus, the electrical connection for power transmission established by the second spring pin and the second conductive pad, and the electrical connection for signal transmission established by the first spring pin and the first conductive pad, are sequentially disconnected; until the actuator AC is completely detached from the robotic arm RA, all electrical connections achieved by the connecting mechanism CM are also disconnected. Afterwards, if a new actuator AC needs to be installed, simply repeat the steps described above for installing the actuator AC at the end of the robotic arm RA, and connect the new actuator AC to the end of the robotic arm RA using the connecting mechanism CM.

[0086] [Other Embodiments]

[0087] In the above embodiments, a first connecting portion having a spring pin as a retractable conductor is provided at the end of the robotic arm, and a second connecting portion having a conductive pad as a contact conductor is provided at the end of the actuator, but this disclosure is not limited thereto.

[0088] Specifically, the first connecting portion having a spring pin as a retractable conductor can also be located at the end of the actuator, while the second connecting portion having a conductive pad as a contact conductor can also be located at the end of the robotic arm. In both configurations, only structural protection of the spring pin is required, such as providing an additional protective cover or sleeve for the spring pin, to prevent damage to the spring pin from external forces during disengagement from the actuator at the end of the robotic arm.

[0089] In the above embodiments, the specific arrangement of the first and second spring pins was described. In the illustrated embodiment, the first spring pins for signal transmission are arranged in a 1x4 matrix, that is, there is one column of first spring pins with four rows, while the second spring pins for power transmission are arranged in a 2x4 matrix, that is, there are two columns of second spring pins, each of which has four rows.

[0090] However, this disclosure is not limited thereto. In different embodiments, depending on the type of signal being transmitted and the operating voltage of the power supply, first and second spring pins with different matrix arrangements can be provided for power transmission and signal transmission, respectively. For example, the number of first spring pins used for signal transmission can be set to be greater than the number of second spring pins used for power transmission, depending on the actual situation. For another example, the array of spring pins may not be arranged in a rectangular array as described in the above embodiments, but rather in a concentric circle arrangement, for example. Furthermore, if the rated current of the second spring pins can be satisfied, only two second spring pins can be provided for power transmission, one of which is electrically connected to the positive terminal of the power supply, and the other is electrically connected to the negative terminal of the power supply.

[0091] In the above embodiments, the contact conductor disposed in the second connection portion is implemented in the form of a conductive pad. However, this disclosure is not limited thereto. The contact conductor disposed in the second connection portion or the first connection portion may also include other forms. For example, the contact conductor is a conductive body obtained by means known in the art such as welding, riveting, fastening, material attachment, material transfer, etc., or includes a conductive surface obtained by such means known in the art.

[0092] Within the scope of this disclosure, various embodiments can be freely combined, or appropriately modified or omitted.

[0093] List of reference numerals: AC - Actuator; CM - Connecting mechanism; C1, C2, C3, C4 - Cables; F1, F2, F3, F4 - Support leg; RA - Robotic arm; 100 - First connecting part; 101 - First body; 102A, 102B, 102C, 102D - First spring pin; 1021 - Pin body; 1022 - Sleeve; 103A, 103B, 103C, 103D, 103E, 103F, 103G, 103H - Second spring pin; 104 - Bolt; 105 - Threaded hole; 108 - Positioning hole; 109 - Stepped part; 1091 - Through hole; 200 - Second connecting part; 201 - Second body; 202A, 202B, 202C, 202D - First conductive pad; 203A, 203B, 203C, 203D, 203E, 203F, 203G, 203H - Second conductive pad; 204 - Bolt; 205 - ... Threaded hole 208, positioning hole 301, circumferential protrusion 302, short post 303, threaded hole 401, circumferential recess 402, short post 403, threaded hole.

Claims

1. A connection mechanism for connecting a robotic arm and an actuator, wherein the robotic arm is connected to a power source and a signal source, and the actuator has an actuator and a signal receiver. Its features are, The connecting mechanism includes: A first connecting portion is disposed at the end of the robotic arm, and the first connecting portion is electrically connected to the power supply and the signal source, respectively. A second connecting portion is disposed at the end of the actuator, and the second connecting portion is electrically connected to the actuator and the signal receiver respectively. Wherein, one of the first connecting portion and the second connecting portion includes at least two retractable conductors, and the other of the first connecting portion and the second connecting portion includes at least two contact conductors. When the actuator is installed at the end of the robotic arm, the at least two retractable conductors are compressed and abut against the at least two contact conductors, so that the power supply can be electrically connected to the actuator of the actuator, and the signal source can be electrically connected to the signal receiver of the actuator.

2. The connecting mechanism as described in claim 1, characterized in that, The first connection portion includes at least two retractable conductors, including a first retractable conductor and a second retractable conductor. The first retractable conductor is electrically connected to the power source, and the second retractable conductor is electrically connected to the signal source. The second connection portion includes at least two contact conductors, namely a first contact conductor and a second contact conductor. The first contact conductor is electrically connected to the actuator of the actuator, while the second contact conductor is electrically connected to the signal receiver of the actuator. When the actuator is installed at the end of the robotic arm, the first retractable conductor is compressed and contacts the first contact conductor, while the second retractable conductor is compressed and contacts the second contact conductor.

3. The attachment mechanism of claim 2, wherein, When uncompressed, the length of the first stretchable conductor is shorter than the length of the second stretchable conductor.

4. The attachment mechanism of claim 3, wherein, The first retractable conductor and the second retractable conductor are arranged at a distance apart.

5. The attachment mechanism of claim 4, wherein, The retractable conductor includes a sleeve, a conductive needle, and a spring, with the conductive needle retractably disposed within the sleeve via the spring.

6. The attachment mechanism of claim 5, wherein, The contact conductor includes a conductive body or conductive surface obtained by any of the following methods: fastening, material attachment, and material conversion.

7. The attachment mechanism of claim 5, wherein, The contact conductor includes a conductive body or conductive surface obtained by riveting or welding.

8. The attachment mechanism of claim 5, wherein, The contact conductor is constructed as a conductive pad.

9. The attachment mechanism of claim 6, wherein, The first connecting part is detachably mounted at the end of the robotic arm, while the second connecting part is detachably mounted at the end of the actuator.

10. The connection mechanism of any one of claims 1 to 9, wherein, The connecting mechanism also has a locking mechanism for connecting and locking the first connecting part and the second connecting part.

11. A connection mechanism as claimed in any one of claims 4 to 9, characterized in that The first connecting portion includes a first substrate, and the first retractable conductor and the second retractable conductor are disposed on the first substrate. The first connecting portion also includes a stepped portion disposed on the first substrate, the stepped portion having at least two through holes through which the first retractable conductor and the second retractable conductor respectively extend.

12. The connection mechanism of any one of claims 1 to 9, wherein, The first connecting portion includes a first substrate, the at least two retractable conductors are disposed on the first substrate, and the first substrate also has at least one first positioning hole. The robotic arm has at least one first positioning post at its end. When the first connecting portion is installed at the end of the robotic arm, the first positioning post and the first positioning hole are respectively aligned, and / or The second connecting part includes a second substrate, the at least two contact conductors are disposed on the second substrate, and the second substrate is also provided with at least one second positioning hole, while the actuator is provided with at least one second positioning post at its end. When the second connecting part is installed at the end of the actuator, the second positioning post and the second positioning hole are respectively aligned.

13. The connecting mechanism as described in claim 12, characterized in that, The first substrate of the first connecting portion is provided with two first positioning holes, the two first positioning holes being configured to be non-centrally symmetrical with respect to the first substrate, and / or The second substrate of the second connecting part is provided with two second positioning holes, and the two second positioning holes are configured to be non-centrally symmetrical with respect to the second substrate.

14. A medical robot, characterized in that, The medical robot includes a power source, a signal source, a robotic arm, an actuator, and a connection mechanism for connecting the robotic arm to the actuator. The robotic arm is connected to the power supply and the signal source. The actuator has an actuator and a signal receiver, and The connecting mechanism is the connecting mechanism as described in any one of claims 1 to 13.

15. The medical robot as described in claim 14, characterized in that, The robotic arm has a recessed portion on the circumferential surface of its end. When the actuator is connected to the robotic arm via the connecting mechanism, the protrusion on the circumferential surface of the end of the actuator engages in the recessed portion.

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