CN116269809A - Cable embedded type connecting mechanism, surgical robot and cable layout method - Google Patents

Abstract

The invention relates to a cable embedded connecting mechanism, an operation robot and a cable laying method. The surgical robot includes a connection mechanism to which the cable routing method is applied. The connecting mechanism comprises a driving module, a driver, a connector and at least two mechanical bodies which are sequentially connected, wherein a transmission cable is embedded in each mechanical body, the driving module is arranged between two adjacent mechanical bodies, the driver is arranged in the mechanical bodies and is in communication connection with the driving module through the transmission cable, the connector penetrates through the driving module and comprises a first sub-connector and a second sub-connector which are detachably connected, the second sub-connector is rotatably connected with the first sub-connector, and one of the mechanical bodies can rotate relative to the adjacent mechanical body. The connector standardizes the movement track of the cable, avoids the cable from being worn when the mechanical structure moves, and also avoids the cable from irregularly moving so as to reduce the service life of the cable.

Description

Cable embedded type connecting mechanism, surgical robot and cable layout method

Technical Field

The invention relates to the technical field of medical instruments, in particular to a cable embedded connecting mechanism, a surgical robot and a cable laying method.

Background

The surgical robot platform is a master-slave type advanced robot platform for realizing complex surgical operations. The platform can be simply divided into three parts of a main-end operation control platform, an operation execution platform and an endoscope image system. Wherein the surgical control platform and the surgical execution platform each have a plurality of mechanical bodies (e.g., robotic arms) rotatably connected to each other, respectively, and adjacent mechanical bodies rotate about joints. In the operation process, a doctor of a main knife can operate the mechanical arm of the operation control platform through a series of gesture actions on the operation control platform according to the operation image seen by the endoscope image system, so that the mechanical arm action of the operation executing mechanism is controlled, and the operation of cutting, suturing, knotting and the like is completed by the held surgical instrument.

In general, signal transmission needs to be achieved between mechanical bodies of the surgical robot by laying transmission cables, so that the mechanical bodies can normally act, and therefore, the transmission cables laid on the mechanical bodies are key components of the surgical robot. The cable layout of the mechanical body in the existing surgical robot platform is usually laid by means of an arm outer wiring, a wire space wiring reserved in the mechanical body, a slip ring wiring, a moving spiral wire wiring or a direct connection wire, and the like, and the layout modes have defects, for example, the mode of the arm outer wiring affects the beauty and the maneuverability of the mechanical body; in the mode of reserving space in the machine body for wiring, cables need to be bundled through sleeves, so that the actual required space is increased, the process steps and the difficulty are increased, the cables are easily damaged by a machine structure, meanwhile, the cables need to be reserved in advance, and the occupied space is large; the slip ring wiring mode is limited by the influence of power transmission, only smaller power can be transmitted, and the application range is smaller; the moving spiral line wiring mode occupies extremely large space, which is about tens of times of the wiring diameter; in the direct wiring mode, the joint of two adjacent mechanical bodies needs to have enough open space, so that the cable can be exposed. Thus, how to route the cables to prevent the cables from affecting the rotational range of the mechanical body and to prevent premature failure of the cables is a challenge in surgical robot design.

Disclosure of Invention

In view of the above, it is necessary to provide a cable-embedded connection mechanism, a surgical robot including the connection mechanism, and a cable laying method for the connection mechanism, which address the above problems of the conventional surgical robot platform in which the mechanical body is laid with cables.

According to one aspect of the present application, there is provided a cable-embedded connection mechanism, comprising:

at least two mechanical bodies that connect gradually, every mechanical body's inside inlays has transmission cable, and two adjacent mechanical bodies form a connecting unit, connecting unit still includes:

the driving module is arranged between two adjacent mechanical bodies, the two adjacent mechanical bodies are a first mechanical body and a second mechanical body respectively, and the driving module is used for driving the second mechanical body to rotate around an axis relative to the first mechanical body;

the driver is arranged in any one of the two adjacent machine bodies and is connected with the driving module in a communication way through the transmission cable, and the driver is used for processing working signals and feeding the working signals back to the driving module through the transmission cable; and

the connector is arranged in the driving module in a penetrating mode and comprises a first sub-connector and a second sub-connector which are detachably connected with each other, one end of the first sub-connector is fixedly connected with the driving module, and the other end of the first sub-connector is connected with the transmission cable in the first mechanical body; one end of the second sub-connector is rotatably connected to the first sub-connector, the other end of the second sub-connector is connected to the transmission cable in the second mechanical body, and the second sub-connector and the second mechanical body can rotate together around the axis relative to the first sub-connector and the first mechanical body.

In one embodiment, the first sub-connector includes a first harness adapter, a socket assembly and a plug connected in sequence, one end of the first harness adapter is detachably connected with the transmission cable in one of the mechanical bodies, the other end of the first harness adapter is detachably connected with the socket assembly, one end of the socket assembly away from the first harness adapter is detachably and fixedly connected with the plug, and one end of the plug away from the socket assembly is rotatably connected with the second sub-connector.

In one embodiment, the second sub-connector includes an outgoing line assembly and a second wire harness adapter connected in sequence, one end of the outgoing line assembly is rotatably connected to the first sub-connector, the other end of the outgoing line assembly is detachably connected to the second wire harness adapter, and one end of the second wire harness adapter, which is far away from the outgoing line assembly, is detachably connected to the transmission cable in the second mechanical body.

In one embodiment, two sets of transmission cables are embedded in each mechanical body, the two sets of transmission cables are arranged at intervals, one set of transmission cables is in communication connection with the other set of transmission cables through the driver, one set of transmission cables is detachably connected with the first sub-connector at one end, away from the driver, of the transmission cables, and one end, away from the driver, of the other set of transmission cables is detachably connected with the adjacent mechanical body in communication.

In one embodiment, the mechanical body is provided with a plurality of first contacts arranged at intervals, the driver is provided with a plurality of second contacts arranged at intervals, each second contact is abutted to a corresponding first contact, and the two groups of transmission cables are respectively connected with the first contacts so as to be in communication connection with the driver through the first contacts.

In one embodiment, each of the machine bodies is provided with a mounting groove, the first contact is arranged on the bottom wall of the mounting groove, and the driver is accommodated in the mounting groove.

In one embodiment, each set of the transmission cables includes a first transmission cable for transmitting an optical signal and/or an electrical signal and/or a second transmission cable for transmitting an electrical signal.

In one embodiment, the first transmission cable and the second transmission cable respectively comprise a wire core and an insulating layer wrapping the periphery of the wire core, the machine body is provided with a threading hole penetrating through the machine body, and the insulating layer is arranged in the threading hole in a penetrating mode.

In one embodiment, the connecting mechanism is provided with a signal input end and a signal output end which are oppositely arranged, the signal input end is arranged on the mechanical body positioned at the head end, and the signal output end is arranged on the mechanical body positioned at the tail end;

the working signal is input from the signal input end and is output to the signal output end through the transmission cable.

According to another aspect of the present application, there is provided a surgical robot comprising a connection mechanism as described above.

According to still another aspect of the present application, there is provided a cable routing method, applied to the connection mechanism as described above, characterized by comprising the steps of:

a threading hole for embedding a transmission cable is formed in each mechanical body;

the transmission cable is arranged in the threading hole in a penetrating mode and is connected with a driver;

installing a first sub-connector, wherein two ends of the first sub-connector are respectively connected with a driving module and the transmission cable in the first mechanical body;

and installing a second sub-connector, wherein one end of the second sub-connector is rotatably connected with the first sub-connector, and the other end of the second sub-connector is connected with the transmission cable of the second mechanical body.

In one embodiment, the step of threading the transmission cable through the threading hole and connecting the transmission cable to the driver includes:

covering an insulating layer on the inner wall of the threading hole;

penetrating a wire core into the insulating layer to enable the insulating layer to wrap the wire core;

connecting the wire core with the driver; or (b)

The step of threading the transmission cable into the threading hole comprises the following steps:

wrapping the wire core with an insulating layer to manufacture the transmission cable;

the transmission cable is arranged in the threading hole in a penetrating mode and is connected with the driver.

In one embodiment, the step of installing the first sub-connector so that two ends of the first sub-connector are respectively connected to a driving module and the transmission cable in one of the mechanical bodies includes:

connecting a first wire harness adapter to the transmission cable within the first mechanical body;

inserting one end of the socket assembly into the driving module, and connecting the other end of the socket assembly with one end, far away from the transmission cable, of the first wire harness adapter;

and the plug is inserted into the driving module and is connected with one end of the socket assembly, which is inserted into the driving module.

In one embodiment, the step of rotatably connecting one end of the second sub-connector to the first sub-connector and the other end to the transmission cable in the second mechanical body includes:

connecting a second harness adapter to the transmission cable within the second mechanical body;

rotatably connecting one end of an outlet assembly with one end of the plug away from the socket assembly;

and connecting the other end of the outgoing line assembly with one end of the second wire harness adapter, which is far away from the transmission cable.

According to the cable embedded type connecting mechanism, the surgical robot and the cable layout method, the transmission cables are embedded in each mechanical body, the driving module is arranged between two adjacent mechanical bodies, and the connector is arranged in the driving module in a penetrating mode. The connector comprises a first sub-connector and a second sub-connector which are detachably connected with each other, the two adjacent mechanical bodies are the first mechanical body and the second mechanical body respectively, one end of the first sub-connector is connected with a transmission cable embedded in the first mechanical body, the other end of the first sub-connector is fixedly connected with the driving module, one end of the second sub-connector is rotatably connected with the first sub-connector, one end of the second sub-connector is connected with the transmission cable in the second mechanical body, and the second sub-connector can rotate 360 degrees around an axis together with the second mechanical body relative to the first sub-connector and the first mechanical body, so that the connector isolates the complex structure surface of the driving module, the movement track of the cable is standardized, the cable is prevented from being worn during movement, and the irregular movement of the cable is prevented from being caused, so that the service life of the cable is shortened.

In addition, the driver for processing the working signal is also arranged in the mechanical body and is connected to the driving module through the transmission cable in a communication way, so that the transmission cable and the driver are directly arranged in the mechanical body, the cable demand space is greatly reduced, the space utilization rate is improved, the whole equipment volume of the surgical robot is reduced, the process steps and the difficulty of cable bundling and arrangement are reduced, the assembly difficulty of the connecting mechanism is reduced, meanwhile, the cable can be prevented from being rubbed by the mechanical structure, and the possibility of cable damage is reduced.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only one embodiment of the invention, and that other embodiments of the drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a surgical robot according to an embodiment of the present invention when performing a surgery;

FIG. 2 is a schematic view of a surgical execution platform provided by an embodiment of the present invention;

FIG. 3 is a schematic view of a connection mechanism provided in an embodiment of the present invention mounted on a surgical execution platform;

FIG. 4 is a schematic view of a connection mechanism provided in an embodiment of the present invention mounted on a surgical control platform;

FIG. 5 is an enlarged schematic view of area A of FIG. 4;

FIG. 6 is a schematic diagram of a connection mechanism according to an embodiment of the present invention;

FIG. 7 is an exploded view of a connection mechanism provided by an embodiment of the present invention;

FIG. 8 is a perspective view of a machine body provided by an embodiment of the present invention;

FIG. 9 is an enlarged schematic view of area B of FIG. 8;

FIG. 10 is an isometric view of a machine body according to an embodiment of the present disclosure;

FIG. 11 is a cross-sectional view taken along line C-C of FIG. 10;

FIG. 12 is an enlarged schematic view of area E of FIG. 11;

FIG. 13 is a schematic cross-sectional view of a mounting slot in a machine body provided by an embodiment of the present invention;

FIG. 14 is an isometric view of a driver provided by an embodiment of the present invention;

FIG. 15 is a schematic cross-sectional view of a driver provided in an embodiment of the present invention mounted in a mounting slot;

FIG. 16 is a schematic cross-sectional view of a connector according to an embodiment of the present invention connecting two adjacent mechanical bodies;

FIG. 17 is an enlarged schematic view of region D of FIG. 10;

FIG. 18 is an isometric view of a first sub-connector provided by an embodiment of the present invention;

FIG. 19 is an isometric view of a second sub-connector provided by an embodiment of the present invention;

FIG. 20 is a schematic view of a second sub-connector provided in an embodiment of the present invention installed in a connection mechanism;

FIG. 21 is a schematic view illustrating a rotation of a second machine body relative to a first machine body according to an embodiment of the present invention;

FIG. 22 is an enlarged schematic view of area F of FIG. 21;

FIG. 23 is an electrical schematic of a connection mechanism provided by an embodiment of the present invention;

FIG. 24 is a step diagram of a cable routing method according to an embodiment of the present invention;

fig. 25 is a schematic view showing the second sub-connector detached from the connection mechanism for replacement according to the embodiment of the present invention.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less in horizontal height than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

The embodiment of the invention provides a cable embedded connecting mechanism, a surgical robot and a cable layout method. The surgical robot comprises a surgical control platform and a surgical execution platform, wherein the surgical control platform and the surgical execution platform comprise cable-embedded connecting mechanisms (hereinafter referred to as connecting mechanisms) which are used for enabling doctors to perform complex surgical operations on patients, the surgical control platform is used for controlling the surgical execution mechanism of the surgical robot system to hold surgical instruments to perform specific surgical operations, and the connecting mechanisms are used for controlling the doctors in the surgical control platform and for holding the surgical instruments in the surgical execution platform to transmit power so as to complete the complex surgical operations.

The following describes, as an example, a mechanical arm mounted on a surgical execution platform in a surgical robot, a cable-embedded connection mechanism, a structure of the surgical robot, and steps of a cable laying method. The present embodiment is only used as an example and does not limit the technical scope of the present application. It will be appreciated that in other embodiments, the connection mechanism of the present application is not limited to being a connection mechanism for a robotic arm in a surgical execution platform, but may be a connection mechanism for a robotic arm in a surgical control platform, may be a connection mechanism for other moving parts in a surgical robot, may be a connection mechanism for any other mechanical device, etc., and is not limited herein.

The following describes preferred embodiments of the cable-embedded connection mechanism, surgical robot and cable routing method provided in the present application with reference to fig. 1 to 25.

As shown in fig. 1, a surgical robot 1 includes a surgical execution platform 20, a surgical control platform 10, and an image platform 30. The surgical control platform 10 and the image platform 30 are respectively connected with the surgical execution platform 20 in a communication way, the surgical execution platform 20 is used as the slave end of the surgical robot 1 and is provided with a surgical execution mechanism, and the surgical execution mechanism is used for replacing a doctor to execute surgical operation on a patient on a sickbed; the surgical control platform 10 is used as a master end of the surgical robot 1 and is used for controlling a surgical execution mechanism positioned at a slave end to execute a surgical operation according to a surgical image seen by the image platform 30.

The surgical control platform 10 and the surgical execution platform 20 may have one or more connection mechanisms 200, respectively, as shown in fig. 2 to 4, and the connection mechanisms 200 may be mechanical arms, as shown in fig. 2 and 3, where the connection mechanisms 200 of the surgical execution platform 20 are used for mounting surgical instruments or endoscopes on the distal end, and a doctor manipulates the connection mechanisms 200 on the surgical control platform 10 as shown in fig. 4 and 5 to control the connection mechanisms 200 of the surgical execution platform 20 to hold the surgical instruments for cutting, clamping, turning, and other actions to implement a surgical operation.

In some embodiments, as shown in fig. 6 to 8, the connection mechanism 200 is a cable-embedded connection mechanism 200, and includes at least two rotatably connected machine bodies 210, wherein two adjacent machine bodies 210 form a connection unit, and the connection unit further includes a driving module 220, a driver 230, and a connector 240. The embodiment shown in the figures shows a connection unit formed by two interconnected machine bodies 210, each machine body 210 may be in the form of an elongated mechanical arm as shown in the figures, and a transmission cable 250 is embedded inside each machine body 210. The connection mechanism 200 has a signal input end 201 and a signal output end 202 at opposite ends, the signal input end 201 is disposed on the machine body 210 at the head end, the signal output end 202 is disposed on the machine body 210 at the tail end, and a working signal is input from the signal input end 201 and output to the signal output end 202 through the transmission cable 250. Preferably, the material of each mechanical body 210 is a metal material, so as to perform an insulating function on the transmission cable 250 embedded therein.

The driving module 220 is disposed between two adjacent machine bodies 210 to connect the two adjacent machine bodies 210 together, the driving module 220 may be a driving source such as a motor module, the two adjacent machine bodies 210 are a first machine body 215 and a second machine body 216, and the driving module 220 is used for driving the second machine body 216 to rotate around an axis relative to the first machine body 215. The driver 230 is disposed in any one of the two adjacent machine bodies 210 and is communicatively connected to the driving module 220 through a transmission cable 250, so as to process the working signal, and feed back the working signal to the driving module 220 through the transmission cable 250, thereby controlling the operation of the driving module 220. The connector 240 is disposed between two adjacent machine bodies 210 and is disposed through the driving module 220, and is used for connecting the transmission cables 250 in the two adjacent machine bodies 210, so that the transmission cables 250 in the two adjacent machine bodies 210 can be connected with each other.

Specifically, as shown in fig. 8 to 12, the transmission cables 250 in each machine body 210 have two sets, the two sets of transmission cables 250 are embedded in the machine body 210 and are arranged at intervals, one end of each set of transmission cables 250 extends out of the machine body 210 and is connected to an external cable by a third cable adapter 260, and the other end is connected to the driver 230. Alternatively, as shown in fig. 9 and 11, each set of transmission cables 250 includes a first transmission cable 251 and a second transmission cable 252 disposed in parallel, the operation signal includes an optical signal and an electrical signal, the first transmission cable 251 is used to transmit the optical signal, and the second transmission cable 252 is used to transmit the electrical signal. The first transmission cable 251 and the second transmission cable 252 include a wire core 2522 and an insulating layer 2521 wrapped around the outer circumference of the wire core 2522, respectively. The first transmission cable 251 and the second transmission cable 252 may have a plurality of transmission cables, for example, as shown in fig. 12, two-core power lines may be divided into two by category, six-core signal lines may be provided, and any number may be provided.

In one embodiment, the machine body 210 is a hollow elongated arm-shaped housing structure, a solid portion of the hollow elongated arm-shaped housing structure encloses a cavity 211 inside the machine body 210, and the solid portion is provided with a threading hole penetrating the machine body 210, the threading hole extends from one end of the machine body 210 along its own length direction to the other end, and the transmission cable 250 is threaded through the threading hole, so that the insulation layer 2521 of the transmission cable 250 separates the wire core 2522 from the solid portion of the machine body 210. Preferably, the diameter of the threading hole is equal to the sum of the thickness of the insulating layer 2521 and the diameter of the wire core 2522, so that the transmission cable 250 threaded through the machine body 210 can be fixed so as not to move freely in the threading hole.

The insulating layer 2521 may be a ceramic hard material or a rubber soft material, as long as it can be insulated. It is understood that the insulating layer 2521 may be disposed on a sidewall of the threading hole, or may be sleeved on an outer peripheral surface of the core 2522, and the insulating layer 2521 may be wrapped around the outer periphery of the core 2522 when the core 2522 is disposed on the solid portion of the machine body 210 in any manner.

Preferably, as shown in fig. 10 and 13, a mounting groove 212 is formed on a side wall of the cavity 211, a plurality of first contacts 213 protruding and spaced from each other are embedded in a bottom wall of the mounting groove 212, two sets of transmission cables 250 are respectively connected to the first contacts 213, specifically, one end of each set of transmission cables 250, which is a first transmission cable 251 and a second transmission cable 252, is connected to the first contacts 213, and as shown in fig. 14 and 15, one side of the driver 230 is provided with a plurality of second contacts 231 protruding and spaced from each other, and each second contact 231 abuts against a corresponding one of the first contacts 213, so that the driver 230 is engaged with the first contacts 213 in the machine body 210 through its own second contact 231 to transmit signals.

More preferably, as shown in fig. 7 and 15, a cover plate 214 is further disposed in the machine body 210, when the driver 230 is accommodated in the mounting groove 212, the cover plate 214 covers the opening of the mounting groove 212, so that the cover plate 214 seals the opening of the mounting groove 212, and the driver 230 is firmly limited in the mounting groove 212, so that the first contact 213 and the second contact 231 can be firmly abutted, and poor contact is avoided.

In this way, the transmission cable 250 is embedded in the solid portion of the machine body 210, the driver 230 is arranged in the mounting groove 212, the opening of the mounting groove 212 is closed by the cover plate 214, and the transmission cable 250 penetrating through the machine body 210 is connected with the driver 230 in a conductive manner by means of contact joint. Besides, the transmission cable 250 of the connection mechanism 200 has the advantages that the end part of the transmission cable 250 extends out of the mechanical body 210, other parts are wires inside the structure, the wires are invisible and maintenance is not needed, so that the required space of the transmission cable 250 is greatly reduced, the space utilization rate is improved, the whole equipment volume of the surgical robot 1 is reduced, the process steps and the difficulty of bundling and laying the transmission cable 250 are reduced, meanwhile, the transmission cable 250 can be prevented from being rubbed by the mechanical structure, and the possibility of damaging the transmission cable 250 is reduced.

In some embodiments, as shown in fig. 16, the connector 240 has a "Z" shape and includes a first sub-connector 241 and a second sub-connector 242 detachably connected to each other. One end of the first sub-connector 241 is inserted into the central hole of the driving module 220 and is fixedly connected to the driving module 220, and the other end is connected to the transmission cable 250 in the first mechanical body 215. One end of the second sub-connector 242 is rotatably inserted into one end of the driving module 220, and the other end is connected to one end of the transmission cable 250 in the second machine body 216. The second sub-connector 242 is capable of 360 ° rotation with the second machine body 216 about an axis relative to the first sub-connector 241 and the first machine body 215 under the drive of the drive module 220.

In one embodiment, as shown in connection with fig. 16 and 17, the first sub-connector 241 includes a first harness adaptor 2411, a receptacle assembly 2412a, and a plug 2413 connected in sequence, wherein the receptacle assembly 2412a is in an "L" shaped tubular configuration and the plug 2413 is in a cylindrical tubular configuration. The first harness adapter 2411 has a quick-release function, one end of which is customized according to the number of wire cores 2522 and the diameter of the wire cores 2522 in the transmission cable 250, and is detachably connected to the transmission cable 250 in the first machine body 215, specifically, to an end of the transmission cable 250 protruding from the first machine body 215. The other end of the first wire harness adapter 2411 is detachably connected to one end of the receptacle assembly 2412a, the end of the receptacle assembly 2412a remote from the first wire harness adapter 2411 is detachably fixedly connected to one end of the plug 2413, and the end of the plug 2413 remote from the receptacle assembly 2412a is rotatably connected to the second sub-connector 242.

In a specific embodiment, as shown in fig. 18 and 19, the socket assembly 2412a includes a socket 2412a and a first connection wire 2412b connected in sequence, one end of the socket 2412a is coaxially inserted into the central hole of the driving module 220, the end has a plurality of connection holes, one end of the plug 2413 adjacent to the socket 2412a is provided with a plurality of plug terminals 2412c, such that the end of the socket 2412a is detachably coaxially connected to the plug 2413 through the plug terminals 2412c provided at the end of the plug 2413, and the plug 2413 is coaxially received in the central hole of the driving module 220, and the other end of the socket 2412a is detachably connected to the first harness adaptor 2411 through the first connection wire 2412 b.

As shown in fig. 19 and 20, the second sub-connector 242 includes an outlet assembly 2421 and a second harness adaptor 2422 connected in sequence, similar to the first sub-connector 241 in structure, and the second harness adaptor 2422 has the same structure and shape as the first harness adaptor 2411 and has a quick-release function. One end of the outlet assembly 2421 is rotatably connected to the plug 2413 of the first sub-connector 241, the other end of the outlet assembly 2421 is detachably connected to one end of the second wire harness adaptor 2422, and one end of the second wire harness adaptor 2422 remote from the outlet assembly 2421 is detachably connected to the transmission cable 250 in the second machine body 216, and in particular, is connected to one end of the transmission cable 250 extending out of the second machine body 216.

Specifically, the outlet assembly 2421 includes an outlet pipe 2421a and a second connection wire 2421b, the outlet pipe 2421a is also in an "L" shape, one end of the outlet pipe 2421a is inserted into the driving module 220 and is detachably and coaxially connected to the socket 2412a, and the central axes of the outlet pipe 2421a and the socket 2412a are coincident with the axis of rotation of the second mechanical body 216 around the first mechanical body 215, so that the outlet pipe 2421a is in an antisymmetric shape with respect to the socket 2412a when the first sub-connector 241 is mounted on the second sub-connector 242. The other end of the outlet pipe 2421a is connected to a second connection wire 2421b, and is connected to a second harness adaptor 2422 through the second connection wire 2421 b.

It is understood that the shape of the connector 240 is not limited, and the remainder can be any shape, except that the central axes of the outlet 2421a and the socket 2412a must be coincident with the axis of rotation of the second machine body 216 about the first machine body 215.

Thus, as shown in fig. 21 and 22, when the second machine body 216 rotates relative to the first machine body 215, the second sub-connector 242 can rotate along with the second machine body 216 relative to the first machine body 215 and the first sub-connector 241 because the outlet assembly 2421 of the second sub-connector 242 of the connector 240 is rotatably mounted on the plug 2413 of the first sub-connector 241 and the plug 2413 is fixedly coupled to the socket assembly 2412a of the first sub-connector 241. For example, when the second machine body 216 rotates 30 ° about the axis relative to the first machine body 215, the first sub-connector 241 is stationary relative to the first machine body 215, the second sub-connector 242 is stationary relative to the second machine body 216, and the second sub-connector 242 rotates 30 ° about the axis relative to the first sub-connector 241 along with the second machine body 216.

In this way, by arranging the tubular connector 240 to connect the transmission cables 250 of two adjacent mechanical bodies 210, the second sub-connector 242 and the second mechanical body 216 can rotate 360 ° around the axis relative to the first sub-connector 241 and the first mechanical body 215, so that the connector 240 isolates the complex structural surface of the driving module 220, the movement track of the transmission cables 250 is standardized, the transmission cables 250 are prevented from being worn during movement of the mechanical structure, and the irregular movement of the transmission cables 250 is prevented from reducing the service life of the transmission cables 250. And because the second sub-connector 242 is detachably connected to the first sub-connector 241 and the socket assembly 2412a and the plug 2413 of the first self-connector 240 are also detachably connected, both the outlet assembly 2421 of the second sub-connector 242 and the plug 2413 of the first sub-connector 241 can be life-span pieces, which can be easily removed for replacement after a period of use.

Fig. 23 is an electrical schematic diagram of the connection mechanism 200 provided in the present application, a working signal enters the first transmission cable 251 in the first mechanical body 215 from the signal input end 201 of the connection mechanism 200 through the third cable adapter 260 installed in the signal input end 201, is transmitted to the driver 230 through the first transmission cable 251, is processed by the driver 230, then reaches the first sub-connector 241 of the first mechanical body 215 at the end far away from the signal input end 201 through the second transmission cable 252 in the first mechanical body 215, sequentially reaches the second sub-connector 242 through the first cable adapter 2411, the first connection cable 2412b, the socket 2412a and the plug 2413 of the first sub-connector 241, then sequentially reaches the second mechanical body 216 through the outlet pipe 2421a, the second connection cable 2421b and the second cable adapter 2422 of the second sub-connector 242, and similarly, the working signal is transmitted in the transmission cable 250 in the second mechanical body 216 and processed by the driver 230 in the second mechanical body 216, and then is output from the second mechanical body 202 to the output device.

The steps of the cable laying method of the above-described connection mechanism 200 will be described with reference to fig. 24 and the previous drawings.

S1, a threading hole for embedding the transmission cable 250 is formed in each machine body 210. The threading holes penetrate through the opposite ends of the machine body 210 in the length direction, and the aperture, the number and the arrangement of the threading holes are obtained according to the requirements. Preferably, a threading hole may be formed in the thicker wall of the machine body 210, and the diameter of the threading hole is equal to the outer diameter of the transmission cable 250.

S2, the transmission cable 250 is arranged in the threading hole in a penetrating mode and is connected to the driver 230. Specifically, in this step, the following steps are included:

the inner wall of the threading hole is covered with an insulating layer 2521, then a wire core 2522 is threaded through the insulating layer 2521, the insulating layer 2521 wraps the wire core 2522, and then the wire core 2522 is connected with the driver 230. Alternatively, the insulation layer 2521 may be any material that performs an insulating function to separate the core 2522 from the solid portion of the machine body 210, as described above, so as to form the transmission cable 250, and then the transmission cable 250 is threaded through the threaded hole. Then, one ends of the first transmission cable 251 and the second transmission cable 252 are respectively connected to the first contact 213 pre-embedded in the machine body 210, and when the driver 230 is installed in the installation slot 212 formed in the machine body 210, the second contact 231 of the driver 230 abuts against the first contact 213, so that the transmission cable 250 and the driver 230 can be connected in a conductive manner.

S3, the first sub-connector 241 is installed, so that two ends of the first sub-connector 241 are respectively connected with the driving module 220 and the transmission cable 250 in the first mechanical body 215. In this step, the first wire harness adapter 2411 is first connected to the transmission cable 250 in the first mechanical body 215, specifically connected to an end of the transmission cable 250 extending out of the first mechanical body 215; then, one end of the socket assembly 2412a (i.e., the end of the socket 2412a away from the first connection wire 2412 b) is inserted and fixed in the through hole of the driving module 220 from one side of the driving module 220, and the other end of the socket assembly 2412a (i.e., the end of the first connection wire 2412b away from the socket 2412 a) is connected to the end of the first wire harness adapter 2411 away from the transmission cable 250; then, one end of the plug 2413 is inserted into the through hole of the driving module 220 from the opposite side of the driving module 220, and is coaxially connected to the socket assembly 2412a to be inserted into one end of the driving module 220, thereby completing the installation of the first sub-connector 241.

S4, the second sub-connector 242 is mounted, such that one end of the second sub-connector 242 is rotatably connected to the first sub-connector 241, and the other end is connected to the transmission cable 250 of the second machine body 216. This step is similar to the previous step in that the second wire harness adaptor 2422 is first connected to the transmission cable 250 within the second machine body 216, then one end of the outlet assembly 2421 (i.e., the end of the outlet pipe 2421a remote from the second connection wire 2421 b) is rotatably and coaxially connected to the end of the plug 2413 remote from the socket assembly 2412a, and the other end of the outlet assembly 2421 (i.e., the end of the second connection wire 2421b remote from the outlet pipe 2421 a) is connected to the end of the second wire harness adaptor 2422 remote from the transmission cable 250. Thereby, the installation of the connector 240 and the cabling of the connection mechanism 200 are finally completed, so that the two adjacent machine bodies 210 can be mutually conducted.

In addition, in daily use, to ensure reliable operation of the machine body 210 during surgery, the connection mechanism 200 needs to be maintained periodically, and the components that reach the life should be replaced in time. Before replacement, the maintenance personnel obtains a maintenance task list after checking a maintenance manual, wherein the maintenance task list lists all work to be completed for maintenance, and the work comprises the following steps: the parts of the machine body 210 that are about to reach life are replaced and new parts (including a new second sub-connector 242 and a new plug 2413) are retrieved from the back-up magazine. At the time of replacement, as shown in conjunction with fig. 20 and 24, the maintenance personnel opens the housing of the machine body 210; disconnecting the plug 2413 of the second sub-connector 242 and disconnecting the second harness adaptor 2422, removing the old second sub-connector 242; installing a new second sub-connector 242; the function of the power-on detection machine body 210; a housing to which the machine body 210 is mounted; filling in the service manual, the old second sub-connector 242 and plug 2413 are scrapped to complete the quick replacement of the component with the impending life.

Therefore, the transmission cables 250 of two adjacent machine bodies 210 are connected together by the connector 240, so that the process steps and difficulty of bundling and laying the cables are reduced, the replacement is easy, and the installation and maintenance of the connection mechanism 200 by maintenance staff are greatly facilitated.

Finally, it should be noted that, in order to simplify the description, all possible combinations of the features of the above embodiments may be arbitrarily combined, however, as long as there is no contradiction between the combinations of the features, the description should be considered as the scope of the description.

The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the invention should be assessed as that of the appended claims.

Claims (10)

1. A cable-embedded connection mechanism, comprising:

at least two mechanical bodies that connect gradually, every mechanical body's inside inlays has transmission cable, and two adjacent mechanical bodies form a connecting unit, connecting unit still includes:

the driving module is arranged between two adjacent mechanical bodies, the two adjacent mechanical bodies are a first mechanical body and a second mechanical body respectively, and the driving module is used for driving the second mechanical body to rotate around an axis relative to the first mechanical body;

the driver is arranged in any one of the two adjacent machine bodies and is connected with the driving module in a communication way through the transmission cable, and the driver is used for processing working signals and feeding the working signals back to the driving module through the transmission cable; and

the connector is arranged in the driving module in a penetrating mode and comprises a first sub-connector and a second sub-connector which are detachably connected with each other, one end of the first sub-connector is fixedly connected with the driving module, and the other end of the first sub-connector is connected with the transmission cable in the first mechanical body; one end of the second sub-connector is rotatably connected to the first sub-connector, the other end of the second sub-connector is connected to the transmission cable in the second mechanical body, and the second sub-connector and the second mechanical body can rotate together around the axis relative to the first sub-connector and the first mechanical body.

2. The connection mechanism of claim 1, wherein the first sub-connector comprises a first harness adapter, a socket assembly and a plug connected in sequence, one end of the first harness adapter being detachably connected to the transmission cable in one of the mechanical bodies, the other end of the first harness adapter being detachably connected to the socket assembly, one end of the socket assembly remote from the first harness adapter being detachably fixedly connected to the plug, one end of the plug remote from the socket assembly being rotatably connected to the second sub-connector.

3. The connection mechanism of claim 1, wherein the second sub-connector comprises an outgoing line assembly and a second wire harness adapter connected in sequence, one end of the outgoing line assembly is rotatably connected to the first sub-connector, the other end of the outgoing line assembly is detachably connected to the second wire harness adapter, and an end of the second wire harness adapter remote from the outgoing line assembly is detachably connected to the transmission cable in the second mechanical body.

4. The connection mechanism of claim 1, wherein two sets of said transmission cables are embedded in each said machine body, said two sets of transmission cables being spaced apart, wherein one set of said transmission cables is communicatively coupled to the other set of said transmission cables by said driver, and wherein one set of said transmission cables is detachably coupled to said first sub-connector at an end thereof remote from said driver, and the other set of said transmission cables is detachably communicatively coupled to an adjacent said machine body at an end thereof remote from said driver.

5. The connection mechanism of claim 4, wherein the mechanical body is provided with a plurality of first contacts arranged at intervals, the driver is provided with a plurality of second contacts arranged at intervals, each second contact is abutted against a corresponding first contact, and two groups of transmission cables are respectively connected to the first contacts so as to be in communication connection with the driver through the first contacts.

6. The connection mechanism of claim 5, wherein each of the machine bodies defines a mounting slot, the first contact being disposed in a bottom wall of the mounting slot, the actuator being received in the mounting slot.

7. The connection mechanism of claim 4, wherein each set of the transmission cables comprises a first transmission cable for transmitting an optical signal and/or an electrical signal and/or a second transmission cable for transmitting an electrical signal; the first transmission cable and the second transmission cable respectively comprise a wire core and an insulating layer wrapping the periphery of the wire core, the machine body is provided with a threading hole penetrating through the machine body, and the insulating layer is arranged in the threading hole in a penetrating mode.

8. A surgical robot comprising a connection mechanism according to any one of claims 1-7.

9. A cable routing method applied to the connecting mechanism as claimed in any one of claims 1 to 7, comprising the steps of:

a threading hole for embedding a transmission cable is formed in each mechanical body;

the transmission cable is arranged in the threading hole in a penetrating mode and is connected with a driver;

installing a first sub-connector, wherein two ends of the first sub-connector are respectively connected with a driving module and the transmission cable in the first mechanical body;

and installing a second sub-connector, wherein one end of the second sub-connector is rotatably connected with the first sub-connector, and the other end of the second sub-connector is connected with the transmission cable of the second mechanical body.

10. The cabling method of claim 9, wherein the step of threading the transmission cable through the threaded aperture and connecting to a driver comprises:

covering an insulating layer on the inner wall of the threading hole;

penetrating a wire core into the insulating layer to enable the insulating layer to wrap the wire core;

connecting the wire core with the driver; or (b)

The step of threading the transmission cable into the threading hole comprises the following steps:

wrapping the wire core with an insulating layer to manufacture the transmission cable;

the transmission cable is arranged in the threading hole in a penetrating mode and is connected with the driver.

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