CN221013461U - Quick change device and operation mechanical arm formed by same - Google Patents

Abstract

The utility model discloses a quick-change device and a surgical mechanical arm formed by the same, wherein the quick-change device comprises a quick-change component connected with a surgical tool, the quick-change component is fixed at the tail end of the mechanical arm and comprises a clamping piece and a quick-change base, and the clamping piece is annularly arranged at the peripheral side of the quick-change base; the surgical tool comprises a tool base matched with the quick-change base; the clamping piece is used for fixing or loosening the tool base. According to the utility model, the quick-change assembly is arranged at the tail end of the mechanical arm, and only the tool base matched with the quick-change base is required to be arranged in the surgical tool.

Description

Quick change device and operation mechanical arm formed by same

Technical Field

The utility model relates to the field of surgical mechanical arms, in particular to a quick-change device and a surgical mechanical arm formed by the same.

Background

In modern technology, surgical tools are required to be fixed at the tail end of a mechanical arm, and the operation of the surgical tools is realized by the movement of the mechanical arm; when different surgical tools are mounted on the robotic arm, the fixation of the surgical tools needs to be achieved by means of different fasteners.

In the prior art, each surgical tool is provided with a quick-change tool, and when the corresponding surgical tool needs to be fixed in the mechanical arm, the corresponding surgical tool needs to be fixed by adopting a special fixing piece, so that each surgical tool needs to be provided with a fixing piece, and the production cost, the transportation cost and the like of the surgical tool are greatly increased. And when changing the operation instrument each time, need dismantle preceding mounting, install next mounting again, lead to the change inefficiency of operation instrument.

In the prior art, the fixing piece and the operation tool are integrated together, so that the operation tool and the fixing piece are convenient to manage and place, but the fixing piece is arranged on the operation tool, the requirement on the connecting structure of the mechanical arm is high, the mechanical arm with the fixing structure cannot meet the connecting requirement of the fixing piece in a plurality of operation tools, and the assembly difficulty and the production cost are increased.

Disclosure of utility model

The present utility model is directed to solving, at least to some extent, one of the problems in the related art. Therefore, the utility model aims to provide a quick-change device and a surgical mechanical arm formed by the same, wherein a quick-change component is arranged at the tail end of the mechanical arm, and only a tool base matched with the quick-change base is arranged in a surgical tool.

In order to achieve the above purpose, the present application adopts the following technical scheme: the quick-change device comprises a quick-change component connected with a surgical tool, wherein the quick-change component is fixed at the tail end of a mechanical arm and comprises a clamping piece and a quick-change base, and the clamping piece is annularly arranged on the outer peripheral side of the quick-change base;

The surgical tool comprises a tool base matched with the quick-change base; the clamping piece is used for fixing or loosening the tool base.

Further, the lateral wall of instrument base is provided with the joint groove, the joint spare includes buckle and hasp, be provided with in the buckle with the boss of joint groove looks adaptation, works as when the hasp is closed, the boss is fixed inside the joint groove, works as when the hasp is opened, the boss with the joint groove separation.

Further, the buckle comprises a left buckle and a right buckle, and the lock catch is positioned between the left buckle and the right buckle;

One end of the left buckle, which is far away from the lock catch, is hinged with the quick-change base, one end of the left buckle, which is close to the lock catch, is hinged with one end of the pull ring, and the other end of the pull ring is hinged with the bottom end of the lock catch;

The one end that the hasp was kept away from to the right buckle with quick change base articulates, the one end that the right buckle is close to the hasp articulates with the one end of clamping ring, the other end of clamping ring articulates with the top of hasp.

Further, the clamping piece further comprises a quick-change fixing plate which is arranged between the left buckle and the right buckle and opposite to the lock catch, and two ends of the quick-change fixing plate are hinged with the left buckle and the right buckle respectively.

The application also provides a surgical mechanical arm which comprises the quick-change device.

Further, the tail end of the mechanical arm is provided with a connecting base, and the connecting base is fixedly connected with the quick-change base.

Further, a first connecting through hole is formed in the connecting base, a quick-change fixing pin is arranged on one side, close to the connecting base, of the quick-change assembly, and the quick-change fixing pin is matched with the first connecting through hole.

Further, a second connecting through hole is formed in the connecting base, a third connecting through hole is formed in the quick-change base, a tool fixing pin is arranged on one side, close to the connecting base, of the surgical tool, and the tool fixing pin penetrates through the third connecting through hole and is matched with the second connecting through hole.

Further, a first conductive through hole is formed in the connection base, a second conductive through hole is formed in the quick-change base, a first conductive column is arranged in the first conductive through hole, and the first conductive column is matched with the second conductive through hole in position.

Further, a sterile sleeve is arranged between the connecting base and the quick-change assembly.

Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: the application discloses a quick-change device for the tail end of a mechanical arm, which comprises a quick-change assembly and an operation tool, wherein the quick-change assembly is fixed at the tail end of the mechanical arm and comprises a clamping piece and a quick-change base, and the clamping piece is annularly arranged at the peripheral side of the quick-change base; the surgical tool comprises a tool base matched with the quick-change base; the clamping piece is used for fixing or loosening the tool base; according to the application, the quick-change assembly is fixed at the tail end of the mechanical arm, and the workpiece base can be fixed and loosened by adopting the clamping piece only by arranging the tool base matched with the quick-change base in the operation tool; the shape change of the tool base does not affect the surgical tools, the structure of the tool base in a plurality of surgical tools is designed according to the structure of the quick-change base, and the purpose of adapting the surgical tools to the quick-change base can be achieved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model.

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic view of the overall structure of a surgical manipulator according to the present application;

FIG. 2 is a schematic cross-sectional view of a surgical robotic arm according to the present application;

FIG. 3 is a schematic cross-sectional view of the surgical robotic arm of the present application after removal of the quick-change assembly;

FIG. 4 is a schematic front view of the quick-change assembly of the present application with the latch open;

FIG. 5 is a schematic front view of a snap close of the quick change assembly of the present application;

FIG. 6 is a schematic diagram of a quick-change assembly according to the present application;

FIG. 7 is a top view of the connection base of the present application;

FIG. 8 is a schematic cross-sectional view of a connection base according to the present application;

FIG. 9 is a schematic view of one of the surgical tools of the present application;

FIG. 10 is a schematic view of another surgical tool of the present application;

reference numerals: 1. a quick change assembly; 10. a third connecting through hole; 11. quick-changing the base; 12. a left buckle; 13. a right buckle; 14. locking; 15. a pull ring; 16. a compression ring; 17. quick-change fixing plates; 18. a boss; 19. quick-change fixing pins; 2. a surgical tool; 21. a tool base; 22. a tool fixing pin; 23. a clamping groove; 24. a third conductive post; 3. a connecting base; 31. a first connection through hole; 32. a second connection through hole; 33. a first conductive via; 34. a first conductive pillar; 4. a sterile sleeve.

Detailed Description

For a clearer understanding of technical features, objects and effects of the present utility model, a detailed description of embodiments of the present utility model will be made with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "rear", "upper", "lower", "left", "right", "longitudinal", "transverse", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail", etc. are configured and operated in specific directions based on the directions or positional relationships shown in the drawings, and are merely for convenience of describing the present utility model, not to indicate that the mechanism or element referred to must have specific directions, and thus should not be construed as limiting the present utility model.

It should also be noted that unless explicitly stated or limited otherwise, terms such as "mounted," "connected," "secured," "disposed," 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; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. When an element is referred to as being "on" or "under" another element, it can be "directly" or "indirectly" on the other element or one or more intervening elements may also be present. The terms "first," "second," "third," and the like are used merely for convenience in describing the present utility model and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby features defining "first," "second," "third," etc. may explicitly or implicitly include one or more such features. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present utility model. It will be apparent, however, to one skilled in the art that the present utility model may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, mechanisms, circuits, and methods are omitted so as not to obscure the description of the present utility model with unnecessary detail.

Example 1

Referring to fig. 1-10, the quick-change device provided by the application comprises a quick-change assembly 1 connected with a surgical tool, wherein the quick-change assembly 1 is fixed at the tail end of a mechanical arm, the quick-change assembly 1 comprises a clamping piece and a quick-change base 11, and the clamping piece is annularly arranged at the outer peripheral side of the quick-change base 11; the surgical tool 2 comprises a tool base 21 adapted to the quick-change base 11; the clamping member is used for fixing or releasing the tool base 21.

According to the application, the quick-change assembly 1 is fixed at the tail end of the mechanical arm, and the workpiece base can be fixed and loosened by adopting the clamping piece only by arranging the tool base 21 matched with the quick-change base 11 in the operation tool 2; the shape change of the tool base 21 does not affect the surgical tools 2, the structure of the tool base 21 in the surgical tools 2 is designed according to the structure of the quick-change base 11, the purpose of adapting the surgical tools 2 to the quick-change base 11 can be achieved, and the application can reduce the assembly difficulty of the surgical tools 2 and the mechanical arms and reduce the production cost of the surgical tools 2.

Example 2

Referring to fig. 1-10, the quick-change device provided by the application comprises a quick-change assembly 1 connected with a surgical tool 2, wherein the quick-change assembly 1 is fixed at the tail end of a mechanical arm, the quick-change assembly 1 comprises a clamping piece and a quick-change base 11, and the clamping piece is annularly arranged at the outer peripheral side of the quick-change base 11; the surgical tool 2 comprises a tool base 21 adapted to the quick-change base 11; the clamping member is used for fixing or releasing the tool base 21.

Further, in the present application, the outer side wall of the tool base 21 is provided with a clamping groove 23, the clamping piece includes a buckle and a lock catch 14, a boss 18 adapted to the clamping groove 23 is provided in the buckle, and when the lock catch 14 is closed, the boss 18 is fixed inside the clamping groove 23, so as to fix the tool base 21 and the quick-change assembly 1, and further fix the surgical tool 2 at the end of the mechanical arm through the quick-change assembly 1.

When the lock catch 14 is opened, the boss 18 is separated from the clamping groove 23, so that the tool base 21 and the quick-change assembly 1 are separated, and the surgical tool 2 can be taken out from the quick-change assembly 1. The structure of the quick-change assembly 1 is fixed in the application, only the tool base 21 in the surgical tool 2 is required to be matched with the quick-change base 11, and the clamping grooves 23 corresponding to the bosses 18 are arranged on the side edges of the tool base 21, so that the specific structures of the quick-change base 11 and the bosses 18 do not affect other performances of the surgical tool 2. Through the structural design of the application, the rapid assembly between a plurality of surgical tools 2 and the same mechanical arm can be realized.

Further, as shown in fig. 4-6, the buckle comprises a left buckle 12 and a right buckle 13, and the lock catch 14 is positioned between the left buckle 12 and the right buckle 13; one end of the left buckle 12 far away from the lock catch 14 is hinged with the quick-change base 11, one end of the left buckle 12 close to the lock catch 14 is hinged with one end of the pull ring 15, and the other end of the pull ring 15 is hinged with the bottom end of the lock catch 14; one end of the right buckle 13, which is far away from the lock catch 14, is hinged with the quick-change base 11, one end of the right buckle 13, which is close to the lock catch 14, is hinged with one end of the pressing ring 16, and the other end of the pressing ring 16 is hinged with the top end of the lock catch 14.

In the application, the quick-change base 11 is of a circular structure, and the left buckle 12 and the right buckle 13 are symmetrically positioned at the edge position of the quick-change base 11.

According to the application, the lock catch 14 can be opened or closed, when the lock catch 14 is opened, the top end of the lock catch 14 rotates to the side close to the right buckle 13, the bottom end of the lock catch 14 rotates to the side close to the left buckle 12, as shown in fig. 4, since the top end of the lock catch 14 is connected with the compression ring 16 and the bottom end is connected with the pull ring 15, at this time, the lock catch 14 pushes the pull ring 15 to move towards the left buckle 12, and the pull ring 15 drives the left buckle 12 to move outwards towards the direction away from the central position of the quick-change assembly 1. Meanwhile, the lock catch 14 pushes the pressing ring 16 to move towards the right clamp buckle 13, and the pressing ring 16 drives the right clamp buckle 13 to move outwards towards a direction away from the center of the quick-change assembly 1. In the application, the boss 18 is arranged on the inner side wall of the left buckle 12 and/or the right buckle 13 facing the center of the quick-change assembly 1, namely, the boss 18 is far away from the center of the quick-change assembly 1 at the moment, so that the surgical tool 2 can be conveniently put in or taken out.

When the lock catch 14 is closed, the top end of the lock catch 14 rotates to a side close to the left buckle 12, the bottom end of the lock catch 14 rotates to a side close to the right buckle 13, as shown in fig. 5, since the top end of the lock catch 14 is connected with the compression ring 16 and the bottom end is connected with the pull ring 15, at this time, the lock catch 14 drives the pull ring 15 to move towards the right buckle 13, and the pull ring 15 drives the left buckle 12 to move inwards towards a direction close to the central position of the quick-change assembly 1. Meanwhile, the lock catch 14 drives the pressing ring 16 to move towards the left buckle 12, and the pressing ring 16 drives the right buckle 13 to move inwards towards the direction close to the center of the quick-change assembly 1. In the application, the boss 18 is arranged at the inner side wall of the left buckle 12 and/or the right buckle 13 facing the center of the quick-change assembly 1, and if the tool base 21 is positioned in the quick-change base 11, the boss 18 is clamped with the clamping groove 23 in the tool base 21, so that the fixation of the surgical tool 2 and the quick-change assembly 1 is realized.

Further, the clamping piece of the application further comprises a quick-change fixing plate 17 arranged between the left buckle 12 and the right buckle 13 and opposite to the lock catch 14, and two ends of the quick-change fixing plate 17 are respectively hinged with the left buckle 12 and the right buckle 13. The positions of the quick-change fixing plate 17 and the lock catch 14 are opposite, and the positions of the left lock catch 12 and the right lock catch 13 are opposite; the lock catch 14, the left lock catch 12, the quick-change fixing plate 17 and the right lock catch 13 enclose an annular structure on the front surface of the quick-change base 11, and the inside of the annular structure is used for placing the tool base 21. The present application is only required to design the shape of the tool base 21 according to the annular structure. Meanwhile, the inner side walls of the left buckle 12 and the right buckle 13, which are close to the circle center of the annular structure, are provided with bosses 18, and the outer side wall of the tool base 21 is provided with clamping grooves 23 which are matched with the bosses 18.

Example 3

As shown in fig. 1-10, the present application provides a surgical mechanical arm, including the quick-change device in embodiment 2. Furthermore, in the application, the tail end of the mechanical arm is provided with the connecting base 3, the connecting base 3 is fixedly connected with the mechanical arm, and particularly, the connecting base 3 can be fixed at the tail end of the mechanical arm, and meanwhile, the quick-change base 11 is fixed in the connecting base 3, so that the quick-change assembly 1 is fixedly connected with the mechanical arm.

Further, in the present application, a first connection hole 31 is provided in the connection base 3, a quick-change fixing pin 19 is provided on a side of the quick-change assembly 1 near the connection base 3, and the quick-change fixing pin 19 is adapted to the first connection hole 31. As shown in fig. 6, a quick-change fixing pin 19 is provided on the hair side of the quick-change base 11, and correspondingly, a first connecting hole 31 is provided on the front side of the connection base 3, and when assembling, the quick-change fixing pin 19 is inserted into the first connecting hole 31, so that the quick-change assembly 1 and the connection base 3 can be fixedly connected.

Further, in the present application, a second connection through hole 32 is provided in the connection base 3, a third connection through hole 10 is provided in the quick-change base 11, a tool fixing pin 22 is provided on a side of the surgical tool 2 near the connection base 3, and the tool fixing pin 22 passes through the third connection through hole 10 and is adapted to the second connection through hole 32.

In the application, the quick-change assembly 1 is fixedly connected with the connecting base 3, and the surgical tool 2 is fixedly connected with the quick-change assembly 1, so that the fixation of the surgical tool 2 and the mechanical arm is realized. Because the quick-change assembly 1 has smaller volume, in order to ensure the fixing effect of the surgical tool 2, the surgical tool 2 is fixed in the quick-change assembly 1 and the connecting base 3 at the same time, and in particular, the application can realize the fixation between the clamping groove 23 in the tool base 21 and the boss 18 in the clamping assembly through the opening and closing of the lock catch 14. Further, in order to realize the connection between the surgical tool 2 and the connection base 3, the present application provides a third connection through hole 10 in the quick-change base 11, a second connection through hole 32 in the connection base 3, and the second connection through hole 32 and the third connection through hole 10 are overlapped in a first direction, wherein the first direction refers to the axial line direction of the quick-change base 11 and the connection base 3. In the application, a tool fixing pin 22 is arranged on one side of the tool base 21, which is close to the quick-change assembly 1, and the tool fixing pin 22 passes through the third connecting through hole 10 and is fixed in the second connecting through hole 32, so that the fixed connection between the tool base 21 and the connecting base 3 is realized.

Therefore, in the present application, the tool base 21 is located in the annular area surrounded by the lock catch 14, the left buckle 12, the quick-change fixing plate 17 and the right buckle 13 in the front surface of the quick-change base 11, and the clamping groove 23 on the outer side wall of the tool base 21 is fixedly connected with the boss 18 inside the left buckle 12 and the right buckle 13, and at the same time, the tool fixing pin 22 on the side of the tool base 21 close to the quick-change assembly 1 passes through the second connecting through hole 32 in the quick-change base 11 and the connecting base 3 to be fixedly connected. With this structure, double fixing of the tool base 21 can be achieved, that is, both the quick-change assembly 1 and the connection base 3 fix the work base.

Further, as shown in fig. 7 and 8, in the present application, a first conductive through hole 33 is provided in the connection base 3, a second conductive through hole is provided in the quick-change base 11, a first conductive post 34 is provided in the first conductive through hole 33, and the position of the first conductive post 34 is adapted to the position of the second conductive through hole.

In the application, the top end and the bottom end of the first conductive column 34 need to protrude out of the first conductive through hole 33, and one side of the first conductive column 34 far away from the quick-change assembly 1 is electrically connected with the mechanical arm, and one side of the first conductive column 34 near to the quick-change assembly 1 can be electrically connected with the surgical tool 2 through the second conductive through hole; by means of the first conductive via 33, the first conductive post 34 and the second conductive via, the application allows for an electrical connection of the robotic arm to the surgical tool 2; the mechanical arm is used for supplying power to the surgical tool 2; no external power source and lead wires are required for the surgical tool 2 as in the prior art, and when the surgical tool 2 moves, the lead wires swing along with the surgical tool to cause wiring confusion.

The surgical tool 2 in the application can be an existing surgical tool 2 such as a guider or a grinding machine, and quick-change connection with a mechanical arm can be realized by only adding the tool base 21 no matter what type of surgical tool 2 is. Meanwhile, some surgical tools 2 need to be powered, such as the grinder in fig. 9, during the surgical procedure, and at this time, the electrical connection with the mechanical arm can be achieved through the first conductive via 33, the first conductive post 34 and the second conductive via. The surgical tool 2 does not need to be powered, such as the surgical base corresponding to the navigator in fig. 10, and the surgical process does not need to be powered, at this time, the first conductive through hole 33, the first conductive post 34 and the second conductive through hole are idle, and only the mechanical connection among the surgical tool 2, the quick-change assembly 1 and the connection base 3 is required.

Further, as shown in fig. 9, in order to realize the electrical connection between the connection base 3 and the tool base 21, the present application may further provide a third conductive through hole in the tool base corresponding to the surgical tool 2 to be electrically connected, where the third conductive through hole is provided with a third conductive post 24, and the third conductive post 24 protrudes from the fourth conductive through hole, and meanwhile, when the tool base 21, the quick-change assembly 1 and the connection base 3 are assembled together, the electrical connection between the third conductive post 24 and the first conductive post 34 can be realized, so that the electrical connection between the mechanical arm and the tool base 21 can be realized through the first conductive post 34 and the third conductive post 24.

Furthermore, an aseptic sleeve 4 is further arranged between the quick-change base 11 and the connection base 3, in actual operation, after the mechanical arm and the connection base 3 are sterilized, the aseptic sleeve 4 is sleeved outside the connection base 3, and particularly, the aseptic sleeve 4 can be fixed in the connection base 3 by using screws, and screw holes for screw adaptation are formed in the connection base 3. After that, the quick-change fixing pin 19 in the quick-change base 11 is fixed in the first connecting hole 31 through the aseptic sleeve 4. Thereafter, the release and fixation between the quick-change base 11 and the tool base 21 can be achieved by controlling the opening and closing of the lock catch 14.

According to the application, the quick-change assembly 1 is fixed at the tail end of the mechanical arm, and the workpiece base can be fixed and loosened by adopting the clamping piece only by arranging the tool base 21 matched with the quick-change base 11 in the operation tool 2; the shape change of the tool base 21 does not affect the surgical tools 2, the structure of the tool base 21 in the surgical tools 2 is designed according to the structure of the quick-change base 11, the purpose of adapting the surgical tools 2 to the quick-change base 11 can be achieved, and the application can reduce the assembly difficulty of the surgical tools 2 and the mechanical arms and reduce the production cost of the surgical tools 2. Meanwhile, the application can realize the electric connection between the mechanical arm and the operation tool 2 through the first conductive through hole 33, the first conductive column 34 and the second conductive through hole, and the operation tool 2 does not need to be additionally provided with an external electric connection interface or to be powered by an external power supply.

It is to be understood that the above examples only represent preferred embodiments of the present utility model, which are described in more detail and are not to be construed as limiting the scope of the utility model; it should be noted that, for a person skilled in the art, the above technical features can be freely combined, and several variations and modifications can be made without departing from the scope of the utility model; therefore, all changes and modifications that come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims (10)

1. The quick-change device is characterized by comprising a quick-change assembly (1) connected with a surgical tool, wherein the quick-change assembly (1) is fixed at the tail end of a mechanical arm, the quick-change assembly (1) comprises a clamping piece and a quick-change base (11), and the clamping piece is annularly arranged on the outer peripheral side of the quick-change base (11);

the surgical tool (2) comprises a tool base (21) which is matched with the quick-change base (11); the clamping piece is used for fixing or loosening the tool base (21).

2. A quick-change device according to claim 1, characterized in that the outer side wall of the tool base (21) is provided with a clamping groove (23), the clamping piece comprises a buckle and a lock catch (14), a boss (18) matched with the clamping groove (23) is arranged in the buckle, when the lock catch (14) is closed, the boss (18) is fixed inside the clamping groove (23), and when the lock catch (14) is opened, the boss (18) is separated from the clamping groove (23).

3. A quick change device according to claim 2, characterized in that the catch comprises a left catch (12) and a right catch (13), the catch (14) being located between the left catch (12) and the right catch (13);

One end of the left buckle (12) far away from the lock catch (14) is hinged with the quick-change base (11), one end of the left buckle (12) close to the lock catch (14) is hinged with one end of the pull ring (15), and the other end of the pull ring (15) is hinged with the bottom end of the lock catch (14);

One end of the right buckle (13) far away from the lock catch (14) is hinged with the quick-change base (11), one end of the right buckle (13) close to the lock catch (14) is hinged with one end of the pressing ring (16), and the other end of the pressing ring (16) is hinged with the top end of the lock catch (14).

4. A quick-change device according to claim 3, characterized in that the clamping member further comprises a quick-change fixing plate (17) arranged between the left buckle (12) and the right buckle (13) and opposite to the buckle (14), and two ends of the quick-change fixing plate (17) are hinged to the left buckle (12) and the right buckle (13) respectively.

5. A surgical robot comprising a quick change device according to any one of claims 1 to 4.

6. A surgical manipulator according to claim 5, characterized in that the surgical manipulator is provided with a connection base (3) at its end, the connection base (3) being fixedly connected with the quick-change base (11).

7. Surgical mechanical arm according to claim 6, characterized in that a first connecting hole (31) is provided in the connecting base (3), a quick-change fixing pin (19) is provided on the side of the quick-change assembly (1) close to the connecting base (3), and the quick-change fixing pin (19) is adapted to the first connecting hole (31).

8. Surgical mechanical arm according to claim 6, characterized in that a second connecting through hole (32) is provided in the connecting base (3), a third connecting through hole (10) is provided in the quick-change base (11), a tool fixing pin (22) is provided on the side of the surgical tool (2) close to the connecting base (3), and the tool fixing pin (22) passes through the third connecting through hole (10) and is adapted to the second connecting through hole (32).

9. Surgical mechanical arm according to claim 6, characterized in that a first conductive through hole (33) is provided in the connection base (3), a second conductive through hole is provided in the quick-change base (11), a first conductive post (34) is provided in the first conductive through hole (33), and the first conductive post (34) is adapted to the position of the second conductive through hole.

10. Surgical robot according to claim 6, characterized in that a sterile sleeve (4) is arranged between the connection base (3) and the quick-change assembly (1).