WO2023109951A1

WO2023109951A1 - Mechanical arm connecting mechanism, sleeve assembly and surgical robot system

Info

Publication number: WO2023109951A1
Application number: PCT/CN2022/139617
Authority: WO
Inventors: 宋进; 朱国征; 袁帅; 何超; 岳森
Original assignee: 上海微创医疗机器人（集团）股份有限公司
Priority date: 2021-12-17
Filing date: 2022-12-16
Publication date: 2023-06-22
Also published as: CN114305706A; CN114305706B

Abstract

A mechanical arm connecting mechanism (900), a sleeve assembly (700) and a surgical robot system. The mechanical arm connecting mechanism (900) comprises a base body (910), a force application portion (920), and a limiting portion (930), wherein the base body (910) has an accommodating cavity (911), which is arranged in the axial direction thereof, and the accommodating cavity (911) has an opening (912) in the axial direction and is configured to allow an insert portion (720) to be inserted through the opening (912). The limiting portion (930) is driven by the force application portion (920) to switch between a locked state and an unlocked state. When in the locked state, the limiting portion (930) is used for limiting the position of the insert portion (720) after the insert portion (720) is inserted into a preset insertion position in the axial direction of the accommodating cavity (911); and when in the unlocked state, the limiting portion (930) releases the limitation on the position of the insert portion (720). By means of such arrangements, when the limiting portion (930) is driven by the force application portion (920) to switch to the unlocked state, the sleeve assembly (700) can be inserted into the accommodating cavity (911) conveniently; and then, the limiting portion (930) is driven by the force application portion (920) to switch to the locked state, such that the insert portion (720) is locked to the preset insertion position.

Description

Mechanical arm connection mechanism, cannula assembly and surgical robot system

technical field

The invention relates to the technical field of medical instruments, in particular to a mechanical arm connection mechanism, a sleeve assembly and a surgical robot system.

Background technique

During a procedure utilizing a master-slave teleoperated surgical robotic system, the cannula assembly and surgical instruments can be mounted at the robotic arm of the slave device and remotely manipulated via the surgeon's teleoperation at the master device.

Typically, in master-slave teleoperated surgical procedures, the cannula assembly is manually inserted into the patient at the desired incision site, and once the incision site is located, the cannula assembly is docked to the robotic arm on the mount on the The mounting part of the cannula assembly is useful and effective for surgical procedures, but the butt joint method of the existing cannula assembly mounting part is complicated and inconvenient, and further improvement is needed.

Contents of the invention

The purpose of the present invention is to provide a mechanical arm connection mechanism, a cannula assembly and a surgical robot system to solve the problem of complicated and inconvenient installation of the existing cannula assembly and the mechanical arm.

In order to solve the above technical problems, the first aspect of the present invention provides a mechanical arm connection mechanism, which includes: a base, a force applying part and a limiting part;

The base body has an accommodating cavity arranged along its axial direction, the accommodating cavity has an opening along the axial direction, and the accommodating cavity is used for inserting the socket part from the opening;

Driven by the force applying portion, the limiting part is switched between a locked state and an unlocked state; when the limiting part is in the locked state, it is used The axial insertion of the cavity to the predetermined insertion position limits the position of the insertion part; when the limiting part is in the unlocked state, the restriction on the position of the insertion part is released.

Optionally, in the connecting mechanism of the mechanical arm, the limiting part includes a sliding piece and a locking piece; the sliding piece is movably arranged outside the base along the axial direction and/or circumferential direction of the base , the locking piece is movably arranged along the radial direction of the base body; the insertion part is provided with an engaging groove capable of accommodating the locking piece;

When the limiting portion is in the locked state, the sliding member is at the first position, and the locking member is restricted from protruding toward the interior of the accommodating cavity along the radial direction of the base body, from the accommodating cavity The part of the locking part protruding inside is used to snap into the engaging groove of the insertion part to limit the position of the insertion part;

When the limiting part is in the unlocked state, the sliding part is in the second position, allowing the locking part to move radially outwards and withdraw from the engaging groove, so as to release the lock on the insertion part. location constraints.

Optionally, in the connecting mechanism of the mechanical arm, the force application part includes a push-pull member, and the push-pull member is rotatably connected with the base body around a push-pull axis, and the push-pull axis is along the non-alignment of the axis of the base body. Parallel direction setting;

One of the push-pull member and the slider has a guide groove, the other has a guide block, the guide block is movably installed in the guide groove, and the push-pull member rotates around the push-pull axis, The slider is driven to move through the guide groove and the guide block.

Optionally, in the connecting mechanism of the mechanical arm, the limiting part includes a potential energy component, and the slider is connected to the base through the potential energy component; the potential energy component is connected to the slider by the first Potential energy is stored when a position is moved to the second position, and potential energy is released when the slider moves from the second position to the first position.

Optionally, in the connecting mechanism of the mechanical arm, the potential energy component includes an elastic member and an elastic member base, the elastic member base is connected to the base, and one end of the elastic member is connected to the elastic member base. The base of the elastic element is used to limit the position of one end of the elastic element; the other end of the elastic element is connected to the sliding element.

Optionally, in the connecting mechanism of the mechanical arm, the base has a slider limiting structure, and the slider limiting structure is used to limit the movement of the slider from the second position toward the first position. The orientation does not move beyond the first position.

Optionally, in the connecting mechanism of the mechanical arm, the sliding member has an escape area recessed outward along the radial direction of the base body, and when the limiting part is in the unlocked state, the avoidance area and the The locking member is aligned to allow at least a portion of the locking member to move radially outward into the escape zone.

Optionally, in the connecting mechanism of the mechanical arm, the sliding member has a boundary surface disposed outside the avoidance area, and the boundary surface is disposed inward along the radial direction of the base body to limit the locking The members protrude radially outward from the base.

Optionally, in the connecting mechanism of the mechanical arm, the sliding part has a first pushing surface facing the locking part, and the first pushing surface is along a direction from the second position to the first position. inward surface.

Optionally, in the connecting mechanism of the mechanical arm, the sliding part and/or the base include a first magnetic part, the locking part is a magnet or a ferromagnetic body, and when the sliding part is in the first position , the first magnetic member acts on the locking member through magnetic force, so that the locking member moves outward along the radial direction of the base body and withdraws from the engaging groove.

Optionally, in the connecting mechanism of the mechanical arm, the force applying part includes a first electromagnet, the limiting part includes a locking part, the locking is a magnet or a ferromagnetic body, and the locking part is along the radially movably set;

When the first electromagnetic part changes the energized state, it changes the magnetic force generated on the locking part, so that the locking part moves along the radial direction of the base body, so that the limiting part is in the locked state and the switch between the above unlocked states;

When the limiting part is in the locked state, the locking piece protrudes toward the inside of the accommodating cavity along the radial direction of the base body, and the protruding locking piece is used to snap into the insertion part The engaging slots limit the position of the socket;

When the limiting portion is in the unlocked state, the locking member moves radially outwards and withdraws from the engaging groove, so as to release the restriction on the position of the inserting portion.

Optionally, in the connecting mechanism of the mechanical arm, the first electromagnetic part is disposed outside the locking part along the radial direction of the base body.

Optionally, in the connecting mechanism of the mechanical arm, when the limiting part is in the locked state, the first electromagnet is powered off, and when the limiting part is in the unlocked state, the first The electromagnet is energized; or, when the limiting part is in the locked state and the unlocked state, the electrified polarity of the first electromagnet is reversed.

Optionally, in the connecting mechanism of the mechanical arm, the base body has a radially penetrating locking piece hole, the locking piece hole communicates with the accommodating cavity, and the locking piece hole is used for accommodating the locking piece.

Optionally, in the connecting mechanism of the mechanical arm, the locking member hole has a limiting structure, and the limiting structure is used to limit the maximum radially inward displacement of the locking member.

Optionally, in the connecting mechanism of the mechanical arm, the position-limiting structure includes a necking section gradually shrinking inward along the radial direction of the base body, and the smallest radial inner dimension of the necking section is smaller than the locking section. The maximum radial outer dimension of the piece.

Optionally, in the connecting mechanism of the mechanical arm, the locking member is spherical.

Optionally, in the connecting mechanism of the mechanical arm, the connecting mechanism of the mechanical arm further includes a locking groove;

The locking groove includes a guiding section opened along the axial direction of the base body and an engaging section opened along the circumferential direction of the base body, the guiding section communicates with the engaging section, and the engaging section is located at An end of the guide segment away from the opening.

In order to solve the above technical problems, the second aspect of the present invention also provides a bushing assembly, which is used to assemble and connect with the above-mentioned mechanical arm connection mechanism; the bushing assembly includes a plug-in part, and the plug-in The portion is used to be inserted into the accommodating cavity of the connecting mechanism of the mechanical arm; and when the limiting portion is in the locked state, it is locked in a predetermined insertion position along the axial direction.

Optionally, in the bushing assembly, the insertion part has an engaging groove; the engaging groove opens outward along the radial direction of the insertion part; When in the engaged position, the axial position of the engaging groove along the insertion part matches the axial position of the locking part of the limiting part along the base body.

Optionally, in the sleeve assembly, the engaging groove extends along the circumference of the insertion part.

Optionally, in the bushing assembly, the engaging groove has a second pushing surface, and the second pushing surface is an outwardly inclined surface facing a direction in which the socket part is withdrawn from the accommodating cavity ; The second pushing surface is used to push the locking member to move outward along the radial direction of the base body during the withdrawal process of the socket part from the accommodating cavity.

Optionally, in the sleeve assembly, the sleeve assembly further includes a second magnetic part, and when the insertion part is at the predetermined insertion position, the second magnetic part is used to act on the The locking piece engages the locking piece in the engaging groove.

Optionally, the bushing assembly further includes a locking member, and the locking member includes a locking section extending along the circumference of the insertion part, and the locking section is used for inserting into the machine in the axial direction. After the guiding section of the locking groove of the arm connecting mechanism, snap into the engaging section of the locking groove along the circumferential direction, so as to limit the axial position of the sleeve assembly relative to the mechanical arm connecting mechanism.

Optionally, in the bushing assembly, the locking member is movably connected to the inserting portion along a circumferential direction of the inserting portion.

In order to solve the above-mentioned technical problems, a third aspect of the present invention provides a surgical robot system, which includes a mechanical arm, a sterile bag module, and the above-mentioned sleeve assembly; the mechanical arm includes the above-mentioned mechanical arm connection mechanism, the aseptic bag module and the sleeve assembly are used to be detachably assembled in the accommodating cavity of the mechanical arm connection mechanism.

In summary, in the mechanical arm connection mechanism, sleeve assembly and surgical robot system provided by the present invention, the mechanical arm connection mechanism includes: a base, a force application part and a limiting part; the base has a The accommodating cavity is provided, the accommodating cavity has an opening along the axial direction, and the accommodating cavity is used for inserting the plug-in part from the opening; the limiting part is driven by the force applying part Next, switch between the locked state and the unlocked state; when the limiting part is in the locked state, it is used to limit the plug-in part after it is inserted to a predetermined insertion position along the axial direction of the accommodating cavity. The position of the insertion part; when the limit part is in the unlocked state, the restriction on the position of the insertion part is released.

With such a configuration, when the limiting part is driven by the force application part to switch to the unlocked state, the aseptic bag module and sleeve assembly can be conveniently inserted into the accommodating cavity of the base body, and then the limit part is driven by the force application part to switch to the locked state. state, the insertion part can be locked in the predetermined insertion position; when removing the aseptic bag module and sleeve assembly, it is also convenient to switch the limit part to the unlocked state through the force application part, and the aseptic bag Module and bushing assembly removed.

Description of drawings

Those of ordinary skill in the art will understand that the provided drawings are for better understanding of the present invention, but do not constitute any limitation to the scope of the present invention. in:

FIG. 1 is a schematic diagram of an application scenario of a surgical robot system according to an embodiment of the present invention;

2 is a schematic diagram of a slave device according to an embodiment of the present invention;

Fig. 3 is the schematic diagram of the bushing assembly of the embodiment of the present invention;

Fig. 4 is an assembly schematic diagram of the sleeve assembly, the aseptic bag module and the mechanical arm connection mechanism of the embodiment of the present invention;

5 is a schematic diagram of the mechanical arm connection mechanism, sleeve assembly and aseptic bag module of Embodiment 1 of the present invention;

Figure 6 is a schematic cross-sectional view of Figure 5 along the axial direction of the substrate;

Fig. 7 is a schematic longitudinal sectional view of Fig. 5 along the axial direction of the substrate;

Fig. 8 is a schematic diagram of a potential energy component according to Embodiment 1 of the present invention;

Fig. 9 is a schematic diagram of the aseptic bag module of Embodiment 1 of the present invention after being installed into the mechanical arm connection mechanism;

Fig. 10a is a diagram of the installation process of the bushing assembly according to Embodiment 1 of the present invention, wherein the force-applying part drives the limiting part in an unlocked state;

Fig. 10b is a diagram of the installation process of the sleeve assembly according to Embodiment 1 of the present invention, wherein the sleeve assembly has been inserted into the accommodating cavity;

Fig. 10c is a schematic longitudinal sectional view of Fig. 10b along the axial direction of the substrate;

Figure 10d is a schematic cross-sectional view of Figure 10b along the axial direction of the substrate;

Fig. 11a is a diagram of the installation process of the bushing assembly in Embodiment 1 of the present invention, wherein the force applying part drives the limiting part in a locked state;

Fig. 11b is a schematic longitudinal sectional view of Fig. 11a along the axial direction of the substrate;

Figure 11c is a schematic cross-sectional view of Figure 11a along the axial direction of the substrate;

Figure 12a is a schematic cross-sectional view of Figure 11a along the radial direction of the substrate;

Fig. 12b is a partially enlarged view of the lock and the hole of the lock in Fig. 11b;

Fig. 12c is a partially enlarged view of the sliding part, the locking part and the engaging groove of Fig. 11b;

Fig. 12d is a partially enlarged view of the sliding part, the locking part and the engaging groove of Fig. 10c;

Fig. 13a is a schematic diagram of the mechanical arm connection mechanism, the sleeve assembly and the aseptic bag module according to the second embodiment of the present invention, wherein the limiting part is in an unlocked state;

Fig. 13b is a schematic diagram of the mechanical arm connection mechanism, the sleeve assembly and the aseptic bag module according to the second embodiment of the present invention, wherein the limiting part is in a locked state;

Fig. 14a is a schematic diagram of the first electromagnetic part and the locking part according to Embodiment 3 of the present invention, wherein the limiting part is in an unlocked state;

Fig. 14b is a schematic diagram of the first electromagnetic part and the locking part according to Embodiment 3 of the present invention, wherein the limiting part is in a locked state;

Fig. 15a is a schematic diagram of the assembly and connection of the locking groove of the mechanical arm connection mechanism and the bushing assembly according to the fourth embodiment of the present invention;

Fig. 15b is a schematic diagram before the assembly and connection of the locking piece and the locking groove according to the fourth embodiment of the present invention;

Fig. 15c is a front perspective view of the locking member of Embodiment 4 of the present invention;

Fig. 15d is a schematic diagram of the reverse side of the locking member of Embodiment 4 of the present invention;

Fig. 15e is a schematic diagram of the decomposed locking member and the locking groove before being assembled and connected according to the fourth embodiment of the present invention;

Fig. 15f is a schematic diagram of the disassembled locking piece and the locking groove of the fourth embodiment of the present invention after being assembled and connected.

In the attached picture:

100-master device; 101-main operator; 102-imaging equipment; 103-pedal surgical control equipment; 200-slave device; 201-base; 210-mechanical arm; 221-surgical instrument; 222-endoscope ;300-image trolley; 302-display equipment; 400-support device; 410-patient; 500-ventilator and anesthesia machine; 600-instrument table;

700-sleeve assembly; 710-sleeve body; 720-socket part; 721-engaging groove; 7211-second pushing surface; 7212-slope surface; 722-chamfering surface; 723-second magnetic part; 724 -chute; 730-locking part; 731-locking section; 732-slider;

800-aseptic bag module; 810-sterile film; 820-sterile film assembly;

900-mechanical arm connection mechanism; 910-base body; 911-accommodating cavity; 912-opening; 913-sterile bag docking structure; 914-lock hole; 9141-limiting structure; 915-sliding part limiting structure; - force application part; 921- push-pull part; 9211- guide groove; 922- electric push-pull device; 923- first electromagnetic part; 930- limit part; 931- sliding part; -the first push surface; 9314-guide block; 9315-the first magnetic piece; 932-locking piece; 933-potential energy assembly; 9331-elastic piece; ; 942-engaging section.

Detailed ways

In order to make the purpose, advantages and features of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in very simplified form and not drawn to scale, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. In addition, the structures shown in the drawings are often a part of the actual structures. In particular, each drawing needs to display different emphases, and sometimes uses different scales.

As used in the present invention, the singular forms "a", "an" and "the" include plural objects, the term "or" is usually used in the sense of including "and/or", and the term "several" Usually, the term "at least one" is used in the meaning of "at least one", and the term "at least two" is usually used in the meaning of "two or more". In addition, the terms "first", "second "Two" and "third" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined as "first", "second", and "third" may expressly or implicitly include one or at least two of these features, "one end" and "another end" and "near end" and "near end" "Distal end" generally refers to the corresponding two parts, and it includes not only the endpoint. The terms "proximal" and "distal" are defined herein with respect to a surgical robotic system having an interface configured to mechanically and electrically couple surgical instruments to a manipulator of the surgical robot. The term "proximal" refers to the position of the element closer to the manipulator of the surgical robot, and the term "distal" refers to the position of the element closer to the surgical instrument and thus farther from the manipulator of the surgical robot. Optionally, in a manual or hand-operated application scenario, the terms "proximal" and "distal" are defined herein with respect to an operator such as a surgeon or a clinician. The term "proximal" refers to the position of the element closer to the operator, and the term "distal" refers to the position of the element closer to the surgical instrument and thus farther from the operator. In addition, as used in the present invention, "mounting", "connecting", "connecting", and one element being "set" on another element should be interpreted in a broad sense, and generally only mean that there is a connection, coupling, connection between two elements. Fitting or transmission relationship, and the connection, coupling, cooperation or transmission between two elements may be direct or indirect through intermediate elements, but shall not be understood as indicating or implying a spatial positional relationship between two elements, that is, one element may be in another Any orientation of the inside, outside, top, bottom, or side of an element, unless the content clearly indicates otherwise. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations. Furthermore, directional terms such as above, below, up, down, up, down, left, right, etc. are used with respect to the exemplary embodiments as they are shown in the figures, with an upward or upward direction toward the top of the corresponding figure, The downward or downward direction is towards the bottom of the corresponding drawing.

The purpose of the present invention is to provide a mechanical arm connection mechanism, a cannula assembly and a surgical robot system to solve the problem of complicated and inconvenient installation of the existing cannula assembly.

Description is made below with reference to the accompanying drawings.

Figure 1 shows an application scenario of a surgical robot system, which includes a master-slave teleoperated surgical robot, that is, the surgical robot system includes a master device 100 (ie, a doctor-side control device), a slave device 200 (ie, the patient-side control device), a main controller, and a supporting device 400 (eg, an operating bed) for supporting the surgical object for surgery. It should be noted that, in some embodiments, the support device 400 may also be replaced by other surgical operation platforms, and the present invention is not limited thereto.

The main end device 100 is the operating end of the teleoperated surgical robot, and includes a main operating hand 101 installed thereon. The main operating hand 101 is used to receive the operator's hand movement information, which can be input as the movement control signal of the whole system. Optionally, the master controller is also disposed on the master device 100 . Preferably, the master device 100 further includes an imaging device 102, the imaging device 102 can provide a stereoscopic image for the operator, and provide an image of the surgical field for the operator to perform a surgical operation. The image of the surgical field includes the type and quantity of surgical instruments, their posture in the abdomen, the shape and arrangement of blood vessels in the patient's organs and tissues, and the surrounding organs and tissues. Optionally, the master device 100 also includes a foot-operated surgical control device 103 , through which the operator can complete input of relevant operation instructions such as electrocution and electrocoagulation.

The slave device 200 is a specific execution platform of the teleoperated surgical robot, and includes a base 201 and a surgical execution component installed thereon. The operation performing assembly includes a mechanical arm 210 and instruments, and the instruments are mounted or connected to the end of the mechanical arm 210 . Further, the instruments include a surgical instrument 221 (such as a high-frequency electrosurgical knife) for specific surgical operations, and an endoscope 222 for assisting observation.

In one embodiment, the mechanical arm 210 includes an adjustment arm and a working arm. The working arm is a mechanical fixed point mechanism, which is used to drive the instrument to move around the mechanical fixed point, so as to perform minimally invasive surgical treatment or photographing on the patient 410 on the supporting device 400 . The adjustment arm is used to adjust the pose of the mechanical fixed point in the working space. In another embodiment, the mechanical arm 210 is a spatially configured mechanism with at least six degrees of freedom, which is used to drive the surgical instrument 221 to move around an active fixed point under program control. The surgical instruments 221 are used to perform specific surgical operations, such as clamping, cutting, scissors and other operations. It should be noted that since the surgical instrument 221 and the endoscope 222 have a certain volume in practice, the above-mentioned "fixed point" should be understood as a fixed area. Of course, those skilled in the art can understand the "fixed point" according to the prior art.

The master controller is connected to the master device 100 and the slave device 200 respectively, and is used to control the movement of the operation execution component according to the movement of the master operator 101. Specifically, the master controller includes a master-slave mapping module, the The master-slave mapping module is used to obtain the terminal pose of the master operator 101 and the predetermined master-slave mapping relationship to obtain the desired terminal pose of the surgical actuator, and then control the robotic arm 210 to drive the surgical instrument 221 to the desired terminal pose. Further, the master-slave mapping module is also used to receive instrument function operation instructions (such as electric cutting, electrocoagulation and other related operation instructions), and control the energy driver of the surgical instrument 221 to release energy to implement electric cutting, electrocoagulation and other surgical operations. In some embodiments, the main controller also accepts the force information received by the surgical execution component (for example, the force information of the human tissue and organ on the surgical instrument), and feeds back the force information received by the surgical execution component to the main operator 101 , so that the operator can feel the feedback force of the surgical operation more intuitively.

Further, the medical robot system also includes an image trolley 300 . The image trolley 300 includes: an image processing unit (not shown) communicatively connected with the endoscope 222 . The endoscope 222 is used to acquire intracavity (referring to the patient's body cavity) surgical field images. The image processing unit is used to perform image processing on the image of the operative field acquired by the endoscope 222 and transmit it to the imaging device 102 so that the operator can observe the image of the operative field. Optionally, the image trolley 300 further includes a display device 302 . The display device 302 is connected in communication with the image processing unit, and is used to provide an auxiliary operator (such as a nurse) with real-time display of an operation field image or other auxiliary display information.

Optionally, in some surgical application scenarios, the surgical robot system also includes auxiliary components such as a ventilator, an anesthesia machine 500 and an instrument table 600 for use in surgery. Those skilled in the art can select and configure these auxiliary components according to the prior art, and no further description is given here.

It should be noted that the surgical robot system disclosed in the above example is only a demonstration of an application scenario rather than a limitation on the application scenario of the surgical robot system. For a single-ended surgical robot system, the operator directly operates the surgical robot to perform surgery, and the present invention is not limited thereto.

Please refer to FIG. 2 , which shows an exemplary embodiment of the slave device 200 , and the bushing assembly 700 is assembled on the end of the mechanical arm 210 (specifically, it can be assembled on the working arm). Please refer to FIG. 3 , which shows an exemplary embodiment of a cannula assembly 700 . In this example, the cannula assembly 700 includes a cannula body 710 and an insertion portion 720, the cannula body 710 is a hollow tubular body, which is used for inserting into the patient's surgical incision, and for supplying surgical instruments 221 or Endoscope 222 is passed into the patient. The insertion part 720 is used to be inserted into the connecting mechanism of the mechanical arm 210 at the end of the mechanical arm 210 to realize the assembly connection with the mechanical arm 210 .

Please refer to FIG. 4 , which shows an exemplary assembly diagram of the cannula assembly 700 , the aseptic bag module 800 and the mechanical arm connection mechanism 900 . Generally, the mechanical arm 210 of the slave device 200 often includes numerous joints, motors and other precise mechanical or electronic components, making it difficult to sterilize. Therefore, in practice, the aseptic bag where the aseptic bag module 800 is located is often used to cover and wrap it, so as to isolate it from the aseptic area. The cannula assembly 700 and a part of the surgical instrument 221 are generally located in a sterile area, so the aseptic bag module 800 needs to be used to isolate the cannula assembly 700 from the mechanical arm 210 during assembly. In the example shown in FIG. 4 , the aseptic bag module 800 includes an aseptic film 810 and an aseptic film assembly 820, the aseptic film 810 is connected with the aseptic film assembly 820 and extends around, the aseptic film assembly The accessory 820 is used to be assembled into the corresponding mechanical arm connection mechanism 900 of the mechanical arm 210, and then the cannula assembly 700 is assembled and connected with the mechanical arm connection mechanism 900, so that the aseptic bag module 800 can be used to pair the cannula assembly 700 Isolated from the robotic arm 210 . The shapes and materials of the aseptic membrane assembly 820 and the aseptic membrane 810 can be configured according to existing technologies and actual needs, and the present invention will not be described here.

The inventors found that due to the existence of the aseptic bag module 800 , the connection between the cannula assembly 700 and the robotic arm 210 is often complicated and inconvenient. In practice, it is desired to further improve the connection between the cannula assembly 700 and the robotic arm 210 . Based on this, the embodiment of the present invention provides a mechanical arm connection mechanism 900 , a cannula assembly 700 and a surgical robot system to solve the problem of complicated and inconvenient installation of the existing cannula assembly and the robotic arm 210 . The robotic arm connection mechanism such as 900 can be arranged at the end of the robotic arm 210 (specifically, it can be arranged at the distal end of the working arm), preferably manually or controlled by the main controller of the surgical robot system.

The mechanical arm connection mechanism 900 , the cannula assembly 700 and the surgical robot system provided by the present invention will be described in detail below in conjunction with several embodiments.

Please refer to FIG. 5 to FIG. 12d , the present embodiment provides a mechanical arm connection mechanism 900, which includes: a base body 910, a force applying portion 920 and a limiting portion 930; the base body 910 has a horizontal direction), the accommodating cavity 911 has an opening 912 along the axial direction, and the accommodating cavity 911 is used for the insertion part of the aseptic bag module 800 and the sleeve assembly 700 720 is inserted from the opening 912; the limiting part 930 is switched between the locked state and the unlocked state under the drive of the force applying part 920; when the limiting part 930 is in the locked state, it is used to After the insertion part 720 is inserted to a predetermined insertion position along the axial direction of the accommodating cavity 911, the position of the insertion part 720 is limited; The restriction on the position of the insertion part 720 is described above. The insertion part 720 of the sleeve assembly 700 is used to insert into the accommodating cavity 911 of the mechanical arm connection mechanism; and when the limiting part 930 is in the locked state, it is locked in a predetermined insertion position in the axial direction. Location.

With such a configuration, when the limiting part 930 is driven by the force applying part 920 to switch to the unlocked state, the sterile bag module 800 and the cannula assembly 700 can be conveniently inserted into the accommodating cavity 911 of the base body 910, and then passed through the force applying part 920 When the drive limiter 930 is converted to the locked state, the insertion part 720 can be locked at the predetermined insertion position; when the aseptic bag module 800 and the sleeve assembly 700 are removed, the force limiter 920 can also be used to drive the limiter. The position part 930 is switched to the unlocked state, and the aseptic bag module 800 and the cannula assembly 700 are removed.

Please refer to FIG. 5 to FIG. 7 , in one example, the base body 910 is approximately cylindrical, and its accommodating cavity 911 is approximately cylindrical (in other embodiments, it may also be an arcuate bottom surface for fool-proof considerations. cylinder shape), and open towards one side of the opening 912, and the other side of the accommodating cavity 911 is closed. Optionally, the base body 910 also includes an aseptic bag docking structure 913, which can be arranged, for example, at the bottom of the accommodating cavity 911 of the base body 910 away from the opening 912. The aseptic bag docking structure 913 is used for aseptic bag module 800 Membrane assembly 820 fits into connection (eg, snaps). Correspondingly, the insertion part 720 of the sleeve assembly 700 is also roughly cylindrical (or roughly cylindrical with an arcuate bottom surface for fool-proof considerations), and its outer diameter is adapted to the inner diameter of the accommodating cavity 911. The part 720 can be loosely inserted into the accommodating cavity 911 without causing a large looseness.

Optionally, the limiting part 930 includes a sliding piece 931 and a locking piece 932; the sliding piece 931 is movably arranged outside the base body 910 along the axial direction and/or circumferential direction of the base body 910, the The locking member 932 is movably arranged along the radial direction of the base body 910; in the sleeve assembly 700, the insertion portion 720 has an engaging groove 721; the engaging groove 721 is arranged along the insertion portion 720 open radially outward.

Please refer to FIG. 9 to FIG. 11c in combination. When assembling the sleeve assembly 700 on the base body 910, the aseptic film assembly part 820 of the aseptic bag module 800 can be put into the accommodating cavity 911 of the base body 910 first, and combined with The aseptic bag docking structure 913 is assembled and connected, so that the aseptic film 810 protrudes from the opening 912 of the accommodating cavity 911 and extends outward (as shown in FIG. 9 ). Furthermore, the force-applying part 920 is operated to drive the limiting part 930 to switch to the unlocked state (as shown in FIG. 10 a ). Then, the insertion portion 720 of the sleeve assembly 700 can be inserted into the accommodating cavity 911 from the opening 912 along the axial direction of the base body 910 (as shown in FIG. 10b ), until it reaches a predetermined insertion position (as shown in FIG. 10c ). .

When the insertion part 720 is at the predetermined insertion position, the axial position of the engaging groove 721 along the insertion part 720 is aligned with the locking part 932 of the limiting part 930 along the axis of the base body 910. Adapt to the location. When the limiting portion 930 is in the locked state, the sliding member 931 is at the first position, and the locking member 932 is restricted from protruding toward the interior of the accommodating cavity 911 along the radial direction of the base body 910 (here When the locking piece 932 is in the locking position), the part of the locking piece 932 protruding from the inside of the accommodating cavity 911 is used to snap into the engaging groove 721 of the insertion part 720 to limit the insertion position of part 720; when the limiting part 930 is in the unlocked state, the sliding part 931 is in the second position, releasing the restriction on the radial position of the locking part 932, allowing the locking part 932 to move along the radial direction. Move outward and withdraw from the engaging groove 721 to release the restriction on the position of the insertion part 720 . For the convenience of description, the position after the locking member 932 moves radially outwards and withdraws from the engaging slot 721 is referred to as the withdrawal position hereinafter.

Please refer to FIG. 10 a to FIG. 11 c together. In one example, the sliding member 931 is in a tubular shape and is movably sleeved on the outer periphery of the base body 910 along the axial direction. In Fig. 10a to Fig. 10d, the sliding member 931 is in the second position, and the limiting part 930 is in the unlocked state; in Fig. 11a to Fig. 11c, the sliding part 931 is in the first position, and the limiting part 930 is in the locked state. Further, the base body 910 has a locking member hole 914 penetrating in the radial direction, the locking member hole 914 communicates with the accommodating cavity 911 , and the locking member hole 914 is used for accommodating the locking member 932 . In one embodiment, the locking member 932 is spherical. Of course, in other embodiments, the locking member 932 is not limited to a spherical shape, and may also be in various shapes such as an ellipsoid, a cylinder, or a block, which is not limited in this embodiment. In addition, in some other embodiments, the sliding member 931 is not limited to move axially along the base body 910 , but may also move circumferentially around the base body 910 to switch between the first position and the second position. Of course, in some other embodiments, the sliding member 931 can simultaneously move along the axial direction and the circumferential direction of the base body 910 (such as generating axial displacement while rotating like a spiral), so as to realize the position between the first position and the second position. switching, the present invention is not limited to this.

Optionally, the length of the locking member 932 along the radial direction of the base body 910 is greater than the depth of the locking member hole 914 . On the one hand, when the sliding member 931 moves to the first position in the axial direction, it can cover the locking member hole 914 and prevent the locking member 932 from moving outward in the radial direction. Thus, the locking member 932 protrudes toward the interior of the accommodating cavity 911 along the radial direction of the base body 910 (as shown in FIGS. 11 a to 11 c ). On the other hand, when the sliding member 931 moves to the second position in the axial direction, the locking member hole 914 can be exposed, and the restriction on the radial outward movement of the locking member 932 can be released. At this time, the locking member 932 can be allowed to move radially outward. Move outside (as shown in Figure 10a to Figure 10d). The movement of the locking member 932 can be active movement (such as using electric or magnetic drive, or mechanical drive, see below for details), or passive movement (such as being pushed by the socket part 720 to move, see below for details) After the locking member 932 moves radially outward to the withdrawn position, it no longer engages with the engaging groove 721 , thereby releasing the restriction on the position of the inserting portion 720 .

Further, please refer to FIG. 10c, FIG. 10d and FIG. 12b, the sliding member 931 has an escape area 9311 concaved outward along the radial direction of the base body 910, when the limiting part 930 is in the unlocked state, the The avoidance area 9311 is aligned with the locking member 932 to allow at least a portion of the locking member 932 to move radially outward into the avoidance area 9311 . Furthermore, the sliding member 931 has a boundary surface 9312 disposed outside the escape area 9311, the boundary surface 9312 is disposed inward along the radial direction of the base body 910, and is used to limit the locking member 932 along the radial direction. out of the base 910 outwardly. The setting of the escape area 9311 can accommodate at least a part of the locking member 932 that moves outward when the sliding member 931 moves to the second position. The setting of the boundary surface 9312 can cover the top of the locking member hole 914 when the sliding member 931 moves to the second position, restricting the locking member 932 from completely disengaging from the locking member hole 914, and preventing the locking member 932 from falling off. . It can be understood that the shapes of the avoidance area 9311 and the boundary surface 9312 are not limited to the shapes shown in the figure, but can also be other shapes, which can be changed by those skilled in the art according to actual conditions.

Further, please refer to FIG. 12b, the sliding member 931 has a first pushing surface 9313 facing the locking member 932, and the first pushing surface 9313 is along the direction from the second position to the first position. (to the right in FIG. 12 b ); the first pushing surface 9313 is used to push the locking member 932 along the The base body 910 moves radially inward to the locking position and is locked into the locking groove 721 . It should be noted that the first pushing surface 9313 is an inwardly inclined surface along the direction from the second position to the first position, which means that the first pushing surface 9313 is formed on the inner side of the slider 931 and faces the inside of the base body 910 (that is, the central axis). direction, and the normal direction of the first pushing surface 9313 forms an acute angle with the direction from the second position toward the first position (that is, the normal direction of the first pushing surface 9313 faces the lower right direction in Fig. 12b), so that the first pushing surface 9313 is right The distance between the side and the axis of the base body 910 is greater than the distance between the left side of the first pushing surface 9313 and the axis of the base body 910 . In addition, the first pushing surface 9313 may be a plane, or a curved surface, an arc surface, or a folded surface, etc., which is not limited in this embodiment. The setting of the first pushing surface 9313 enables the sliding member 931 to generate a radially inward component force on the locking member 932 during the process of moving from the second position to the first position, thereby pushing the locking member 932 to move radially inward. Thus, when the limiting portion 930 is switched from the unlocked state to the locked state, it can automatically push the locking member 932 to move to the inside of the base body 910 to engage with the engaging groove 721 .

Please refer to FIG. 12 a and FIG. 12 b , preferably, the locking member hole 914 has a limiting structure 9141 , and the limiting structure 9141 is used to limit the maximum radial inward displacement of the locking member 932 . As shown in Figure 12b, in an alternative example, the limiting structure 9141 includes a necking section that gradually shrinks inward along the radial direction of the base body 910, and the minimum radial inner dimension of the necking section smaller than the maximum radial outer dimension of the locking member 932 . It should be noted that the minimum radial inner dimension of the necking section here refers to the minimum inner width of the necking section along its own radial direction. If the cross-sectional profile of the necking section is circular, its minimum radial inner dimension is the inner diameter of the circle; if the cross-sectional outline of the necking section is polygonal, its minimum radial inner dimension is the inner diameter of the polygon. The diameter of the connecting circle. Similarly, the maximum radially outer dimension of the locking member 932 refers to the maximum radially outer width of the locking member 932 itself, and the maximum radially outer dimension of the locking member 932 can be understood with reference to the minimum radially inner dimension of the aforementioned constriction section. So configured, when the locking piece 932 moves radially inward until it abuts against the necking section, it is stopped by the necking section and cannot move further inward, thereby ensuring that the locking piece 932 will not come out inward and fall into the container. Put it in cavity 911. Of course, the constriction section is only an example of the limiting structure 9141 and not limiting, and those skilled in the art can improve the limiting structure 9141 according to the actual situation. For example, the limiting structure 9141 can be various structures such as a limiting step, a limiting column, and a limiting ring, which are not limited in this embodiment.

Optionally, the limiting portion 930 may include a plurality of locking pieces 932 distributed at intervals around the circumference of the base body 910 . Correspondingly, a plurality of locking member holes 914 may be opened on the base body 910 . A plurality of locking pieces 932 can improve the stability of locking.

Please refer to FIG. 5 to FIG. 9, and refer to FIG. 10a to FIG. The base body 910 is connected, and the push-pull axis A is set along the non-parallel direction of the axis of the base body 910; The axes of the base body 910 are out-of-plane or intersecting, but must not be parallel or coincident with the axis of the base body 910 . Preferably, the push-pull axis A is perpendicular to the axis of the base body 910 . One of the push-pull member 921 and the slide member 931 has a guide groove 9211, and the other has a guide block 9314, and the guide block 9314 is movably installed in the guide groove 9211, and the push-pull member 921 Rotate around the push-pull axis A, and drive the slider 931 to move through the guide groove 9211 and the guide block 9314 .

In an alternative example, one end of the push-pull member 921 is rotatably connected to the base body 910 through a pin shaft, and the axis of the pin shaft is the push-pull axis A. A guide groove 9211 is defined on the push-pull member 921 , and the guide groove 9211 is roughly a long hole, and its long axis (the up-down direction in FIG. 5 ) extends along the circumferential direction of the base body 910 . The slider 931 is provided with a guide block 9314, the width of the guide block 9314 along its own radial direction is adapted to the width of the short axis of the guide groove 9211 (left-right direction in FIG. However, the position of the guide block 9314 along the short axis direction of the guide groove 9211 is limited by the sidewall of the guide groove 9211. Preferably, the cross section of the guide block 9314 along its axial direction is circular. So configured, when pushing the push-pull part 921 (i.e. applying a thrust F to the push-pull part 921, as shown in Figure 10a), the push-pull part 921 can drive the sliding part 931 to The right side movement in 10a, that is, drives the sliding member 931 to move from the first position to the second position, so that the limiting part 930 switches from the locked state to the unlocked state. In some other embodiments, it is not limited to apply a push force F to the push-pull member 921 to push the push-pull member 921 , but also apply a pulling force to pull the push-pull member 921 to drive the sliding member 931 to move. The slider 931 is not limited to moving away from the opening 912 from the first position to the second position, and can also move toward the opening 912 from the first position to the second position. In some other embodiments, the guide groove 9211 can be provided on the sliding member 931 , and the guide block 9314 is provided on the push-pull member 921 . In addition, in some other embodiments, the push-pull member 921 and the sliding member 931 are not limited to the connection method of the guide groove 9211 and the guide block 9314, and can also be connected by common structures in the field such as hinges and connecting rods. These examples are not limited, and those skilled in the art can improve it according to the existing technology.

It should be understood that the push-pull member 921 shown in the above example is mainly used to drive the sliding member 931 to move along the axial direction of the base body 910 . In some other embodiments, when the sliding member 931 moves between the first position and the second position along the circumferential direction of the base body 910, the structure of the push-pull member 921 can also be adapted and adjusted so as to be suitable for driving the sliding member 931 around The base body 910 moves circumferentially. For example, the push-pull axis A can be arranged along the axial direction parallel to the base body 910 , and those skilled in the art can reasonably configure it according to the prior art, and this embodiment will not be further described.

Please refer to FIG. 6 to FIG. 8 , preferably, the limiting part 930 includes a potential energy component 933, and the sliding member 931 is connected to the base body 910 through the potential energy component 933; the potential energy component 933 is connected to the sliding component 931 stores potential energy during the process of moving from the first position to the second position, and releases potential energy during the process of moving the slider 931 from the second position to the first position. The setting of the potential energy component 933 enables the sliding component 931 to be automatically pushed to the first position by the potential energy released by the potential energy component 933 when the operator releases the push-pull component 921, thereby forming an automatic locking, which facilitates the operation during installation on the one hand, On the other hand, the existence of the potential energy assembly 933 also ensures that the sliding member 931 can be reliably locked in the first position, and ensures that the insertion part 720 of the sleeve assembly 700 is reliably locked at the predetermined insertion position without being in use. loosening occurs.

The specific structure of the potential energy component 933 can be various, for example, it can be an elastic potential energy component, or it can be a magnetic potential energy component. 6 to 8 show an example of an elastic potential energy assembly. In this example, the potential energy assembly 933 includes an elastic member 9331 and an elastic member base 9332, and the elastic member base 9332 is connected to the base 910. , one end of the elastic member 9331 is connected to the elastic member base 9332, and the elastic member base 9332 is used to limit one end of the elastic member 9331 (the right end in Fig. 6 and Fig. 7, and the upper end in Fig. 8 ) position; the other end of the elastic member 9331 is connected to the sliding member 931. If the elastic member base 9332 can be arranged along the circumferential direction of the base body 910, a part of it protrudes outward along the radial direction of the base body 910. If the elastic member 9331 can be a spring, one end of it can lean against or be fixedly connected to the elastic member base 9332 The raised part is limited by the base 9332 of the elastic member. In some other embodiments, the potential energy component 933 may include, for example, a group of magnetic blocks with opposite poles, which can achieve a similar effect to that of the elastic potential energy component. Those skilled in the art can make reasonable improvements to the structure of the potential energy component 933 according to actual conditions, and the present invention is not limited thereto. It can also be understood that the potential energy component 933 shown in the above example is mainly used to apply potential energy to the slider 931 along the axial direction of the base body 910 . In some other embodiments, when the sliding member 931 moves between the first position and the second position along the circumferential direction of the base body 910, the structure of the potential energy component 933 can also be adapted and adjusted to adapt to the application of the sliding member 931. Potential energy along the circumference of the substrate 910. For example, the elastic member 9331 can be wrapped around the base body 910, and one end of the elastic member 9331 can be fixed on the outer periphery of the base body 910, etc. Those skilled in the art can reasonably configure it according to the existing technology, and this embodiment will not be further described.

Please refer to FIG. 12c and FIG. 12d , further, the base 910 has a slider limiting structure 915, and the slider limiting structure 915 is used to limit the slider 931 from the second position toward the first The orientation of the location does not move beyond the first location. For example, the slider limiting structure 915 can protrude outward along the radial direction of the base body 910, which can prevent the slider 931 from moving beyond the first position along the second position toward the first position, that is, the slider 931 moves along the second position. When moving toward the first position to the first position, it just abuts against the slider limiting structure 915 and is blocked by the slider limiting structure 915 . The setting of the sliding part limit structure 915 can cooperate with the potential energy component 933, so that after the operator removes the push force applied to the push-pull part 921, the sliding part 931 can automatically and reliably move to the first position, ensuring that the insertion part 720 reliable locking. In some other embodiments, when the slider 931 moves between the first position and the second position along the circumferential direction of the base body 910, the slider limiting structure 915 can also be configured to limit the circumferential rotation of the slider 931 The location, those skilled in the art can reasonably configure it according to the existing technology, and this embodiment will not further describe it.

Please refer to FIG. 6 , FIG. 7 , FIG. 12c and FIG. 12d , in some embodiments, the engaging groove 721 extends along the circumferential direction of the insertion portion 720 . Of course, in some other embodiments, the engaging grooves 721 may not extend along the circumferential direction of the insertion portion 720 , but are only arranged in a point-like or multi-point distribution corresponding to the positions of the locking pieces 932 .

Preferably, the engaging groove 721 has a second pushing surface 7211, and the second pushing surface 7211 is toward the direction in which the inserting portion 720 is withdrawn from the accommodating cavity 911 (as shown in FIGS. 6 and 7 ). is the direction to the left, and in Fig. 12c and Fig. 12d is the direction to the right); the second pushing surface 7211 is used for withdrawing the insertion part 720 from the accommodating cavity 911 During the process, the locking member 932 is pushed to move outward along the radial direction of the base body 910 . It should be noted that the second pushing surface 7211 here is an outwardly inclined surface facing the direction in which the socket part 720 is withdrawn from the accommodating cavity 911 , and it can be referred to above that the first pushing surface 9313 is directed toward the first position along the second position. The inclination of the direction is understood. Specifically, the second push surface 7211 is formed on the inner side of the socket part 720, facing the outside of the socket part 720 (that is, away from the central axis), and the normal direction of the second push surface 7211 is self-accommodating with the socket part 720. The direction of withdrawing from the cavity 911 is at an acute angle (that is, the normal direction of the second pushing surface 7211 faces the upper right direction in FIG. 12d ). In addition, the second pushing surface 7211 may be a plane, or may be a curved surface, an arc surface, or a folded surface, etc., which is not limited in this embodiment. The setting of the second pushing surface 7211 enables the insertion part 720 to generate a radially outward component force on the locking piece 932 during the process of withdrawing from the accommodating cavity 911, thereby pushing the locking piece 932 to move radially outward. to the exit position. Thus, when the limiting part 930 is in the unlocked state, the locking member 932 can passively move, and the sliding member 931 only needs to be able to allow the locking member 932 to move outward, without actively driving the locking member 932 to move, which simplifies The structure of the limiting part 930.

Preferably, the other side of the engaging groove 721 relative to the second pushing surface 7211 can also be a slope surface 7212, specifically along the direction in which the socket part 720 is installed into the accommodating cavity 911 (to the left in Fig. 12c and Fig. 12d The direction) is outwardly inclined, so that the engaging groove 721 fits and accommodates the locking member 932 better. More preferably, the outer periphery of the end portion of the insertion portion 720 along the direction of being installed into the accommodating cavity 911 has a chamfered surface 722 , and the chamfered surface 722 is outwardly inclined along the direction of the insertion portion 720 being installed into the accommodating cavity 911 . The chamfered surface 722 can generate a radially outward component force on the locking member 932 when the inserting portion 720 is installed into the accommodating cavity 911 , thereby pushing the locking member 932 to move radially outward to the withdrawn position, so that the inserting portion 720 insert. It should also be noted that the sloped surface 7212 and the chamfered surface 722 may be flat surfaces, curved surfaces, arc surfaces, or folded surfaces, etc., which are not limited in this embodiment.

This embodiment also provides a surgical robot system, which includes a robotic arm 210, a sterile bag module 800, and the sleeve assembly 700 as described above; the robotic arm 210 includes the robotic arm connection mechanism as described above, and the The mushroom bag module 800 and the sleeve assembly 700 are used to be detachably assembled in the accommodating cavity 911 of the connecting mechanism of the mechanical arm. For other structures and principles of the surgical robot system, reference may be made to the prior art, which will not be repeated in this embodiment.

The mechanical arm connection mechanism and sleeve assembly 700 provided in this embodiment are suitable for manual installation. When the sleeve assembly 700 is not installed and needs to be installed, the operator can manually push (or pull) the push-pull member 921 to drive the slide member 931 Move to the second position, so that the limiting part 930 is switched to the unlocked state. Furthermore, after the bushing assembly 700 is installed in the accommodating cavity 911 of the base body 910, the external force applied to the push-pull member 921 is removed, and the sliding member 931 moves to the first position under the action of the potential energy assembly 933, so that the stopper 930 switches to the first position. locked state. For the steps of removing the bushing assembly 700 again, reference may be made to the aforementioned steps of installation, which will not be repeated here.

Please refer to Figure 13a and Figure 13b, the mechanical arm connection mechanism, sleeve assembly and surgical robot system of the embodiment of the present invention are basically the same as the mechanical arm connection mechanism, sleeve assembly and surgical robot system of Embodiment 1, and the same parts are not repeated Narrative, the following only describes the different points.

In this embodiment, the structures of the base body 910 , the force applying portion 920 , the sliding member 931 and the locking member 932 are different from the previous embodiments, and the driving method of the locking member 932 is also different from the previous embodiments. Specifically, in this embodiment, the sliding member 931 and/or the base body 910 includes a first magnetic member 9315, the locking member 932 is a magnet or a ferromagnetic body, and the sliding member 931 is located at the first position At this time, the first magnetic member 9315 acts on the locking member 932 through magnetic force, so that the locking member 932 moves outward along the radial direction of the base body 910 to the withdrawal position. Here, it is simply explained that the locking member 932 is a magnet and a ferromagnet. The locking part 932 being a magnet means that the locking part 932 itself has a magnetic field, such as a permanent magnet or an electromagnet, which can actively form a magnetic field. The locking part 932 is a ferromagnetic body, which means that the locking part 932 has ferromagnetism and can be magnetized in a magnetic field to be attracted by a magnet, such as iron, cobalt, nickel and other materials, which themselves may not have a magnetic field, but can be attracted by other magnets . The first magnetic member 9315 may be a permanent magnet or an electromagnet, which is not limited in this embodiment.

In one example, the first magnetic part 9315 is arranged outside the avoidance area 9311 of the sliding part 931, the locking part 932 can be an iron ball, and when the sliding part 931 moves to the first position, the first magnetic part 9315 is approximately opposite to The quasi-locking piece 932 can be attracted to the locking piece 932 by magnetic force, so that the locking piece 932 can move outward to the withdrawal position and withdraw from the engaging groove 721 . On the contrary, when the slider 931 moves to the second position, on the one hand, the first magnetic part 9315 is far away from the locking part 932, and the magnetic force is relatively small; snap position.

With such a configuration, when the limiting portion 930 is switched from the locked state to the unlocked state, the locking member 932 can actively move. Therefore, on the one hand, the second pushing surface 7211 and the chamfered surface 722 may not be provided on the inserting portion 720 , which simplifies the structure of the inserting portion 720 . On the other hand, the insertion resistance of the insertion part 720 is also reduced, preventing the insertion part 720 from contacting the locking part 932 during insertion into the accommodating cavity 911 . Since in this embodiment the locking member 932 is actively moved by being attracted by the first magnetic member 9315, its shape is not limited to a spherical shape, for example, it can be cylindrical. It may be rectangular, and the locking force after the two are engaged is stronger, which effectively improves the connection reliability after the sleeve assembly 700 is assembled into the accommodating cavity 911 .

Optionally, as shown in FIG. 13b, the sleeve assembly 720 further includes a second magnetic piece 723, and when the plug-in portion 720 is in the predetermined insertion position, the second magnetic piece 723 is used to pass the magnetic force Acting on the locking piece 932 , the locking piece 932 is engaged in the engaging groove 721 . In one example, the second magnetic piece 723 is disposed inside the engaging groove 721 along the radial direction of the plug-in portion 720, and the magnetic field strength of the second magnetic piece 723 is weaker than that of the first magnetic piece 9315, that is, the second The attractive force of the magnetic part 723 to the locking part 932 is weaker than that of the first magnetic part 9315 to the locking part 932 . In this way, when the sliding part 931 moves to the first position, the first magnetic part 9315 overcomes the attractive force of the second magnetic part 723 on the locking part 932, and attracts the locking part 932 to the withdrawal position. When the sliding part 931 moves away from the first position to the second position, the attraction force of the first magnetic part 9315 to the locking part 932 weakens rapidly, and the second magnetic part 723 overcomes the attraction force of the first magnetic part 9315 to the locking part 932, and Attract the lock 932 to the engaged position. In such a configuration, the first pushing surface 9331 may not be provided on the slider 931, which simplifies the structure of the slider 931 on the one hand, and reduces the movement resistance of the slider 931 on the other hand, so that the slider 931 moves back and forth. Neither need to apply a pushing force to the lock 932 .

In some other embodiments, the first magnetic member 9315 acts on the locking member 932 through magnetic force, which is not limited to attraction, but also repulsion. For example, the first magnetic part 9315 is disposed in the side wall of the base body 910, preferably on one side close to the accommodating cavity 911, and the locking part 932 includes a permanent magnet (for example, the outer part of the locking part 932 along the radial direction of the base body 910 is a permanent magnet) . The magnetic poles of the first magnetic part 9315 and the locking part 932 are arranged along the radial direction of the base body 910 , and the two are opposite to each other with the same pole. For example, the north pole of the first magnetic part 9315 faces outward, and the north pole of the locking part 932 faces inward, and the first magnetic part 9315 always exerts an outward repulsive force on the locking part 932 . With such a configuration, when the sliding member 931 moves from the first position to the second position, the locking member 932 is pushed by the repulsive force of the first magnetic member 9315 to move outward along the radial direction of the base body 910 to the withdrawn position. Conversely, when the slider 931 moves from the second position to the first position, the slider 931 pushes the locking member 932 inwards to the engaged position through the first pushing surface 9313, and the locking member 932 is limited by the inner wall of the slider 931. bit.

Optionally, in this embodiment, the force applying part 920 may include an electric push-pull device 922 instead of the push-pull member 921 , the electric push-pull device 922 is connected with the slider 931 and can drive the slider 931 to move. Of course, the force application portion 920 of this embodiment may also adopt the same or similar structure as that of the foregoing embodiments, and the present invention is not limited thereto.

The mechanical arm connection mechanism and the cannula assembly 700 provided in this embodiment are suitable for automatic surgical procedures. When the main controller of the surgical robot system recognizes that the cannula assembly 700 is not installed and needs to be installed, it can automatically control the electric push-pull device 922 to drive and slide The member 931 moves to the second position, so that the limiting part 930 switches to the unlocked state. Furthermore, when the main controller recognizes that the bushing assembly 700 has been installed, it automatically controls the electric push-pull device 922 to drive the slider 931 to move to the first position, so that the limiting part 930 is switched to a locked state. For the steps of removing the bushing assembly 700 again, reference may be made to the aforementioned steps of installation, which will not be repeated here.

Please refer to Fig. 14a and Fig. 14b, the mechanical arm connection mechanism, the cannula assembly and the surgical robot system of the embodiment of the present invention are basically the same as the mechanical arm connection mechanism, the cannula assembly and the surgical robot system of the previous embodiment, and the same parts are not repeated Narrative, the following only describes the different points.

In this embodiment, the structures of the force applying portion 920 and the limiting portion 930 are different from those of the foregoing embodiments. Specifically, in this embodiment, the force applying part 920 and the limiting part 930 are no longer equipped with cumbersome mechanical moving parts, and the force applying part 920 realizes applying force to the limiting part 930 through the electromagnetic principle, so that the limiting part 930 Toggles between locked and unlocked states.

Optionally, the force applying part 920 includes a first electromagnet 923, the limiting part 930 includes a locking part 932, the locking part 932 is a magnet or a ferromagnetic body, and the locking part 932 is along the radially movable; when the first electromagnet 923 changes the energized state, it changes the magnetic force generated on the locking piece 932, so that the locking piece 932 moves along the radial direction of the base body 910, so that the The limiting portion 930 is switched between the locked state and the unlocked state; when the limiting portion 930 is in the locked state, the locking member 932 is accommodated in the radial direction of the base body 910 The inside of the cavity 911 is protruding, and the protruding locking member 932 is used to snap into the engaging groove 721 of the inserting portion 720 to limit the position of the inserting portion 720; the limiting portion 930 is in the In the unlocked state, the locking member 932 moves radially outwards to an withdrawn position and withdraws from the engaging groove 721 , so as to release the restriction on the position of the inserting portion 720 .

It should be noted that the change of the energized state of the first electromagnetic member 923 means that the first electromagnetic member 923 changes from energized to de-energized, from de-energized to energized, or reverses any one of the polarities of the energized state.

Optionally, when the limiting part 930 is in the locked state, the first electromagnetic part 923 is powered off, and when the limiting part 930 is in the unlocked state, the first electromagnetic part 923 is powered on; or , when the limiting portion 930 is in the locked state and the unlocked state, the electrification polarity of the first electromagnet 923 is reversed.

In one example, the first electromagnetic element 923 is arranged outside the locking element 932 along the radial direction of the base body 910, and the locking element 932 is a steel ball. When the first electromagnetic element 923 is energized, the locking element 932 The external suction makes the locking member 932 move to the withdrawal position (as shown in FIG. 14 a ), and the limiting part 930 is in an unlocked state. When the first electromagnetic part 923 is de-energized, it loses its attractive force to the locking part 932, and the locking part 932 can operate under the action of various forces (such as gravity, elastic force, or magnetic force from the second magnetic part 723, etc., see below for details). Fall back down to the engaging position, so that the limiting part 930 is switched to the locked state.

Further, the sleeve assembly 720 further includes a second magnetic member 723 , and the second magnetic member 723 is disposed inside the engaging groove 721 along the radial direction of the insertion portion 720 . In some embodiments, the second magnetic member 723 can be a permanent magnet, and the magnetic field strength of the second magnetic member 723 is weaker than the magnetic field strength of the first electromagnetic member 923 when energized, that is, the second magnetic member 723 attracts the locking member 932 The force is weaker than the attractive force on the locking part 932 when the first electromagnetic part 923 is energized. In this way, when the first electromagnetic part 923 is energized, the first electromagnetic part 923 overcomes the attraction force of the second magnetic part 723 to the locking part 932 and attracts the locking part 932 to the exit position. When the first electromagnetic part 923 is de-energized, the attractive force of the second magnetic part 723 on the locking part 932 will attract the locking part 932 to the engagement position. In other embodiments, the second magnetic member 723 can be an electromagnet, which can be energized alternately with the first electromagnetic member 923, that is, when the first electromagnetic member 923 is energized, the second magnetic member 723 is de-energized, and the first The attractive force of the electromagnet 923 on the locking member 932 attracts the locking member 932 to the withdrawn position. When the first electromagnetic part 923 is de-energized, the second magnetic part 723 is energized, and at this time, the second magnetic part 723 attracts the locking part 932 to the engaging position.

In another example, the locking member 932 is a permanent magnet, and the magnetic pole arrangement directions of the locking member 932 and the first electromagnetic member 923 are arranged along the radial direction of the base body 910, and the first electromagnetic member 923 is energized according to the first polarity. When energized, the direction of the magnetic pole arrangement of the locking member 932 is the same, the first electromagnetic member 923 is attracted to the locking member 932, and the locking member 932 is attracted outward, so that the locking member 932 moves to the withdrawal position (as shown in FIG. 14a ), limiting The bit portion 930 is in an unlocked state. After the first electromagnetic part 923 changes the energized state, when it is energized according to the second energization polarity, the direction of the magnetic pole is reversed, the first electromagnetic part 923 and the locking part 932 repel each other, and the locking part 932 is pushed inward to the engaging position, so that The limiting portion 930 is switched to a locked state. With such a configuration, the sleeve assembly 720 may not be provided with the second magnetic member 723 , which simplifies the structure of the sleeve assembly 720 .

It should be noted that the first electromagnetic element 923 is not limited to be arranged on the outside of the locking element 932. In one example, the first electromagnetic element 923 can be arranged on the side wall of the base body 910, preferably on a side close to the accommodating cavity 911 , and the locking member 932 includes a permanent magnet (for example, the outer part of the locking member 932 along the radial direction of the base body 910 is a permanent magnet). The magnetic pole direction of the first electromagnetic part 923 and the magnetic pole direction of the locking part 932 are arranged along the radial direction of the base body 910 when energized, and the magnetic pole direction of the first electromagnetic part 923 is the same as that of the locking part 932 when energized. For example, when the first electromagnet 923 is energized, the N pole is outward, and the S pole of the locking member 932 is inward. So configured, when the first electromagnet 923 is energized, the locking piece 932 can be attracted inward to make it engage, and when the first electromagnet 923 is turned off or the polarity is turned on, the locking piece 932 can be in each Under the action of this force, it moves outward to the engaging position, so that the limiting part 930 is switched to the locked state.

The mechanical arm connection mechanism and the cannula assembly 700 provided in this embodiment are suitable for automatic surgical procedures. When the main controller of the surgical robot system recognizes that the cannula assembly 700 is not installed and needs to be installed, it can automatically control the first electromagnetic part 923 to change In the energized state, the drive limiter 930 is switched to the unlocked state, and at this time the bushing assembly 700 can be conveniently installed into the accommodating cavity 911 . Furthermore, when the main controller recognizes that the cannula assembly 700 has been installed, it automatically controls the first electromagnet 923 to change the energized state again, drives the limiter 930 to switch to the locked state, and reliably locks the cannula assembly 700 at the predetermined insertion position. At the end of the operation or when the cannula assembly 700 needs to be removed, by triggering, the first electromagnetic member 923 can be controlled again to change the energized state and drive the stopper 930 to switch to the unlocked state, thereby removing the cannula assembly 700 .

Please refer to Fig. 15a to Fig. 15f, the mechanical arm connection mechanism, the cannula assembly and the surgical robot system of the embodiment of the present invention are basically the same as the mechanical arm connection mechanism, the cannula assembly and the surgical robot system of the previous embodiment, and the same parts are not repeated Narrative, the following only describes the different points.

In this embodiment, the connecting mechanism of the mechanical arm further includes a locking groove 940; The engaging section 942 , the guiding section 941 communicates with the engaging section 942 , and the engaging section 942 is located at an end of the guiding section 941 away from the opening 912 . Correspondingly, the sleeve assembly 700 further includes a locking member 730, and the locking member 730 includes a locking section 731 extending along the circumferential direction of the insertion part 720, and the locking section 731 is used for After being axially inserted into the guide section 941 of the locking groove 940 of the mechanical arm connection mechanism, it is snapped into the engaging section 942 of the locking groove 940 in the circumferential direction, so as to limit the sleeve assembly 700 relative to the Axial position of the arm linkage.

Please refer to FIG. 15b to FIG. 15f , the locking groove 940 may be in a Γ shape, the guiding section 941 extends along the axial direction of the base body 910 , and the engaging section 942 extends along the circumferential direction of the base body 910 , and the two are perpendicular and connected. Compatibly, the locking segment 731 of the locking member 730 can first extend into the guiding segment 941 along the axial direction of the base body 910, and then rotate around the base body 910 in the circumferential direction to snap into the engaging segment 942 (as shown in FIG. 15f ). After the locking section 731 is snapped into the engaging section 942 , the locking section 731 can abut against the engaging section 942 to limit the axial position of the sleeve assembly 700 relative to the base body 910 . This is equivalent to additionally locking the position of the sleeve assembly 700 relative to the base body 910 .

Further, the locking member 730 is movably connected with the inserting portion 720 along the circumferential direction of the inserting portion 720 . In an alternative example, the locking member 730 further includes a slider 732 connected to the locking section 731 , the insertion part 720 has a slide groove 724 opened along the circumference, and the slider 732 is along the circumference of the insertion part 720 . The sliding block 724 is movably arranged in the sliding slot 724, and the sliding slot 724 restricts the sliding block 732 to move only in the circumferential direction. Optionally, in some other embodiments, a guide hole extending in the circumferential direction can also be provided on the slider 732, and a guide post is arranged in the sliding groove 724, and the guide post can be movably arranged in the guide hole to further lock the lock. The movement of the stopper 730 is restricted.

So configured, the locking member 730 can move along the axial direction of the base body 910 together with the insertion part 720. When the insertion part 720 is inserted into the accommodating cavity 911 from the opening 912 of the base body 910 to a predetermined insertion position, the locking section 731 also moves Just enter the guiding section 941, and then rotate the locking member 730 in the circumferential direction, so that the locking section 731 can be snapped into the engaging section 942 to realize locking.

The locking member 730 is movably arranged around the insertion portion 720 in the circumferential direction, so that the insertion portion 720 does not need to rotate after being inserted into the accommodating cavity 911 of the base body 910 , and adapts to the cross-sectional shape of the insertion portion 720 and the accommodating cavity 911 The case of fool-proof setting (for example, the cross-section of the socket part 720 and the accommodating cavity 911 is arcuate). Optionally, the outer surface of the locking member 730 may be provided with anti-slip lines, such as grooves or protrusions, for the convenience of the operator.

The setting of the locking groove 940 and the locking member 730 in this embodiment can be achieved by using the force applying part 920 to drive the limiting part 930 to switch to the locked state after the insertion part 720 is inserted into the accommodating cavity 911 to a predetermined insertion position. After the first lock of the socket part 720, an additional secondary lock is performed on the position of the socket part 720 relative to the base body 910, which can be a secondary protection setting, which can improve the safety factor and prevent the failure of the primary lock caused by misuse. The sleeve assembly 700 falls off and other problems. It can be understood that the setting of the locking groove 940 and the locking member 730 in the fourth embodiment can be combined with any of the above-mentioned embodiments.

In summary, in the mechanical arm connection mechanism, sleeve assembly and surgical robot system provided by the present invention, the mechanical arm connection mechanism includes: a base, a force application part and a limiting part; the base has a The accommodating cavity is provided, the accommodating cavity has an opening along the axial direction, and the accommodating cavity is used for inserting the plug-in part from the opening; the limiting part is driven by the force applying part Next, switch between the locked state and the unlocked state; when the limiting part is in the locked state, it is used to limit the plug-in part after it is inserted to a predetermined insertion position along the axial direction of the accommodating cavity. The position of the insertion part; when the limit part is in the unlocked state, the restriction on the position of the insertion part is released. With such a configuration, when the limiting part is driven by the force application part to switch to the unlocked state, the aseptic bag module and sleeve assembly can be conveniently inserted into the accommodating cavity of the base body, and then the limit part is driven by the force application part to switch to the locked state. state, the insertion part can be locked in the predetermined insertion position; when removing the aseptic bag module and sleeve assembly, it is also convenient to switch the limit part to the unlocked state through the force application part, and the aseptic bag Module and bushing assembly removed.

It should be noted that the above several embodiments can be combined with each other. The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosures shall fall within the protection scope of the claims.

Claims

A connection mechanism of a mechanical arm, characterized in that it includes: a base, a force applying part and a limiting part;

The base body has an accommodating cavity arranged along its axial direction, the accommodating cavity has an opening along the axial direction, and the accommodating cavity is used for inserting the socket part from the opening;

Driven by the force applying portion, the limiting part is switched between a locked state and an unlocked state; when the limiting part is in the locked state, it is used The axial insertion of the cavity to the predetermined insertion position limits the position of the insertion part; when the limiting part is in the unlocked state, the restriction on the position of the insertion part is released.
The connecting mechanism of the mechanical arm according to claim 1, wherein the limiting part comprises a sliding piece and a locking piece; the sliding piece is movably arranged on the base body along the axial and/or circumferential direction Outside the base, the locking piece is movably arranged along the radial direction of the base; the insertion part is provided with an engaging groove capable of accommodating the locking piece;

When the limiting portion is in the locked state, the sliding member is at the first position, and the locking member is restricted from protruding toward the interior of the accommodating cavity along the radial direction of the base body, from the accommodating cavity The part of the locking part protruding inside is used to snap into the engaging groove of the insertion part to limit the position of the insertion part;

When the limiting part is in the unlocked state, the sliding part is in the second position, allowing the locking part to move radially outwards and withdraw from the engaging groove, so as to release the lock on the insertion part. location constraints.
The connecting mechanism of the mechanical arm according to claim 2, wherein the force application part comprises a push-pull member, and the push-pull member is rotatably connected with the base body around a push-pull axis, and the push-pull axis is along the direction of the base body. The non-parallel direction setting of the axis;

One of the push-pull member and the slider has a guide groove, the other has a guide block, the guide block is movably installed in the guide groove, and the push-pull member rotates around the push-pull axis, The slider is driven to move through the guide groove and the guide block.
The connecting mechanism of the mechanical arm according to claim 2, wherein the limiting part includes a potential energy component, and the sliding member is connected to the base through the potential energy component; the potential energy component is connected to the sliding component by Potential energy is stored when the first position is moved to the second position, and potential energy is released when the slider moves from the second position to the first position.
The connecting mechanism of the mechanical arm according to claim 4, wherein the potential energy assembly comprises an elastic member and an elastic member base, the elastic member base is connected to the base, and one end of the elastic member is connected to the The base of the elastic piece is connected, and the base of the elastic piece is used to limit the position of one end of the elastic piece; the other end of the elastic piece is connected with the sliding piece.
The mechanical arm connecting mechanism according to claim 4, wherein the base body has a slider limiting structure, and the slider limiting structure is used to limit the slider from moving toward the first position along the second position. A direction movement of a position does not exceed the first position.
The connecting mechanism of the mechanical arm according to claim 2, wherein the sliding member has an escape area recessed outward along the radial direction of the base body, and when the limiting part is in the unlocked state, the escape area A zone is aligned with the lock to allow at least a portion of the lock to move radially outward into the escape zone.
The connecting mechanism of the mechanical arm according to claim 7, wherein the sliding member has a boundary surface arranged outside the avoidance area, and the boundary surface is arranged inward along the radial direction of the base body for limiting The locking member protrudes radially outward from the base body.
The connecting mechanism of the mechanical arm according to claim 7, wherein the sliding member has a first pushing surface facing the locking member, and the first pushing surface faces toward the first pushing surface along the second position. The inclination in the direction of the location.
The connecting mechanism of the mechanical arm according to claim 2, wherein the sliding part and/or the base include a first magnetic part, the locking part is a magnet or a ferromagnetic body, and the sliding part is located on the second In a first position, the first magnetic member acts on the locking member through magnetic force, so that the locking member moves outward along the radial direction of the base body and withdraws from the engaging groove.
The connecting mechanism of the mechanical arm according to claim 1, wherein the force application part includes a first electromagnetic part, the limiting part includes a locking part, and the locking part is a magnet or a ferromagnetic body, and the locking part is along the The base body is movably arranged in the radial direction;

When the first electromagnetic part changes the energized state, it changes the magnetic force generated on the locking part, so that the locking part moves along the radial direction of the base body, so that the limiting part is in the locked state and the switch between the above unlocked states;

When the limiting part is in the locked state, the locking piece protrudes toward the inside of the accommodating cavity along the radial direction of the base body, and the protruding locking piece is used to snap into the insertion part The engaging slots limit the position of the socket;

When the limiting portion is in the unlocked state, the locking member moves radially outwards and withdraws from the engaging groove, so as to release the restriction on the position of the inserting portion.
The connecting mechanism of the mechanical arm according to claim 11, wherein the first electromagnetic part is disposed outside the locking part along the radial direction of the base body.
The mechanical arm connection mechanism according to claim 11, wherein when the limiting part is in the locked state, the first electromagnetic part is powered off, and when the limiting part is in the unlocked state, the The first electromagnet is energized; or, when the limiting part is in the locked state and the unlocked state, the polarity of the energization of the first electromagnet is reversed.
The connecting mechanism of the mechanical arm according to claim 2 or 11, wherein the base body has a locking piece hole passing through in the radial direction, the locking piece hole communicates with the accommodating cavity, and the locking piece hole is used for to accommodate the lock.
The connecting mechanism of the mechanical arm according to claim 14, wherein the locking member hole has a limiting structure, and the limiting structure is used to limit the maximum radially inward displacement of the locking member.
The connecting mechanism of the mechanical arm according to claim 15, characterized in that, the limiting structure includes a necking section gradually shrinking inward along the radial direction of the base body, and the smallest radial inner dimension of the necking section is less than The maximum radial outer dimension of the locking member.
The mechanical arm connecting mechanism according to claim 2 or 11, wherein the locking member is spherical.
The connecting mechanism of the mechanical arm according to claim 1, characterized in that, the connecting mechanism of the mechanical arm further comprises a locking groove;

The locking groove includes a guiding section opened along the axial direction of the base body and an engaging section opened along the circumferential direction of the base body, the guiding section communicates with the engaging section, and the engaging section is located at An end of the guide segment away from the opening.
A bushing assembly, characterized in that it is used to assemble and connect with the mechanical arm connection mechanism according to any one of claims 1 to 18; the bushing assembly includes an insertion part, and the insertion part is for inserted into the accommodating cavity of the connecting mechanism of the mechanical arm; and when the limiting part is in the locked state, it is axially locked at a predetermined insertion position.
The bushing assembly according to claim 19, wherein the insertion part has an engaging groove; the engaging groove opens outward along the radial direction of the insertion part; the insertion part is in the position When the preset insertion position is reached, the axial position of the engaging groove along the insertion part matches the axial position of the locking part of the limiting part along the base body.
The bushing assembly according to claim 20, wherein the engaging groove extends along the circumferential direction of the insertion part.
The bushing assembly according to claim 20, wherein the engaging groove has a second pushing surface, and the second pushing surface faces the direction in which the insertion part withdraws from the accommodating cavity. Flare surface; the second pushing surface is used for pushing the locking member to move outward along the radial direction of the base body when the socket part is withdrawn from the accommodating cavity.
The bushing assembly according to claim 20, characterized in that, the bushing assembly further comprises a second magnetic part, and when the insertion part is at the predetermined insertion position, the second magnetic part is used to pass The magnetic force acts on the locking piece to engage the locking piece in the engaging groove.
The bushing assembly according to claim 19, characterized in that, the bushing assembly further comprises a locking member, the locking member includes a locking section extending along the circumference of the insertion part, and the locking The stop section is used to axially insert into the guide section of the locking groove of the mechanical arm connection mechanism, and then snap into the locking section of the locking groove in the circumferential direction, so as to limit the sleeve assembly relative to the Axial position of the arm linkage.
The bushing assembly according to claim 24, wherein the locking member is movably connected to the inserting portion along the circumferential direction of the inserting portion.
A surgical robot system, characterized in that it includes a robotic arm, a sterile bag module, and the cannula assembly according to any one of claims 19-25; In the mechanical arm connection mechanism described in Item 1, the aseptic bag module and the sleeve assembly are used to be detachably assembled in the accommodating cavity of the mechanical arm connection mechanism.