CN213765920U - Medical robot's location arm subassembly and medical robot - Google Patents

Abstract

The utility model discloses a positioning arm component of a medical robot, which comprises an active part which is connected with an end effector and is driven by manpower; the driven part is rotationally connected with the driving part and driven by the driving part; a connecting member; and a rotating lead clamp disposed on the connector, the rotating lead clamp configured to rotate relative to the connector under the action of the cable. The cable can pass rotatory lead wire clamp and rotate thereupon, makes originally mixed and disorderly cable pass through rotatory lead wire clamp and become regular, has optimized the structure of walking the line of initiative portion and driven part junction, has prevented that the cable from being bent, has improved the life of cable. The utility model also discloses a medical robot, which comprises a body, wherein the body comprises a control unit, a lifting shaft and a positioning arm unit, and the positioning arm unit is a positioning arm component of the medical robot; the end effector is arranged on the positioning arm unit; and a cable connected to the control unit and extending toward the end effector.

Description

Medical robot's location arm subassembly and medical robot

Technical Field

The utility model relates to the field of medical equipment, especially, relate to a medical robot's location arm subassembly and medical robot.

Background

Along with the development of science and technology, medical robots appear in operating rooms more and more, medical personnel often finish operations with great difficulty, high precision or complicated process with the help of medical robots, so that the precision of the operations is guaranteed, the success rate of the operations is improved, the labor intensity of the medical personnel is greatly reduced, and the physical power of the medical personnel is saved.

Because there is strict requirement to temperature and volume in the operation environment, for avoiding the motor operation to produce heat and noise, pollute the operation environment in the operating room and lead to the fact the interference to the doctor, consequently medical robot adopts manpower drive's mode usually, and medical personnel need manual adjustment robot's gesture and position to conveniently carry out the operation.

For a medical robot with six degrees of freedom, during positioning, a first joint, a second joint and a third joint which are close to a machine body need to rotate by a large angle to roughly position a mechanical arm unit, then the joints are kept fixed, a fourth joint, a fifth joint and a sixth joint are adjusted to be accurately positioned, and meanwhile, in the using process, the fourth joint, the fifth joint and the sixth joint need to be frequently adjusted to finish various complex operations. The force direction of the third joint is changed continuously and is difficult to control. Furthermore, the sixth joint is connected to an operating device, and the operating device is usually provided with a plurality of components and electrical components such as a motor, an encoder, an imaging device and the like, so that the operating device is heavy, the moment of force at the third joint is changed continuously, and the burden of the third joint is increased.

Therefore, some medical robots add a fixing member to the third joint to enhance the connection strength of the third joint. However, when the wire passes through the third joint, the wire is difficult to fix and exposed to the outside, the wire is easy to interfere at the third joint, the posture adjustment of the robot is affected, and when the third joint rotates, the wire is bent greatly, and the service life of the wire is shortened.

In addition, because medical robot's arm unit needs by the manpower drive, consequently guaranteeing to simplify the wire structure, optimizing the basis that the wire arranged, how to reduce resistance and the frictional force of each joint department for medical personnel adjust each arm labour saving and time saving more, become the technical problem that this field is needed a lot of to solve.

SUMMERY OF THE UTILITY MODEL

The utility model provides a positioning arm component of medical robot and medical robot to solve at least one among the above-mentioned technical problem.

The utility model discloses the technical scheme who adopts does:

a positioning arm assembly of a medical robot is used for connecting an end effector, the medical robot comprises a cable electrically connected with the end effector, the cable extends along the positioning arm assembly, and the positioning arm assembly further comprises a driving part, wherein the driving part is connected with the end effector and driven by manpower; the driven part is rotationally connected with the driving part and is driven by the driving part; the connecting piece is provided with a fixed end fixedly connected with the driving part and a rotating end rotatably connected with the driven part; and a rotating lead clamp disposed on the connector and configured to rotate relative to the connector under the action of the cable.

The utility model provides a medical robot's location arm subassembly still has following additional technical characterstic:

the rotary lead clamp is provided with a wire passing hole for the cable to pass through, and the joint of the top wall and the side wall of the wire passing hole and the joint of the bottom wall and the side wall of the wire passing hole are in arc transition.

The rotating end is provided with an installation position, and one end of the driven part is installed on the installation position.

The driven part comprises a first positioning arm, a second positioning arm rotationally connected with the first positioning arm and a first rotating shaft, and the wire passing channel comprises a first wire passing channel arranged on the upper side of the first positioning arm and a second wire passing channel arranged on the lower side of the second positioning arm; the second positioning arm is rotatably connected with the first positioning arm through the first rotating shaft, and the first rotating shaft is connected with the first wire passing channel and the second wire passing channel.

The first wire passing channel is arranged along the length direction of the first positioning arm, and the second wire passing channel is arranged along the length direction of the second positioning arm; the first wire passing channel protrudes to the direction close to the second wire passing channel at the first rotating shaft; the second wire passage protrudes in a direction close to the first wire passage at the first rotating shaft.

The connecting part is rotatably connected with one end of the second positioning arm, and the rotary lead clamp is arranged at the lower part of the connecting piece and is positioned in the second wire passing channel.

The wire passing channel further comprises a third wire passing channel arranged on the driving part, and the third wire passing channel is arranged along the length direction of the driving part.

And a fixing clamp for fixing the cable is arranged in the wire passing channel.

The utility model also discloses a medical robot, which comprises a body, wherein the body comprises a control unit for controlling the robot to run and a lifting shaft capable of lifting relative to the body; the positioning arm unit is a positioning arm assembly of the medical robot; an end effector mounted to the positioning arm unit; and a cable connected to the control unit and extending toward the end effector.

The utility model provides a medical robot still has following additional technical characterstic:

the lifting shaft is provided with a wiring cavity for the cable to pass through, the driven part further comprises a second rotating shaft, the positioning arm assembly is rotatably connected with the lifting shaft through the second rotating shaft, and the second rotating shaft is communicated with the wiring cavity and the wiring channel.

Since the technical scheme is used, the utility model discloses the beneficial effect who gains does:

1. the utility model discloses a initiative portion with driven part sets up the connecting piece has improved initiative portion with the joint strength of the junction of driven part makes the operation of location arm subassembly is more stable, avoids taking place to rock, improves the stability and the precision of location arm subassembly.

In addition, the rotary lead wire clamp is arranged, the cable can penetrate through the rotary lead wire clamp and freely rotates along with the rotary lead wire clamp, so that the originally disordered cable is orderly through the rotary lead wire clamp, the wiring structure at the joint of the driving part and the driven part is optimized, the cable is effectively prevented from being bent due to the rotation of the driving part, the loss of the cable in the using process is reduced, and the service life of the cable is prolonged.

2. As a preferred embodiment of the present invention, the rotary lead clamp has a supply the cable passes through the wire hole, the junction of the top wall and the side wall of the wire hole, and the junction of the bottom wall and the side wall of the wire hole is an arc transition. The driving part needs to rotate frequently to adjust different positions, so that the cable can move and rub against the inner wall of the wire passing hole, and the inner wall of the wire passing hole is in arc transition, so that the inner wall is smoother, the friction force between the inner wall and the cable is reduced, and the abrasion of the cable is reduced.

3. As an optimized implementation manner of the utility model, first wire passing channel is followed the length direction setting of first location arm, second wire passing channel is followed the length direction setting of second location arm makes the cable is followed the length direction of location arm subassembly extends, reasonable utilization the inside structure of location arm subassembly has saved the space.

Further, the first wire passage channel protrudes at the first rotating shaft to a direction close to the second wire passage channel; the second wire passage protrudes in a direction close to the first wire passage at the first rotating shaft. The cable is enabled to pass through the rotating shaft more smoothly, the bending angle of the cable passing through the rotating shaft is reduced, the cable is further protected, and abrasion is reduced.

4. As an preferable embodiment of the present invention, a fixing clip for fixing the cable is provided in the wire passage. The fixing clamp can limit the movement of the cables along the width direction of the positioning arm assembly, so that the cables can only move in the length direction of the positioning arm unit, thereby avoiding interference and winding among the cables, and arranging the cables more orderly.

5. The utility model also discloses a medical robot, which comprises a body, wherein the body comprises a control unit for controlling the robot to run and a lifting shaft capable of lifting relative to the body; the positioning arm unit is a positioning arm assembly of the medical robot; an end effector mounted to the positioning arm unit; and a cable connected to the control unit and extending toward the end effector. The utility model discloses a medical robot will the cable is accomodate completely and is gone into inside the robot, protected the cable just makes the robot is more pleasing to the eye. In addition, the driving part and the driven part have higher connection strength, stability and precision of the medical robot are improved, arrangement of the cables is optimized, the cables can flexibly rotate at the connection position of the driving part and the driven part, abrasion of the cables is reduced, and service life is prolonged.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a schematic structural diagram of the positioning arm assembly according to an embodiment of the present invention, wherein the cover covers the wire passage;

FIG. 2 is a schematic structural view of the positioning arm assembly according to another embodiment of the present invention;

fig. 3 is a schematic connection diagram of the connecting member and the second positioning arm according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of the connecting member according to an embodiment of the present invention;

fig. 5 is a schematic structural view of the rotary lead clamp according to an embodiment of the present invention;

fig. 6 is a schematic structural view of the driven portion according to an embodiment of the present invention;

fig. 7 is a schematic structural view of the driven part according to another embodiment of the present invention;

fig. 8 is a schematic structural view of the driven part according to another embodiment of the present invention;

fig. 9 is a schematic structural diagram of the medical robot according to an embodiment of the present invention;

wherein:

1, a cable;

2, an active part;

3, a driven part; 31 a first locator arm; 32 a second positioning arm; 33 a first rotating shaft; 34 a second rotating shaft; 35 a cover body;

4, connecting pieces; 41 fixed end; 42 a rotating end; 421 a mounting position; 43 a limiting part; 44 rotational play;

5 rotating the lead clamp; 51 a wire passing hole;

6 a wire passage; 61 a first wire passage; 62 a second wire passage; 63 a third wire passage;

7, fixing clips;

8, a machine body; 81 a lifting shaft; 82 routing cavities;

9 positioning the arm unit.

Detailed Description

In order to more clearly explain the overall concept of the present invention, the following detailed description is given by way of example in conjunction with the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

In addition, in the description of the present invention, it is to be understood that the terms "top", "bottom", "inside", "outside", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. In the description herein, references to the description of the term "implementation," "embodiment," or "specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

As shown in fig. 1-8, a positioning arm assembly of a medical robot is used for connecting an end effector, the medical robot comprises a cable 1 electrically connected with the end effector, the cable 1 extends along the positioning arm assembly, and a driving part 2, the driving part 2 is connected with the end effector and is driven by human power; the driven part 3 is rotationally connected with the driving part 2, and is driven by the driving part 2; the connecting piece 4 is provided with a fixed end 41 fixedly connected with the driving part 2 and a rotating end 42 rotatably connected with the driven part 3; and a rotating wire lead clamp 5, wherein the rotating wire lead clamp 5 is arranged on the connecting piece 4, and the rotating wire lead clamp 5 is configured to rotate relative to the connecting piece 4 under the action of the cable 1.

As a preferred embodiment of the present invention, the positioning arm assembly is further provided with a wire passage 6. The cable 1 can be contained in the positioning arm assembly through the cable passing channel 6, on one hand, the cable 1 is protected, abrasion of the cable 1 is reduced, on the other hand, the moving range of the cable 1 can be limited in the cable passing channel 6, interference between the cables 1 is avoided, and influences on the sight of medical staff are avoided.

Preferably, the driving part 2 and the driven part 3 both adopt a transmission mode of a bearing to reduce joint resistance and friction, so that medical staff can conveniently adjust the posture of the positioning arm assembly when operating the end effector. Of course, the transmission manner of the driving part 2 and the driven part 3 may also adopt other manners, and is not limited in particular herein.

The utility model discloses it is right the connected mode of connecting piece 4 does not specifically prescribe a limit to, as preferred, connecting piece 4 stiff end 41 through the screw connection with 2 fixed connection of initiative portion to improve joint strength, and it is comparatively convenient to connect, and the cost is lower. Of course, the fixed end 41 of the connecting member 4 may also be connected to the active portion 2 by other fixing connection methods, such as integral forming, welding, etc., so as to omit the assembling process.

As a preferred embodiment, as shown in fig. 4, the rotating end 42 of the connecting member 4 is opened with an installation position 421, and one end of the driven part 3 is installed at the installation position 421. In the present embodiment, the shape of the mounting position 421 is not particularly limited, and as a preferred embodiment, as shown in fig. 4, the rotating end 42 has a C-shaped structure to form the mounting position 421, and one end of the driven part 3 extends into the mounting position 421 and is rotatably connected to the connecting part 4. The rotating end 42 is of a C-shaped structure, and can form a clamping connection with the end of the driven member 3, and as shown in fig. 4, a plurality of connection points are arranged at the centers of the connecting member 4 and one end of the driven member 3, so that the connection strength is greatly improved, and the stability is improved.

In this embodiment, as shown in fig. 3 to 4, the mounting position 421 has a rotation gap 44 with one end of the driven part 3 to reduce the resistance and friction force applied to the rotation of the driven part 3, so that the driven part 3 can rotate more conveniently and with less effort.

Furthermore, as shown in fig. 4, two sides of the mounting position 421 are provided with a limiting portion 43 to limit the driven portion 3, so as to limit the rotation angle of the driven portion 3 and reduce the difficulty in adjusting the positioning arm assembly.

As shown in fig. 5, the rotary wire guiding clip 5 has a wire passing hole 51 for the cable 1 to pass through, and the junction of the top wall and the side wall of the wire passing hole 51 and the junction of the bottom wall and the side wall of the wire passing hole 51 are all arc-shaped transitions.

The junction of the top wall and the side wall of the wire passing hole 51 and the junction of the bottom wall and the side wall of the wire passing hole 51 are both arc-shaped, so that the inner wall of the wire passing hole 51 is smoother, the friction force between the inner wall and the cable 1 is reduced, the movement and the rotation of the cable 1 are smoother, and the operation of medical staff is more labor-saving and smoother while the abrasion is reduced.

The utility model discloses it is right the shape of crossing line hole 51 does not do specifically and restricts, and it can be for circular, rectangle etc. as long as can realize passing of cable 1 can.

As shown in fig. 6-8, the driven part 3 includes a first positioning arm 31, a second positioning arm 32 rotatably connected to the first positioning arm 31, and a first rotating shaft 33, and the wire passage 6 includes a first wire passage 61 disposed on the upper side of the first positioning arm 31, and a second wire passage 62 disposed on the lower side of the second positioning arm 32; the second positioning arm 32 is rotatably connected to the first positioning arm 31 via the first rotating shaft 33, and the first rotating shaft 33 is communicated with the first wire passage 61 and the second wire passage 62.

Cross line passageway 6 and offer the upside of first locating arm 31 and the downside of second locating arm 32, cable 1 can pass first pivot 33 is followed first locating arm 31 extends to second locating arm 32, and cable 1 remains throughout in crossing line passageway 6, rationally utilized first locating arm 31 with the inner structure of second locating arm 32, it is right cable 1 forms the protection, avoids cable 1 exposes outside the robot, leads to increasing can cause the influence to medical personnel's sight when the wearing and tearing of cable 1.

As a preferred embodiment of the present invention, as shown in fig. 6-8, the first wire passage 61 is located along the length direction of the first positioning arm 31, and the second wire passage 62 is located along the length direction of the second positioning arm 32, so that the cable 1 is located along the length direction of the positioning arm assembly, which reasonably utilizes the internal structure of the positioning arm assembly, reduces the overall size, and saves the limited space in the medical environment.

Further, as shown in fig. 8, the first wire passage 61 protrudes at the first rotating shaft 33 to a direction close to the second wire passage 62; the second wire passage 62 protrudes from the first shaft 33 in a direction approaching the first wire passage 61.

When the cable 1 passes through the first rotating shaft 33 from the first wire passing channel 61 and enters the second wire passing channel 62, because the first wire passing channel 61 and the second wire passing channel 62 are substantially parallel, the cable 1 can be greatly bent, and the first wire passing channel 61 and the second wire passing channel 62 respectively protrude from the first rotating shaft 33 to the other of the first rotating shaft and the second rotating shaft, so that the bending angle of the cable 1 passing through the first rotating shaft 33 is reduced, the cable 1 passing through the first rotating shaft 33 is smoother, the service life of the cable 1 is prolonged, and the cable 1 is prevented from being worn or even broken.

As a preferred embodiment of the present invention, as shown in fig. 3 to 4, the rotating portion 42 is rotatably connected to one end of the second positioning arm 32, and the rotary lead clamp 5 is disposed at a lower portion of the connecting member 4.

The rotary lead clamp 5 is arranged at the lower part of the connecting piece 4, the cable 1 passes through the second wire passing channel 62 and then passes through the rotary lead clamp 5 to enter the driving part 21, the length of the cable is shortened, the routing path is simplified, the routing path of the cable 1 is smoother, and the wire arrangement structure is optimized.

Furthermore, rotatory lead clamp 5 is located in second wire passing channel 62, make arranging of cable 1 is all located inside the positioning arm subassembly, the reinforcing is right the protection of cable 1, and it is right cable 1 is accomodate, improves pleasing to the eye, and has widened medical personnel's the field of vision, avoids cable 1 exposes and shelters from the sight.

The wire passage 6 further comprises a third wire passage 63 arranged on the driving part 2, and the third wire passage 63 is arranged along the length direction of the driving part 2. The cable 1 extends along the driving part 2 through the third wire passing channel 63, and the cable 1 is further protected from abrasion due to the fact that the driving part 2 rotates frequently due to the arrangement of the third wire passing channel 63.

Preferably, the driving part 2 comprises two pairs of parallel link mechanisms, the third wire passing channel 63 is formed between the parallel links, and the four-link mechanism is adopted, so that the shaking generated in the bearing process is small, and the precision in the operation process is ensured. And the structural characteristics of the four-bar mechanism are reasonably utilized, the cable 1 passes through the parallel connecting bars without additionally arranging the wire passing channel, the structure is simplified, and the structural strength is ensured.

As a preferred embodiment of the present invention, as shown in fig. 2 and 6-7, a fixing clip 7 for fixing the cable 1 is disposed in the wire passage 6.

The fixing clamp 7 fixes the cable 1 in the wire passing channel 6, and prevents the cable 1 from moving randomly and interfering or winding. Preferably, as shown in fig. 2 and 6-7, a plurality of fixing clips 7 are disposed along the wire passage 6, the fixing clips 7 are not specifically limited in the installation position, and may be installed at a position where the number of cables 1 is large or where the cables 1 are easily interfered according to actual needs.

As a preferred embodiment of the present invention, as shown in fig. 1-2, the positioning arm assembly further includes a cover 35 capable of covering the wire passage 6, the cover 35 is right to the wire passage 6 and the inside cable 1 is protected, as a preferred, the cover 35 is detachably installed in the wire passage 6 to facilitate the assembly personnel to adjust the inside cable 1 or maintain.

The utility model also discloses a medical robot, which comprises a body 8, wherein the body 8 comprises a control unit for controlling the operation of the robot and a lifting shaft 81 which can lift relative to the body 8; a positioning arm unit 9, wherein the positioning arm unit 9 is a positioning arm assembly of the medical robot; an end effector mounted to the positioning arm unit 9; and a cable 1, the cable 1 being connected to the control unit and extending toward the end effector.

Furthermore, the lifting shaft 81 has a wiring cavity 82 for the cable 1 to pass through, the driven part 3 further includes a second rotating shaft 34, the positioning arm unit 9 is rotatably connected to the lifting shaft 81 through the second rotating shaft 34, and the second rotating shaft 34 communicates the wiring cavity 82 and the first wire passing channel 61.

The cable 1 enters the first wire passing channel 61 through the inside of the lifting shaft 81, so that the structure inside the medical robot is reasonably utilized, the arrangement of the cable 1 is completely inside the robot, and the cable 1 is prevented from being exposed outside and damaged.

The utility model discloses a medical robot cable 1 arrange as follows:

one end of the cable 1 is connected to the control unit, and the other end of the cable passes through the wiring cavity 82 inside the lifting shaft 81, passes through the second rotating shaft 34, enters the first wire passing channel 61, then passes through the first rotating shaft 33, enters the second wire passing channel 62, passes through the rotary wire guiding clamp 5 in the second wire passing channel 62, and passes through the third wire passing channel 63 to be connected to the end effector.

Medical robot cable 1 is located inside medical robot, walk in among the wire passing channel 6, just be in location arm unit 9 initiative portion 2 with the junction of driven part 3 is provided with connecting piece 4 has improved initiative portion 2 with the joint strength of driven part 3. The connecting piece 4 is further provided with the rotary lead wire clamp 5, so that the originally disordered cable 1 is structured through the rotary lead wire clamp 5, the wiring structure at the joint of the driving part 2 and the driven part 3 is optimized, the cable 1 is effectively prevented from being bent due to the rotation of the driving part 2, the loss of the cable 1 in the use process is reduced, and the service life of the cable 1 is prolonged.

The utility model can be realized by adopting or using the prior art for reference in places which are not mentioned in the utility model.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. A positioning arm assembly for a medical robot, the positioning arm assembly for connecting to an end effector, the medical robot including a cable electrically connected to the end effector, the cable extending along the positioning arm assembly, comprising:

an active part connected with the end effector and driven by human power;

the driven part is rotationally connected with the driving part and is driven by the driving part;

the connecting piece is provided with a fixed end fixedly connected with the driving part and a rotating end rotatably connected with the driven part; and

a rotating lead clamp disposed on the connector and configured to rotate relative to the connector under the action of the cable.

2. The positioning arm assembly of a medical robot of claim 1,

the rotary lead clamp is provided with a wire passing hole for the cable to pass through, and the joint of the top wall and the side wall of the wire passing hole and the joint of the bottom wall and the side wall of the wire passing hole are in arc transition.

3. The positioning arm assembly of a medical robot of claim 1,

the rotating end is provided with an installation position, and one end of the driven part is installed on the installation position.

4. The positioning arm assembly of a medical robot of claim 1,

the driven part comprises a first positioning arm, a second positioning arm rotationally connected with the first positioning arm, and a first rotating shaft, the positioning arm assembly is also provided with a wire passing channel, and the wire passing channel comprises a first wire passing channel arranged on the upper side of the first positioning arm and a second wire passing channel arranged on the lower side of the second positioning arm;

the second positioning arm is rotatably connected with the first positioning arm through the first rotating shaft, and the first rotating shaft is connected with the first wire passing channel and the second wire passing channel.

5. The positioning arm assembly of a medical robot of claim 4,

the first wire passing channel is arranged along the length direction of the first positioning arm, and the second wire passing channel is arranged along the length direction of the second positioning arm;

the first wire passing channel protrudes to the direction close to the second wire passing channel at the first rotating shaft; the second wire passage protrudes in a direction close to the first wire passage at the first rotating shaft.

6. The positioning arm assembly of a medical robot of claim 5,

the rotating end is connected with one end of the second positioning arm in a rotating mode, and the rotating lead clamp is arranged on the lower portion of the connecting piece and located in the second wire passing channel.

7. The positioning arm assembly of a medical robot of claim 6,

the wire passing channel further comprises a third wire passing channel arranged on the driving part, and the third wire passing channel is arranged along the length direction of the driving part.

8. The positioning arm assembly of a medical robot of claim 1,

the positioning arm assembly is further provided with a wire passing channel, and a fixing clamp used for fixing a cable is arranged in the wire passing channel.

9. A medical robot, comprising:

the robot comprises a body and a control unit, wherein the body comprises a control unit for controlling the operation of the robot and a lifting shaft capable of lifting relative to the body;

a positioning arm unit which is the positioning arm assembly of the medical robot in any one of claims 1 to 8;

an end effector mounted to the positioning arm unit; and the number of the first and second groups,

a cable connected to the control unit and extending toward the end effector.

10. The medical robot of claim 9,

the positioning arm assembly is provided with a wire passing channel, the lifting shaft is provided with a wire passing cavity for the cable to pass through, the driven part further comprises a second rotating shaft, the positioning arm assembly is rotatably connected with the lifting shaft through the second rotating shaft, and the second rotating shaft is communicated with the wire passing channel and the wire passing cavity.

Images