CN114305708A - Suspension plate placing mechanism and surgical robot - Google Patents

Abstract

The invention provides a suspension plate positioning mechanism and a surgical robot, wherein the suspension plate positioning mechanism comprises at least one first suspension plate and at least one second suspension plate, the first suspension plate is provided with a first rotating shaft, the second suspension plate is provided with a second rotating shaft, the first suspension plate is rotatably arranged around the first rotating shaft, the second suspension plate is rotatably arranged around the second rotating shaft, and the first rotating shaft and the second rotating shaft extend along the same direction; each first suspension disc comprises a first mechanical arm connecting point used for being connected with a mechanical arm; the second suspension plate comprises a second mechanical arm connecting point used for being connected with the mechanical arm, and the first mechanical arm connecting point and the second mechanical arm connecting point are not overlapped with each other in the direction along the first rotating shaft. So the configuration has guaranteed to distribute evenly between the arm, and the interval is close and the motion mutually noninterfere, satisfies the arm and realizes quick art formula overall arrangement.

Description

Suspension plate placing mechanism and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a suspension plate positioning mechanism and a surgical robot.

Background

The existing micro-wound surgical robot mostly adopts a master-slave mode operation mode, namely, a doctor is positioned on a master operation table for control, a robot terminal comprises a plurality of mechanical arms for holding corresponding surgical instruments and entering focuses of patients for corresponding operations, and the positions and postures of the mechanical arms directly influence the smooth operation, so that the surgical robot can be correspondingly adjusted before the operation of the robot is started, and the robot is suitable for performing the required operations.

Among the surgical robot in the trade at present, a plurality of arms of some products are installed and are carried out the arm adjustment by arm on a fixed platform, and quick pendulum position can't be realized to this kind of mode to arm pendulum position and operating space receive the influence and the restriction of the relative pendulum position of operation table and operation platform truck easily, produce the problem of mutual interference easily.

In addition, some products adopt a single suspension platform structure, and a plurality of mechanical arms are installed on a rotatable suspension platform to be uniformly adjusted, so that although the mechanical arms can be quickly adjusted, the initial positioning postures of the mechanical arms cannot be taken into consideration, and after the mechanical arms are roughly adjusted in place in a large range by rotating the suspension platform, the postures of the mechanical arms are generally required to be finely adjusted one by one.

In conclusion, in the existing surgical robot, the posture adjustment process of the mechanical arm is complex, the adjustment time is long, and the operation time is prolonged.

Disclosure of Invention

The invention aims to provide a suspension plate positioning mechanism and a surgical robot, and aims to solve the problems that the posture adjustment process of a mechanical arm is complex and the adjustment is long in time in the existing surgical robot.

In order to solve the above technical problem, the present invention provides a suspension plate positioning mechanism, which includes: at least one first suspension pan having a first rotation axis and at least one second suspension pan having a second rotation axis, the first suspension pan being rotatably disposed about the first rotation axis, the second suspension pan being rotatably disposed about the second rotation axis, the first rotation axis and the second rotation axis extending in the same direction; each first suspension disc comprises a first mechanical arm connecting point used for being connected with a mechanical arm; the second suspension plate comprises a second mechanical arm connecting point used for being connected with the mechanical arm, and the first mechanical arm connecting point and the second mechanical arm connecting point are not overlapped with each other in the direction along the first rotating shaft.

Optionally, the first suspension tray and the second suspension tray rotate around the respective rotating shafts in the same direction or in opposite directions.

Optionally, the first suspension tray and the second suspension tray rotate synchronously around respective rotating shafts.

Optionally, the rotation speed of the first suspension disk around the first rotation shaft is equal to the rotation speed of the second suspension disk around the second rotation shaft.

Optionally, the suspension plate positioning mechanism further includes: a first transmission unit;

the first transmission unit is respectively connected with the first rotating shaft and the second rotating shaft and used for synchronizing the rotation of the first hanging scaffold and the second hanging scaffold.

Optionally, the first suspension disc includes at least two first robot arm connection points for connecting at least two robot arms, and the at least two first robot arm connection points are respectively located on two sides of the first rotating shaft; in the extending direction of the first suspension scaffold, a connecting line between at least two first robot arm connecting points intersects the first rotating shaft at a point.

Optionally, in one of the first suspension towers, a distance between the first mechanical arm connecting point and the first rotating shaft is a first distance; in the adjacent first hanging scaffold and the second hanging scaffold, the distance between the first rotating shaft and the second rotating shaft is a second distance, and the first distance is equal to the second distance.

Optionally, the second suspension tray includes at least two second robot arm connection points for connecting at least two robot arms, and the at least two second robot arm connection points are located on two sides of the second rotating shaft respectively; in the extending direction of the second hanging scaffold, a connecting line between at least two second mechanical arm connecting points is intersected with the second rotating shaft at one point.

Optionally, the first suspension tray includes a first mechanical arm connection point for connection of at least one mechanical arm, the second suspension tray includes a second mechanical arm connection point for connection of at least one mechanical arm, a distance between the first mechanical arm connection point of the first suspension tray and the first rotating shaft is a first distance, a distance between the second mechanical arm connection point of the second suspension tray and the second rotating shaft is a third distance, and the third distance is equal to the first distance.

Optionally, the first distance and the third distance are smaller than a second distance between the first rotating shaft and the second rotating shaft.

Optionally, the first suspension plate and the second suspension plate respectively comprise a first sub suspension plate, a second sub suspension plate and a third sub suspension plate, the first sub suspension plate and the second sub suspension plate of the first suspension plate are respectively rotatably disposed around the first rotating shaft, and the first sub suspension plate and the second sub suspension plate of the second suspension plate are respectively rotatably disposed around the second rotating shaft; the third sub-suspension pan is rotatably connected with the first sub-suspension pan around a third rotating shaft parallel to the first rotating shaft; the one end of first pivot is kept away from to the sub-hanging scaffold of second of first hanging scaffold is equipped with a first arm tie point, the sub-hanging scaffold of second hanging scaffold is kept away from the one end of second pivot is equipped with a second arm tie point, the sub-hanging scaffold of third is kept away from the one end of third pivot is equipped with a first arm tie point or second arm tie point respectively.

Optionally, a distance between a first mechanical arm connection point on a second sub-suspension tray of the first suspension tray and the first rotating shaft is a first distance, a distance between the first rotating shaft and the second rotating shaft is a second distance, a distance between a second mechanical arm connection point on a second sub-suspension tray of the second suspension tray and the second rotating shaft is a third distance, and the first distance is smaller than a sum of the second distance and the third distance.

Optionally, the hanging plate positioning mechanism further comprises at least one braking member, and the braking member is used for locking the rotation of the first rotating shaft and/or the second rotating shaft.

Optionally, the first suspension plate and the second suspension plate are respectively provided with a clutch, and the first rotating shaft and the second rotating shaft respectively move synchronously or independently with other rotating shafts through the corresponding clutch.

In order to solve the above technical problem, the present invention further provides a surgical robot, which includes the above suspension plate positioning mechanism, the suspension arm, and at least two mechanical arms;

the suspension plate positioning mechanism is connected with the suspension arms, each suspension plate of the suspension plate positioning mechanism is at least connected with one mechanical arm, and each mechanical arm is rotatably connected with the corresponding suspension plate.

In summary, in the suspension tray positioning mechanism and the surgical robot provided by the present invention, the suspension tray positioning mechanism includes at least one first suspension tray and at least one second suspension tray, the first suspension tray has a first rotating shaft, the second suspension tray has a second rotating shaft, the first suspension tray is rotatably disposed around the first rotating shaft, the second suspension tray is rotatably disposed around the second rotating shaft, and the first rotating shaft and the second rotating shaft extend in the same direction; each first suspension disc comprises a first mechanical arm connecting point used for being connected with a mechanical arm; the second suspension plate comprises a second mechanical arm connecting point used for being connected with the mechanical arm, and the first mechanical arm connecting point and the second mechanical arm connecting point are not overlapped with each other in the direction along the first rotating shaft.

So the configuration, first hanging scaffold and second hang the dish and rotationally set up around respective pivot, and every mechanical arm tie point of hanging scaffold is in following mutually not overlapping in the direction of first pivot has guaranteed to distribute evenly between the arm, and the interval is close and move mutually noninterfere for the arm can be followed the hanging scaffold and adjusted corresponding position fast, satisfies the arm and realizes quick art formula overall arrangement. In addition, through the distinction of the first suspension platform and the second suspension platform, the mechanical arms on the suspension platforms can obtain larger adjustment space and operation space.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

FIG. 1 is a schematic view of a surgical scene of a surgical robot in accordance with an embodiment of the present invention;

FIG. 2 is a schematic diagram of a lateral position arrangement of an embodiment of the present invention;

FIG. 3 is a schematic diagram of a zeroing arrangement of an embodiment of the present invention;

FIG. 4 is a schematic view of a surgical robot in accordance with an embodiment of the present invention;

FIG. 5 is a schematic view of a suspension plate positioning mechanism according to an embodiment of the invention;

FIG. 6 is a simplified motion diagram of a suspended plate positioning mechanism according to an embodiment of the present invention;

FIGS. 7 a-7 e are schematic views of several preferred examples of a suspended plate positioning mechanism of an embodiment of the present invention;

fig. 8a and 8b are schematic views of several preferred examples of a first transmission unit of an embodiment of the invention;

FIGS. 9a and 9b are schematic views of the repositioning of a suspension pan repositioning mechanism according to an embodiment of the invention;

fig. 10a to 10c are schematic views illustrating the positioning conversion of the surgical robot according to an embodiment of the present invention.

In the drawings:

1-a surgical robot; 2-doctor console; 3-a hospital bed; 4-image trolley; 5-an instrument table; 6-breathing machine and anesthesia machine;

10-a suspension plate positioning mechanism; 11-a mechanical arm; 12-a suspension arm; 100-a first hanging scaffold; 101-a first rotating shaft; 103-a third rotating shaft; 121-a first sub-hanging scaffold; 122-a second sub-hanging scaffold; 123-a third sub-hanging scaffold; 140-a first transmission unit; 200-a second hanging scaffold; 201-a second rotating shaft; 310-first robot arm attachment point; 320-second arm attachment point.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a" and "an" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "proximal end" and "distal end" generally refer to the corresponding two parts, which include not only the end points, but also the terms "mounted", "connected" and "connected" should be understood broadly, e.g., as a fixed connection, as a detachable connection, or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The core idea of the invention is to provide a suspension plate positioning mechanism and a surgical robot, so as to solve the problems of complex posture adjustment process and long adjustment time consumption of a mechanical arm in the existing surgical robot.

The following description refers to the accompanying drawings.

Please refer to fig. 1 to 10c, wherein fig. 1 is a schematic view illustrating an operation scene of a surgical robot according to an embodiment of the present invention; FIG. 2 is a schematic diagram of a lateral position arrangement of an embodiment of the present invention; FIG. 3 is a schematic diagram of a zeroing arrangement of an embodiment of the present invention; FIG. 4 is a schematic view of a surgical robot in accordance with an embodiment of the present invention; FIG. 5 is a schematic view of a suspension plate positioning mechanism according to an embodiment of the invention; FIG. 6 is a simplified motion diagram of a suspended plate positioning mechanism according to an embodiment of the present invention; FIGS. 7 a-7 e are schematic views of several preferred examples of a suspended plate positioning mechanism of an embodiment of the present invention; fig. 8a and 8b are schematic views of several preferred examples of a first transmission unit of an embodiment of the invention; FIGS. 9a and 9b are schematic views of the repositioning of a suspension pan repositioning mechanism according to an embodiment of the invention; fig. 10a to 10c are schematic views illustrating the positioning conversion of the surgical robot according to an embodiment of the present invention.

Fig. 1 shows an application scenario of performing an abdominal cavity operation by using the surgical robot in an exemplary embodiment. However, the surgical robot of the present invention is not particularly limited to the application environment, and may be applied to other surgeries. In the following description, the surgical robot is described by taking the minimally invasive surgery on the abdominal cavity as an example, but the invention should not be limited thereto.

As shown in fig. 1, the surgical system includes a surgical robot 1, a doctor console 2, and a patient bed 3. Referring to fig. 4, the surgical robot 1 includes a suspension plate positioning mechanism 10, a plurality of robot arms 11, and a suspension arm 12. As shown in fig. 4, the suspension pan positioning mechanism 10 includes a first suspension pan 100 and a second suspension pan 200, the first suspension pan 100 having a first rotating shaft 101, the second suspension pan 200 having a second rotating shaft 201, the first suspension pan 100 being rotatably disposed around the first rotating shaft 101, the second suspension pan 200 being rotatably disposed around the second rotating shaft 201, the first rotating shaft 101 and the second rotating shaft 201 extending in the same direction; each of the first suspension platforms 100 includes a first robot arm attachment point 310 for attachment to a robot arm 11; the second hanging scaffold 200 comprises a second robot arm attachment point 320 for attachment to a robot arm 11, the first robot arm attachment point 310 and the second robot arm attachment point 320 being mutually non-overlapping in a direction along the first rotation axis 101. Preferably, each of the mechanical arms 11 is rotatably connected to a corresponding suspension plate. The doctor console 2 is provided with a main operating hand, and the main operation process of the surgical robot is that an operator (for example, a surgeon) performs minimally invasive surgery treatment on a patient on the sickbed 3 through the doctor console 2 and the main operating hand through remote operation. Wherein, the main manipulator, the mechanical arm 11 and the surgical instrument form a master-slave control relationship. The mechanical arm 11 and the surgical instrument move according to the movement of the main operating hand, that is, according to the operation of the hand of the operator during the surgical operation. In the surgical scene shown in fig. 1, the suspension arm 12 of the surgical robot 1 is used as the suspension end, and in practice, the suspension end is not limited to the suspension arm 12 of the surgical robot 1, and for example, the suspension end may be a ceiling, a fixing mechanism on the patient bed 3, or the like, and the suspension plate positioning mechanism 10 may be connected to other fixable devices such as a ceiling, a patient bed 3, or the like, to implement the operation, which is not limited by the present invention.

So dispose, first hanging scaffold 100 and second hanging scaffold 200 are rotationally set up around respective pivot, and first arm tie point 310 with second arm tie point 320 along each other overlap in the direction of first pivot 101, guaranteed to distribute evenly between the arm 11, the interval is close and the motion mutually noninterfere for the arm 11 can be adjusted to the relevant position along with the hanging scaffold fast, satisfies arm 11 and realizes quick art formula overall arrangement. In addition, by distinguishing the first suspension tray 100 from the second suspension tray 200, each mechanical arm 11 on the suspension tray can obtain larger adjustment space and operation space.

Optionally, in some operations, the surgical system further includes auxiliary components such as an image trolley 4, an instrument table 5, a ventilator, and an anesthesia machine 6 for intra-operative use. The selection and configuration of these auxiliary components can be made by those skilled in the art in light of the prior art and will not be described further herein.

In laparoscopic surgery, there are generally 3 more typical surgical positions and corresponding puncture site locations layout, left side pendulum position, right side pendulum position and zero position pendulum position; the requirements for these surgical positions and perforation layouts should also be met during the operation, and the operating space of the robotic arm 11 should be sufficient to cover the desired surgical perforation positions. In the operation preparation process, the surgical robot needs to rapidly drive the mechanical arm 11 to make the end of the mechanical arm more accurately point to the perforation point corresponding to the mechanical arm 11.

Referring to fig. 2, when the patient is positioned on the left side or the right side, the surgical puncture hole is located on one side of the abdomen of the patient, the suspension plates of the suspension plate positioning mechanism 10 are arranged towards the side of the body of the patient, the upright post of the surgical robot can be located on one side beside the patient bed 3, the surgical instruments corresponding to the hole sites on the upper side and the lower side of the patient are held by the mechanical arms 11 on the two sides of the surgical robot, and the endoscope or the surgical instruments corresponding to the hole sites in the middle are held by the mechanical arm 11 in the middle of the surgical robot. Referring to fig. 3, in the zero-position positioning, the surgical puncture holes are located in the middle of the abdomen of the patient and are vertically and symmetrically distributed with respect to the sagittal plane of the patient, the suspension plates of the suspension plate positioning mechanism 10 are arranged in the direction parallel to the sagittal plane of the patient, the surgical instruments corresponding to the left and right side holes of the patient are held by the mechanical arms 11 at the two sides of the surgical robot, and the endoscope or the surgical instruments corresponding to the middle hole are held by the mechanical arm 11 at the middle of the surgical robot. In order to meet the requirement of the operation space of the robot arms 11, the scope of the endoscope or the surgical instrument held by each robot arm 11 should cover the puncture hole site corresponding to the robot arm 11, and a certain space margin should be ensured. In one specific example, region R1 is the surgical instrument reach for the left robotic arm 11, region R2 is the endoscope or surgical instrument reach for the middle robotic arm 11, region R3 is the surgical instrument reach for the right robotic arm 11, H1 is the instrument aperture for the passage of surgical instruments, and H2 is the endoscope aperture for the passage of endoscopes.

Further, in one of the first suspension towers 100, the first robot arm connection point 310 is spaced from the first rotation shaft 101 by a first distance; in the adjacent first and second suspension platforms 100 and 200, the distance between the first rotating shaft 101 and the second rotating shaft 201 is a second distance, and the first distance is equal to the second distance, so that the mechanical arm connection points of each suspension platform are ensured not to overlap each other in the direction along the first rotating shaft 101.

In practical use, the first hanging scaffold 100 and the second hanging scaffold 200 can be matched with the arrangement of the hospital bed 3, and rotate to a proper angle around respective rotating shafts in the clockwise or anticlockwise direction, and the mechanical arm connecting points of each hanging scaffold are not overlapped with each other in the direction along the first rotating shaft 101, so that the mechanical arms 11 are uniformly distributed, the intervals are close, and the movement is not interfered with each other, so that the mechanical arms 11 can be rapidly adjusted to corresponding positions along with the hanging scaffolds, and the requirement that the mechanical arms 11 realize rapid surgical layout is met.

Preferably, the first and second suspension towers 100 and 200 rotate around their respective rotation shafts in the same direction or in opposite directions. Here, the suspension disks rotate in the same direction, which means that the suspension disks rotate in the same rotational direction around their respective rotational axes. And counter-rotating means rotating in opposite rotational directions about respective axes of rotation. The hanging plate can rotate in the same direction or in the opposite direction, and the hanging plate can be quickly rotated to the required surgical layout, so that the posture adjustment process of the mechanical arm 11 can be simplified, the time consumption for adjusting the mechanical arm 11 is reduced, and the operation time is reduced.

Preferably, the first and second suspension towers 100 and 200 are rotated synchronously about their respective rotation axes. Here, the synchronous rotation of the suspension boards means simultaneous rotation around the respective rotation axes, and the rotation speeds or the rotation directions of the suspension boards are not limited to the same. Thus, in practice, the angles through which the first and second suspension platforms 100 and 200 are turned in the same period of time are not necessarily the same. As long as the first hanging scaffold 100 and the second hanging scaffold 200 rotate synchronously, the hanging scaffolds can be quickly turned to the required surgical layout, thereby simplifying the posture adjustment process of the mechanical arm 11, reducing the time consumption for adjusting the mechanical arm 11 and reducing the surgical time.

More preferably, the relative angle between the first and second suspension platforms 100 and 200 is not less than 60 ° during the rotation of the first and second suspension platforms 100 and 200, respectively, about the respective rotation axes. Taking the embodiment shown in fig. 7a as an example, the relative angle between the first and second suspension platforms 100 and 200 is 180 °. Since the first suspension scaffold 100 and the second suspension scaffold 200 can be configured to rotate around their respective rotation shafts synchronously and in the same direction in order to satisfy the requirement of the robot arm 11 for rapid surgical layout in practical use, it should be noted that the first suspension scaffold 100 and the second suspension scaffold 200 rotate around their respective rotation shafts synchronously and in the same direction, which means that the suspension scaffolds rotate around their respective rotation shafts simultaneously in the same rotation direction, but the rotation speeds of the suspension scaffolds are not limited to be the same. Thus, in practice, the angles through which the respective suspension platforms turn over during the same period of time are not necessarily the same. All the suspension trays can be quickly and equidirectionally turned to the required surgical layout as long as the suspension trays are synchronously and equidirectionally turned, so that the posture adjustment process of the mechanical arm 11 can be simplified, the time consumption for adjusting the mechanical arm 11 is reduced, and the operation time is shortened. In order to adjust the robot arm 11 more accurately, when the first suspension platform 100 and the second suspension platform 200 rotate synchronously and in the same direction, the rotation speed difference between the two causes a relative rotation angle between the two. Under the condition that the relative angle between the two suspension trays is not less than 60 degrees, the device can adapt to different surgical positioning requirements. In addition, one of the suspension disks can be driven to rotate independently subsequently, or the mechanical arm 11 is driven to rotate to perform detail adjustment, so that the posture of the mechanical arm 11 is compensated and adjusted, and rapid surgical layout can be realized. Further preferably, the rotation speed of the first suspension platform 100 around the first rotation shaft 101 is equal to the rotation speed of the second suspension platform 200 around the second rotation shaft 201. The first and second suspension pans 100 and 200 are configured to rotate at a constant speed so that the respective suspension pans do not make a relative rotational angle when they rotate together.

Optionally, the suspension plate positioning mechanism 10 further includes: a first transmission unit 140; the first transmission unit 140 is respectively connected to the first rotating shaft 101 and the second rotating shaft 201, and is configured to synchronize the rotation of the first suspension scaffold 100 and the second suspension scaffold 200.

Referring to fig. 8a, in an exemplary embodiment, the first transmission unit 140 includes transmission belts, which respectively surround at least two rotation shafts in a closed manner. The transmission belts are closed loop transmission belts, one transmission belt is closely wound around the first rotating shaft 101 and the second rotating shaft 201 and is matched with the distance and the diameter of the first rotating shaft 101 and the second rotating shaft 201, and is preferably tensioned between the first rotating shaft 101 and the second rotating shaft 201, and the configuration is that the rotation of any one rotating shaft of the first rotating shaft 101 and the second rotating shaft 201 can synchronously drive the other rotating shaft to rotate in the same direction through the transmission belt. The rotation speeds of the first rotating shaft 101 and the second rotating shaft 201 can be adjusted differently according to different configurations of the diameters of the two rotating shafts. The embodiment is not limited to the form of the transmission belt, and a person skilled in the art can select a synchronous belt, a synchronous chain and the like according to the prior art. In other embodiments, a belt may be wound around the first shaft 101 and the second shaft 201 in a crossed manner, so that the rotation of either shaft 101 or 201 can be driven by the gear set to rotate the other shaft in opposite directions synchronously.

Referring to fig. 8b, in another exemplary embodiment, the first transmission unit 140 includes a gear set engaged with the first rotating shaft 101 and the second rotating shaft 201, respectively. As an example, a first gear is coaxially fixed to the first rotating shaft 101, a second gear is coaxially fixed to the second rotating shaft 201, and a third gear (not shown) is further provided between the first gear and the second gear, and the first gear and the second gear are respectively engaged with the third gear, which actually forms an intermediate transmission gear. With such a configuration, the rotation of either one of the first rotating shaft 101 and the second rotating shaft 201 can synchronously drive the other rotating shaft to rotate in the same direction through the gear set. The rotation speeds of the first rotating shaft 101 and the second rotating shaft 201 can be adjusted differently according to different configurations of the gears in the gear set. In other embodiments, the first gear and the second gear may be directly meshed without transmission of the third gear, so that the rotation of either one of the first rotating shaft 101 and the second rotating shaft 201 can synchronously drive the other rotating shaft to reversely rotate through the gear set.

Of course, in other embodiments, the first transmission unit 140 is not limited to a transmission belt or a gear set, and may also be a transmission form commonly used in the art, such as a friction wheel, and the invention is not limited thereto.

Preferably, the hanging plate positioning mechanism 10 further comprises at least one braking member, and the braking member is used for locking the rotation of at least one of the first rotating shaft 101, the second rotating shaft 201 and the third rotating shaft 103. When the hanging position needs to be locked in the operation process or other occasions, the brake piece can be used for attracting the brake to lock the movement of the first transmission unit 140 or each hanging plate.

Further, the first suspension scaffold 100 and the second suspension scaffold 200 respectively have a clutch, and the first rotating shaft 101 and the second rotating shaft 201 respectively move synchronously or independently with other rotating shafts through the corresponding clutch. The rotating shaft of each suspension platform can realize the switching of linkage or independent movement with other suspension platforms through the clutch piece. In some cases, the position angle of one suspension plate needs to be adjusted, and the position angle of the suspension plate can be adjusted by temporarily separating the suspension plate from linkage with other suspension plates through the clutch piece.

Referring to fig. 7a to 7d, a few preferred examples of the suspension plate positioning mechanism 10 provided in the present embodiment will be described.

Fig. 7a shows a first preferred example of the suspension pan positioning mechanism 10, which includes a first suspension pan 100 and a second suspension pan 200, wherein the first suspension pan 100 and the second suspension pan 200 are each substantially semicircular flat plates extending in a direction perpendicular to the first rotating shaft 101 and the second rotating shaft 201, respectively, and each of the two arm connection points is provided with two arm connection points, respectively, for connecting two arms 11. Two first robot arm connection points 310 of the first suspension scaffold 100 are respectively located on two sides of the first rotating shaft 101; in the extending direction of the first suspension scaffold 100, a connecting line between two first robot arm connecting points 310 intersects the first rotation axis 101 at a point. Two second mechanical arm connection points 320 of the second hanging scaffold 200 are respectively located at two sides of the second rotating shaft 201; in the extending direction of the second hanging scaffold 200, a connection line between two second robot arm connection points 320 intersects the second rotation shaft 201 at a point. Preferably, the distances between the two first robot arm connection points 310 of the first suspension scaffold 100 and the first rotating shaft 101 are both first distances, the distances between the two second robot arm connection points 320 of the second suspension scaffold 200 and the second rotating shaft 201 are both third distances, and the third distances are smaller than the first distances; the second distance between the first rotating shaft 101 and the second rotating shaft 201 is equal to the first distance. With such a configuration, when the first suspension scaffold 100 rotates around the first rotating shaft 101, the rotation track of the first arm connection point 310 of the first suspension scaffold 100 passes through the second rotating shaft 201, when the second suspension scaffold 200 rotates around the second rotating shaft 201, the rotation track of the second arm connection point 320 of the second suspension scaffold 200 is between the rotation track of the first arm connection point 310 of the first suspension scaffold 100 and the first rotating shaft 101, and at any position point of the two suspension scaffolds within the respective adjustment range, the four arms 11 can always cover the puncture site of the body position of the target patient, and a certain operation space allowance can be maintained, and the four arms 11 are uniformly distributed, have close intervals, and do not interfere with each other in movement. Of course, a person skilled in the art may also arrange a larger number of first or second robot arm attachment points 310, 320 on the first or second suspension platform 100, 200, according to the above examples, to enable the first or second suspension platform 100, 200 to be connected with a larger number of robot arms 11.

Fig. 7b and 7c show a second preferred example of a suspension pan positioning mechanism 10 comprising a first suspension pan 100 and a second suspension pan 200, the first suspension pan 100 being substantially semi-circular in shape and the second suspension pan 200 being substantially straight and rod shaped. The first suspension platform 100 has three first robot arm connection points 310, wherein two first robot arm connection points 310 are respectively located at two sides of the first rotating shaft 101; in the extending direction of the first suspension scaffold 100, a connecting line between two first robot arm connecting points 310 intersects the first rotation axis 101 at a point. For convenience of description, a connection line of the two first robot arm connection points 310 intersecting the first rotation axis 101 is referred to as a reference line. The third first robot arm attachment point 310 of the first hanging scaffold 100 is located on the perpendicular bisector of the aforementioned reference line. Preferably, the three first arm connection points 310 of the first suspension scaffold 100 are all a first distance from the first rotating shaft 101, the second arm connection point 320 of the second suspension scaffold 200 is a third distance from the second rotating shaft 201, and the third distance is equal to the first distance and also equal to the second distance between the first rotating shaft 101 and the second rotating shaft 201. When the first and second suspension pans 100 and 200 rotate about their respective rotation axes, preferably at the same speed, and the first and second suspension pans 100 and 200 are at a fixed relative angle, the three first arm attachment points 310 of the first suspension pan 100 are at the furthest positions from the second rotation axis 201, as shown in fig. 7c, the second arm attachment point 320 of the second suspension pan 200 coincides with the first rotation axis 101. The configuration can ensure that the four mechanical arms 11 are uniformly distributed, the intervals are close, and the motions are not interfered with each other.

Fig. 7d shows a third preferred example of the suspension pan positioning mechanism 10, which comprises a first suspension pan 100 and a second suspension pan 200, each of the first suspension pan 100 and the second suspension pan 200 having a substantially straight rod shape. The first and second suspension platforms 100 and 200 each have a robot arm attachment point, the first robot arm attachment point 310 of the first suspension platform 100 is a first distance from the first pivot 101, and the second robot arm attachment point 320 of the second suspension platform 200 is a third distance from the second pivot 201, the third distance being equal to the first distance. When the first and second suspension pans 100 and 200 rotate around their respective rotation shafts, they preferably rotate at the same speed and simultaneously, and the first and second suspension pans 100 and 200 have a fixed relative angle, as shown in fig. 7 d. Preferably, the first distance and the third distance are smaller than a second distance between the first rotating shaft 101 and the second rotating shaft 201.

Fig. 7e shows a fourth preferred example of a suspension pan positioning mechanism 10 comprising a first suspension pan 100 and a second suspension pan 200, each of the first and second suspension pans 100, 200 being substantially straight. The suspended plate positioning mechanism 10 shown in fig. 7e is substantially the same as the third preferred example shown in fig. 7d, but with two robot arm attachment points per suspended plate. Specifically, one first robot arm attachment point 310 of the first suspension platform 100 is located at an end of the first suspension platform 100 remote from the first pivot 101, and the other first robot arm attachment point 310 is located on the first pivot 101; one second robot arm attachment point 320 of the second hanging scaffold 100 is located at the end of the second hanging scaffold 100 away from the second pivot 201, and the other second robot arm attachment point 320 is located on the second pivot 201.

It is understood that the four examples are only examples of the suspension pan positioning mechanism 10 and are not limited to the specific structure of the suspension pan positioning mechanism 10, and in other embodiments, the suspension pan positioning mechanism 10 may further include two or more first suspension pans 100 or two or more second suspension pans 200, and those skilled in the art can configure the specific structure of the suspension pan positioning mechanism 10 differently according to the prior art, which is not limited by the present invention.

Referring to fig. 9a to 9b, referring to fig. 10a to 10c, the hanging plate positioning mechanism 10 shown in fig. 7a is taken as an example to describe the positioning conversion of the hanging plate positioning mechanism 10 according to the present embodiment in detail. Specifically, fig. 7a and 10a show the state of the suspension pan positioning mechanism 10 corresponding to the lower abdominal position in the zero position, fig. 9a and 10b show the state of the suspension pan positioning mechanism 10 corresponding to the upper abdominal position in the zero position, and fig. 9b and 10c show the state of the suspension pan positioning mechanism 10 corresponding to the side position.

As shown in fig. 1, when the column of the surgical robot 1 is disposed at the side of the head end of the hospital bed 3, the side puncture hole is generally located at the side of the suspension arm 12 of the surgical robot 1 when viewed from the column of the surgical robot 1 toward the suspension plate positioning mechanism 10, and thus corresponds to a side-lying position, in which the two suspension disks are rotated to be arranged substantially in the direction of figures 9b and 10c, that is, the two suspension trays are oriented substantially oppositely and along the extending direction of the suspension arm 12, at this time, the two suspension trays are in a relatively distant state along the extending direction of the suspension arm 12, two hang the dish and stagger certain distance along the extending direction of hanging arm 12 promptly, avoid producing interference and influence to patient's side position operation region, each arm 11 can arrange in proper order towards one side abdominal site of patient simultaneously to make each arm 11 arrange in proper order according to anticipated art formula overall arrangement.

The zero position swing can be divided into a lower abdominal position and an upper abdominal position according to the position of the puncture hole on the upper abdominal part or the lower abdominal part of the patient. When in the zero-position state, the two suspension trays rotate to be arranged in the directions substantially as shown in fig. 7a and fig. 9a, that is, the directions of the two suspension trays are substantially opposite and perpendicular to the extending direction of the suspension arm 12, that is, the two suspension trays are distributed at an angle of substantially 90 degrees relative to the extending direction of the suspension arm 12, and the mechanical arms 11 can be simultaneously and sequentially arranged toward the upper abdomen or the lower abdomen of the patient, so that the mechanical arms 11 are sequentially arranged according to a desired surgical layout.

In practice, the suspended plate positioning mechanism 10 can be quickly switched between various positions. It should be noted that the initial state of the suspension plate positioning mechanism 10 in the process of preparing for operation can be any state between fig. 7a, fig. 9a and fig. 9b, and is not limited to the several states shown in fig. 7a, fig. 9a and fig. 9 b. According to the requirement of the operation, the suspension plate positioning mechanism 10 can be quickly positioned and converted to the required arrangement.

In summary, in the suspension tray positioning mechanism and the surgical robot provided by the present invention, the suspension tray positioning mechanism includes at least one first suspension tray and at least one second suspension tray, the first suspension tray has a first rotating shaft, the second suspension tray has a second rotating shaft, the first suspension tray is rotatably disposed around the first rotating shaft, the second suspension tray is rotatably disposed around the second rotating shaft, and the first rotating shaft and the second rotating shaft extend in the same direction; each first suspension disc comprises a first mechanical arm connecting point used for being connected with a mechanical arm; the second suspension plate comprises a second mechanical arm connecting point used for being connected with the mechanical arm, and the first mechanical arm connecting point and the second mechanical arm connecting point are not overlapped with each other in the direction along the first rotating shaft. So the configuration, first hanging scaffold and second hang the dish and rotationally set up around respective pivot, and every mechanical arm tie point of hanging scaffold is in following mutually not overlapping in the direction of first pivot has guaranteed to distribute evenly between the arm, and the interval is close and move mutually noninterfere for the arm can be followed the hanging scaffold and adjusted corresponding position fast, satisfies the arm and realizes quick art formula overall arrangement. In addition, through the distinction of the first suspension platform and the second suspension platform, the mechanical arms on the suspension platforms can obtain larger adjustment space and operation space.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims (14)

1. A suspension plate positioning mechanism, comprising: at least one first suspension pan having a first rotation axis and at least one second suspension pan having a second rotation axis, the first suspension pan being rotatably disposed about the first rotation axis, the second suspension pan being rotatably disposed about the second rotation axis, the first rotation axis and the second rotation axis extending in the same direction; each first suspension disc comprises a first mechanical arm connecting point used for being connected with a mechanical arm; the second suspension plate comprises a second mechanical arm connecting point used for being connected with the mechanical arm, and the first mechanical arm connecting point and the second mechanical arm connecting point are not overlapped with each other in the direction along the first rotating shaft.

2. The suspension pan positioning mechanism of claim 1, wherein the first and second suspension pans rotate about their respective axes of rotation in the same direction or in opposite directions.

3. The suspension pan positioning mechanism of claim 1, wherein the first and second suspension pans rotate synchronously about respective axes of rotation.

4. The suspension plate positioning mechanism according to claim 3, wherein the rotation speed of the first suspension plate around the first rotation shaft is equal to the rotation speed of the second suspension plate around the second rotation shaft.

5. The suspension pan positioning mechanism of claim 3, further comprising: a first transmission unit;

the first transmission unit is respectively connected with the first rotating shaft and the second rotating shaft and used for synchronizing the rotation of the first hanging scaffold and the second hanging scaffold.

6. The pendant of claim 1 wherein said first pendant comprises at least two said first arm attachment points for attachment of at least two arms, said at least two first arm attachment points being located on either side of said first pivot axis; in the extending direction of the first suspension scaffold, a connecting line between at least two first robot arm connecting points intersects the first rotating shaft at a point.

7. The pendant of claim 6 wherein in one of said first pendulums the spacing between the first robot arm attachment point and said first pivot is a first spacing; in the adjacent first hanging scaffold and the second hanging scaffold, the distance between the first rotating shaft and the second rotating shaft is a second distance, and the first distance is equal to the second distance.

8. The suspended plate positioning mechanism of claim 1, wherein the second suspended plate comprises at least two second mechanical arm connection points for connecting at least two mechanical arms, and the at least two second mechanical arm connection points are respectively located on two sides of the second rotating shaft; in the extending direction of the second hanging scaffold, a connecting line between at least two second mechanical arm connecting points is intersected with the second rotating shaft at one point.

9. The suspension pan positioning mechanism of claim 1, wherein the first suspension pan includes a first arm attachment point for attachment of at least one robotic arm, and the second suspension pan includes a second arm attachment point for attachment of at least one robotic arm, the first arm attachment point of the first suspension pan being a first distance from the first axis of rotation, the second arm attachment point of the second suspension pan being a third distance from the second axis of rotation, the third distance being equal to the first distance.

10. The suspension pan positioning mechanism of claim 9, wherein the first distance and the third distance are less than a second distance between the first axis of rotation and the second axis of rotation.

11. The pendant of claim 1 wherein said first pendant comprises two first robot attachment points, each said first robot attachment point for attachment of at least one robot, one said first robot attachment point of said first pendant being located at an end of said first pendant remote from said first pivot axis, the other said first robot attachment point being located on said first pivot axis; the second suspension pan comprises two second robot arm attachment points, each second robot arm attachment point for attachment of at least one robot arm; one second mechanical arm connecting point of the second suspension plate is located at one end, far away from the second rotating shaft, of the second suspension plate, and the other second mechanical arm connecting point is located on the second rotating shaft.

12. The suspension pan positioning mechanism of claim 1, further comprising at least one brake for locking rotation of the first shaft and/or the second shaft.

13. The suspension plate positioning mechanism according to claim 1, wherein the first suspension plate and the second suspension plate are respectively provided with a clutch, and the first rotating shaft and the second rotating shaft are respectively moved synchronously or independently with other rotating shafts through the corresponding clutch.

14. A surgical robot comprising a pendant, a pendant arm, and at least two robotic arms according to any one of claims 1-13;

the suspension plate positioning mechanism is connected with the suspension arms, each suspension plate of the suspension plate positioning mechanism is at least connected with one mechanical arm, and each mechanical arm is rotatably connected with the corresponding suspension plate.

Images