CN212415897U - Suspension plate placing mechanism and surgical robot - Google Patents

Abstract

The utility model provides a suspension plate positioning mechanism and a surgical robot, wherein the suspension plate positioning mechanism comprises at least two main suspension plates which are respectively connected with a suspension end in a rotatable way around the same main rotating shaft; each main suspension disc is respectively used for connecting at least one mechanical arm. So the configuration, two at least main hanging dish are connected with hanging in midair the end rotationally around same main pivot, and every main hanging dish carries at least one arm respectively for a plurality of arms can be once only adjusted to the relevant position fast along with main hanging dish, satisfy the arm and realize quick art formula overall arrangement. In addition, through the distinguishing of at least two main suspension platforms, each mechanical arm on the main suspension platform can obtain larger adjustment space and operation space.

Description

Suspension plate placing mechanism and surgical robot

Technical Field

The utility model relates to the technical field of medical equipment, in particular to suspend tray positioning mechanism and operation robot in midair.

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.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a suspend in midair dish put position mechanism and surgical robot to in solving current surgical robot, the gesture adjustment process of arm is complicated, adjusts long problem when consuming time.

In order to solve the technical problem, the utility model provides a hang dish positioning mechanism in midair, it includes: the two main suspension plates are respectively connected with a suspension end in a rotatable way around the same main rotating shaft; each main suspension disc is respectively used for connecting at least one mechanical arm.

Optionally, the suspension plate positioning mechanism further includes: at least one first sub-suspension tray; the first sub suspension trays are rotatably connected with the main suspension trays around a sub rotating shaft parallel to the main rotating shaft, and each main suspension tray is connected with at least one first sub suspension tray; each first sub-suspension platform is used for connecting at least one mechanical arm.

Optionally, each of the main suspension trays is connected to one of the first sub-suspension trays, and each of the main suspension trays is configured to rotatably connect one of the robot arms around the sub-rotation shaft.

Optionally, the main suspension disc extends in a direction perpendicular to the main rotating shaft; the suspension plate positioning mechanism further comprises: at least one second sub-suspension platform, the second sub-suspension platform is movably connected with the main suspension platform along the extension direction of the main suspension platform, and each second sub-suspension platform is used for connecting at least one mechanical arm.

Optionally, each of the main suspension trays is connected to at least two of the second sub-suspension trays, and the second sub-suspension trays connected to the same main suspension tray are arranged at intervals along the extending direction of the main suspension tray.

Optionally, the suspension plate positioning mechanism includes two main suspension plates and four second sub suspension plates, and each main suspension plate is connected to two second sub suspension plates.

Optionally, the second sub-suspension platform extends along a direction perpendicular to the main rotating shaft, and the extending direction of the second sub-suspension platform is arranged at an angle to the extending direction of the main suspension platform; each of the second sub-suspension trays is used for movably connecting at least one mechanical arm along the extending direction of the second sub-suspension tray.

Optionally, the main suspension disc includes a first slide rail disposed along an extending direction of the main suspension disc, and a first slider movably disposed along the first slide rail; the second sub-suspension plate comprises a second slide rail arranged along the extension direction of the second sub-suspension plate and a second slide block movably arranged along the second slide rail; the second sub-suspension plate is connected with the first sliding block, and the second sliding block is used for being connected with a mechanical arm.

Optionally, in the process that the main suspension discs respectively rotate around the main rotating shaft, a relative angle between any two main suspension discs is not less than 60 °.

Optionally, a limiting mechanism is arranged between any two main suspension disks, and the limiting mechanism is used for limiting the relative angle between the two main suspension disks to be not less than 60 degrees; the limiting mechanism is configured to drive a second main suspension disk to rotate along with a first main suspension disk when the first main suspension disk rotates and the angle relative to the second main suspension disk reaches 60 degrees.

Optionally, the suspension tray positioning mechanism includes three main suspension trays, the three main suspension trays are respectively and relatively independently rotatably disposed around the main rotating shaft, each main suspension tray is connected with one first sub-suspension tray, and each first sub-suspension tray is respectively used for connecting at least one mechanical arm.

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

one main suspension plate of the suspension plate positioning mechanism is rotatably connected with the suspension arms around a main rotating shaft, other suspension plates of the suspension plate positioning mechanism are respectively rotatably connected with the main suspension plate connected with the suspension arms around the main rotating shaft, each main suspension plate is respectively connected with at least one mechanical arm, and each mechanical arm is rotatably connected with the corresponding main suspension plate.

In summary, in the suspension plate positioning mechanism and the surgical robot provided by the present invention, the suspension plate positioning mechanism includes at least two main suspension plates, and the two main suspension plates are rotatably connected to a suspension end around a same main rotation shaft; each main suspension disc is respectively used for connecting at least one mechanical arm.

So the configuration, two at least main hanging dish are connected with hanging in midair the end rotationally around same main pivot, and every main hanging dish carries at least one arm respectively for a plurality of arms can be once only adjusted to the relevant position fast along with main hanging dish, satisfy the arm and realize quick art formula overall arrangement. In addition, through the distinguishing of at least two main suspension platforms, each mechanical arm on the main suspension platform can obtain larger adjustment space and operation space.

Drawings

Those skilled in the art will appreciate that the drawings are provided for a better understanding of the invention and do not constitute any limitation on the scope of the invention. Wherein:

fig. 1 is a schematic view of an operation scene of a surgical robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a lateral surgical layout of an embodiment of the present invention;

FIG. 3 is a schematic diagram of a null-tactic layout of an embodiment of the present invention;

fig. 4 is a schematic view of a surgical robot according to a first embodiment of the present invention;

fig. 5a and 5b are schematic axial cross-sections of a main suspension platform and a main rotating shaft according to a first embodiment of the present invention;

fig. 6 is a schematic view of a limiting mechanism according to a first embodiment of the present invention;

fig. 7 is a schematic view of a suspension plate positioning mechanism according to a first embodiment of the present invention;

fig. 8 is a schematic view of a suspension plate positioning mechanism according to a first embodiment of the present invention after being connected to a robot arm;

fig. 9a to 9c are schematic views illustrating the positioning conversion of the suspension plate positioning mechanism according to the first embodiment of the present invention;

fig. 10a and 10b are schematic views of a suspension plate positioning mechanism according to another preferred example of the embodiment of the present invention;

fig. 11 is a schematic view of a surgical robot according to a second embodiment of the present invention;

fig. 12 is a schematic view of a suspension plate positioning mechanism according to a second embodiment of the present invention;

fig. 13 is a schematic view of the suspension plate positioning mechanism according to the second embodiment of the present invention after being connected to the robot arm;

fig. 14a to 14c are schematic views illustrating the positioning conversion of the suspension plate positioning mechanism according to the second embodiment of the present invention;

fig. 15 is a schematic view of a surgical robot according to a third embodiment of the present invention;

fig. 16 is a schematic view of the suspension plate positioning mechanism according to the third embodiment of the present invention after being connected to the mechanical arm;

fig. 17a to 17c are schematic views illustrating the positioning conversion of the suspension plate positioning mechanism according to the third 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 main hanging scaffold; 110-a slew bearing; 120-a first slider; 130-a limiting groove; 140-a limiting block; 200-a first sub-hanging scaffold; 300-a second sub-hanging scaffold; 320-a second slider; a1-main rotating shaft; a2-sub-axis of rotation.

Detailed Description

To make the objects, advantages and features of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be noted that the drawings are in simplified form and are not to scale, but rather are provided for the purpose of facilitating and distinctly claiming 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", "an" and "the" are generally employed in a sense including "at least one", the terms "at least two" and "two or more" are generally employed in a sense including "two or more", and moreover, 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 imply that there is a number of technical features being 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 application, the disposition of an element with another element generally only means that there is a connection, coupling, fit, or drive relationship between the two elements, and the connection, coupling, fit, or drive between the two elements may be direct or indirect through intermediate elements, and is not to be understood as indicating or implying any spatial relationship between the two elements, i.e., an element may be in any orientation within, outside, above, below, or to one side of another element unless the content clearly dictates otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The core idea of the utility model is to provide a hang dish put position mechanism and surgical robot in midair to in solving current surgical robot, the gesture adjustment process of arm is complicated, problem that the adjustment is long consuming time.

The following detailed description of several different embodiments is made with reference to the accompanying drawings.

[ EXAMPLES one ]

Please refer to fig. 1 to 10b, wherein fig. 1 is a schematic view of an operation scene of a surgical robot according to an embodiment of the present invention; FIG. 2 is a schematic view of a lateral surgical layout of an embodiment of the present invention; FIG. 3 is a schematic diagram of a null-tactic layout of an embodiment of the present invention; fig. 4 is a schematic view of a surgical robot according to a first embodiment of the present invention; fig. 5a and 5b are schematic axial cross-sections of a main suspension platform and a main rotating shaft according to a first embodiment of the present invention; fig. 6 is a schematic view of a limiting mechanism according to a first embodiment of the present invention; fig. 7 is a schematic view of a suspension plate positioning mechanism according to a first embodiment of the present invention; fig. 8 is a schematic view of a suspension plate positioning mechanism according to a first embodiment of the present invention after being connected to a robot arm; fig. 9a to 9c are schematic views illustrating the positioning conversion of the suspension plate positioning mechanism according to the first embodiment of the present invention; fig. 10a and 10b are schematic views of a suspension plate positioning mechanism according to another preferred example of the embodiment of the present invention.

An embodiment of the present invention provides a surgical robot, and fig. 1 shows an exemplary embodiment of an application scenario for performing an abdominal operation by using the surgical robot. However, the surgical robot of the present invention is not particularly limited to the application environment, and can 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 plate positioning mechanism 10 includes at least two main suspension plates 100, and the two main suspension plates 100 are respectively rotatably connected to a suspension end around the same main rotation axis a 1; each of the main suspension trays 100 is used for connecting at least one robot arm 11. Different surgical instruments and endoscopes are respectively mounted on different robot arms 11. 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. It should be noted that, in the operation scene shown in fig. 1, the suspension arm 12 of the operation robot 1 is used as the suspension end, in practice, the suspension end is not limited to the suspension arm 12 of the operation robot 1, for example, the suspension end may be a ceiling, a fixing mechanism on the hospital bed 3, etc., and the suspension plate positioning mechanism 10 may be connected to other fixable devices such as the ceiling, the hospital bed 3, etc., to implement the operation, which is not limited by the present invention.

So configured, at least two main suspension trays 100 are rotatably connected to the suspension arm 12 around the same main rotation axis a1, and each main suspension tray 100 respectively carries at least one mechanical arm 11, so that the plurality of mechanical arms 11 can be rapidly adjusted to corresponding positions at one time along with the main suspension tray 100, and the requirement of the mechanical arms 11 for rapid surgical layout is met. In addition, by distinguishing at least two main suspension trays 100, each mechanical arm 11 on the main suspension tray 100 can obtain larger adjustment space and operation space.

Alternatively, in some embodiments, each main suspension disk 100 may be directly connected to the main rotating shaft a 1. Taking two main suspension disks 100 as an example, as shown in fig. 5a, the main rotation shaft a1 may be a cylinder having two radially protruding snap rings along its own axial direction, and the two main suspension disks 100 are respectively connected to the two snap rings through respective slewing bearings 110. In other embodiments, in which at least one of the main suspension pans 100 is directly connected to the main rotation shaft a1 and the other at least one main suspension pan 100 is suspended from the aforementioned main suspension pan 100 directly connected to the main rotation shaft a1, as shown in fig. 5b, the main rotation shaft a1 has a radially projecting snap ring along its axial direction, the upper main suspension pan 100 in fig. 5b is connected to the snap ring by its corresponding slew bearing 110, and the lower main suspension pan 100 is connected to the upper main suspension pan 100 by its corresponding slew bearing 110 and suspended from the upper main suspension pan 100.

Preferably, during the rotation of the main suspension disks 100 around the main rotation axis a1, respectively, the relative angle between any two main suspension disks 100 is not less than 60 °. Since in practical use, to satisfy the requirement of rapid layout of the robot arm 11, the two or more main suspension disks 100 may be configured to rotate synchronously and in the same direction around the main rotation axis a1, it should be noted that, here, the two or more main suspension disks 100 rotate synchronously and in the same direction, that is, each main suspension disk 100 rotates around the main rotation axis a1 in the same rotation direction at the same time, and the rotation speed of each main suspension disk 100 is not limited to be the same. Thus, in practice, the angle through which each main suspension pan 100 turns over the same period of time is not necessarily the same. As long as the main suspension disks 100 rotate synchronously and in the same direction, all the main suspension disks 100 can be quickly and simultaneously 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. In order to adjust the mechanical arm 11 more accurately, when any two main suspension disks 100 rotate synchronously and in the same direction, the rotation speed difference between the two main suspension disks results in a relative rotation angle between the two main suspension disks. Under the condition that the relative angle between any two main suspension disks 100 is not less than 60 degrees, the method can be suitable for different surgical positioning requirements. In addition, a main suspension disc 100 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. Alternatively, in some embodiments, more than two main suspension pans 100 may be configured to rotate at a constant speed, such that the main suspension pans 100 do not produce a relative angle of rotation when rotated together.

Optionally, a limiting mechanism is arranged between any two main suspension discs 100, and the limiting mechanism is used for limiting the relative angle between the two main suspension discs 100 to be not less than 60 degrees; the limiting mechanism is configured to drive a second main suspension tray 100 to rotate along with a first main suspension tray 100 when the first main suspension tray 100 rotates and the angle relative to the second main suspension tray 100 reaches 60 °. Fig. 6 shows a limiting mechanism between two main suspension discs 100, the limiting mechanism includes a limiting groove 130 circumferentially opened on a first main suspension disc 100, and a limiting block 140 fixedly connected to a second main suspension disc 100, the limiting block 140 is movably disposed in the limiting groove 130, when the relative rotation angle of the two main suspension discs 100 reaches 60 °, the limiting block 140 abuts against the side wall of the limiting groove 130, so that the first main suspension disc 100 drives the second main suspension disc 100 to rotate along with it. Generally, the two main suspension disks 100 can independently rotate around the main rotation axis a1 without interfering with each other, but when one of the main suspension disks 100 is driven to move relative to the other main suspension disk 100, after the actively driven main suspension disk 100 moves for a certain angle, and continues to move towards the direction of the other main suspension disk 100, the other main suspension disk 100 can be pushed by the limiting mechanism to move synchronously and in the same direction, and by such arrangement, all the main suspension disks 100 can rapidly and simultaneously turn towards the required surgical layout, so that the posture adjustment process of the robot arm 11 can be simplified, the time consumed for adjusting the robot arm 11 is reduced, and the operation time is reduced. Through the setting of stop gear, can guarantee that the contained angle between two main hanging dish 100 is not less than 60, so arrange, can avoid the interference of relevant hanging dish or arm in the adjustment process as far as possible. It should be noted that the limiting mechanism is not limited to the structure shown in fig. 6, and those skilled in the art can configure the limiting mechanism as other mechanical limiting structures according to the actual situation.

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 toward the side of the body of the patient, the upright post of the surgical robot is located on one side of the sickbed 3, the surgical instruments corresponding to the holes 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 holes on the middle side 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.

Referring to fig. 7 and 8, the suspension plate positioning mechanism 10 of the first embodiment includes at least one first sub-suspension plate 200; the two main suspension discs 100 are respectively connected with a suspension end in a rotatable way around the same main rotating shaft A1; each of the first sub-suspension trays 200 is used for connecting at least one robot arm 11.

In practical use, the main suspension tray 100 can rotate around the main rotation axis a1 to a proper angle clockwise or counterclockwise according to the arrangement of the patient bed 3, during the rotation process, the first sub suspension tray 200 connected to the main suspension tray 100 can rotate with a large angle along with the main suspension tray 100 (i.e. passively rotate along with the main suspension tray), and then when the main suspension tray 100 rotates to a proper position, the first sub suspension tray 200 can rotate around the sub rotation axis a2 for fine adjustment, so that the mechanical arm 11 mounted thereon moves to a proper position. Note that the first sub suspension pan 200 may rotate about the sub rotation axis a2, or may rotate simultaneously with the main suspension pan 100 rotating about the main rotation axis a 1.

Preferably, each of the main suspension trays 100 is connected to one of the first sub-suspension trays 200, and each of the main suspension trays 100 is configured to rotatably connect one of the robot arms 11 about the sub-rotation axis a 2. In some embodiments, each main suspension disk 100 may be coupled to a robotic arm 11, which in particular is rotatably coupled to the main suspension disk 100 about a sub-axis of rotation a 2. Meanwhile, the first sub-suspension tray 200 is also rotatably connected to the main suspension tray 100 about the sub-rotation axis a2, so it can be understood that the robot arms 11 mounted on the first sub-suspension tray 200 and the main suspension tray 100 are connected to the main suspension tray 100 about the sub-rotation axis a2, respectively. Alternatively, the rotation of the first sub-suspension tray 200 and the rotation of the mechanical arms 11 mounted on the main suspension tray 100 are decoupled from each other and independently rotated, which is beneficial to adjust the mechanical arms 11 to a required position.

With continued reference to fig. 7 and 8, in an exemplary embodiment, the suspension pan positioning mechanism 10 includes two main suspension pans 100 and two first sub-suspension pans 200, with each main suspension pan 100 being connected to one first sub-suspension pan 200. Each of the main hanging tray 100 and the first sub hanging tray 200 carries one robot arm 11. In one example, each robotic arm 11 is independently rotatable relative to the corresponding suspension plate. The robot arms 11 mounted on the two main suspension plates 100 are mainly directed to the middle portion of the puncture site layout, and generally can mount an endoscope and a surgical instrument. Of course, in other embodiments, each suspension platform may be connected to another number of robotic arms 11, and those skilled in the art can configure the number of robotic arms 11 connected to each suspension platform according to the actual needs of the surgery.

Referring to fig. 9a to 9c, the following describes in detail the swing conversion of the suspension plate swing mechanism 10 according to the present embodiment with reference to fig. 1. Specifically, fig. 9a shows a seating state of the suspension pan seating mechanism 10 corresponding to a left side, fig. 9b shows a seating state of the suspension pan seating mechanism 10 corresponding to a null position, and fig. 9c shows a seating state of the suspension pan seating mechanism 10 corresponding to a right side.

As shown in fig. 1, when the column of the surgical robot 1 is disposed at the head end of the hospital bed 3, and the left puncture hole is generally located at the left 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, so that corresponding to the left positioning state, the suspension plates are rotated to be arranged in the direction substantially as shown in fig. 9a, and the suspension plates are mainly arranged at the right side of the suspension arm 12 to avoid interference and influence on the left surgical area of the patient, and the robotic arms 11 can be simultaneously and sequentially arranged toward the left abdominal position of the patient, so that the robotic arms 11 are sequentially arranged according to the expected surgical layout.

Fig. 9b and 9c show the setting states corresponding to the zero setting and the right setting, respectively, and refer to the above description of the left setting, which will not be expanded here. In practice, the suspended plate positioning mechanism 10 can be quickly switched between various positions. It should be noted that, in the process of preparing for operation, the initial state of the suspension plate positioning mechanism 10 may be any state between fig. 9a to 9c, and is not limited to the several states shown in fig. 9a to 9 c. According to the requirement of the operation, the suspension plate positioning mechanism 10 can be quickly positioned and converted to the required arrangement.

Referring to fig. 10a and 10b, in another preferred example, a portion of the main suspension tray 100 is connected with more than two first sub-suspension trays 200.

In the example shown in fig. 10a, the suspension pan positioning mechanism 10 includes two main suspension pans 100 and four first sub-suspension pans 200, and each main suspension pan 100 is connected to two first sub-suspension pans 200, respectively, in which case the robot arm 11 may be mounted only on the first sub-suspension pans 200, and may not be directly mounted on the main suspension pan 100. The suspension pan positioning mechanism 10 of this configuration can also be adapted to situations when surgical instruments need to be separately introduced into a patient from both sides of the patient. Specifically, for clinical application scenes like hepatobiliary surgery, prostate surgery and the like in which surgical instruments are required to be inserted from two sides of an abdominal cavity as much as possible, after the main hanging plate 100 is placed to a predetermined position, the two first sub-hanging plates 200 on each main hanging plate 100 are further adjusted in a rotating manner, so that the surgical instruments hung on the two main hanging plates 100 can be positioned on two sides of a patient. Further improving the application range of the surgical robot 1.

In the example shown in fig. 10b, the suspension pan positioning mechanism 10 also comprises two main suspension pans 100 and four first sub-suspension pans 200, unlike the example shown in fig. 8, wherein one main suspension pan 100 is connected to three first sub-suspension pans 200 and the other main suspension pan 100 is connected to one first sub-suspension pan 200. This configuration may also be suitable for some specific procedures, improving the applicability of the surgical robot 1. When the three first sub-suspension plates 200 are placed, the main suspension plate 100 connected with the three first sub-suspension plates 200 can drive the three first sub-suspension plates 200 attached to the main suspension plate to be placed together, and the three first sub-suspension plates 200 are rapidly placed to a required angle, so that the three first sub-suspension plates 200 are respectively subjected to detail adjustment, and the placing speed is effectively improved.

[ example two ]

Please refer to fig. 11 to 14c, wherein fig. 11 is a schematic view of a surgical robot according to a second embodiment of the present invention; fig. 12 is a schematic view of a suspension plate positioning mechanism according to a second embodiment of the present invention; fig. 13 is a schematic view of the suspension plate positioning mechanism according to the second embodiment of the present invention after being connected to the robot arm; fig. 14a to 14c are schematic views illustrating the positioning conversion of the suspension plate positioning mechanism according to the second embodiment of the present invention;

the embodiment of the present invention provides a suspension plate positioning mechanism and a surgical robot, which are substantially the same as the suspension plate positioning mechanism and the surgical robot provided by the first embodiment, and the same parts are not described, and only different points are described below.

As shown in fig. 11 to 13, in the suspension plate positioning mechanism 10 according to the second embodiment, the main suspension plate 100 extends in a direction perpendicular to the main rotation axis a 1; the suspension plate positioning mechanism 10 further comprises: at least one second sub-suspension tray 300, the second sub-suspension tray 300 being movably connected to the main suspension tray 100 along the extending direction of the main suspension tray 100, each of the second sub-suspension trays 300 being for connection of at least one robot arm 11. It should be noted that the extending direction of the main suspension tray 100 is not limited to a straight line as shown in fig. 9 to 11, but the extending direction may also be a curve perpendicular to the main rotation axis a1, such as an arc, and thus the second sub suspension tray 300 may move in an arc shape following the extending direction of the arc shape of the main suspension tray 100.

In practical use, the main suspension tray 100 can rotate clockwise or counterclockwise around the main rotation axis a1 to a proper angle according to the arrangement of the patient bed 3, during the rotation process, the second sub suspension tray 300 connected to the main suspension tray 100 can rotate with a large angle along the main suspension tray 100 (i.e. passively follow the rotation), and after the main suspension tray 100 rotates to a proper position, the second sub suspension tray 300 can move along the extending direction of the main suspension tray 100 to perform detail adjustment, so that the mechanical arm 11 mounted thereon moves to a proper position. Note that the movement of the second sub suspension pan 300 along the main suspension pan 100 may be performed simultaneously with the rotation of the main suspension pan 100 about the main rotation axis a 1.

In some embodiments, the robot arm 11 is rotatably suspended from the second sub suspension tray 300 and moves along the main suspension tray 100 with the second sub suspension tray 300. In other embodiments, the mechanical arm 11 may further move along the extending direction of the second sub hanging scaffold 300. Preferably, the second sub suspension pan 300 extends in a direction perpendicular to the main rotation axis a1, and the extending direction of the second sub suspension pan 300 is arranged at an angle to the extending direction of the main suspension pan 100; each of the second sub-suspension trays 300 is configured to movably connect at least one robot arm 11 in an extending direction of the second sub-suspension tray 300. The extending direction of the second sub suspension pan 300 is arranged at an angle to the extending direction of the main suspension pan 100, and the robot arm 11 mounted on the second sub suspension pan 300 can move following the extending direction of the second sub suspension pan 300, and at the same time, the second sub suspension pan 300 can move following the extending direction of the main suspension pan 100, so that the robot arm 11 can have more freedom of adjustment. Similarly, the form of the extending direction of the second sub suspension platform 300 is not limited, such as a straight line as shown in fig. 11 to 13, or other shapes, such as an arc line.

Optionally, the main suspension tray 100 includes a first slide rail disposed along the extending direction of the main suspension tray, and a first slider 120 movably disposed along the first slide rail; the second sub suspension tray 300 includes a second slide rail disposed along an extending direction thereof, and a second slider 320 movably disposed along the second slide rail; the second sub-suspension board 300 is connected to the first slider 120, and the second slider 120 is used for connecting to the robot arm 11. In an exemplary embodiment, the main suspension tray 100 is connected to the second sub suspension tray 300 through the first slider 120 and the first slide rail, and the robot arm 11 is connected to the second sub suspension tray 300 through the second slider 320 and the second slide rail, so that the robot arm 11 can be adjusted relative to the main suspension tray 100 along both directions of the first slide rail and the second slide rail. Further, the robot arm 11 is rotatably connected to the second slider 320 to further improve the degree of freedom in adjustment of the robot arm 11. Of course, in other embodiments, the connection between the mechanical arm 11, the second sub suspension tray 300 and the main suspension tray 100 is not limited to a sliding block or a sliding rail, and may also be driven by a connection method commonly used in the art, such as a synchronous belt or a lead screw, which is not limited in this embodiment.

Preferably, each of the main suspension trays 100 is connected to at least two of the second sub suspension trays 300, and the second sub suspension trays 300 connected to the same main suspension tray 100 are disposed at intervals in an extending direction of the main suspension tray 100. In an example, the suspension fork arrangement mechanism 10 includes two main suspension forks 100 and four second sub suspension forks 300, and each of the main suspension forks 100 is connected to two of the second sub suspension forks 300. Each of the main suspension trays 100 is indirectly connected to the robot arm 11 through the second sub suspension tray 300, and the robot arm 11 is not directly disposed on the main suspension tray 100. One robot arm 11 is respectively hung on each second sub-hanging scaffold 300. In use, the robotic arms 11 carried by the second sub-platform 300 adjacent to the main axis of rotation a1 are primarily directed toward the middle of the puncture site layout, and typically carry an endoscope and a surgical instrument. The two mechanical arms 11 mounted on the second sub-suspension tray 300 away from the main rotation axis a1 mainly aim at two side portions in the arrangement of the puncture holes, and generally mount surgical instruments. Of course, in other embodiments, each second sub-suspension platform 300 may be further connected to another number of robot arms 11, and some robot arms 11 may also be mounted on the main suspension platform 100, and those skilled in the art may configure the number and positions of the robot arms 11 connected to each suspension platform according to the actual needs of the surgery, which is not limited in this embodiment.

Referring to fig. 14a to 14c, fig. 14a shows a left-side positioning state of the suspension pan positioning mechanism 10 of the second embodiment, fig. 14b shows a zero-position positioning state of the suspension pan positioning mechanism 10 of the second embodiment, and fig. 14c shows a right-side positioning state of the suspension pan positioning mechanism 10 of the second embodiment. The description of the positioning state can be referred to in the first embodiment, and is not expanded here. 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. 14a to 14c, and is not limited to the several states shown in fig. 14a to 14 c. According to the requirement of the operation, the suspension plate positioning mechanism 10 can be quickly positioned and converted to the required arrangement.

[ EXAMPLE III ]

Please refer to fig. 15 to 17c, wherein fig. 15 is a schematic view of a surgical robot according to a third embodiment of the present invention; fig. 16 is a schematic view of the suspension plate positioning mechanism according to the third embodiment of the present invention after being connected to the mechanical arm; fig. 17a to 17c are schematic views illustrating the positioning conversion of the suspension plate positioning mechanism according to the third embodiment of the present invention.

The embodiment of the present invention provides a third suspension plate positioning mechanism and a surgical robot, which are substantially the same as the first suspension plate positioning mechanism and the surgical robot, and the same parts are not described, and the following description is only made for different points.

As shown in fig. 15 to 17c, the suspension plate positioning mechanism 10 of the third embodiment includes three main suspension plates 100, and the three main suspension plates 100 are independently and rotatably disposed around the main rotation axis a 1.

Preferably, the suspension plate seating mechanism 10 further includes three first sub-suspension plates 200, and the three first sub-suspension plates 200 are rotatably connected to the three main suspension plates 100 about the sub-rotation axes a2, respectively. Each of the main suspension trays 100 is indirectly connected to the robot arm 11 through the first sub-suspension trays 200, the robot arm 11 is not directly disposed on the main suspension tray 100, each of the first sub-suspension trays 200 carries one robot arm 11, and the robot arm 11 is preferably rotatably connected to the first sub-suspension trays 200.

Referring to fig. 17a to 17c, fig. 17a shows a left-side positioning state of the suspension plate positioning mechanism 10 of the first embodiment, fig. 17b shows a zero-position positioning state of the suspension plate positioning mechanism 10 of the first embodiment, and fig. 17c shows a right-side positioning state of the suspension plate positioning mechanism 10 of the first embodiment. The description of the positioning state can be referred to in the first embodiment, and is not expanded here. In practice, the suspended plate positioning mechanism 10 can be quickly switched between various positions. It should be noted that, in the process of preparing for operation, the initial state of the suspension plate positioning mechanism 10 may be in any state between fig. 17a to 17c, and is not limited to the states shown in fig. 17a to 17 c. According to the requirement of the operation, the suspension plate positioning mechanism 10 can be quickly positioned and converted to the required arrangement.

Optionally, at least a part of the main suspension platform 100 or the first sub suspension platform 200 further has a clutch mechanism, and the rotating shaft of each suspension platform can be switched with the other suspension platform through the clutch mechanism. 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 disengaging the suspension plate from the linkage with other suspension plates through a clutch mechanism. For example, in the conventional situation, where rapid position conversion is required, the three main suspension disks 100 may be configured to be linked, and after the three main suspension disks 100 are rotated together to a predetermined position, one or two of the main suspension disks 100 may be moved independently through a clutch mechanism to better adapt to the detailed position adjustment.

It should be noted that, the solutions in the above embodiments may be used in combination. For example, the suspension tray positioning mechanism 10 includes two main suspension trays 100, one of which is rotatably connected to the first sub-suspension tray 200 as in the first embodiment, and the other main suspension tray 100 is movably connected to the second sub-suspension tray 300 as in the second embodiment, and in use, after the two main suspension trays 100 are rotatably positioned to a predetermined position, the two sub-suspension trays can be adjusted in detail according to different ways, which can be referred to the description of the above embodiments specifically, and will not be described again here.

In summary, in the suspension plate positioning mechanism and the surgical robot provided by the present invention, the suspension plate positioning mechanism includes at least two main suspension plates, and the two main suspension plates are rotatably connected to a suspension end around a same main rotation shaft; each main suspension disc is respectively used for connecting at least one mechanical arm. So the configuration, two at least main hanging dish are connected with hanging in midair the end rotationally around same main pivot, and every main hanging dish carries at least one arm respectively for a plurality of arms can be once only adjusted to the relevant position fast along with main hanging dish, satisfy the arm and realize quick art formula overall arrangement. In addition, through the distinguishing of at least two main suspension platforms, each mechanical arm on the main suspension platform can obtain larger adjustment space and operation space.

The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modification and modification made by those skilled in the art according to the above disclosure are all within the scope of the claims.

Claims (12)

1. A suspension plate positioning mechanism, comprising: the two main suspension plates are respectively connected with a suspension end in a rotatable way around the same main rotating shaft; each main suspension disc is respectively used for connecting at least one mechanical arm.

2. The suspension pan positioning mechanism of claim 1, further comprising: at least one first sub-suspension tray; the first sub suspension trays are rotatably connected with the main suspension tray around a sub rotating shaft parallel to the main rotating shaft, and at least one main suspension tray is connected with at least one first sub suspension tray; each first sub-suspension platform is used for connecting at least one mechanical arm.

3. The suspension pan positioning mechanism of claim 2, wherein each of the primary suspension pans is connected to one of the first secondary suspension pans, each of the secondary suspension pans being adapted for rotatable connection of one of the robotic arms about the secondary pivot axis.

4. The suspension pan positioning mechanism of claim 1, wherein the main suspension pan extends in a direction perpendicular to the main rotation axis; the suspension plate positioning mechanism further comprises: at least one second sub-suspension platform, the second sub-suspension platform is movably connected with the main suspension platform along the extension direction of the main suspension platform, and each second sub-suspension platform is used for connecting at least one mechanical arm.

5. The suspension pan positioning mechanism of claim 4, wherein each of the main suspension pans is connected to at least two of the second sub-suspension pans, and the second sub-suspension pans connected to the same main suspension pan are disposed at intervals in an extending direction of the main suspension pan.

6. The suspension pan positioning mechanism of claim 5, comprising two main suspension pans and four secondary suspension pans, each main suspension pan being connected to two secondary suspension pans.

7. The suspension pan positioning mechanism of claim 4, wherein the second sub-suspension pan extends in a direction perpendicular to the main rotation shaft, and the extending direction of the second sub-suspension pan is arranged at an angle to the extending direction of the main suspension pan; each of the second sub-suspension trays is used for movably connecting at least one mechanical arm along the extending direction of the second sub-suspension tray.

8. The suspension plate positioning mechanism according to claim 7, wherein the main suspension plate comprises a first slide rail arranged along the extending direction of the main suspension plate, and a first slide block movably arranged along the first slide rail; the second sub-suspension plate comprises a second slide rail arranged along the extension direction of the second sub-suspension plate and a second slide block movably arranged along the second slide rail; the second sub-suspension plate is connected with the first sliding block, and the second sliding block is used for being connected with a mechanical arm.

9. The suspension plate positioning mechanism according to claim 1, wherein a relative angle between any two main suspension plates is not less than 60 ° during rotation of the main suspension plates around the main rotation shafts, respectively.

10. The suspension plate positioning mechanism according to claim 9, wherein a limiting mechanism is arranged between any two main suspension plates, and the limiting mechanism is used for limiting the relative angle between the two main suspension plates to be not less than 60 °; the limiting mechanism is configured to drive a second main suspension disk to rotate along with a first main suspension disk when the first main suspension disk rotates and the angle relative to the second main suspension disk reaches 60 degrees.

11. The suspension pan positioning mechanism of claim 1, comprising three main suspension pans, each main suspension pan being relatively independently rotatably disposed about a main rotation axis, each main suspension pan being connected to a first sub-suspension pan, each first sub-suspension pan being adapted to be connected to at least one robotic arm.

12. A surgical robot comprising a pendant disc positioning mechanism according to any one of claims 1 to 11, a plurality of robotic arms, and a pendant arm;

one main suspension plate of the suspension plate positioning mechanism is rotatably connected with the suspension arms around a main rotating shaft, other suspension plates of the suspension plate positioning mechanism are respectively rotatably connected with the main suspension plate connected with the suspension arms around the main rotating shaft, each main suspension plate is respectively connected with at least one mechanical arm, and each mechanical arm is rotatably connected with the corresponding main suspension plate.

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