CN219250426U - Main control console of surgical robot - Google Patents
Main control console of surgical robot Download PDFInfo
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- CN219250426U CN219250426U CN202220036900.1U CN202220036900U CN219250426U CN 219250426 U CN219250426 U CN 219250426U CN 202220036900 U CN202220036900 U CN 202220036900U CN 219250426 U CN219250426 U CN 219250426U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The utility model discloses a main control console of a surgical robot, which is provided with a base with a moving mechanism, an immersion type image system fixedly connected with the base, a main control manipulator and an armrest mechanism. The immersion imaging system is connected with the base through the supporting device. The main control operation hand is connected with the base through the supporting device. The supporting device comprises a main hand lifting mechanism capable of adjusting the height of the main control manipulator and a pitching adjusting mechanism capable of adjusting the pitching direction of the immersion imaging system; the master control manipulator is a multi-degree-of-freedom full-active master control manipulator. The armrest mechanism can be lifted and lowered and correspondingly adjusted according to the physiological characteristics of an operator. The main control console of the surgical robot system disclosed by the utility model can be used for integrally adjusting according to the use habit of an operator while meeting the requirements that a doctor inputs a surgical instruction to a surgical robot and receives audio and video information fed back by a patient side, and improving the operation convenience.
Description
Technical Field
The utility model belongs to the technical field of surgical robots, and particularly relates to a main control console of a surgical robot system.
Background
With the continued development of high precision production techniques, the use of robotic systems to manipulate equipment or perform surgery instead of physicians has become a trend. Compared with the traditional method that a doctor directly operates a surgical instrument to perform surgical operation, the surgical robot system has great advantages, and especially in the surgical operation that the operable space is limited, the visual field is blocked and the action interference in the hand movement space is large, the surgical robot system can make up the defects of hand movement and vision observation, and effectively improves the surgical efficiency.
When a doctor uses the surgical robot system, the surgical robot system makes up for various physiological defects of human bodies, avoids physical consumption caused by long standing and holding surgical instruments, and is beneficial to the doctor to maintain the optimal operation state in the whole course.
The main control console is a part of a surgical robot system and comprises a base part positioned at the bottom of the equipment, an audio and video display part positioned at the upper part of the equipment, a main control manipulator positioned at the middle part of the equipment, an armrest mechanism positioned at the front part of the equipment and a plurality of functional switches arranged on the equipment. The operation robot system is mainly used for inputting operation action instructions to the operation robot system by a doctor, the doctor is in butt joint with a main control desk in the whole operation process, and the design rationality of the main control desk directly influences the operation experience of the doctor, so that the operation robot system is a part of the operation robot system which is very important to influence the operability.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provides a main control console of a surgical robot system.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a main control console of a surgical robot system comprises a base with a moving mechanism, an immersion imaging system fixedly connected with the base, a main control manipulator and an armrest mechanism;
the immersion imaging system is connected with the base through a supporting device;
the main control manipulator is connected with the base through the supporting device; the supporting device comprises a main hand lifting mechanism capable of adjusting the height of the main control manipulator and a pitching adjusting mechanism capable of adjusting the pitching direction of the immersion imaging system;
the main control manipulator is a multi-degree-of-freedom full-active main control manipulator;
the armrest mechanism can be lifted and lowered and the height can be adjusted correspondingly according to the physiological characteristics of an operator.
Preferably, the main hand lifting mechanism comprises a stand column fixedly connected with the base, a movable seat capable of moving along the stand column and a main control manipulator mounting frame fixedly connected with the movable seat;
the movable seat is connected with the upright post through a guide rail mechanism;
the driving mechanism of the movable seat comprises a driving machine fixedly arranged on the upright post, a lead screw connected with the driving machine, and a lead screw nut on the lead screw is fixedly connected with the movable seat; when the screw rod driving device works, the output shaft of the driving machine rotates to drive the screw rod to rotate, and the screw rod nut drives the movable seat to move along the length direction of the screw rod in the process.
Preferably, the movable seat comprises two side connecting plates which are symmetrically arranged and a middle connecting plate which is fixedly connected with the two side connecting plates;
the main control operation hand mounting frame is fixedly connected with the side connecting plate.
Preferably, the cross section of the upright post is I-shaped, the driving machine is fixedly arranged in the middle of the I-shaped upright post, the lead screw is connected with the middle of the upright post through the lead screw supporting seat, and the output shaft of the driving machine is fixedly connected with the lead screw through the coupling;
the screw nut is fixedly connected with the L-shaped adapter plate, and the L-shaped adapter plate is fixedly connected with the movable seat;
the guide rail mechanisms are fixedly connected with the two sides of the upright post respectively.
Preferably, the main control manipulator mounting rack comprises a connecting part fixedly connected with the side connecting plate and a mounting part for mounting the main control manipulator; the connecting part is perpendicular to the mounting part;
a plurality of triangular rib plates capable of improving the strength of the installation part are fixedly arranged between the connection part and the installation part.
Preferably, the pitch adjustment mechanism comprises a multi-link mechanism and a link driving mechanism for driving the link mechanism;
the multi-link mechanism comprises a first link, a second link, a third link and a fourth link; the connecting rod driving mechanism comprises an electric push rod;
the first connecting rod is a fixed rod in the moving process, and the second connecting rod, the third connecting rod and the fourth connecting rod are movable rods;
the electric push rod is fixedly connected with the first connecting rod and the second connecting rod respectively, and when the electric push rod stretches or contracts, the second connecting rod, the third connecting rod and the fourth connecting rod can be driven to move.
Preferably, the first connecting rod is fixedly connected with the base, and the immersion imaging system is fixedly connected with the third connecting rod.
Preferably, the length of the third connecting rod is smaller than that of the first connecting rod, the second connecting rod and the fourth connecting rod respectively; the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are connected through a rotating shaft in sequence.
Preferably, the main control hand comprises a base, a large arm rod piece, a small arm rod piece and a side arm rod piece; the base is connected with the main control manipulator mounting frame; the large arm rod piece is connected with the base through a rotating shaft, and the large arm rod piece is connected with the small arm rod piece through a rotating shaft; the side arm rod piece is connected with the driving disc through a rotating shaft, and the driving disc is connected with the base through a rotating shaft; the side arm rod piece is connected with the small arm rod piece through a rotating shaft; the driving disc is connected with a driver which can drive the driving disc to rotate around a rotating shaft between the driving disc and the base; the large arm lever piece is connected with a driver which can drive the large arm lever piece to rotate around a rotating shaft between the large arm lever piece and the base; the large arm member is parallel to the small arm member.
Preferably, the master control manipulation hand comprises an operation handle with a touch module.
Preferably, the immersive image system comprises an audio collector, an audio output device, a video collector and a video output device; the armrest mechanism comprises an armrest transverse support transversely arranged in front of the main control desk, a plurality of functional switches are respectively arranged at two ends of the armrest transverse support, and a display panel is arranged in the middle of the armrest mechanism; an operation handrail for pushing and pulling the main control desk in the moving process is fixedly arranged at the rear part of the main control desk.
The main control console of the surgical robot system disclosed by the utility model can be used for integrally adjusting according to the use habit of an operator while meeting the requirements that a doctor inputs a surgical instruction to a surgical robot and receives audio and video information fed back by a patient side, and improving the operation convenience.
In addition, the whole structure is compact, the operation smoothness is high, and the operation convenience of operators in the surgical operation process is further improved. Is favorable for making finer and smoother operation.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic view of the main hand lifting mechanism of the present utility model;
FIG. 3 is a schematic structural view of the positional relationship between the upright post and the movable seat according to the present utility model;
FIG. 4 is a schematic structural view of the first, second, third and fourth links of the present utility model in relation to the electrical putter;
FIG. 5 is a schematic diagram of the structure of the master manipulator of the present utility model;
FIG. 6 is a schematic diagram of the structure of the four fixed point positions of the parallelogram motion mechanism of the present utility model;
FIG. 7 is a schematic view of the structure of the operating handle of the present utility model;
FIG. 8 is a schematic view of the handle of the present utility model;
FIG. 9 is a schematic structural view of the positional relationship of the first, second and third joints of the present utility model;
FIG. 10 is a schematic diagram of the structure of a control switch in one embodiment of the utility model;
in the drawings, a 1 base, a 2 immersive imaging system, a 21 loudspeaker, a 22 microphone, a 23 video device, a 3 main control manipulator, a 31 big arm rod piece, a 32 small arm rod piece, a 33 side arm rod piece, a 34 driving disc, a 35 base, a 36 operation handle, a 361 handle, a 362 touch module, a 363 gear, a 364 reset spring, a 365 shell, a 37 main rotating shaft, a 4 armrest mechanism, a 41 transverse support, a 42 function switch, a 43 display panel, a 5 main hand lifting mechanism, a 51 upright post, a 52 moving seat, a 521 side connecting plate, a 522 middle connecting plate, a 53 main control manipulator mounting frame, a 531 connecting part, a 532 mounting part, 533 triangular rib plates, a 54 guide rail mechanism, a 55 driving machine, a 56 lead screw, a 57 lead screw nut, a 58 coupling, a 59L-shaped adapter plate, a 6 pitch adjusting mechanism, a 61 first connecting rod, a 62 second connecting rod, a 63 third connecting rod, a 64 fourth connecting rod, a 65 electric push rod, a 7 foot controller, an 8 operation armrest, a 9 control switch, a 91 toggle member, 921 arm, a 922 boss, 923 guide hole, a 93 buckle body 931, 94 buckle hole, 94 reset spring, a 95 side wall base, 96, a 95 guide rail seat, a 97 jack, a through-hole, a supporting device H, and a supporting device.
Detailed Description
The following examples are given in connection with the accompanying drawings to further illustrate the embodiments. The present utility model is not limited to the description of the following embodiments.
The embodiment of the utility model discloses a main control console of a surgical robot system, which is a part of the surgical robot system, wherein the main control console, a video trolley and a patient trolley in the surgical robot system are mutually matched to complete surgical operation. The main control desk is positioned at the side of a doctor (equipment operator), recognizes specific actions such as pushing, swinging, grabbing and the like of the hand of the doctor as corresponding operation action instructions, transmits acquired instruction information to a control module in the operation robot system, gives operation instrument action instructions to a patient trolley positioned at the side of a patient by the control module, and directly actuates the operation instrument by an actuator in the patient trolley after receiving the operation instrument action instructions.
When in use, the main control platform, the video trolley and the patient trolley are respectively and properly arranged in the corresponding spaces. Among them, some initial position adjustment of the equipment and covering of the aseptic cover may require one to several medical staff to cooperate with each other, and particularly, attention needs to be paid to: the main control desk is used for carrying out configuration processes including but not limited to physical position adjustment of the main control desk, corresponding pairing of the actions of the hands and the actions of the corresponding instruments, functional pairing of special function keys and pre-cleaning operation with certain standard.
Example 1
As shown in fig. 1 to 4, the console of the surgical robot system includes a base with a moving mechanism, an immersive imaging system fixedly connected to the base, a master manipulator, and a handrail mechanism. The immersion imaging system is connected with the base through the supporting device. The main control operation hand is connected with the base through the supporting device. The supporting device comprises a main hand lifting mechanism capable of adjusting the height of the main control manipulator and a pitching adjusting mechanism capable of adjusting the pitching direction of the immersion imaging system. Referring to fig. 5, the master manipulator is a multi-degree of freedom all-active master manipulator. The armrest mechanism can be lifted and lowered and the height can be adjusted according to the physiological characteristics of an operator.
In use, the immersive imaging system conveys audio and video information acquired by the instrument carried by the patient trolley on the patient side to the operator, as well as an audio input (microphone) in the immersive imaging system capable of conveying voice information directly to the assistant operator on the patient side. When the device is used, the height of a main control operator, the pitching direction of the immersion imaging system and the height of the armrest mechanism can be adjusted according to the physiological characteristics and the operation habits of an operator, so that the operation comfort of the operator is further pursued to be improved.
As shown in fig. 2, preferably, the master hand lifting mechanism comprises a stand column fixedly connected with the base, a movable seat capable of moving along the stand column, and a master control manipulator mounting frame fixedly connected with the movable seat. The movable seat is connected with the upright post through a guide rail mechanism.
As shown in fig. 2 and 3, the driving mechanism of the movable seat comprises a driving machine fixedly arranged on the upright post and a screw rod connected with the driving machine, and a screw rod nut on the screw rod is fixedly connected with the movable seat. When the screw rod driving device works, the output shaft of the driving machine rotates to drive the screw rod to rotate, and the screw rod nut drives the movable seat to move along the length direction of the screw rod in the process.
As shown in fig. 3, the moving seat preferably includes two side connection plates symmetrically disposed and a middle connection plate fixedly connected to the two side connection plates. The main control operation hand mounting frame is fixedly connected with the side connecting plate. Referring to fig. 3, in this embodiment, the driving machine is fixed in the middle of the upright, the cross section of the upright is i-shaped, the moving seat is buckled outside the upright, the screw rod moving mechanism is located in the gap between the moving seat and the upright, and the space occupation is reduced while the stability in the moving process is maintained.
Referring to fig. 1 to 3, in some embodiments of the present utility model, the cross section of the upright is in an i shape, the driving machine is fixedly arranged in the middle of the i-shaped upright, the screw rod is connected with the middle of the upright through the screw rod supporting seat, and the output shaft of the driving machine is fixedly connected with the screw rod through the coupling. The screw nut is fixedly connected with the L-shaped adapter plate, and the L-shaped adapter plate is fixedly connected with the movable seat. The guide rail mechanisms are fixedly connected with the two sides of the upright post respectively.
Referring to fig. 1 and 2, it is preferable that the main control hand mounting bracket includes a connection portion for fixedly connecting with the side connection plate and a mounting portion for mounting the main control hand. The connecting portion is perpendicular to the mounting portion. A plurality of triangular rib plates capable of improving the strength of the installation part are fixedly arranged between the connection part and the installation part.
Referring to fig. 1, the immersive image system preferably includes an audio collector, an audio output, a video collector, and a video output; the armrest mechanism comprises an armrest transverse support transversely arranged in front of the main control desk, a plurality of functional switches are respectively arranged at two ends of the armrest transverse support, and a display panel is arranged in the middle of the armrest mechanism; an operation handrail for pushing and pulling the main control desk in the moving process is fixedly arranged at the rear part of the main control desk.
Referring to fig. 4, preferably, the pitch adjustment mechanism includes a multi-link mechanism and a link drive mechanism for driving the link mechanism. The multi-link mechanism comprises a first link, a second link, a third link and a fourth link; the link drive mechanism includes an electric push rod. The first connecting rod is a fixed rod in the moving process, and the second connecting rod, the third connecting rod and the fourth connecting rod are movable rods. The electric push rod is fixedly connected with the first connecting rod and the second connecting rod respectively, and when the electric push rod stretches or contracts, the second connecting rod, the third connecting rod and the fourth connecting rod can be driven to move.
Preferably, the first connecting rod is fixedly connected with the base, and the immersion imaging system is fixedly connected with the third connecting rod.
Referring to fig. 4, it is preferable that the third link has a length smaller than that of the first link, the second link, and the fourth link, respectively. The first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are connected through a rotating shaft in sequence.
Example 2
As shown in fig. 5 and 6, referring to fig. 1 and 2, this embodiment is optimized on the basis of embodiment 1:
in this embodiment, the main control hand of the main control console includes a base, a large arm lever, a small arm lever, and a side arm lever.
The base is connected with the main control operation hand mounting frame. The large arm rod piece is connected with the base through a rotating shaft, and the large arm rod piece is connected with the small arm rod piece through a rotating shaft.
The side arm rod piece is connected with the driving disc through a rotating shaft, and the driving disc is connected with the base through a rotating shaft; the side arm rod piece is connected with the small arm rod piece through a rotating shaft; the driving disc is connected with a driver which can drive the driving disc to rotate by taking a rotating shaft between the bases as an axle center; the large arm lever piece is connected with a driver which can drive the large arm lever piece to rotate by taking a rotating shaft between the bases as an axle center. The large arm member is parallel to the small arm member.
Referring to fig. 7 and 8, the master control manipulator preferably includes an operating handle with a touch module.
In the movement process of the main control manipulator, the large arm rod piece, the small arm rod piece, the side arm rod piece and the driving disc form a parallelogram movement mechanism, and four vertexes of the parallelogram movement mechanism are respectively positioned on the central axis of a rotating shaft between the large arm rod piece and the base, the central axis of a rotating shaft between the driving disc and the small arm rod piece, the central axis of a rotating shaft between the large arm rod piece and the small arm rod piece and the central axis of a rotating shaft between the side arm rod piece and the small arm rod piece. The far end of the forearm rod piece is rotatably connected with the clamping functional joint module; the tail end of the clamping functional joint module is rotatably connected with an operating handle.
Preferably, the driving disc is connected with the first driver, and when the output shaft of the first driver rotates, the driving disc rotates along with the output shaft of the first driver, and at the moment, the driving disc can drive the proximal end of the side arm rod piece to move. The proximal end of the large arm rod piece is connected with the second driver, and when the output shaft of the second driver rotates, the proximal end of the large arm rod piece rotates along with the output shaft of the second driver. Wherein the first and second drivers are not shown in the figures.
Referring to fig. 5, in particular, partial contrast schematic a and its associated: the far end of the big arm rod piece is connected with one side of the small arm rod piece through a rotating shaft, and the far end of the side arm rod piece is connected with the opposite side of the small arm rod piece through a rotating shaft. The rotation axis of the large arm rod piece is not coincident with the rotation axis of the side arm rod piece, and the rotation axis of the side arm rod piece is closer to the far end of the small arm rod piece relative to the rotation axis of the large arm rod piece.
Referring to fig. 5, in particular, partial contrast schematic B and its associated: preferably, the side arm lever is connected to the drive disc by a rotation shaft located at a point on the radius of a circle formed by taking the rotation center of the output shaft of the first driver as the center of the circle, and the distance (r) from the point to the rotation center is greater than zero.
As shown in fig. 6, four vertexes of the parallelogram motion mechanism are a point, b point, c point and d point respectively. The vertex on the central axis of the rotating shaft between the big arm rod piece and the small arm rod piece is a point a, the vertex on the central axis of the rotating shaft between the big arm rod piece and the base is a point b, the vertex on the central axis of the rotating shaft between the driving disc and the small arm rod piece is a point c, and the vertex on the central axis of the rotating shaft between the side arm rod piece and the small arm rod piece is a point d. During the series of movements of the master manipulator, the position relative to the base: the point b is a stationary point, and the points c, d and a are movable points.
The following illustrates a set of operational actions: the structure is characterized in that when a rotating shaft at the point b is kept motionless, the angle between the small arm rod piece and the ground is kept unchanged, the movement of the large arm rod piece does not influence the included angle between the small arm rod piece and the ground, and the structure has the additional advantages that the point a driving force is postponed to the point b, and the load of a front end (far end) structure can be effectively reduced, so that the load of a motor is reduced and the moment of inertia is effectively reduced.
Example 3
As shown in fig. 9, with reference to other drawings, this embodiment is further optimized on the basis of embodiment 2:
as shown in fig. 9, in the drawing, the center axis of the first joint rotation axis, the center axis of the second joint rotation axis, and the center axis of the third joint rotation axis are shown as f: the clamping function joint module comprises a first joint, a second joint and a third joint, wherein the central axis of a rotating shaft of the second joint is perpendicular to the central axis of the rotating shaft of the first joint, and the central axis of the rotating shaft of the third joint is perpendicular to the central axis of the rotating shaft of the second joint.
Referring to fig. 9, the clamping function joint module is connected with the small arm lever through a rotating shaft, and the central axis of the rotating shaft of the first joint is perpendicular to the central axis of the rotating shaft.
The central axis of the rotation axis of the first joint, the central axis of the rotation axis of the second joint and the central axis of the rotation axis of the third joint have a common intersection point. The first joint, the second joint and the third joint can rotate by taking the central axis of the rotation shaft of the first joint, the second joint and the third joint as the shaft respectively. The clamping functional joint module can rotate by taking the central axis of the connecting rotating shaft of the clamping functional joint module and the small arm lever as an axis.
Referring to fig. 1, 2 and 3, a main rotating shaft is arranged at the top of the base, and a driving machine for driving the main control manipulator to rotate by taking the main rotating shaft as an axis is fixedly arranged in the base.
When the surgical robot is used, the main control manipulator is fixed with the main control manipulator mounting frame in the main control console of the surgical robot, and the driving machine drives the main control manipulator to rotate by taking the central axis of the main rotating shaft as an axis.
In the embodiment, the main control manipulator is fixedly connected with the surgical robot in a hoisting manner, and the main control manipulator forms a main control manipulator of the surgical robot system for inputting instructions by doctors. In some embodiments of the utility model, the drive machine is a servo motor.
Example 4
As shown in fig. 7 and 8, referring to the other drawings: the operation handle comprises a shell and two handles, one ends of the two handles extend into the shell from the through hole of the shell, gears are respectively fixedly arranged at one ends of the two handles, which are positioned in the shell, and the gears of the two handles are meshed, and touch sensor modules are respectively fixedly arranged on the two handles. The joints in the clamping functional joint module are active joints. The first joint, the second joint and the third joint are respectively fixedly provided with a driving machine which can drive the first joint, the second joint and the third joint to rotate by taking the central axis of the rotation shaft as the axis.
The connecting rotating shaft between the clamping functional joint module and the small arm rod piece is connected with a driving machine for driving the clamping functional joint module to rotate by taking the central axis of the rotating shaft as the axis.
A reset spring is fixedly arranged in the shell, and two ends of the reset spring are fixedly connected with the two handles respectively; when the finger stall is used, when a finger stretches into the finger stall and kneads the two handles, the two handles make a kneading action of drawing the handles towards the middle, the reset spring is compressed, and after the kneading action is finished, the reset spring provides a reset force opposite to the kneading action for the two handles.
When the handle is used, the sensor for identifying the included angle or the distance between the two handles is fixedly arranged in the shell of the operating handle.
The touch sensor has a certain area for the abdomen of the finger to touch and swipe on, and in some embodiments of the utility model, is configured to sense a certain action of the hand in place, preventing false touches.
Additionally, in some embodiments of the present utility model, after the touch sensor trim mode is turned on: the specific slight scratching action of the finger on the touch sensor or the scratching action of the finger with more than a certain displacement and the serial actions of the knocking and double-touch sensor are recognized as a fine tuning action instruction of the front-end execution appliance by a control module in the surgical robot, and the action instruction is issued to a front-end executor, such as closing, clamping and other actions with a certain displacement.
In the above embodiment, the main control manipulator is located near the base, and the end relatively far from the base is the distal end.
Referring to fig. 7, preferably, two control switches are symmetrically arranged on the outer shell of the operating handle, the two control switches and the two handles are circumferentially and uniformly arranged on the outer shell, and when the hand grips the operating handle, the arrangement positions of the two control switches and the two handles are convenient for finger triggering.
Referring to fig. 7 and 10, in some embodiments of the utility model, the control switch preferably includes a toggle member, a catch member, a latch body, and a return spring. The poking part and the fastening body are respectively located at two sides of the side wall of the shell (as a person skilled in the art should know clearly, the two sides of the side wall of the shell referred to herein are the inner side and the outer side of the shell), the side wall of the shell is provided with a penetrating hole with a certain size, one end of the clamping part is fixedly connected with the poking part, and the other end of the clamping part penetrates through the penetrating hole and is fastened and fixed with the fastening body. One end of the return spring is fixed with the shell, and the other end of the return spring is abutted against the clamping piece. The poking piece and the buckling body cannot pass through the penetration holes respectively, when the poking piece is poked along the length direction of the penetration holes, the clamping piece can move along the length direction of the penetration holes, the reset spring is further compressed or stretched in the process, and when the poking is stopped, the reset spring provides reset elastic force capable of driving the poking piece to return to the initial position. The clamping piece comprises two symmetrically arranged arms, the arms extend outwards from the poking piece, and bosses are fixedly arranged at the tail ends of the arms. The fastening body is provided with a fastening hole, the width of the fastening hole is smaller than the distance between the two bosses, the two arms are stirred in the middle direction of the two arms, the arms are elastically deformed, one end of the clamping piece with the boss can stretch out from the fastening hole at the moment, stirring is stopped, the arms are reset, and the boss is limited on one side of the fastening body and cannot pass through the fastening hole. One of the two arms is provided with a guide hole capable of allowing one end of a return spring to pass through, and one end of the return spring passes through the one arm and abuts on the opposite arm. The buckling body is provided with a channel, the channel extends to the buckling hole from the outer side edge of the buckling body and is communicated with the buckling hole, and one end of the reset spring extends into the buckling hole from the channel and is connected with the clamping piece. The lateral wall of shell is provided with the platform that can supply reset spring butt, when stirring the piece and be in initial position, reset spring is in compression state.
The foregoing is a further detailed description of the utility model in connection with the preferred embodiments, and it is not intended that the utility model be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the utility model, and these should be considered to be within the scope of the utility model.
Claims (11)
1. A master control console of a surgical robot, characterized in that: the device comprises a base with a moving mechanism, an immersion type image system fixedly connected with the base, a main control manipulator and an armrest mechanism;
the immersion imaging system is connected with the base through a supporting device;
the main control manipulator is connected with the base through the supporting device;
the supporting device comprises a main hand lifting mechanism capable of adjusting the height of the main control manipulator and a pitching adjusting mechanism capable of adjusting the pitching direction of the immersion type image system;
the main control manipulator is a multi-degree-of-freedom full-active main control manipulator;
the armrest mechanism can be lifted and lowered and the height can be adjusted correspondingly according to the physiological characteristics of an operator.
2. The console of a surgical robot of claim 1, wherein: the main hand lifting mechanism comprises a stand column fixedly connected with the base, a movable seat capable of moving along the stand column and a main control operation hand mounting frame fixedly connected with the movable seat;
the movable seat is connected with the upright post through a guide rail mechanism;
the driving mechanism of the movable seat comprises a driving machine fixedly arranged on the upright post and a screw rod connected with the driving machine, and a screw rod nut on the screw rod is fixedly connected with the movable seat; when the screw rod driving device works, the output shaft of the driving machine rotates to drive the screw rod to rotate, and the screw rod nut drives the movable seat to move along the length direction of the screw rod in the process.
3. The console of a surgical robot of claim 2, wherein: the movable seat comprises two side connecting plates which are symmetrically arranged and a middle connecting plate fixedly connected with the two side connecting plates;
the main control operation hand mounting frame is fixedly connected with the side connecting plate.
4. The console of a surgical robot of claim 2, wherein: the cross section of the upright post is I-shaped, the driving machine is fixedly arranged in the middle of the I-shaped upright post, the screw rod is connected with the middle of the upright post through the screw rod supporting seat, and the output shaft of the driving machine is fixedly connected with the screw rod through the coupling;
the screw nut is fixedly connected with the L-shaped adapter plate, and the L-shaped adapter plate is fixedly connected with the movable seat;
the guide rail mechanisms are fixedly connected with the two sides of the upright post respectively.
5. A console for a surgical robot as claimed in claim 3, wherein: the main control manipulator mounting frame comprises a connecting part used for being fixedly connected with the side connecting plate and a mounting part used for mounting the main control manipulator; the connecting part is perpendicular to the mounting part;
a plurality of triangular rib plates capable of improving the strength of the installation part are fixedly arranged between the connection part and the installation part.
6. The console of a surgical robot of claim 1, wherein: the pitching adjusting mechanism comprises a multi-link mechanism and a link driving mechanism for driving the link mechanism;
the multi-link mechanism comprises a first link, a second link, a third link and a fourth link; the connecting rod driving mechanism comprises an electric push rod;
the first connecting rod is a fixed rod in the moving process, and the second connecting rod, the third connecting rod and the fourth connecting rod are movable rods;
the electric push rod is fixedly connected with the first connecting rod and the second connecting rod respectively, and when the electric push rod stretches or contracts, the second connecting rod, the third connecting rod and the fourth connecting rod can be driven to move.
7. The console of a surgical robot of claim 6, wherein: the first connecting rod is fixedly connected with the base, and the immersion imaging system is fixedly connected with the third connecting rod.
8. The console of a surgical robot of claim 6, wherein: the length of the third connecting rod is respectively smaller than that of the first connecting rod, the second connecting rod and the fourth connecting rod;
the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are connected through a rotating shaft in sequence.
9. The console of a surgical robot of claim 1, wherein: the main control manipulator comprises a base, a large arm rod piece, a small arm rod piece and a side arm rod piece;
the base is connected with the main control manipulator mounting frame;
the large arm rod piece is connected with the base through a rotating shaft, and the large arm rod piece is connected with the small arm rod piece through a rotating shaft;
the side arm rod piece is connected with the driving disc through a rotating shaft, and the driving disc is connected with the base through a rotating shaft; the side arm rod piece is connected with the small arm rod piece through a rotating shaft; the driving disc is connected with a driver which can drive the driving disc to rotate around a rotating shaft between the driving disc and the base; the large arm lever piece is connected with a driver which can drive the large arm lever piece to rotate around a rotating shaft between the large arm lever piece and the base;
the large arm member is parallel to the small arm member.
10. The console of a surgical robot of claim 9, wherein: the main control operation hand comprises an operation handle with a touch module.
11. The console of a surgical robot of claim 1, wherein: the immersive image system comprises an audio collector, an audio output device, a video collector and a video output device; the armrest mechanism comprises an armrest transverse support transversely arranged in front of the main control desk, a plurality of functional switches are respectively arranged at two ends of the armrest transverse support, and a display panel is arranged in the middle of the armrest mechanism; an operation handrail for pushing and pulling the main control desk in the moving process is fixedly arranged at the rear part of the main control desk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220036900.1U CN219250426U (en) | 2022-01-07 | 2022-01-07 | Main control console of surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220036900.1U CN219250426U (en) | 2022-01-07 | 2022-01-07 | Main control console of surgical robot |
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| Publication Number | Publication Date |
|---|---|
| CN219250426U true CN219250426U (en) | 2023-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220036900.1U Active CN219250426U (en) | 2022-01-07 | 2022-01-07 | Main control console of surgical robot |
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| Country | Link |
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| CN (1) | CN219250426U (en) |
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