Pitch adjustment assembly and physician console adjustment mechanism, minimally invasive surgical robot

Abstract

This invention discloses a pitch adjustment component, a doctor's console adjustment mechanism, and a minimally invasive surgical robot, comprising: a fixed component, a movable component adapted to pitch movement relative to the fixed component, and a drive structure disposed between the fixed component and the movable component; wherein the drive structure includes a movable arm, a push-pull block pivotally engaged with one end of the movable arm, and a power unit disposed on the movable component for achieving sliding engagement between the push-pull block and the movable component; the end of the movable arm away from the push-pull block is pivotally connected to the fixed component; when the push-pull block slides in the movable component along a first direction, the movable component pitches upward relative to the fixed component; and when the push-pull block moves in the movable component along a second direction opposite to the first direction, the movable component pitches downward relative to the fixed component. This invention can achieve a simplified structure to realize pitch adjustment of the doctor's console during use, thereby reducing the wear rate of the overall structure's parts.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a pitch adjustment component and a doctor's console adjustment mechanism using the same, as well as a minimally invasive surgical robot. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0003] A typical minimally invasive surgical robot consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the input device from the console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. However, because each surgeon has different heights, sitting postures, and other characteristics, and because minimally invasive surgical robots are shared equipment used by different surgeons, fixed displays may not provide the optimal viewing angle and may not meet the observation habits of human-computer interaction, thus affecting user comfort.

[0004] In response to the above situation, CN206377417U discloses a device for fixing and fine-tuning a display, comprising: a column with a detachable support plate at its top; a second connecting unit and a first connecting unit respectively installed on the upper and lower parts of the support plate; and a display mounted on the support plate via the first connecting unit and the second connecting unit; wherein, a first slot for adjusting the height of the support plate is formed on the column, and a second slot cooperating with the first slot is formed on the support plate. This patent enables fine-tuning of the display's height. However, practical use has revealed the following drawbacks: since the displays commonly used in minimally invasive surgical robots are immersive displays, weighing tens of kilograms, adjusting the display using the above method would be extremely strenuous. Furthermore, the above method can only adjust the overall height of the display, not its tilt angle. Therefore, this disclosed technology still cannot meet the current practical needs for display adjustment. Summary of the Invention

[0005] The first objective of this invention is to provide a pitch adjustment assembly to solve the technical problem of reducing the wear rate of parts through a simplified structure.

[0006] A second objective of this invention is to provide a doctor's console adjustment mechanism to address the technical problem of reducing component wear rates through a simplified structure.

[0007] A third objective of this invention is to provide a minimally invasive surgical robot to address the technical problem of reducing component wear rates through a simplified structure.

[0008] The pitch adjustment component of this invention is implemented as follows:

[0009] A pitch adjustment assembly includes: a fixed member, a movable member adapted to pitch movement relative to the fixed member, and a drive structure disposed between the fixed member and the movable member; wherein

[0010] The drive structure includes a movable arm, a push-pull block pivotally engaged with one end of the movable arm, and a power unit disposed on the movable part for realizing a sliding engagement between the push-pull block and the movable part; the end of the movable arm away from the push-pull block is pivotally connected to the fixed part.

[0011] When the push-pull block slides in the movable member along the first direction, the movable member moves upward relative to the fixed member; and

[0012] When the push-pull block moves in the movable part along a second direction opposite to the first direction, the movable part moves downward relative to the fixed part.

[0013] In an optional embodiment of the present invention, the power unit includes a linear actuator and a linear slide rail fixed to the movable component; wherein

[0014] The drive end of the linear actuator is connected to the push-pull block; and

[0015] The linear slide rail is in sliding engagement with the push-pull block.

[0016] In an optional embodiment of the present invention, the power unit includes elastic tension members fixed to the movable member and located on both sides of the linear actuator;

[0017] Both elastic tension members on both sides are connected to the push-pull block.

[0018] In an optional embodiment of the present invention, the elastic tension member is a metal tension spring or a gas tension spring.

[0019] In an optional embodiment of the present invention, the movable member and the fixed member are connected by a pivoting connection to achieve pitch movement of the movable member relative to the fixed member; and

[0020] The pivoting connection assembly includes a connecting seat fixed to the movable part and a connecting block that rotatably engages with the connecting seat; wherein

[0021] The connecting block is fixed to the fastener.

[0022] In an optional embodiment of the present invention, the movable arm adopts a C-shaped structure; and

[0023] A load-bearing reinforcement is integrally formed in the middle of the C-shaped structure.

[0024] In an optional embodiment of the present invention, a magnetic strip is further provided on the movable member along the sliding trajectory of the push-pull block; and

[0025] The push-pull block is equipped with a sensing head suitable for use with a magnetic strip.

[0026] The doctor's console adjustment mechanism of this invention is implemented as follows:

[0027] A doctor's console adjustment mechanism includes: a control panel and a pitch adjustment assembly connected to the control panel; wherein...

[0028] The pitch adjustment assembly is fixed to the control panel by a mounting bracket; and

[0029] The movable part of the pitch adjustment component is connected to the display.

[0030] In an optional embodiment of the present invention, the movable component adopts a hollow support structure.

[0031] The minimally invasive surgical robot of this invention is implemented as follows:

[0032] A minimally invasive surgical robot includes: the aforementioned doctor console adjustment mechanism.

[0033] By adopting the above technical solution, the present invention has the following beneficial effects: The pitch adjustment component of the present invention and the doctor's console adjustment mechanism and minimally invasive surgical robot using it can achieve the pitch movement of the movable part relative to the fixed part by means of the pivotal cooperation between the movable arm and the push-pull block and the fixed part, the sliding cooperation between the push-pull block and the movable part, and the pivotal cooperation between the movable part and the fixed part. That is, the three-point pivotal cooperation and the linear motion of one point can achieve the pitch movement of the movable part relative to the fixed part. The overall structure is simple, and the kinematic pairs only have sliding and rotation, so the wear rate of the overall parts is low.

[0034] Furthermore, by using the elastic tension members on both sides of the linear actuator as a gravity balance structure, the weight of the monitor of the doctor's console of the minimally invasive surgical robot can be balanced, which facilitates the adjustment of the pitch angle of the doctor's console, reduces the requirements for the adjustment power mechanism of the doctor's console, and reduces the manufacturing cost of the equipment.

[0035] In addition, the sensor head used in conjunction with the device can memorize the tilt angle of the display after different users have adjusted it, so that it can be automatically adjusted to that position the next time it is used. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the pitch adjustment component of the present invention;

[0037] Figure 2 This is a partial structural schematic diagram of the pitch adjustment component of the present invention;

[0038] Figure 3 This is a schematic diagram of the cooperation structure between the drive structure and the moving parts of the pitch adjustment component of the present invention;

[0039] Figure 4 This is a schematic diagram of the drive structure and pivot connection group of the pitch adjustment assembly of the present invention;

[0040] Figure 5 This is a schematic diagram of the drive structure of the pitch adjustment component of the present invention;

[0041] Figure 6 A schematic diagram of the structure of the pitch adjustment component of the present invention, with a cover plate attached to the movable part.

[0042] Figure 7 This is a schematic diagram of the pivot connection assembly of the pitch adjustment component of the present invention;

[0043] Figure 8 This is a schematic diagram of the movable arm of the pitch adjustment assembly of the present invention;

[0044] Figure 9 This is a schematic diagram of the elastic tension member of the pitch adjustment assembly of the present invention in the form of a metal tension spring (the metal tension spring is not fully assembled).

[0045] Figure 10 This is a partial schematic diagram of a doctor's control console that incorporates the pitch adjustment component of the present invention.

[0046] In the diagram: 1. Fixing component; 11. Decorative cover; 12. Slot; 2. Movable component; 2. Cover plate; 22. Movable slot; 23. Opening; 25. End block; 26. Connecting seat; 31. Connecting block; 32. Inclined surface; 33. Fixed shaft; 41. Oil-free bushing; 42. Movable arm; 5. Shaft hole; 51. Load-bearing reinforcement; 52. Push-pull block; 6. Linear actuator; 7. Linear slide rail; 8. Gas spring; 91. Metal spring; 92. Magnetic strip; 101. Sensor head; 102. Display; 202. Detailed Implementation

[0047] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0048] Example 1:

[0049] Please see Figures 1 to 9As shown, this embodiment provides a pitch adjustment component, including: a fixed member 1, a movable member 2 adapted to pitch movement relative to the fixed member 1, and a driving structure provided between the fixed member 1 and the movable member 2; it should be noted that, in this embodiment, the fixed member 1 refers to a structure that maintains its basic position unchanged during the use of the pitch adjustment component, while the movable member 2 is a structure that can change its basic position relative to the fixed member 1.

[0050] Next, referring to the attached diagram, we will first discuss the pivotal connection between movable part 2 and fixed part 1:

[0051] The movable part 2 and the fixed part 1 are connected by a pivoting connection assembly to achieve the pitch movement of the movable part 2 relative to the fixed part 1; and the pivoting connection assembly includes a connecting seat 31 fixed on the movable part 2 and a connecting block 32 that rotatably engages with the connecting seat 31; wherein the connecting block 32 is fixedly connected to the fixed part 1. The rotatable engagement between the connecting block 32 and the connecting seat 31 can be achieved by using a fixed shaft 41 and an oil-free bushing 42 that are used together.

[0052] When the movable part 2 rotates relative to the fixed part 1, the connecting block 32 can also rotate relative to the connecting seat 31. Both only have rotational freedom; other degrees of freedom are restricted. Specifically, the bottom surface of the connecting block 32 is designed as an inclined surface 33 relative to the end face that contacts the fixed part 1. When the end face of the connecting block 32 and the fixed part 1 is parallel to the end face of the connecting seat 31 facing the connecting block 32, the inclined surface 33 slopes upwards from its portion near the fixed shaft 41 to its portion away from the fixed shaft 41. This structure allows the movable part 2 to rotate downwards relative to the fixed part 1 at a larger angle without interference between the connecting block 32 and the connecting seat 31. Furthermore, when the movable part 2 is adjusted to its lowest position, the inclined surface 33 is in contact with the connecting seat 31 from its portion near the fixed shaft 41, thus limiting the position of the movable part 2.

[0053] Furthermore, let's discuss the driving structure:

[0054] Referring to the accompanying drawings, one example illustrates a driving structure used in this embodiment, which includes a movable arm 5, a push-pull block 6 pivotally engaged with one end of the movable arm 5, and a power unit disposed on the movable member 2 to achieve a sliding engagement between the push-pull block 6 and the movable member 2; the end of the movable arm 5 away from the push-pull block 6 is pivotally connected to the fixed member 1. It should be noted that the part of the fixed member 1 used to achieve pivotal engagement with the movable member 2 and the part of the fixed member 1 used to achieve pivotal engagement with the movable arm 5 are not the same part, but different parts of the fixed member 1.

[0055] To facilitate structural design and reduce overall design and production costs, in one optional implementation, the push-pull block 6 and the movable arm 5, as well as the movable arm 5 and the fixed member 1, are pivotally engaged via a fixed shaft 41 and an oil-free bushing 42. Therefore, in this embodiment, shaft holes 51 are provided at both ends of the movable arm 5.

[0056] The power unit includes a linear actuator 7 and a linear guide rail 8 fixed to the movable part 2; the drive end of the linear actuator 7 is connected to the push-pull block 6; and the linear guide rail 8 is slidably engaged with the push-pull block 6. The push-pull block 6 can be pre-fabricated with a groove that mates with the linear guide rail 8, or it can be separately assembled with a slider structure 61; this embodiment does not impose an absolute limitation on this. The linear actuator 7 can be, for example, but not limited to, an electric actuator. The linear guide rail 8 is used to limit the movement trajectory of the push-pull block 6, ensuring that the trajectory of the push-pull block 6 under the action of the linear actuator 7 is precise and controllable. Considering that the linear actuator 7 can be easily disassembled and assembled, the end of the linear actuator 7 furthest from the push-pull block 6 can be fixed to the movable part 2 via an end block 26.

[0057] Based on the above structure, this embodiment also makes the following structural improvements: the power unit also includes elastic tension members fixed on the movable member 2 and located on both sides of the linear actuator 7; the elastic tension members on both sides are connected to the push-pull block 6.

[0058] Specifically, without the elastic tension member, due to gravity, the movable part 2 tends to rotate downwards. The tension provided by the elastic tension member causes the push-pull block 6 to slide upwards. However, due to the limitations of the mechanical structure such as the movable arm 5, the push-pull block 6, and the linear slide rail 8, this is transformed into a tendency for the movable part 2 to rotate upwards. This counteracts the downward rotation tendency of the movable part 2, thus achieving gravitational balance. In this case, only a very small external force (provided by the linear actuator 7 in this embodiment) is needed to adjust the pitch angle of the movable part 2.

[0059] It should be noted that, in one optional implementation, the elastic tension member is a metal tension spring 92, referenced... Figure 9To better demonstrate the synergy, only one end of the metal tension spring 92 is assembled; the other end (the side closer to the push-pull block 6) is not assembled. In this case, two metal tension springs 92 can be installed on each side of the linear actuator 7 as a gravity balance structure. Using metal tension springs 92 provides better responsiveness to the gravity required to balance the pitch angle of the moving part 2, because the tension of the metal tension springs 92 can change with deformation. Specifically, during the pitching process of the moving part 2, the angle between the moving part 2 and the vertical direction gradually decreases. If the tension of the elastic tension member remains constant, the vertical component will increase, potentially exceeding the gravity required for balance. Therefore, it is necessary for the tension of the elastic tension member to decrease simultaneously as the moving part 2 pitches up. Metal tension springs 92 are used to achieve this. The material, elastic coefficient, and length of the metal tension spring 92 can be determined through conventional mechanical analysis and will not be elaborated here. For better balance, a structure with two metal tension springs 92 on each side is selected.

[0060] In another optional implementation, the elastic tensioning element is a gas spring 91 (constant tension spring). In this case, a gas spring 91 can be installed on each side of the linear actuator 7. Using a gas spring 91 provides a constant tension force to balance the influence of gravity, facilitating the adjustment of the pitch angle of the movable element 2. Compared to a metal tension spring 92, the gas spring 91 has a relatively slower speed, less dynamic force variation (generally within 1:1.2), and is easier to control. It is understood that the tension of the gas spring 91 can be determined through mechanical analysis of the movable element 2, which is a conventional mechanical technique; therefore, it will not be elaborated further in this embodiment.

[0061] Next, let's talk about the movable arm 5 itself:

[0062] The accompanying drawings of this embodiment use a C-shaped structure for the movable arm 5 as an example. Here, the movable arm 5 with a C-shaped structure is used to increase the strength of the movable arm 5. That is to say, under the premise of appropriately reducing the strength requirements, a straight rod or other structure can be used to replace the C-shaped structure here.

[0063] Based on the above structure, when higher strength is required, the following structural improvements can be made: a load-bearing reinforcement 52 is integrally formed in the middle of the C-shaped structure (the stress concentration area). Specifically, the overall size of the part with the load-bearing reinforcement 52 is larger than that of other parts of the movable arm 5.

[0064] Furthermore, it is necessary to explain that in this embodiment, the movable component 2 is provided with an assembly area for assembling the drive structure. To prevent dust and impurities from affecting the drive structure, a cover plate 22 is provided to cover this assembly area. A slot 23 suitable for the movable arm 5 to pass through is reserved on the cover plate 22. Since the movable arm 5 needs to rotate relative to the push-pull block 6 as it moves linearly, the size of the slot 23 must meet the space required by the movable arm 5 during the aforementioned movement, and not merely allow the movable arm 5 to pass through. Similarly, to prevent dust and impurities from affecting the pivotal connection structure between the movable arm 5 and the fixing component 1, a decorative cover 11 is provided on the fixing component 1. A slot 12 suitable for the movable arm 5 to pass through is reserved on the decorative cover 11. Since the movable arm 5 needs to rotate relative to the fixing component 1 as it moves linearly with the push-pull block 6, the size of the slot 12 must meet the space required by the movable arm 5 during the aforementioned movement, and not merely allow the movable arm 5 to pass through.

[0065] Based on the above structure, it should also be noted that the cover plate 22 is also provided with an opening 25 that can expose the pivot connection assembly, so that the design of the cover plate 22 will not affect the pivotal engagement between the moving part 2 and the fixed part 1.

[0066] In summary, the specific implementation principle of the pitch adjustment component in this embodiment is as follows:

[0067] When the push-pull block 6 slides in the movable member 2 along the first direction, the movable member 2 moves upward relative to the fixed member 1; and when the push-pull block 6 moves in the movable member 2 along the second direction opposite to the first direction, the movable member 2 moves downward relative to the fixed member 1. More specifically, taking the orientation shown in the attached diagram as an example, when it is necessary to adjust the movable part 2 upward (similar to a person looking up), the linear actuator 7 retracts, causing the push-pull block 6 to move upward along the slide rail (corresponding to the first direction in this embodiment). The movable arm 5 rotates synchronously relative to the push-pull block 6 and the fixed part 1. At the same time, the connecting block 32 and the connecting seat 31 of the pivot connection group also rotate synchronously (during this process, the gap between the part of the connecting block 32 away from the connecting shaft and the connecting seat 31 gradually increases), thereby realizing the upward adjustment of the movable part 2. When it is necessary to adjust the movable part 2 downward (similar to a person looking down), the linear actuator 7 extends, causing the push-pull block 6 to move downward along the slide rail (corresponding to the second direction in this embodiment). The movable arm 5 rotates synchronously relative to the push-pull block 6 and the fixed part 1. At the same time, the connecting block 32 and the connecting seat 31 of the pivot connection group also rotate synchronously (during this process, the gap between the part of the connecting block 32 away from the connecting shaft and the connecting seat 31 gradually decreases), thereby realizing the downward adjustment of the movable part 2.

[0068] Example 2:

[0069] Please see Figures 1 to 9 As shown, based on the pitch adjustment component of Embodiment 1, the pitch adjustment component provided in this embodiment has been improved in the following way:

[0070] A magnetic strip 101 is also provided on the movable part 2 along the sliding trajectory of the push-pull block 6. That is, the magnetic strip 101 is arranged parallel to the slide rail, and its length is at least the same as the maximum sliding trajectory of the push-pull block 6, so as to meet the usage requirements of recording the push-pull block 6 at different positions; and a sensor head 102 suitable for use with the magnetic strip 101 is provided on the push-pull block 6. The sensor head 102 can be connected to the control system wirelessly or wiredly.

[0071] Based on this structure, when the pitch adjustment component of this embodiment is applied to a specific doctor's console adjustment mechanism, the specific position of the adjusted push-pull block 6 can be recorded, thus completing the recording of each doctor's adjustment habits. The next time the doctor uses it, they only need to log into the system to automatically adjust the pitch angle through the control system. It should be noted that the magnetic strip 101 and sensor head 102 used here can also be replaced with other systems capable of recording positions or angles (the rotation angle of the movable arm 5 or the rotation angle of other fixed axes 41, or the rotation angle of the linear actuator 7) to achieve the overall pitch adjustment component's memory function.

[0072] Example 3:

[0073] Based on the pitch adjustment assembly of Embodiment 1 or 2, this embodiment provides a doctor's console adjustment mechanism, including: a control panel and a pitch adjustment assembly connected to the control panel; wherein the fixing member 1 of the pitch adjustment assembly is fixed on the control panel; and the movable member 2 of the pitch adjustment assembly is connected to the display 202.

[0074] It should be noted that the movable component 2 here can be an integral part of the display 202, or it can be designed as a separate structure from the display 202 for the purpose of facilitating disassembly and maintenance of the display 202. This embodiment does not make an absolute limitation on this. Regardless of whether it is an integral or separate structure, the movable component 2 is located on the back side of the display 202 (the back side refers to the end face of the display 202 that is opposite to the end face used to display content).

[0075] To reduce the overall weight of the display 202 when it is in conjunction with the movable part 2, the movable part 2 adopts a hollow bracket structure to achieve the purpose of weight reduction, thereby making the display 202 smoother during its tilt adjustment.

[0076] Example 4:

[0077] Please see Figure 10As shown, based on the doctor console adjustment mechanism of Embodiment 3, this embodiment provides a minimally invasive surgical robot, including: the doctor console adjustment mechanism of Embodiment 2.

[0078] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0079] In the description of this invention, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0080] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0081] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0082] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0083] In this invention, unless otherwise expressly specified and limited, "above or below" a first feature may include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on" the first feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the first feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

Claims

1. A pitch adjustment assembly characterized by, The utility model relates to a pitch adjusting assembly, comprising: a fixed part, a movable part adapted to pitch relative to the fixed part, and a driving structure arranged between the fixed part and the movable part; wherein the driving structure comprises a movable arm, a push-pull block pivotally connected to one end of the movable arm, and a power set arranged on the movable part and used to realize the sliding fit between the push-pull block and the movable part; the end of the movable arm away from the push-pull block is pivotally connected to the fixed part; when the push-pull block slides in the movable part along a first direction, the movable part pitches upward relative to the fixed part; and when the push-pull block moves in the movable part along a second direction opposite to the first direction, the movable part pitches downward relative to the fixed part.

2. The pitch adjustment assembly of claim 1, wherein, the power set comprises a linear pusher fixed on the movable part and a linear slide rail; wherein the driving end of the linear pusher is connected to the push-pull block; and the linear slide rail is in sliding fit with the push-pull block.

3. The pitch adjustment assembly of claim 2, wherein, the power set comprises elastic tensioning members fixed on the movable part and located on both sides of the linear pusher; both of the elastic tensioning members are connected to the push-pull block.

4. The pitch adjustment assembly of claim 3, wherein, The elastic tensioning members are metal tension springs or air tension springs.

5. The pitch adjustment assembly of claim 1, wherein, the movable part and the fixed part are connected through a pivot connection set to realize the pitch of the movable part relative to the fixed part; and the pivot connection set comprises a connecting seat fixed on the movable part and a connecting block in rotational fit with the connecting seat; wherein the connecting block is fixedly connected to the fixed part.

6. The pitch adjustment assembly of claim 1, wherein, the movable arm adopts a C-shaped structure; and a force-reinforcing part is integrally formed at the middle part of the C-shaped structure.

7. The pitch adjustment assembly of claim 1, wherein, a magnetic strip is further arranged on the movable part along the sliding track of the push-pull block; and an inductive head adapted to cooperate with the magnetic strip is arranged on the push-pull block.

8. A physician console adjustment mechanism comprising: The utility model relates to a pitch adjusting assembly, comprising: a console and a pitch adjusting assembly as claimed in any one of claims 1-7 connected to the console; wherein the fixed part of the pitch adjusting assembly is fixed on the console; and the movable part of the pitch adjusting assembly is connected to a display.

9. A surgeon's console adjustment mechanism according to claim 8, wherein, the movable part adopts a hollow bracket structure.

10. A minimally invasive surgical robot, characterized by The utility model relates to a pitch adjusting assembly, comprising: a console adjusting mechanism as claimed in claim 8 or 9.

Images