Surgical robot

Abstract

The utility model provides a surgical robot. The surgical robot comprises a base; the rotating assembly is provided with a rotating part, and the rotating part is rotatably arranged on the base; a first lifting assembly and a second lifting assembly; the end, away from the rotating part, of the first lifting assembly is provided with a first lifting structure, and the end, away from the rotating part, of the second lifting assembly is provided with a second lifting structure. The first lifting structure and the second lifting structure are arranged at an interval; the first lifting structure and the second lifting structure are both movably arranged, and the first lifting structure and the second lifting structure are relatively movably arranged; the handheld assembly is connected with the base, the handheld assembly is provided with a containing cavity, and the containing cavity is used for containing the first lifting assembly and the second lifting assembly; the power assembly is connected with the first lifting structure and the second lifting structure; the power assembly is provided with a feeding part, and the feeding part is movably arranged in the preset direction. The problem that a mechanical arm is large in size in the prior art is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical robots, in particular to a surgical robot. Background Art

[0002] Traditional surgical robots are composed of a robotic arm, an optical camera and a host computer. The optical camera is equivalent to an eye. It obtains the spatial posture of the end of the robotic arm through a tracer fixed on the robotic arm. The host computer then transmits motion instructions to the robotic arm, driving the guide structure at its end to move accurately to the patient's surgical position, and then the doctor performs subsequent operations.

[0003] However, traditional surgical robot arms are large, expensive, and complex to operate.

[0004] Therefore, the prior art needs to be further developed. Utility Model Content

[0005] The purpose of the utility model is to overcome the above technical deficiencies and provide a surgical robot to solve the technical problem of large size of the mechanical arm in the related technology.

[0006] In order to achieve the above technical objectives, the utility model adopts the following technical solutions: a surgical robot is provided, including: a base; a rotating assembly, the rotating assembly having a rotating part, and the rotating part is rotatably arranged on the base; a first lifting assembly and a second lifting assembly; the first lifting assembly has a first lifting structure at one end away from the rotating part, and the second lifting assembly has a second lifting structure at one end away from the rotating part; the first lifting structure and the second lifting structure are arranged at intervals; the first lifting structure and the second lifting structure are both movably arranged, and the first lifting structure and the second lifting structure are relatively movably arranged; a handheld assembly, the handheld assembly is connected to the base, the handheld assembly has a accommodating cavity, and the accommodating cavity is used to accommodate the first lifting assembly and the second lifting assembly; a power assembly, the power assembly is connected to both the first lifting structure and the second lifting structure; the power assembly has a feeding part, and the feeding part is movably arranged along a preset direction.

[0007] Further, the first lifting assembly includes a first lifting cylinder body connected to the rotating part; the first lifting structure is arranged on the piston rod of the first lifting cylinder body, the first lifting structure includes a first connecting component, and the power assembly is relatively rotatably connected to the first connecting component; the second lifting assembly includes a second lifting cylinder body arranged at a distance from the first lifting cylinder body; the second lifting structure is arranged on the piston rod of the second lifting cylinder body, the second lifting structure includes a second connecting component, the power assembly is relatively rotatably connected to the second connecting component, and the power assembly is relatively movably connected to the second connecting component.

[0008] Further, the first connecting component includes: a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are respectively arranged on both sides of the power assembly; the first connecting plate and the second connecting plate are both provided with a first connecting protrusion, the power assembly is provided with a connecting groove, and the first connecting protrusion is rotatably arranged in the connecting groove; a third connecting plate, one end of the third connecting plate is connected to the first connecting plate, the other end of the third connecting plate is connected to the second connecting plate, and the side of the third connecting plate away from the power assembly is connected to the first lifting structure.

[0009] Furthermore, the surgical robot also includes a supporting component, which is rotatably disposed at one end of the handheld component away from the base, and the first lifting structure and the second lifting structure are both relatively movably connected to the supporting component.

[0010] Furthermore, the supporting component includes: a first supporting plate and a second supporting plate arranged at intervals, a first guide shaft is arranged on a side of the first supporting plate close to the second supporting plate, and the first guide shaft is relatively movably connected to the first lifting structure; a second guide shaft is arranged on a side of the second supporting plate close to the first supporting plate, and the second guide shaft is relatively movably connected to the first lifting structure; a third supporting plate, one end of the third supporting plate is connected to the first supporting plate, the other end of the third supporting plate is connected to the second supporting plate, and the third support plate is relatively rotatably connected to the handheld component.

[0011] Furthermore, the third support plate has a first lifting channel and a second lifting channel which are arranged through the third support plate, the first lifting channel is used for the first lifting structure to pass through, and the second lifting channel is used for the second lifting structure to pass through.

[0012] Furthermore, the power assembly includes: a shell having an installation cavity therein, the shell being rotatably connected to the first lifting assembly relatively, the shell being rotatably connected to the second lifting assembly relatively, and the shell being movably connected to the second lifting assembly relatively; a moving track, the moving track being arranged on a side of the shell close to the installation cavity, the extension direction of the moving track being the same as the axial direction of the installation cavity; a feed cylinder body, the feed cylinder body being arranged in the installation cavity, the feed part being arranged on the shaft of the feed cylinder body, and the feed cylinder body driving the feed part to move along the moving track.

[0013] Furthermore, a mounting portion is provided at one end of the movable rail away from the feed cylinder body, and the feed part is arranged inside the mounting portion; a first limiting portion is provided on the side of the mounting portion close to the feed cylinder body, and a second limiting portion is provided on the side of the mounting portion away from the feed cylinder body, and the first limiting portion and the second limiting portion are used to limit the movement of the feed part.

[0014] Furthermore, the rotating assembly includes a rotating motor and a rotating part connected to the rotating motor, the rotating part includes: a rotating plate body, the rotating motor is drivingly connected to the rotating plate body; a fixed plate body, the fixed plate body is arranged on a side of the rotating plate body away from the rotating motor, and one end of the fixed plate body away from the rotating motor is connected to the power assembly to drive the power assembly to rotate, and a first fixing part for fixing the first lifting assembly and a second fixing part for fixing the second lifting assembly are respectively arranged on both sides of the fixed plate body.

[0015] Furthermore, the surgical robot also includes: a tracking component, which is used to determine the real-time posture of the power component; a control module, which is signal-connected to the tracking component, the rotating component, the first lifting component, the second lifting component and the power component, and the control module is used to control the movement of the rotating component, the first lifting component, the second lifting component and the power component.

[0016] Beneficial effects:

[0017] 1. The surgical robot of the utility model is small in size and light in weight, and is convenient and labor-saving to operate.

[0018] 2. Compared with traditional large robotic arms, the surgical robot of the present invention is cheaper and easier to promote and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the surgical robot used in the embodiment of the utility model;

[0020] Figure 2 It is a structural schematic diagram of a handheld component of a surgical robot used in an embodiment of the utility model;

[0021] Figure 3 It is a structural schematic diagram of the second lifting assembly of the surgical robot used in the embodiment of the utility model;

[0022] Figure 4 This is a schematic diagram of the structure of the second connecting component of the surgical robot used in the embodiment of the utility model.

[0023] Figure 5 It is a structural schematic diagram of a first connecting component of a surgical robot used in an embodiment of the utility model;

[0024] Figure 6 is a cross-sectional view of a surgical robot used in an embodiment of the utility model;

[0025] Figure 7 It is a schematic diagram of the structure of the rotating assembly of the surgical robot used in the embodiment of the utility model;

[0026] Figure 8It is a schematic diagram of the structure of the power assembly of the surgical robot used in the embodiment of the utility model;

[0027] Fig. 9 It is a schematic diagram of the structure of the first control button of the surgical robot used in the embodiment of the utility model;

[0028] Fig.10 It is a schematic diagram of the lower limit of the lifting of the surgical robot used in the embodiment of the utility model;

[0029] Fig.11 It is a schematic diagram of the upper and lower limit position of the surgical robot used in the embodiment of the utility model;

[0030] Fig.12 It is a schematic diagram of the upper limit of pitch of the surgical robot used in the embodiment of the utility model;

[0031] Fig.13 It is a schematic diagram of the lower pitch limit of the surgical robot used in the embodiment of the utility model;

[0032] Fig.14 It is a schematic diagram of the right limit of rotation of the surgical robot used in the embodiment of the utility model;

[0033] Fig.15 It is a schematic diagram of the left rotation limit of the surgical robot adopted in the embodiment of the utility model.

[0034] The above drawings include the following reference numerals:

[0035] 1. Base; 2. Rotating assembly; 21. Rotating part; 211. Rotating plate; 212. Fixed plate; 2121. First fixed part; 2122. Second fixed part; 22. Rotating motor; 3. First lifting assembly; 31. First lifting structure; 311. First connecting component; 3111. First connecting plate; 3112. Second connecting plate; 3113. Third connecting plate; 3114. First connecting protrusion; 32. First lifting cylinder; 4. Second lifting assembly; 41. Second lifting structure; 411. Second connecting component; 411 1. Second connecting protrusion; 42. Second lifting cylinder; 5. Hand-held component; 51. Accommodating chamber; 6. Power component; 60. Feeding part; 61. Shell; 611. Mounting chamber; 62. Moving track; 63. Feeding cylinder; 64. Mounting part; 641. First limiting part; 642. Second limiting part; 7. Support component; 71. First supporting plate; 711. First guide shaft; 72. Second supporting plate; 721. Second guide shaft; 73. Third supporting plate; 8. Tracking component; 91. First control button; 92. Second control button. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0037] According to an embodiment of the present utility model, a surgical robot is provided. Figures 1 to 15 , including: a base 1; a rotating component 2, the rotating component 2 has a rotating part 21, and the rotating part 21 is rotatably arranged on the base 1; a first lifting component 3 and a second lifting component 4; the first lifting component 3 has a first lifting structure 31 at one end away from the rotating part 21, and the second lifting component 4 has a second lifting structure 41 at one end away from the rotating part 21; the first lifting structure 31 and the second lifting structure 41 are arranged at intervals; the first lifting structure 31 and the second lifting structure 41 are both movably arranged, and the first lifting structure 31 and the second lifting structure 41 are relatively movably arranged; a handheld component 5, the handheld component 5 is connected to the base 1, the handheld component 5 has a accommodating cavity 51, and the accommodating cavity 51 is used to accommodate the first lifting component 3 and the second lifting component 4; a power component 6, the power component 6 is connected to both the first lifting structure 31 and the second lifting structure 41; the power component 6 has a feeding part 60, and the feeding part 60 is movably arranged along a preset direction.

[0038] With the above arrangement, during surgery, the operator moves the surgical robot to the pre-planned surgical range by holding the handheld component 5, and then adjusts the height and pitch angle of the axis where the feed part 60 in the power component 6 is located by the first lifting component 3 and the second lifting component 4 set in the accommodating cavity 51 of the handheld component 5, and adjusts the horizontal angle of the axis where the feed part 60 is located by the rotating component 2 until the axis where the feed part 60 is located coincides with the preset axis, and the feed part 60 feeds and inserts the surgical instrument to complete the surgery. Integrating the large-sized mechanical arm of the traditional surgical robot into the handheld surgical robot solves the technical problem of the large size of the mechanical arm of the surgical robot in the related art.

[0039] In the surgical robot of this embodiment, see Figure 3The first lifting assembly 3 includes a first lifting cylinder body 32 connected to the rotating part 21; the first lifting structure 31 is arranged on the piston rod of the first lifting cylinder body 32, the first lifting structure 31 includes a first connecting component 311, and the power assembly 6 is relatively rotatably connected to the first connecting component 311; the second lifting assembly 4 includes a second lifting cylinder body 42 arranged at a distance from the first lifting cylinder body 32; the second lifting structure 41 is arranged on the piston rod of the second lifting cylinder body 42, the second lifting structure 41 includes a second connecting component 411, the power assembly 6 is relatively rotatably connected to the second connecting component 411, and the power assembly 6 is relatively movably connected to the second connecting component 411. In this way, since the power assembly 6 is relatively rotatably connected to the first connecting part 311, when the first lifting cylinder 32 controls the first lifting structure 31 to perform lifting movement along the direction where the piston rod of the first lifting cylinder 32 is located, the first lifting structure 31 drives the power assembly 6 to be lifted and lowered through the first connecting part 311; since the power assembly 6 is relatively rotatably connected to the second connecting part 411, when the second lifting cylinder 42 controls the second lifting structure 41 to perform lifting movement along the direction where the piston rod of the second lifting cylinder 42 is located, the second lifting structure 41 drives the power assembly 6 to be lifted and lowered through the second connecting part 411 Lifting and lowering, when the second lifting structure 41 and the first lifting structure 31 rise or fall by the same amplitude, the power assembly 6 moves in the direction of the first lifting structure 31 and the second lifting structure 41 rising or falling; since the power assembly 6 and the second connecting component 411 are relatively movably connected, when the second lifting structure 41 and the first lifting structure 31 rise or fall by different amplitudes, the power assembly 6 rotates around the first connecting component 311, and at the same time, the power assembly 6 and the second connecting component 411 move relative to each other, and the power assembly 6 performs a pitch motion driven by the first lifting structure 31 and the second lifting structure 41.

[0040] In the surgical robot of this embodiment, see Figures 4 to 5The first connecting component 311 includes: a first connecting plate 3111 and a second connecting plate 3112, which are respectively arranged on both sides of the power assembly 6; a first connecting protrusion 3114 is arranged on the first connecting plate 3111 and the second connecting plate 3112, and a connecting groove is arranged on the power assembly 6, and the first connecting protrusion 3114 is rotatably arranged in the connecting groove; a third connecting plate 3113, one end of the third connecting plate 3113 is connected to the first connecting plate 3111, the other end of the third connecting plate 3113 is connected to the second connecting plate 3112, and the side of the third connecting plate 3113 away from the power assembly 6 is connected to the first lifting structure 31. In this way, the first connecting component 311 is rotatably connected to the power assembly 6 through the first connecting plate 3111 and the second connecting plate 3112. When the power assembly 6 needs to adjust the pitch angle of the axis, the power assembly 6 rotates around the first connecting protrusion 3114 on the first connecting component 311.

[0041] In the surgical robot of this embodiment, see Figure 5 A second connecting protrusion 4111 is provided on the second connecting component 411, and a movable groove adapted to the second connecting protrusion 4111 on the second connecting component 411 is provided on the power component 6, wherein the movable groove extends along the axial direction of the power component 6. When the power component 6 needs to adjust the pitch angle, the second connecting protrusion 4111 on the second connecting component 411 moves in the movable groove along the movable groove, so that the power component 6 can perform a pitch action.

[0042] In the surgical robot of this embodiment, see Figure 3 The surgical robot further includes a support component 7, which is rotatably disposed at one end of the handheld component 5 away from the base 1, and the first lifting structure 31 and the second lifting structure 41 are both movably connected to the support component 7. In this way, the first lifting structure 31 and the second lifting structure 41 can move along the lifting direction inside the support component 7, and at the same time, when the power component 6 rotates, the support component 7 rotates together with the power component 6.

[0043] In the surgical robot of this embodiment, see Figure 3The supporting component 7 includes: a first supporting plate 71 and a second supporting plate 72 arranged at intervals, a first guide shaft 711 is provided on a side of the first supporting plate 71 close to the second supporting plate 72, and the first guide shaft 711 is relatively movably connected to the first lifting structure 31; a second guide shaft 721 is provided on a side of the second supporting plate 72 close to the first supporting plate 71, and the second guide shaft 721 is relatively movably connected to the first lifting structure 31; a third supporting plate 73, one end of the third supporting plate 73 is connected to the first supporting plate 71, and the other end of the third supporting plate 73 is connected to the second supporting plate 72, and the third supporting plate 73 is relatively rotatably connected to the handheld component 5. In this way, the first guide shaft 711 and the second guide shaft 721 guide and stabilize the first lifting structure 31 and the second lifting structure 41 in the lifting direction. When the rotating component 2 rotates, the first guide shaft 711 and the second guide shaft 721 limit the first lifting structure 31 and the second lifting structure 41, so that the first lifting structure 31 and the second lifting structure 41 can only move along the lifting direction relative to the supporting component 7. At the same time, the first guide shaft 711 and the second guide shaft 721 connect the supporting component 7 with the first lifting structure 31 and the second lifting structure 41. When the power component 6 needs to rotate to adjust the axis direction, the rotating component 2 drives the first lifting structure 31 and the second lifting structure 41 to rotate, and then drives the supporting component 7 to rotate together.

[0044] In the surgical robot of this embodiment, see Figure 3 The third support plate 73 has a first lifting channel and a second lifting channel that are set through the third support plate 73. The first lifting channel is used for the first lifting structure 31 to pass through, and the second lifting channel is used for the second lifting structure 41 to pass through. In this way, the first lifting structure 31 passes through the first lifting channel and moves along the lifting direction, and the second lifting structure 41 passes through the second lifting channel and moves along the lifting direction. When the rotating assembly 2 drives the first lifting structure 31 and the second lifting structure 41 to rotate, the first lifting structure 31 applies a force in the rotation direction to the first lifting channel, and the second lifting structure 41 applies a force in the rotation direction to the second lifting channel, thereby driving the support component 7 to rotate together with the rotating assembly 2.

[0045] In the surgical robot of this embodiment, see Figures 6 to 8The power assembly 6 includes: a housing 61, which has a mounting cavity 611, the housing 61 is relatively rotatably connected to the first lifting assembly 3, the housing 61 is relatively rotatably connected to the second lifting assembly 4, and the housing 61 is relatively movably connected to the second lifting assembly 4; a moving track 62, the moving track 62 is arranged on the side of the housing 61 close to the mounting cavity 611, and the extension direction of the moving track 62 is the same as the axial direction of the mounting cavity 611; a feeding cylinder 63, the feeding cylinder 63 is arranged in the mounting cavity 611, the feeding part 60 is arranged on the shaft of the feeding cylinder 63, and the feeding cylinder 63 drives the feeding part 60 to move along the moving track 62. In this way, the feeding cylinder 63 is arranged in the mounting cavity 611, and when the axis of the power assembly 6 is adjusted to coincide with the preset axis, the feeding cylinder 63 pushes the feeding part 60 to feed along the moving track 62, and the moving track 62 guides the feeding of the feeding part 60.

[0046] In the surgical robot of this embodiment, see Figures 6 to 8 , a mounting portion 64 is provided at one end of the moving track 62 away from the feeding cylinder 63, and the feeding unit 60 is provided in the mounting portion 64; a first position limiting portion 641 is provided at one side of the mounting portion 64 close to the feeding cylinder 63, and a second position limiting portion 642 is provided at one side of the mounting portion 64 away from the feeding cylinder 63, and the first position limiting portion 641 and the second position limiting portion 642 are used to limit the movement of the feeding unit 60. In this way, the mounting portion 64 is mounted on the moving track 62, and the feeding unit 60 moves in the mounting portion 64, which can improve the moving smoothness and feeding accuracy of the feeding unit 60.

[0047] In the surgical robot of this embodiment, see Figure 7 The rotating assembly 2 includes a rotating motor 22 and a rotating part 21 connected to the rotating motor 22. The rotating part 21 includes: a rotating plate 211, the rotating motor 22 is drivingly connected to the rotating plate 211; a fixed plate 212, the fixed plate 212 is arranged on the side of the rotating plate 211 away from the rotating motor 22, and one end of the fixed plate 212 away from the rotating motor 22 is connected to the power assembly 6 to drive the power assembly 6 to rotate. The two sides of the fixed plate 212 are respectively provided with a first fixing part 2121 for fixing the first lifting assembly 3 and a second fixing part 2122 for fixing the second lifting assembly 4. In this way, the rotating motor 22 drives the rotating part 21 to rotate around the rotating axis of the rotating motor 22, and the fixed plate 212 fixes the first lifting assembly 3 and the second lifting assembly 4 on the rotating part 21. When the rotating part 21 rotates around the axis of the motor, it drives the first lifting assembly 3 and the second lifting assembly 4 to rotate together. The first lifting assembly 3 and the second lifting assembly 4 drive the power assembly 6 to rotate along the axis direction of the motor to complete the adjustment of the axis direction of the power assembly 6.

[0048] In the surgical robot of this embodiment, see Figure 1 , Fig. 9 The surgical robot also includes: a tracking component 8, which is used to determine the real-time position and posture of the power component 6; a control module, which is connected to the tracking component 8, the first lifting component 3, the second lifting component 4 and the rotating component 2 by signals, and is used to control the movement of the first lifting component 3, the second lifting component 4 and the rotating component 2. In this way, the control module receives the real-time position and posture information of the power component 6 transmitted by the tracking component 8, and controls the first lifting component 3, the second lifting component 4 and the rotating component 2 to adjust the axis of the power component 6 by solving the real-time position and posture and the preset axis, until the axis of the power component 6 coincides with the preset axis, and the control module controls the power component 6 to feed and complete the operation.

[0049] Specifically, the control module includes a first control button 91 and a second control button 92 .

[0050] In specific practice, by pressing the first control button 91, the surgical robot, with the cooperation of the camera and the tracking component 8, controls the front end point of the power component 6 to move to the preset surgical entry point, and then adjusts the axis of the power component 6 to the preset axis; then press the second control button 92, the feed cylinder 63 in the power component 6 drives the feed part 60 to feed along the preset direction to complete the operation.

[0051] In the surgical robot of this embodiment, the specific adjustment method of the power assembly 6 includes:

[0052] When the power assembly 6 is adjusted up and down, the first lifting cylinder 32 and the second lifting cylinder 42 drive the first lifting structure 31 and the second lifting structure 41 to extend and retract at the same time, and the first lifting structure 31 and the second lifting structure 41 drive the first connecting part 311 and the second connecting part 411 to move up and down. The first connecting part 311 and the second connecting part 411 can ensure smooth and accurate movement under the cooperation of the first guide shaft 711 and the second guide shaft 721; because the housing of the power assembly 6 is assembled with the first connecting protrusion 3114 of the first connecting part 311 and the second connecting protrusion 4111 of the second connecting part 411, the power assembly 6 also moves up and down, see Fig.10 and Fig.11 .

[0053] When the power assembly 6 needs to be pitched, the pitch angle adjustment of the power assembly 6 is achieved by the difference in the moving distances of the first lifting cylinder 32 and the second lifting cylinder 42. For example, when it is necessary to pitch up, the rising distance of the first lifting cylinder 32 is greater than the rising distance of the second lifting cylinder 42; when it is necessary to pitch down, the rising distance of the first lifting cylinder 32 is less than the rising distance of the second lifting cylinder 42. Fig.12 and Fig.13 .

[0054] When the power assembly 6 needs to be rotated and adjusted, the rotating motor 22 drives the fixed plate 212 to rotate as a whole through the rotating plate 211. The fixed plate 212 is provided with a bearing to ensure the smooth rotation and structural accuracy, see Fig.14 and Fig.15 .

[0055] When the power assembly 6 needs to feed, the feed cylinder 63 pushes the feed portion 60 to move along the mounting portion 64 to achieve feeding. The mounting portion 64 is installed on the moving track 62 to ensure smooth movement and structural accuracy.

[0056] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0057] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0058] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0059] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0060] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A surgical robot, characterized in that: include: Base (1); A rotating assembly (2), the rotating assembly (2) comprising a rotating portion (21), the rotating portion (21) being rotatably disposed on the base (1); A first lifting component (3) and a second lifting component (4); the first lifting component (3) has a first lifting structure (31) at one end away from the rotating part (21), and the second lifting component (4) has a second lifting structure (41) at one end away from the rotating part (21); the first lifting structure (31) and the second lifting structure (41) are arranged at a distance; the first lifting structure (31) and the second lifting structure (41) are both movably arranged, and the first lifting structure (31) and the second lifting structure (41) are relatively movably arranged; A handheld component (5), the handheld component (5) is connected to the base (1), the handheld component (5) has a receiving cavity (51), and the receiving cavity (51) is used to receive the first lifting component (3) and the second lifting component (4); A power assembly (6), the power assembly (6) being connected to both the first lifting structure (31) and the second lifting structure (41); the power assembly (6) having a feeding portion (60), the feeding portion (60) being movably arranged along a preset direction.

2. The surgical robot according to claim 1, characterized in that: The first lifting assembly (3) comprises a first lifting cylinder (32) connected to the rotating part (21); the first lifting structure (31) is arranged on the piston rod of the first lifting cylinder (32), the first lifting structure (31) comprises a first connecting component (311), and the power assembly (6) is relatively rotatably connected to the first connecting component (311); The second lifting assembly (4) includes a second lifting cylinder body (42) spaced apart from the first lifting cylinder body (32); the second lifting structure (41) is arranged on the piston rod of the second lifting cylinder body (42); the second lifting structure (41) includes a second connecting component (411); the power assembly (6) is relatively rotatably connected to the second connecting component (411); and the power assembly (6) is relatively movably connected to the second connecting component (411).

3. The surgical robot according to claim 2, characterized in that: The first connecting component (311) comprises: a first connecting plate (3111) and a second connecting plate (3112), wherein the first connecting plate (3111) and the second connecting plate (3112) are respectively arranged on two sides of the power assembly (6); the first connecting plate (3111) and the second connecting plate (3112) are both provided with a first connecting protrusion (3114), the power assembly (6) is provided with a connecting groove, and the first connecting protrusion (3114) is rotatably arranged in the connecting groove; A third connecting plate (3113), one end of the third connecting plate (3113) is connected to the first connecting plate (3111), the other end of the third connecting plate (3113) is connected to the second connecting plate (3112), and the side of the third connecting plate (3113) away from the power assembly (6) is connected to the first lifting structure (31).

4. The surgical robot according to claim 1, characterized in that: The surgical robot further comprises a supporting component (7), wherein the supporting component (7) is rotatably arranged at one end of the handheld component (5) away from the base (1), and the first lifting structure (31) and the second lifting structure (41) are both connected to the supporting component (7) in a relatively movably manner.

5. The surgical robot according to claim 4, characterized in that: The supporting component (7) comprises: A first support plate (71) and a second support plate (72) are arranged at intervals, a first guide shaft (711) is arranged on a side of the first support plate (71) close to the second support plate (72), and the first guide shaft (711) is relatively movably connected to the first lifting structure (31); a second guide shaft (721) is arranged on a side of the second support plate (72) close to the first support plate (71), and the second guide shaft (721) is relatively movably connected to the first lifting structure (31); A third support plate (73), one end of the third support plate (73) is connected to the first support plate (71), the other end of the third support plate (73) is connected to the second support plate (72), and the third support plate (73) is rotatably connected to the handheld assembly (5).

6. The surgical robot according to claim 5, characterized in that: The third support plate (73) has a first lifting channel and a second lifting channel which are arranged through the third support plate (73), the first lifting channel being used for the first lifting structure (31) to pass through, and the second lifting channel being used for the second lifting structure (41) to pass through.

7. The surgical robot according to claim 1, characterized in that: The power assembly (6) comprises: A shell (61), wherein the shell (61) has a mounting cavity (611), the shell (61) is relatively rotatably connected to the first lifting assembly (3), the shell (61) is relatively rotatably connected to the second lifting assembly (4), and the shell (61) is relatively movably connected to the second lifting assembly (4); A movable track (62), the movable track (62) being arranged on a side of the housing (61) close to the mounting cavity (611), and an extending direction of the movable track (62) being the same as an axial direction of the mounting cavity (611); A feeding cylinder body (63), wherein the feeding cylinder body (63) is arranged in the installation cavity (611), and the feeding portion (60) is arranged on the shaft of the feeding cylinder body (63), and the feeding cylinder body (63) drives the feeding portion (60) to move along the moving track (62).

8. The surgical robot according to claim 7, characterized in that: A mounting portion (64) is provided at one end of the movable track (62) away from the feeding cylinder body (63), and the feeding portion (60) is arranged in the mounting portion (64); A first limiting portion (641) is provided on a side of the mounting portion (64) close to the feeding cylinder body (63), and a second limiting portion (642) is provided on a side of the mounting portion (64) away from the feeding cylinder body (63), wherein the first limiting portion (641) and the second limiting portion (642) are used to limit the movement of the feeding portion (60).

9. The surgical robot according to claim 1, characterized in that: The rotating assembly (2) comprises a rotating motor (22) and a rotating part (21) connected to the rotating motor (22), wherein the rotating part (21) comprises: A rotating plate body (211), wherein the rotating motor (22) is drivingly connected to the rotating plate body (211); A fixed plate body (212), the fixed plate body (212) being arranged on a side of the rotating plate body (211) away from the rotating motor (22), one end of the fixed plate body (212) away from the rotating motor (22) being connected to the power assembly (6) to drive the power assembly (6) to rotate, and a first fixing portion (2121) for fixing the first lifting assembly (3) and a second fixing portion (2122) for fixing the second lifting assembly (4) are respectively arranged on two sides of the fixed plate body (212).

10. The surgical robot according to claim 1, characterized in that: The surgical robot further comprises: A tracking component (8), the tracking component (8) is used to determine the real-time position and posture of the power component (6); A control module, wherein the control module is signal-connected to the tracking component (8), the rotating component (2), the first lifting component (3), the second lifting component (4) and the power component (6), and the control module is used to control the movement of the rotating component (2), the first lifting component (3), the second lifting component (4) and the power component (6).

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