Drive mechanism and surgical robot

Abstract

The application relates to a driving mechanism and a surgical robot, which comprises multiple independently controlled multi-stage telescopic slides, each of which is provided with a power box, and a telescopic shell is further arranged on the multi-stage telescopic slide, the telescopic shell is used for protecting the outer side of the multi-stage telescopic slide, the telescopic space of the telescopic shell and the working space of the power box do not interfere with each other; in linear motion, the multi-stage telescopic slide has an extended state and a contracted state, the multi-stage telescopic slide comprises multiple-stage linked slides, in the contracted state, the multiple-stage linked slides are completely folded, and the telescopic shell is folded together to coat the multi-stage telescopic slide. The telescopic space of the telescopic shell and the working space of the power box do not interfere with each other, that is, the structural design of the telescopic shell needs to meet the requirement that the telescopic space after extension or contraction does not affect the operation of the power box, so that stable power output of the power box is ensured.

Description

Technical Field

[0001] This application relates to the field of medical surgical equipment technology, and in particular to a drive mechanism and a surgical robot. Background Technology

[0002] With the development of robotics technology, surgical robots are widely used in minimally invasive surgery. Surgical robots control multi-degree-of-freedom manipulators to move instruments mounted at the end effector of the manipulators to perform surgical actions. The drive mechanism of the surgical robot moves the end effector of the manipulator to any point within its travel range. The drive mechanism is equipped with multi-stage telescopic slides, which provide stable reciprocating linear motion. However, during operation, the slide mechanism is completely exposed, and the issue of equipment protection is not considered, making it susceptible to external contamination and posing a potential safety hazard. Utility Model Content

[0003] Therefore, it is necessary to provide a drive mechanism with safety protection to address the problem that multi-stage slides are completely exposed during operation, without considering equipment protection, making them susceptible to external contamination and posing potential safety hazards.

[0004] This application provides a driving mechanism comprising multiple independently controlled multi-stage telescopic slides, each multi-stage telescopic slide having a power box mounted on it. Each multi-stage telescopic slide also has a telescopic housing, which covers the outside of the multi-stage telescopic slide, and the telescopic space of the telescopic housing does not interfere with the working space of the power box. The multi-stage telescopic slide has an extended state and a retracted state. In the retracted state, the telescopic housing is folded together to cover the multi-stage telescopic slide; in the extended state, the telescopic housing moves synchronously with the multi-stage telescopic slide and extends along the centerline of the housing to cover the outside of the multi-stage telescopic slide.

[0005] In one embodiment, the multi-stage telescopic slide includes a first slide mechanism and a second slide mechanism, the second slide mechanism being disposed on the first slide mechanism, the first slide mechanism performing a first linear motion, and the second slide mechanism performing a second linear motion; the telescopic housing includes a first sleeve and a second sleeve that are stacked and connected, the second sleeve being installed inside the first sleeve and forming a first stacked ring portion; the first sleeve is fixedly sleeved on the first slide mechanism, the second sleeve is fixed on the second slide mechanism, and performs the second linear motion synchronously with the second slide mechanism.

[0006] In one embodiment, when the multi-stage telescopic slide is in a retracted state, the first slide mechanism and the second slide mechanism have a first height dimension in the vertical direction; the second sleeve is simultaneously covered on the outside of the first slide mechanism and the second slide mechanism, and the diameter of the second sleeve is greater than the first height dimension.

[0007] In one embodiment, the second slide mechanism includes a second slide, and the second sleeve includes a fixed end and a free end, the fixed end being fixed to the second slide.

[0008] In one embodiment, there is a length difference between the second slide and the second sleeve, and the length difference is adapted to the length of the power box.

[0009] In one embodiment, the retractable housing includes a third sleeve, which is installed inside the second sleeve and forms a second overlapping ring. The second slide mechanism includes a second mounting member, which is slidably installed on the second slide. The third sleeve is sleeved on the second mounting member to synchronously perform a second linear motion.

[0010] In one embodiment, the power box is disposed on the side wall of the third sleeve.

[0011] In one embodiment, the first slide mechanism includes a first slide and a first mounting member. The first mounting member is mounted on the first slide and performs a first linear motion. A second slide is fixedly mounted on the first mounting member to synchronously perform the first linear motion, and the second mounting member is mounted on the second slide to synchronously perform a second linear motion. The second mounting member is used to mount a power box. The first slide includes a lead screw, a first support, and a drive motor. The first mounting member is movably mounted on the lead screw, and the drive motor is mounted on the first support. The drive motor is used to drive the lead screw to rotate so that the first mounting member performs the first linear motion on the first slide. The first sleeve is fixedly mounted on the first support and covers the outside of the lead screw.

[0012] In one embodiment, the second slide includes a belt drive component and a second support, the second support being mounted on the first mounting component, the belt drive component being mounted on the second support, the second mounting component being mounted on the belt drive component, and the second sleeve being mounted on the second support and covering the outside of the belt drive component.

[0013] In one embodiment, the second mounting member is further provided with a braking device for stopping the second mounting member to secure the fixed position of the power box.

[0014] This application also provides a surgical robot, including the aforementioned drive mechanism.

[0015] The retractable housing provided in this application completely covers the multi-stage telescopic slide. When the multi-stage telescopic slide is in the retracted state, the retractable housing can be integrated into one unit. When the multi-stage telescopic slide 11 is in the extended state, the retractable housing moves synchronously with the multi-stage telescopic slide. Moreover, each multi-stage telescopic slide is equipped with one retractable housing, and each multi-stage telescopic slide can be completely protected during movement, preventing external contamination, ensuring the good and stable operation of the drive mechanism, and preventing safety hazards. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the drive mechanism in the extended state provided in this embodiment.

[0017] Figure 2 This is a schematic diagram of the drive mechanism in the retracted state provided in this embodiment.

[0018] Figure 3 for Figure 1 A schematic diagram of the assembly of the drive mechanism and the power box.

[0019] Figure 4 This is a schematic diagram of the assembly of the drive mechanism and the power box, provided for yet another embodiment.

[0020] Figure 5 This is a schematic diagram of the multi-stage telescopic slide provided in this embodiment in its retracted state.

[0021] Figure 6 This is a schematic diagram of the multi-stage telescopic slide provided in this embodiment in its extended state.

[0022] Figure 7 for Figure 5 A three-dimensional schematic diagram of a multi-stage telescopic slide.

[0023] Figure 8 for Figure 7 A schematic diagram of the braking device in the diagram.

[0024] Figure 9 for Figure 7 A schematic diagram of the combined installation of the braking device and the brake groove.

[0025] Figure label:

[0026] Drive mechanism 1; multi-stage telescopic slide 11; power box 2; telescopic housing 12; first sleeve 101; second sleeve 102; third sleeve 103; first slide 111; first mounting piece 112; lead screw 113; first support 114; drive motor 115; second slide 121; second mounting piece 122; second support 123; belt drive component 124; first linear guide 125; second linear guide 126; first slider 127; second slider 128; synchronous belt 129; brake device 20; first idler wheel 3-1; second idler wheel 3-2; synchronous belt fixing piece 17; first encoder 40; data ruler 50; brake groove 30; electromagnetic push rod 21; mounting base 24; adapter 22; pin 23; first inclined surface 231; first straight surface 232; second inclined surface 311; second straight surface 312; spring 233. Detailed Implementation

[0027] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0028] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 application.

[0029] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0033] See Figure 1 and Figure 5 An embodiment of the first aspect of this application provides a drive mechanism 1, including multiple independently controlled multi-stage telescopic slides 11, each multi-stage telescopic slide 11 is equipped with a power box 2, and each multi-stage telescopic slide 11 is also provided with a telescopic housing 12, which is used to protect the outside of the multi-stage telescopic slide 11 without obstructing the working space of the power box 2; the multi-stage telescopic slide 11 has an extended state and a retracted state. In the retracted state, the telescopic housing 12 is folded together to cover the multi-stage telescopic slide 11; in the extended state, the telescopic housing 12 is used to move synchronously with the multi-stage telescopic slide 11 and cover the outside of the multi-stage telescopic slide 11.

[0034] In this embodiment, the drive mechanism 1 uses a multi-stage telescopic slide 11 to achieve the linear motion of the power box 2. During the linear motion, the multi-stage telescopic slide 11 has an extended state and a retracted state. The multi-stage telescopic slide 11 includes a first slide mechanism and a second slide mechanism with multi-stage linkage. In the retracted state, the multi-stage linkage slide is completely closed, and the telescopic housing 12 is closed together to cover the multi-stage telescopic slide 11. In a preferred embodiment, the length of the retracted telescopic housing 12 can be the same as that of the multi-stage telescopic slide 11 to optimize the length of the telescopic housing 12. In the extended state, the multi-stage linkage slide is partially or completely extended, and the telescopic housing 12 moves synchronously with the multi-stage telescopic slide 11. The telescopic housing 12 extends along the centerline of the housing and completely covers the outside of the multi-stage telescopic slide 11, ensuring that the multi-stage linkage slide mechanism is completely covered by the telescopic housing 12 and is not exposed to external contamination. Furthermore, the telescopic space of the telescopic housing 12 provided in this embodiment does not interfere with the working space of the power box 2. That is, the structural design of the telescopic housing 12 is required to ensure that the telescopic space after extension or retraction does not affect the operation of the power box 2. In this embodiment, the power box 2 can be located on the outside of the telescopic housing 12, or when the power box 2 is not in the working state, the power box 2 moves to the inside of the telescopic housing 12, and after the working state is activated, the power box 2 moves to the outside of the telescopic housing 12. The telescopic housing 12 does not obstruct the working space of the power box 2, ensuring that the power box 2 provides stable power output.

[0035] The retractable housing 12 provided in this embodiment completely covers the multi-stage telescopic slide 11. When the multi-stage telescopic slide 11 is in the retracted state, the retractable housing 12 can be folded into one piece and completely cover the multi-stage telescopic slide 11. When the multi-stage telescopic slide 11 is in the extended state, the retractable housing 12 moves synchronously with the multi-stage telescopic slide 11. Moreover, each multi-stage telescopic slide 11 is equipped with an independent retractable housing 12. The retractable housing 12 covers the outside of the multi-stage telescopic slide 11. It can be understood that each multi-stage telescopic slide 11 can be completely protected during movement, preventing external pollution. Furthermore, the retractable housing 12 will not interfere with the movement space of the multi-stage telescopic slide 11, ensuring the good and stable operation of the drive mechanism 1 and preventing safety hazards.

[0036] The retractable housing 12 provided in this embodiment does not obstruct the working space of the power box 2. Setting the positional relationship between the power box 2 and the retractable housing 12 may include: the power box 2 being wrapped inside the retractable housing 12, or the retractable housing 12 being arranged adjacent to the power box 2, to ensure that the working space of the surgical instruments connected to the power box 2 is not obstructed, and to ensure that the power box 2 provides stable power torque to drive the surgical instruments to perform the target action.

[0037] The drive mechanism 1 provided in this example includes multiple independently controlled multi-stage telescopic slides 11. Each multi-stage telescopic slide 11 performs different linear movements according to a preset function. The power box 2 and the multiple multi-stage telescopic slides 11 are distributed circumferentially. In one embodiment, the multi-stage telescopic slides 11 are positioned near the center, and the telescopic housing 12 completely covers the multi-stage telescopic slides 11. The power box 2 is positioned outside the telescopic housing 12, completely exposing the workspace. In another embodiment, the power box 2 is positioned near the center, completely exposing the workspace, and the multi-stage telescopic slides 11 are positioned on the outer side away from the center. The telescopic housing 12 completely covers the multi-stage telescopic slides 11. In yet another embodiment, the power box 2 is fixedly installed at the end of the multi-stage telescopic slide 11, and the mounting surface of the power box 2 is completely exposed. The mounting surface can be used to install surgical instruments or sterile covers. In the above embodiments, the installation scheme of the power box 2 and the telescopic housing 12 has multiple implementation schemes, and the installation scheme of the power box 2 and the telescopic housing 12 can be adopted according to the specific surgical instruments.

[0038] The material selection for the retractable shell 12 provided in this embodiment is crucial, requiring consideration of factors such as strength, rigidity, and weight. The retractable shell 12 can be made of lightweight, high-strength materials, such as aluminum alloys or carbon fiber composites. These materials offer advantages such as light weight, high strength, and corrosion resistance, making them more suitable for manufacturing the retractable shell 12.

[0039] See Figure 5 and Figure 6The multi-stage telescopic slide 11 includes a first slide mechanism and a second slide mechanism. The second slide mechanism is mounted on the first slide mechanism. The first slide mechanism performs a first linear motion, and the second slide mechanism performs a second linear motion. The telescopic housing 12 includes a first sleeve 101 and a second sleeve 102 that are stacked and connected. The first sleeve 101 is fixedly mounted on the first slide mechanism, and the second sleeve 102 is fixed on the second slide mechanism and performs the second linear motion synchronously with the second slide mechanism. The multi-stage telescopic slide 11 provided in this embodiment achieves linear motion in the same direction by configuring a multi-stage linked first slide mechanism and a second slide mechanism. The first slide mechanism has a first sliding distance, and the second slide mechanism has a second sliding distance. In the extended state, the first slide mechanism and the second slide mechanism are fully extended. In the retracted state, the second slide mechanism is retracted onto the first slide mechanism, and the telescopic housing 12 and the multi-stage telescopic slide 11 maintain consistent motion. In its extended state, the first sleeve 101 covers the first sliding mechanism, and the second sleeve 102 is fixed to the second sliding mechanism and moves synchronously and parallel to it. The second sleeve 102 can completely cover the second sliding mechanism, preventing external contamination and ensuring the normal and stable operation of the equipment. The second sleeve 102 is installed inside the first sleeve 101 and forms a first overlapping ring, preventing the second sleeve 102 from separating from the first sleeve 101 during movement.

[0040] In one embodiment, in the retracted state, the first and second slide mechanisms have a first height dimension in the vertical direction. In this embodiment, the first height dimension refers to the overall height of the first and second slide mechanisms when they are retracted together in a height direction perpendicular to the ground plane. The second sleeve 102 is simultaneously covered on the outside of the first and second slide mechanisms, and the diameter of the second sleeve 102 is greater than the first height dimension. It can be understood that in the retracted state, the first sleeve 101 and the second sleeve 102 are retracted together, and the first and second slide mechanisms are retracted together, with the first sleeve 101 and the second sleeve 102 simultaneously covering the outside of the first and second slide mechanisms. In the extended state, the first sleeve 101 is fixed on the first slide, and the second sleeve 102 moves simultaneously with the second slide mechanism. The second sleeve 102 has an open-end structure, which can completely cover the outside of the first and second slide mechanisms, protecting the second slide mechanism from contamination during operation.

[0041] The first slide mechanism provided in this embodiment includes a first slide 111 and a first mounting member 112. The first mounting member 112 is mounted on the first slide 111 and performs a first linear motion. The second slide mechanism includes a second slide 121 and a second mounting member 122. The second slide 121 is fixedly mounted on the first mounting member 112 to synchronously perform the first linear motion, and the second mounting member 122 is mounted on the second slide 121 to synchronously perform a second linear motion. The second mounting member 122 is used to mount the power box 2. The directions of the first linear motion and the second linear motion are parallel. The second mounting member 122 mounted on the second slide mechanism has a third distance, which is the sum of the first sliding distance and the second sliding distance. The second mounting member 122 has a second sliding distance on the second slide mechanism. By setting up a multi-level linkage between the first slide mechanism and the second slide mechanism, long-distance linear motion transmission is achieved, ensuring that the power box 2 mounted on the second mounting member 122 can slide to a preset position. In this embodiment, the power box 2 slides to a preset position, and the second sleeve 102 does not obstruct the working space of the power box 2. The second sleeve 102 may have an opening to expose the working space of the power box 2, or the length of the second sleeve 102 may be less than the length of the second slide table 121, and the length difference between the second sleeve 102 and the second slide table 121 may be used to expose the working space of the power box 2.

[0042] like Figure 2 and Figure 3 As shown, the first sleeve 101 and the second sleeve 102 form a first overlapping ring, ensuring that the first sleeve 101 and the second sleeve 102 will not separate during operation. Moreover, by setting the first sleeve 101 and the second sleeve 102 with different cylinder diameters and fitting them together to construct the telescopic shell 12, the structure is simple, easy to process, and the cylinder structure is lightweight and will not affect the working space of the multi-stage telescopic slide 11.

[0043] In this embodiment, the second sleeve 102 includes a fixed end and a free end. The fixed end is fixed to the second slide 121, and the second sleeve 102 is sleeved on the second slide 121 to synchronously perform the second linear motion. In the working state, the power box 2 is moved to the outside of the second sleeve 102 via the second mounting member 122. The accommodating space of the second sleeve 102 does not obstruct the power box 2. It can be understood that the power box 2 is disposed on the second mounting member 122, the first slide 111 is covered by the first sleeve 101, and the second slide 121 is covered by the second sleeve 102. There is a length difference between the second slide 121 and the second sleeve 102. The length difference proposed in this embodiment refers to the fact that the second slide 121 has a first length in a direction parallel to the horizontal plane, and the second sleeve 102 has a second length, with the second length being less than the first length, forming a length difference. The length difference can be adapted to the length of the power box 2. When the power box 2 moves to the outside of the second sleeve 102, the second sleeve 102 does not obstruct the working space of the power box 2, ensuring that the power box 2 provides stable power output. In this embodiment, the first sleeve 101 remains fixed during the movement of the first slide 111. The second sleeve 102 is fixedly connected to the second slide 121 and moves synchronously, with the second sleeve 102 encasing the first sleeve 101. The power box 2 is fixed to the second mounting member 122 on the second slide 121, and the power box can move linearly relative to the first sleeve 101 and the second sleeve 102. The working space of the power box 2 is always exposed for mounting surgical instruments or sterile covers.

[0044] like Figure 3 and Figure 5 As shown, in this embodiment, the second sleeve 102 and the power box 2 are arranged side by side on the second slide 121, with the second sleeve 102 covering the second slide 121. The second mounting member 122, which is slidably disposed on the second slide 121, is also protected by the second sleeve 102. Since the length of the second sleeve 102 is less than the length of the second slide 121, during operation, when the power box 2 moves to the outside of the second sleeve 102, the working space of the power box 2 is not obstructed by the second sleeve 102. In this embodiment, a telescopic housing 12 is constructed by cutting multiple sleeves of different sizes. During the operation of the multi-stage telescopic slide 11, the first sleeve 101 and the second sleeve 102 extend to protect the multi-stage telescopic slide 11. Moreover, according to the requirements of the operation, the extension length of the second sleeve 102 is changed to provide safety protection for the power box 2 in different positions.

[0045] like Figure 4As shown, the telescopic housing 12 includes a third sleeve 103, which is installed inside the second sleeve 102 to form a second overlapping ring. The third sleeve 103 is fitted onto the second mounting member 122 to synchronously perform a second linear motion. To fully protect the exposed mechanism of the multi-stage telescopic slide 11, the third sleeve 103 is fitted onto the second mounting member 122. In this embodiment, the second mounting member 122 uses an independent third sleeve 103 for protection. The third sleeve 103, together with the first sleeve 101 and the second sleeve 102, forms a multi-stage protection system, ensuring that the slide mechanism is fully protected during operation, thus avoiding equipment safety hazards caused by external contamination.

[0046] like Figure 4 As shown, the power box 2 is disposed on the side wall of the third sleeve 103. In this embodiment, the arrangement of the power box 2 and the third sleeve 103 may include: the power box 2 is disposed on the outside of the third sleeve 103, or the third sleeve 103 is disposed on the outside of the power box 2, multiple multi-stage telescopic slides 11 are independently controlled, and the power box 2 is completely exposed, facilitating dragging or installation operations on the power box 2. Preferably, during the movement of the first slide 111, the first sleeve 101 remains fixed, the second sleeve 102 is fixed to the second slide 121 and moves synchronously, and the second sleeve 102 is wrapped inside the first sleeve 101. The third sleeve 103 is fixedly connected to the power box 2, and the third sleeve 103 is fixed to the second mounting member 122, and the third sleeve 103 is wrapped inside the second sleeve 102.

[0047] like Figure 5 As shown, the first slide 111 includes a lead screw 113, a drive motor 115, and a first support 114. A first mounting member 112 is movably mounted on the lead screw 113, and the drive motor 115 is mounted on the first support 114. The drive motor 115 drives the lead screw 113 to rotate, causing the first mounting member 112 to perform a first linear motion on the first slide 111. When the lead screw 113 rotates, the rotational motion of the lead screw 113 is converted into linear motion of the first mounting member 112 through the threaded engagement between the lead screw 113 and the first mounting member 112, thus enabling the first mounting member 112 to perform a first linear motion on the first slide 111. The lead screw 113 transmission has advantages such as good self-locking, high transmission accuracy, and smooth movement, making it very suitable for drive mechanisms 1 requiring precise positioning. The drive motor 115 can be a stepper motor or a servo motor; by controlling the motor's speed and direction, the movement speed and position of the first mounting member 112 can be precisely controlled.

[0048] like Figure 5 and Figure 6As shown, in this embodiment, the end of the lead screw 113 is fixed to the first support 114, and the first mounting member 112 is movably mounted on the lead screw 113. The first mounting member 112 can be a lead screw nut, which is rotatably mounted on the lead screw 113. The second slide 121 is fixed on the lead screw nut. The first sleeve 101 is fixedly mounted on the first support 114. When the drive motor 115 drives the lead screw 113 to rotate, the lead screw nut performs a first linear motion, and the second slide 121 mounted on the lead screw nut performs a second linear motion. During the movement of the lead screw nut, the first support 114 and the lead screw 113 remain fixed. Similarly, the first sleeve 101 mounted on the first support 114 remains fixed. The first sleeve 101 completely protects the exposed areas of the first support 114, the lead screw 113, and the drive motor 115, ensuring that the lead screw nut is not contaminated by external factors during its movement and operates smoothly.

[0049] like Figure 5As shown, the second slide 121 includes a second support 123 and a belt drive component 124. The second support 123 is mounted on the first mounting component 112, the belt drive component 124 is mounted on the second support 123, the second mounting component 122 is mounted on the belt drive component 124, and the second sleeve 102 is mounted on the second support 123 and covers the outside of the belt drive component 124. A first linear guide rail 125 and a second linear guide rail 126 are also fixedly mounted on the second support 123. The first linear guide rail 125 and the second linear guide rail 126 are respectively located on both sides of the second support 123. A first slider 127 is mounted on the first linear guide rail 125, and a second slider 128 is mounted on the second linear guide rail 126. The first slider 127 is fixedly connected to the first support 114. The lead screw nut is connected to the second support 123. When the drive motor 115 drives the lead screw 113 to rotate, the lead screw nut drives the linear guide and the second support 123 to perform a first linear motion simultaneously. The belt drive component 124 includes a first idler pulley 3-1, a second idler pulley 3-2, and a synchronous belt 129. The first idler pulley 3-1 and the second idler pulley 3-2 are respectively fixedly mounted on the second support 123, and the second mounting component 122 is fixedly mounted on the second slider 128. The synchronous belt 129 passes over the first idler pulley 3-1 and the second idler pulley 3-2 respectively. The lower side of the synchronous belt 129 is connected to the synchronous belt fixing piece 17, which is fixed on the first support 114. The upper side of the synchronous belt 129 is fixedly connected to the second mounting component 122. When the second support 123 moves linearly to the right relative to the first support 114, the synchronous belt fixing piece 17 and the synchronous belt 129 tend to move relative to each other. Due to the fixed connection between the timing belt fixing piece 17 and the timing belt 129, the lower side of the timing belt 129 will move in the opposite direction under the force of the timing fixing piece, meaning the upper side of the timing belt 129 will perform a second linear motion. Simultaneously, the second mounting piece 122 is fixed to the timing belt 129, and under the action of the timing belt 129, the second mounting piece 122 synchronously performs a second linear motion. Thus, the drive motor 115 simultaneously achieves synchronous movement of the first mounting piece 112 and the second mounting piece 122, with the speed and displacement of the second mounting piece 122 being twice that of the first mounting piece 112. When the power box 2 is mounted on the second mounting piece 122, it achieves synchronous movement with the second mounting piece 122.

[0050] See Figure 7In this embodiment, the second mounting member 122 is further provided with a braking device 20, which is used to stop the second mounting member 122 to stabilize the fixed position of the power box 2. The braking groove 30 used in conjunction with the braking device 20 is provided on the second mounting member 122. The first sliding mechanism includes a first slide table 111 and a first mounting member 112. When the second mounting member 122 slides relative to the first slide table 111, the braking device 20 and the second mounting member 122 slide relative to the second support 123. A first encoder 40 is also mounted on the second mounting member 122, and the data ruler 50 of the first encoder 40 is mounted on the second support 123. When the second support 123 slides relative to the first support 114, the first encoder 40 and the second mounting member 122 slide relative to the data ruler 50. By processing the data fed back by the first encoder 40, the actual position of the second mounting member 122 can be calculated. Meanwhile, a drive motor 115 and a lead screw 113 are mounted on the first support 114. The drive motor 115 drives the lead screw 113 to rotate, and the first mounting member 112 is mounted on the lead screw 113 and undergoes a first linear motion. A second encoder (not shown in the figure) is mounted on the drive motor 115. By acquiring and processing the data from the second encoder, the theoretical position of the second mounting member 122 can be obtained. The actual position of the second mounting member 122 calculated by the first encoder 40 and the second encoder is compared with the theoretical position. If the calculation results show a large difference between the two, it indicates that the belt drive member 124 on the second support 123 is very likely to have undergone serious deformation or breakage. At this time, the braking device 20 will be activated and interact with the brake groove 30, so that the second mounting member 122 and the second support 123 remain relatively fixed, preventing the second mounting member 122 from continuing to slide under the action of gravity and causing the surgical instruments on the second mounting member 122 to cause harm to the human body.

[0051] For a detailed structural diagram of the braking device 20 provided in this embodiment, please refer to [link / reference]. Figure 7 and Figure 8 and Figure 9The braking device 20 includes an electromagnetic push rod 21, a mounting base 24, an adapter 22, and pins 23. The mounting base 24 is mounted on the second mounting member 122. The electromagnetic push rod 21 controls the position of the two pins 23 through the adapter 22. The pins 23 include a first inclined surface 231 and a first straight surface 232, and a spring 233 is provided at the tail. The brake groove 30 is provided with a plurality of pin grooves 31, and the pin grooves 31 have a second inclined surface 311 and a second straight surface 312. When the braking device 20 needs to be triggered, by de-energizing the electromagnet, the spring 233 pops the pins 23 outward. At this time, the straight surface on the pin 23 will contact the straight surface on the brake groove 30, and the first inclined surface 231 on the pin 23 will contact the second inclined surface 311 on the brake groove 30. Once the braking device 20 is triggered, under the action of the first straight surface 232 and the second straight surface 312, the pin 23 will not be able to move forward along the brake groove 30 under the action of external force. Due to the presence of the first inclined surface 231 and the second inclined surface 311, the pin 23 can move in the opposite direction along the brake groove 30 under the action of external force. The purpose is to ensure that when the braking device 20 is activated, the surgical instruments on the second mounting member 122 cannot move towards the human body, but can move away from the human body to retract the surgical instruments.

[0052] A second aspect of this application provides a surgical robot including the aforementioned drive mechanism 1, the surgical robot also including a rotating platform, the drive mechanism 1 being mounted on the rotating platform.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A drive mechanism, characterized in that, The drive mechanism (1) includes multiple independently controlled multi-stage telescopic slides (11), each multi-stage telescopic slide (11) is equipped with a power box (2), and each multi-stage telescopic slide (11) is also provided with a telescopic shell (12). The telescopic shell (12) is used to cover the outside of the multi-stage telescopic slide (11), and the telescopic space of the telescopic shell (12) does not interfere with the working space of the power box (2). The multi-stage telescopic slide (11) has an extended state and a retracted state. In the retracted state, the telescopic shell (12) is folded together to cover the multi-stage telescopic slide (11). In the extended state, the telescopic shell (12) is used to move synchronously with the multi-stage telescopic slide (11) and cover the outside of the multi-stage telescopic slide (11).

2. The driving mechanism as described in claim 1, characterized in that, The multi-stage telescopic slide (11) includes a first slide mechanism and a second slide mechanism. The second slide mechanism is disposed on the first slide mechanism. The first slide mechanism performs a first linear motion, and the second slide mechanism performs a second linear motion. The telescopic housing (12) includes a first sleeve (101) and a second sleeve (102) that are stacked and connected. The second sleeve (102) is installed inside the first sleeve (101) and forms a first stacked ring. The first sleeve (101) is fixedly sleeved on the first slide mechanism, and the second sleeve (102) is fixed on the second slide mechanism and performs a second linear motion synchronously with the second slide mechanism.

3. The driving mechanism as described in claim 2, characterized in that, When the multi-stage telescopic slide (11) is in the retracted state, the first slide mechanism and the second slide mechanism have a first height dimension in the vertical direction; the second sleeve (102) is simultaneously covered on the outside of the first slide mechanism and the second slide mechanism, and the diameter of the second sleeve (102) is greater than the first height dimension.

4. The driving mechanism as described in claim 3, characterized in that, The second slide mechanism includes a second slide (121), and the second sleeve (102) includes a fixed end and a free end, wherein the fixed end is fixed on the second slide (121).

5. The driving mechanism as described in claim 4, characterized in that, There is a length difference between the second slide (121) and the second sleeve (102), and the length difference is adapted to the length of the power box (2).

6. The driving mechanism as described in claim 3, characterized in that, The retractable housing (12) includes a third sleeve (103), which is installed inside the second sleeve (102) and forms a second overlapping ring. The second slide mechanism includes a second mounting member (122), which is slidably mounted on the second slide (121). The third sleeve (103) is sleeved on the second mounting member (122) to synchronously perform a second linear motion.

7. The driving mechanism as described in claim 6, characterized in that, The power box (2) is disposed on the side wall of the third sleeve (103).

8. The drive mechanism as described in any one of claims 4 to 7, characterized in that, The first slide mechanism includes a first slide (111) and a first mounting member (112). The first mounting member (112) is mounted on the first slide (111) and performs a first linear motion. A second slide (121) is fixedly mounted on the first mounting member (112) to synchronously perform the first linear motion. A second mounting member (122) is mounted on the second slide (121) to synchronously perform a second linear motion. The second mounting member (122) is used to mount the power box (2). The first slide (111) includes a lead screw (113). The first support (114) and the drive motor (115) are provided. The first mounting part (112) is movably mounted on the lead screw (113). The drive motor (115) is mounted on the first support (114). The drive motor (115) is used to drive the lead screw (113) to rotate so that the first mounting part (112) performs a first linear motion on the first slide (111). The first sleeve (101) is fixedly mounted on the first support (114) and covers the outside of the lead screw (113).

9. The driving mechanism as described in claim 8, characterized in that, The second slide (121) includes a belt drive (124) and a second support (123). The second support (123) is mounted on the first mounting member (112). The belt drive (124) is mounted on the second support (123). The second mounting member (122) is mounted on the belt drive (124). The second sleeve (102) is mounted on the second support (123) and covers the outside of the belt drive (124).

10. The driving mechanism as described in claim 9, characterized in that, The second mounting member (122) is also provided with a braking device (20), which is used to stop the second mounting member (122) to stabilize the fixed position of the power box (2).

11. A surgical robot, characterized in that, Includes the drive mechanism (1) as described in any one of claims 1 to 10.

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