Suspension plate positioning mechanism and surgical robot

Abstract

This invention provides a suspension plate positioning mechanism and a surgical robot. The suspension plate positioning mechanism includes a first suspension plate, a second suspension plate, and a third suspension plate. The first, second, and third suspension plates are independently and rotatably arranged around a first, second, and third rotating axis, respectively. The first, second, and third rotating axes extend in the same direction. Each of the first, second, and third suspension plates is used to connect to at least one robotic arm. This configuration allows multiple robotic arms to be quickly adjusted to their respective positions, enabling rapid surgical layout. Furthermore, the differentiation of the three suspension plates provides greater adjustment and surgical space for each robotic arm on the suspension plate.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a suspension plate positioning mechanism and a surgical robot. Background Technology

[0002] Most minimally invasive surgical robots currently use a master-slave operation mode, where the doctor is located at the main control panel to control the robot, while the robot terminal contains multiple robotic arms that are equipped with the corresponding surgical instruments and enter the patient's lesion to perform the corresponding surgery. The position and posture of the robotic arms will directly affect the success of the surgery. Therefore, before the robotic surgery begins, the surgical robot will be adjusted accordingly to make it suitable for the required surgery.

[0003] Currently, in the surgical robot industry, some products have multiple robotic arms mounted on a fixed platform for individual arm adjustments. This method cannot achieve rapid positioning, and the positioning and operating space of the robotic arms are easily affected and limited by the relative positioning of the operating table and operating trolley, which can easily lead to mutual interference problems.

[0004] Other products use a single suspension plate structure, mounting multiple robotic arms on a rotatable suspension plate for unified adjustment. While this method allows for quick adjustment of multiple robotic arms, it cannot take into account the initial positioning posture of each robotic arm. After coarsely adjusting multiple robotic arms to their positions by rotating the suspension plate, fine-tuning of the posture of each robotic arm is usually required.

[0005] In summary, the posture adjustment process of the robotic arm in existing surgical robots is complex and time-consuming, thus prolonging the operation time. Summary of the Invention

[0006] The purpose of this invention is to provide a suspension plate positioning mechanism and a surgical robot to solve the problems of complex and time-consuming posture adjustment process of the robotic arm in existing surgical robots.

[0007] To solve the above-mentioned technical problems, the present invention provides a suspension plate positioning mechanism, which includes: a first suspension plate, a second suspension plate and a third suspension plate;

[0008] The first suspension plate, the second suspension plate, and the third suspension plate are independently rotatable around the first rotating shaft, the second rotating shaft, and the third rotating shaft, respectively; the first rotating shaft, the second rotating shaft, and the third rotating shaft extend in the same direction; the first suspension plate, the second suspension plate, and the third suspension plate are each used for connecting at least one robotic arm.

[0009] Optionally, in the suspension plate positioning mechanism, at least two of the first suspension plate, the second suspension plate, and the third suspension plate rotate synchronously around their respective corresponding axes.

[0010] Optionally, in the suspension plate positioning mechanism, the first suspension plate and the third suspension plate rotate synchronously around their respective corresponding rotating axes, and the rotational speed of the first suspension plate around the first rotating axis is equal to the rotational speed of the third suspension plate around the third rotating axis.

[0011] Optionally, in the suspension plate positioning mechanism, at least two of the first suspension plate, the second suspension plate, and the third suspension plate rotate in the same direction around their respective corresponding axes.

[0012] Optionally, the suspension plate positioning mechanism further includes: at least one first transmission unit;

[0013] The first transmission unit is connected to at least two of the first, second, and third rotating shafts, respectively, for synchronizing the rotation of the suspension disc corresponding to the rotating shaft connected to the first transmission unit.

[0014] Optionally, the suspension plate positioning mechanism includes: two first transmission units;

[0015] One of the first transmission units is connected to the first rotating shaft and the second rotating shaft respectively, and is used to synchronize the rotation of the first suspension plate and the second suspension plate;

[0016] Another of the first transmission units is connected to the second rotating shaft and the third rotating shaft respectively, and is used to synchronize the rotation of the second suspension plate and the third suspension plate so that the rotation of the first suspension plate, the second suspension plate and the third suspension plate rotate synchronously.

[0017] Optionally, in the suspension plate positioning mechanism, the first transmission unit includes a transmission belt that is closedly wrapped around at least two corresponding rotating shafts.

[0018] Optionally, in the suspension plate positioning mechanism, the first rotating shaft, the second rotating shaft, and the third rotating shaft are parallel to each other, and the second rotating shaft is located on the perpendicular bisector of the line connecting the first rotating shaft and the third rotating shaft.

[0019] Optionally, in the suspension plate positioning mechanism, the first rotating shaft, the second rotating shaft, and the third rotating shaft are located in the same plane.

[0020] Optionally, in the suspension plate positioning mechanism, the first suspension plate and the third suspension plate are movably arranged in opposite directions perpendicular to the second rotating shaft, and the first suspension plate and the third suspension plate are arranged on both sides of the second rotating shaft.

[0021] Optionally, the suspension plate positioning mechanism further includes a second transmission unit, a fourth rotating shaft, and a fifth rotating shaft. The second transmission unit is connected to the fourth rotating shaft and the fifth rotating shaft respectively, and is used to synchronize the rotation of the fourth rotating shaft and the fifth rotating shaft. The second transmission unit includes two opposing transmission sections between the fourth rotating shaft and the fifth rotating shaft, and the first suspension plate and the third suspension plate are each connected to one of the transmission sections.

[0022] The first and third suspension plates are configured to move in opposite directions with the two transmission sections as one of the fourth and fifth rotating shafts rotates.

[0023] Optionally, the suspension plate positioning mechanism further includes a third transmission unit, which is connected to one of the fourth and fifth rotating shafts and the second rotating shaft respectively; for synchronizing the rotation of one of the fourth and fifth rotating shafts and the second rotating shaft.

[0024] Optionally, in the suspension plate positioning mechanism, at least one of the second rotating shaft, the fourth rotating shaft, and the fifth rotating shaft includes a braking mechanism for locking the rotation of the corresponding rotating shaft.

[0025] Optionally, in the suspension plate positioning mechanism, the second transmission unit and the third transmission unit each include a transmission belt, which respectively close around two corresponding rotating shafts.

[0026] Optionally, in the suspension plate positioning mechanism, the first suspension plate, the second suspension plate, and the third suspension plate each have a clutch mechanism, and the first rotating shaft, the second rotating shaft, and the third rotating shaft move synchronously or independently with other rotating shafts through their respective clutch mechanisms.

[0027] To solve the above-mentioned technical problems, the present invention also provides a surgical robot, which includes the suspension plate positioning mechanism, multiple robotic arms and suspension arms as described above;

[0028] The suspension plate positioning mechanism is connected to the suspension arm. Each suspension plate of the suspension plate positioning mechanism is connected to at least one of the robotic arms, and each robotic arm is rotatably connected to the corresponding suspension plate.

[0029] In summary, in the suspension plate positioning mechanism and surgical robot provided by the present invention, the suspension plate positioning mechanism includes: a first suspension plate, a second suspension plate, and a third suspension plate; the first suspension plate, the second suspension plate, and the third suspension plate are independently and rotatably arranged around a first rotating shaft, a second rotating shaft, and a third rotating shaft, respectively; the first rotating shaft, the second rotating shaft, and the third rotating shaft extend in the same direction; the first suspension plate, the second suspension plate, and the third suspension plate are each used for connecting at least one robotic arm.

[0030] This configuration allows multiple robotic arms to be quickly adjusted to their respective positions, enabling rapid surgical setup. Furthermore, the three suspension plates provide greater adjustment and surgical space for each robotic arm on the suspension plates. Attached Figure Description

[0031] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0032] Figure 1 This is a schematic diagram of a surgical scene using a surgical robot according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the lateral surgical procedure layout according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the zero-position technique layout according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of a surgical robot according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the suspension plate positioning mechanism according to an embodiment of the present invention from a bottom view.

[0037] Figures 6a to 6d This is a schematic diagram of the first transmission unit according to an embodiment of the present invention;

[0038] Figures 7a-7e This is a schematic diagram of the position conversion of the suspension plate position mechanism according to an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of a combination of a suspension plate positioning mechanism and a robotic arm according to an embodiment of the present invention;

[0040] Figure 9 This is a schematic diagram of a suspension plate positioning mechanism according to another embodiment of the present invention;

[0041] Figure 10 This is a schematic diagram of the second and third transmission units according to another embodiment of the present invention.

[0042] In the attached image:

[0043] 1-Surgical robot; 2-Doctor's control console; 3-Hospital bed; 4-Image cart; 5-Instrument table; 6-Ventilator and anesthesia machine;

[0044] 10-Suspension plate positioning mechanism; 11-Mechanical arm; 12-Suspension arm; 100-Base plate; 110-First suspension plate; 111-First rotating shaft; 120-Second suspension plate; 121-Second rotating shaft; 130-Third suspension plate; 131-Third rotating shaft; 140-First transmission unit; 150-Second transmission unit; 151-Fourth rotating shaft; 152-Fifth rotating shaft; 161-Slide rail; 162-Slider. Detailed Implementation

[0045] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of the invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0046] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature. “One end” and “the other end,” as well as “proximal end” and “distal end,” generally refer to two corresponding parts, including not only endpoints. The terms “installed,” “connected,” and “joined” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral part; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or a connection within two elements or an interaction between two elements. Furthermore, as used in this invention, the phrase "one element is disposed on another element" generally only indicates that there is a connection, coupling, cooperation, or transmission relationship between the two elements, and the connection, coupling, cooperation, or transmission between the two elements can be direct or indirect through an intermediate element. It should not be construed as indicating or implying a spatial positional relationship between the two elements, i.e., one element can be located arbitrarily inside, outside, above, below, or to one side of the other element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] The core idea of ​​this invention is to provide a suspension plate positioning mechanism and a surgical robot to solve the problem that the posture adjustment process of the robotic arm in existing surgical robots is complicated and time-consuming.

[0048] The following description refers to the accompanying drawings.

[0049] Please refer to Figures 1 to 10 ,in, Figure 1 This is a schematic diagram of a surgical scene using a surgical robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the lateral surgical procedure layout according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the zero-position technique layout according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a surgical robot according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the suspension plate positioning mechanism according to an embodiment of the present invention from a bottom view. Figures 6a to 6d This is a schematic diagram of the first transmission unit according to an embodiment of the present invention; Figures 7a-7e This is a schematic diagram of the position conversion of the suspension plate position mechanism according to an embodiment of the present invention; Figure 8 This is a schematic diagram of a combination of a suspension plate positioning mechanism and a robotic arm according to an embodiment of the present invention; Figure 9 This is a schematic diagram of a suspension plate positioning mechanism according to another embodiment of the present invention; Figure 10 This is a schematic diagram of the second and third transmission units according to another embodiment of the present invention.

[0050] One embodiment of the present invention provides a surgical robot. Figure 1 An exemplary embodiment of the surgical robot is shown, illustrating its application in laparoscopic surgery. However, the surgical robot of the present invention is not particularly limited to any particular environment and can be applied to other surgeries. The following description uses minimally invasive laparoscopic surgery as an example to illustrate the surgical robot, but this should not be construed as limiting the invention.

[0051] like Figure 1 As shown, the surgical system includes a surgical robot 1, a doctor's console 2, and a patient bed 3. Please refer to [reference needed]. Figure 4 The surgical robot 1 includes a suspension plate positioning mechanism 10, multiple robotic arms 11, and suspension arms 12. The suspension plate positioning mechanism 10 includes three suspension plates: a first suspension plate 110, a second suspension plate 120, and a third suspension plate 130. Figure 1 and Figure 4 In the illustrated example, all three suspension plates are rotatably connected to a base plate 100, which in turn is connected to the suspension arm 12. Figure 4 In the illustrated example, the base plate 100 is a generally rhomboid plate-like component, fixedly connected to the lower part of the suspension arm 12. Optionally, the base plate 100 is arranged horizontally, as is the suspension arm 12, which is extendable relative to the column of the surgical robot 1 along its own axis. Multiple robotic arms 11 are respectively connected to three suspension plates, and different surgical instruments and endoscopes are mounted on different robotic arms 11. The doctor's console 2 is equipped with a master operator. The main operation of the surgical robot is performed remotely by the operator (e.g., a surgeon) through the doctor's console 2 and the master operator to perform minimally invasive surgical treatment on the patient on the bed 3. The master operator, robotic arms 11, and surgical instruments form a master-slave control relationship. During the operation, the robotic arms 11 and surgical instruments move according to the movement of the master operator, that is, according to the operation of the operator's hand. Optionally, in some surgeries, the surgical system also includes auxiliary components such as an imaging carriage 4, an instrument table 5, a ventilator, and an anesthesia machine 6 for use during the operation. Those skilled in the art can select and configure these auxiliary components based on existing technology, which will not be described in detail here. It should be noted that... Figure 1In the surgical scenario shown, the suspension arm 12 and base plate 100 of the surgical robot 1 are used as the suspension end. In practice, the suspension end is not limited to the suspension arm 12 and base plate 100 of the surgical robot 1. For example, the suspension end can also be the ceiling, the fixing mechanism on the hospital bed 3, etc. The suspension plate positioning mechanism 10 can also be connected to other fixed devices such as the ceiling and the hospital bed 3 to realize operation. The present invention is not limited to this.

[0052] In laparoscopic surgery, there are generally three typical surgical positions and corresponding puncture port layouts: left-side positioning, right-side positioning, and zero-position positioning. During surgery, these surgical positions and puncture port layouts must be met, and the operating space of the robotic arm 11 must be sufficient to cover the required surgical puncture location. During surgical preparation, the surgical robot needs to quickly move the robotic arm 11 so that its end effector is precisely pointed to the corresponding puncture point.

[0053] Please refer to Figure 2 In left-side or right-side positioning, the surgical puncture site is located on one side of the patient's abdomen. The suspension plates of the suspension plate positioning mechanism 10 are arranged facing the side of the patient's body. The column of the surgical robot can be located on one side of the bed 3. Surgical instruments corresponding to the upper and lower side holes are held by the robotic arms 11 on both sides of the surgical robot, while the endoscope or surgical instrument corresponding to the middle hole is held by the robotic arm 11 in the middle of the surgical robot. Please refer to [reference needed]. Figure 3 In the zero-position setup, the surgical puncture sites are located in the middle of the patient's abdomen, vertically symmetrically distributed relative to the patient's sagittal plane. The suspension plates of the suspension plate positioning mechanism 10 are arranged parallel to the patient's sagittal plane. Surgical instruments corresponding to the puncture sites on the left and right sides of the patient are held by the robotic arms 11 on either side of the surgical robot, while the endoscope or surgical instrument corresponding to the central puncture site is held by the robotic arm 11 in the middle of the surgical robot. To ensure sufficient operating space for the robotic arms 11, the reachable range of the endoscope or surgical instrument held by each robotic arm 11 should cover the corresponding puncture site, and a certain amount of space margin should be guaranteed. In a specific example, region R1 is the reachable range of the surgical instruments held by the left robotic arm 11, region R2 is the reachable range of the endoscope or surgical instruments held by the middle robotic arm 11, region R3 is the reachable range of the surgical instruments held by the right robotic arm 11, H1 is the instrument port for surgical instruments, and H2 is the endoscope port for endoscopes.

[0054] Please refer to Figure 5 and Figure 8To address the aforementioned needs, this embodiment provides a suspension plate positioning mechanism 10, comprising: a first suspension plate 110, a second suspension plate 120, and a third suspension plate 130; the first suspension plate 110, the second suspension plate 120, and the third suspension plate 130 are rotatably arranged around a first rotating shaft 111, a second rotating shaft 121, and a third rotating shaft 131, respectively; the first rotating shaft 111, the second rotating shaft 121, and the third rotating shaft 131 extend in the same direction; the first suspension plate 110, the second suspension plate 120, and the third suspension plate 130 are respectively used for connecting at least one robotic arm 11; wherein, the first suspension plate 110, the second suspension plate 120, and the third suspension plate 130 are used for independent rotation. With this configuration, multiple robotic arms 11 can be quickly adjusted to their corresponding positions, enabling rapid surgical layout. Furthermore, the differentiation of the three suspension plates allows each robotic arm 11 on the suspension plate to obtain greater adjustment and surgical space.

[0055] Optionally, at least two of the first suspension plate 110, the second suspension plate 120, and the third suspension plate 130 rotate synchronously around their respective axes. It should be noted that synchronous rotation of the suspension plates here means that they rotate simultaneously around their respective axes, not that the suspension plates rotate at the same speed. Therefore, in reality, the angles rotated by the three suspension plates within the same time period are not necessarily the same. As long as at least two suspension plates rotate synchronously, the suspension plates can quickly turn to the required surgical layout, thereby simplifying the posture adjustment process of the robotic arm 11, reducing the adjustment time of the robotic arm 11, and reducing the surgical time. Preferably, all three suspension plates rotate synchronously around their respective axes. More preferably, the first suspension plate 110 and the third suspension plate 130 rotate synchronously around their respective axes, and the rotational speed of the first suspension plate 110 around the first axis 111 is equal to the rotational speed of the third suspension plate 130 around the third axis 131. The rotation speed of the two suspension discs located on both sides is preferably the same, and more preferably, the rotation speed of the two suspension discs located on both sides is greater than the rotation speed of the second suspension disc 120.

[0056] Optionally, at least two of the first suspension plate 110, the second suspension plate 120, and the third suspension plate 130 rotate in the same direction around their respective corresponding axes. It should be noted that rotating in the same direction means rotating around their respective axes in the same direction. This allows the suspension plates to quickly turn in the same direction to the desired surgical layout, simplifying the posture adjustment process of the robotic arm 11, reducing the adjustment time of the robotic arm 11, and reducing the surgical time. Preferably, all three suspension plates rotate in the same direction around their respective axes. More preferably, during the rotation of the three suspension plates around their respective axes, the relative angle between any two suspension plates is not less than 60°. In practical use, to enable the robotic arm 11 to achieve rapid surgical layout, the three suspension plates can be configured to rotate synchronously and in the same direction around their respective axes. To ensure more accurate adjustment of the robotic arm 11, when any two suspension plates rotate synchronously and in the same direction, the difference in their rotational speeds results in a relative rotation angle between them. As long as the relative angle between any two suspension plates is not less than 60°, it can adapt to different surgical needs. Furthermore, subsequent fine-tuning can be performed by individually driving the rotation of one suspension plate or by driving the robotic arm 11 to compensate for its posture, thus achieving rapid surgical layout.

[0057] Preferably, the first rotating shaft 111, the second rotating shaft 121, and the third rotating shaft 131 are parallel to each other, and the second rotating shaft 121 is located on the perpendicular bisector of the line connecting the first rotating shaft 111 and the third rotating shaft 131, such as... Figure 6c and Figure 6d As shown. More preferably, the first rotating shaft 111, the second rotating shaft 121, and the third rotating shaft 131 are located in the same plane, as shown. Figure 6a and Figure 6bAs shown, the first rotating shaft 111 and the third rotating shaft 131 are located on both sides of the second rotating shaft 121. Optionally, the first rotating shaft 111, the second rotating shaft 121, and the third rotating shaft 131 all extend in a vertical direction, that is, their axes are parallel. Preferably, the axes of the first rotating shaft 111, the second rotating shaft 121, and the third rotating shaft 131 are coplanar, and the plane they lie in is perpendicular to the extension direction of the suspension arm 12 and also perpendicular to the extension direction of the base plate 100. In an exemplary embodiment, the first suspension plate 110 and the third suspension plate 130 are each connected to one robotic arm 11, while the second suspension plate 120 is connected to two robotic arms 11, and each robotic arm 11 can rotate independently relative to its corresponding suspension plate. The robotic arms 11 connected to the second suspension plate 120 are mainly for the middle part of the puncture hole layout, which generally requires the attachment of an endoscope; therefore, the second suspension plate 120 is preferably connected to two robotic arms 11. Of course, in other embodiments, the three suspension plates can also be connected to other numbers of robotic arms 11. Those skilled in the art can configure the number of robotic arms 11 connected to each suspension plate according to the actual needs of the surgery.

[0058] Please refer to the following. Figures 7a to 7e , combined Figure 1 The positioning conversion of the suspension plate positioning mechanism 10 provided in this embodiment will be described in detail. Figure 7a The diagram shows the lower abdominal position of the suspension plate positioning mechanism 10 corresponding to the zero position. Specifically, the zero position can also be divided into lower abdominal and upper abdominal positions depending on whether the puncture hole is located in the upper or lower abdomen of the patient. Figure 1 The column of the surgical robot 1 shown is positioned on the right side of the patient. Looking from the column of the surgical robot 1 towards the suspension plate positioning mechanism 10, the puncture site in the lower abdomen is generally located on the right side of the suspension arm 12 of the surgical robot 1. Therefore, corresponding to the lower abdominal positioning state, the first suspension plate 110 rotates approximately towards... Figure 7a Extending to the upper right, the second suspension plate 120 rotates approximately towards Figure 7a Extending vertically, the third suspension plate 130 rotates approximately towards Figure 7a Extending to the lower left. With this configuration, each robotic arm 11 can be arranged sequentially towards the lower abdomen, thus allowing each robotic arm 11 to be arranged in the expected surgical layout.

[0059] Figures 7b to 7d The process of the suspension disc positioning mechanism 10 changing from the lower abdominal position to the lateral position is illustrated. Each suspension disc rotates around its respective axis along... Figures 7b to 7d They rotate synchronously in a counter-clockwise direction, and each robotic arm 11 also rotates at a corresponding appropriate angle. Figure 7d In the state shown, the first suspension plate 110 rotates approximately towards Figure 7dExtending to the left, the second suspension disc 120 rotates approximately towards Figure 7d Extending to the left and right, the third suspension plate 130 rotates to approximately towards Figure 7d The right extension, with all three suspension discs roughly along Figure 7d Extending horizontally, each robotic arm 11 can be arranged sequentially facing one side of the patient, thus allowing each robotic arm 11 to be arranged in the expected surgical layout.

[0060] Figure 7e The diagram shows the positioning state of the suspension plate positioning mechanism 10 in the upper abdominal position corresponding to the zero-position positioning. For details, please refer to the description of the lower abdominal position above; it will not be elaborated upon here. It should be noted that during surgical preparation, the initial state of the suspension plate positioning mechanism 10 can be in the following position: Figures 7a to 7e Any state between them, not limited to Figures 7a to 7e The diagram shows several possible states. Depending on the needs of the surgery, the suspension plate positioning mechanism 10 can be quickly positioned and switched to the required surgical layout.

[0061] Please refer to Figures 6a to 6d Preferably, the suspension plate positioning mechanism 10 further includes at least one first transmission unit 140; the first transmission unit 140 is connected to at least two of the first rotating shaft 111, the second rotating shaft 121 and the third rotating shaft 131 respectively, for synchronizing the rotation of the suspension plate corresponding to the rotating shaft connected to the first transmission unit 140. Figure 6b and Figure 6d Two examples are shown, each consisting of only one first transmission unit 140. This first transmission unit 140 is connected to three rotating shafts: a first rotating shaft 111, a second rotating shaft 121, and a third rotating shaft 131, respectively, to achieve the linkage of the three rotating shafts. In... Figure 6a and Figure 6cIn the illustrated example, the suspension disc positioning mechanism 10 includes two first transmission units 140. One first transmission unit 140 is connected to the first rotating shaft 111 and the second rotating shaft 121 respectively, for synchronizing the rotation of the first suspension disc 110 and the second suspension disc 120; the other first transmission unit 140 is connected to the second rotating shaft 121 and the third rotating shaft 131 respectively, for synchronizing the rotation of the second suspension disc 120 and the third suspension disc 130. The two first transmission units 140 enable the three suspension discs to rotate in tandem, achieving synchronous rotation. In an alternative embodiment, the first transmission unit 140 includes a transmission belt that is closed around at least two corresponding rotating shafts. The following description uses the transmission belt between the first rotating shaft 111 and the second rotating shaft 121 as an example. The transmission belt is a closed-loop type, with one belt tightly surrounding the first rotating shaft 111 and the second rotating shaft 121, and its spacing and diameter are adapted to match those of the first and second rotating shafts. Preferably, it is tensioned between the first and second rotating shafts. With this configuration, the rotation of either the first or second rotating shaft 111 can synchronously drive the other rotating shaft to rotate via the transmission belt. The rotational speeds of the first and second rotating shafts 111 and 121 can be adjusted according to different diameter configurations of the two rotating shafts. Similarly, the transmission belt between the second rotating shaft 121 and the third rotating shaft 131 can be configured similarly to the transmission belt between the first and second rotating shafts 111 and 121. With this configuration, the three rotating shafts are mutually coupled, and the rotation of any one shaft can drive the other two rotating shafts to rotate synchronously. This embodiment does not limit the form of the transmission belt; those skilled in the art can choose, for example, a synchronous belt or a synchronous chain, based on existing technology. Of course, in other embodiments, the first transmission unit 140 is not limited to the form of a transmission belt. For example, it can also use transmission forms commonly found in the art, such as gears and friction wheels. The present invention is not limited to this.

[0062] Furthermore, the first suspension plate 110, the second suspension plate 120, and the third suspension plate 130 each have a clutch mechanism, and the first rotating shaft 111, the second rotating shaft 121, and the third rotating shaft 131 are respectively connected to the base plate 100 through corresponding clutch mechanisms. The rotating shaft of each suspension plate can switch between synchronous movement with other rotating shafts or independent movement through the clutch mechanism. In some cases, it is necessary to adjust the position angle of a certain suspension plate; the clutch mechanism can be used to temporarily disengage that suspension plate from the linkage with other suspension plates, thereby achieving the adjustment of the position angle of that suspension plate.

[0063] Please refer to Figure 9 and Figure 10In another preferred embodiment, the first suspension plate 110 and the third suspension plate 130 are movably arranged in opposite directions perpendicular to the second rotating shaft 121, and the first suspension plate 110 and the third suspension plate 130 are arranged on both sides of the second rotating shaft 121. Optionally, the moving direction of the first suspension plate 110 and the third suspension plate 130 is the same as the extending direction of the suspension arm 12, that is, a direction perpendicular to the patient's sagittal plane in the horizontal direction. This configuration allows the first suspension plate 110 and the third suspension plate 130 to move in a direction perpendicular to the patient's sagittal plane, facilitating a quicker transition of the suspension plate position to the desired surgical layout. Of course, in other embodiments, the moving direction of the first suspension plate 110 and the third suspension plate 130 may also be at a certain angle to the extending direction of the suspension arm 12.

[0064] Preferably, the suspension plate positioning mechanism 10 further includes a second transmission unit 150, a fourth rotating shaft 151, and a fifth rotating shaft 152. The second transmission unit 150 is connected to the fourth rotating shaft 151 and the fifth rotating shaft 152 respectively, for synchronizing the rotation of the fourth rotating shaft 151 and the fifth rotating shaft 152. The second transmission unit 150 includes two opposing transmission sections between the fourth rotating shaft 151 and the fifth rotating shaft 152. The first suspension plate 110 and the third suspension plate 130 are each connected to one of the transmission sections. The first suspension plate 110 and the third suspension plate 130 are configured to move in opposite directions with the two transmission sections as one of the fourth rotating shaft 151 and the fifth rotating shaft 152 rotates. In an exemplary embodiment, the fourth shaft 151 and the fifth shaft 152 are rotatably mounted on the base plate 100. The second transmission unit 150 includes a transmission belt that surrounds the fourth shaft 151 and the fifth shaft 152 in a closed loop. Specifically, the transmission belt is a closed loop transmission belt that surrounds the fourth shaft 151 and the fifth shaft 152 in a closed loop and is adapted to the spacing and diameter of the fourth shaft 151 and the fifth shaft 152. It is preferably tensioned between the fourth shaft 151 and the fifth shaft 152. With this configuration, the rotation of any one of the shafts 151 and 152 can synchronously drive the other shaft to rotate via the transmission belt. Using the plane containing the axes of the fourth shaft 151 and the fifth shaft 152 as a reference plane, the portion of the transmission belt between the fourth shaft 151 and the fifth shaft 152 consists of two opposing transmission segments on either side of this reference plane. When the fourth shaft 151 and the fifth shaft 152 rotate, these two opposing transmission segments move in opposite directions. The suspension discs, each connected to one of these transmission segments, move in the opposite direction. Therefore, by driving at least one of the fourth shaft 151 and the fifth shaft 152, the first suspension disc 110 and the third suspension disc 130 can move in opposite directions. It should be noted that the opposite movement of the first suspension disc 110 and the third suspension disc 130 is not limited to parallel movements. If the diameters of the fourth shaft 151 and the fifth shaft 152 are different, the movement directions of the two transmission segments may not be parallel. In this case, although the movement directions of the two suspension discs are not parallel, they can still be considered as moving in opposite directions. Preferably, the fourth rotating shaft 151 and the fifth rotating shaft 152 have the same diameter, and the moving directions of the first suspension plate 110 and the third suspension plate 130 are parallel to each other.

[0065] In an exemplary embodiment, the second transmission unit 150 further includes two sliders 162 and two slide rails 161 arranged parallel to the extension direction of the suspension arm 12. Each slide rail 161 has one slider 162, which is movable along the slide rail 161. Each slider 162 is also fixedly connected to a transmission section, and the first suspension plate 110 and the third suspension plate 130 are respectively disposed on one slider 162. With this configuration, the slide rails 161 can restrict the displacement of the sliders 162 outside the extension direction of the slide rails 161, ensuring that the first suspension plate 110 and the third suspension plate 130 only have the degree of freedom of movement along the extension direction of the slide rails 161, thereby improving the accuracy and reliability of the suspension plate positioning mechanism 10's positioning conversion.

[0066] Furthermore, the suspension plate positioning mechanism 10 also includes a third transmission unit (not shown), which is connected to one of the fourth rotating shaft 151 and the fifth rotating shaft 152, and the second rotating shaft 121, respectively; for synchronizing the rotation of the fourth rotating shaft 151, the fifth rotating shaft 152, and the second rotating shaft 121. In an exemplary embodiment, the third transmission unit includes a transmission belt that closes around one of the fourth rotating shaft 151 and the fifth rotating shaft 152, and the second rotating shaft 121. Specifically, one of the fourth rotating shaft 151 and the fifth rotating shaft 152, and the second rotating shaft 121 are connected by a transmission belt, and the transmission connection method can refer to the transmission belt connection method between the fourth rotating shaft 151 and the fifth rotating shaft 152 described above. In an optional embodiment, the third transmission unit is disposed between the fifth rotating shaft 152 and the second rotating shaft 121. With this configuration, rotation of any one of the rotating shafts 121, 151, and 152 can drive the other rotating shafts to rotate synchronously; that is, the second rotating shaft 121, 151, and 152 are configured to rotate in tandem. Furthermore, the linkage of the second rotating shaft 121, 151, and 152 can also be used in conjunction with the linkage of the first rotating shaft 111, 121, and 131, enabling rotation of at least one of the first rotating shafts 111 to 152 to drive the other rotating shafts to rotate synchronously.

[0067] Preferably, at least one of the first rotating shaft 111, the second rotating shaft 121, the third rotating shaft 131, the fourth rotating shaft 151, and the fifth rotating shaft 152 further includes a braking mechanism for locking the rotation of the corresponding rotating shaft. During surgery or other situations requiring locking the suspension position, the braking mechanism can engage to lock the movement of the first transmission unit 140, the second transmission unit 150, or the third transmission unit, thereby locking the movement of the rotating shaft or the slider.

[0068] In summary, the suspension plate positioning mechanism and surgical robot provided by this invention include: a first suspension plate, a second suspension plate, and a third suspension plate; the first, second, and third suspension plates are independently and rotatably arranged around a first, second, and third rotating axis, respectively; the first, second, and third rotating axes extend in the same direction; the first, second, and third suspension plates are each used to connect to at least one robotic arm. This configuration allows multiple robotic arms to be quickly adjusted to their respective positions, enabling rapid surgical layout. Furthermore, the differentiation of the three suspension plates provides greater adjustment and surgical space for each robotic arm on the suspension plate.

[0069] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A suspension plate positioning mechanism, characterized in that, include: First suspension plate, second suspension plate, and third suspension plate; The first suspension plate, the second suspension plate, and the third suspension plate are independently and rotatably arranged around the first rotating shaft, the second rotating shaft, and the third rotating shaft, respectively; the first rotating shaft, the second rotating shaft, and the third rotating shaft extend in the same direction; the first suspension plate, the second suspension plate, and the third suspension plate are each used for connecting at least one robotic arm; The first suspension plate and the third suspension plate are movably disposed in opposite directions perpendicular to the second rotating shaft, and the first suspension plate and the third suspension plate are arranged on both sides of the second rotating shaft; The suspension plate positioning mechanism further includes a second transmission unit, a fourth rotating shaft, and a fifth rotating shaft. The second transmission unit is connected to the fourth rotating shaft and the fifth rotating shaft respectively, and is used to synchronize the rotation of the fourth rotating shaft and the fifth rotating shaft. The second transmission unit includes two opposing transmission sections between the fourth rotating shaft and the fifth rotating shaft, and the first suspension plate and the third suspension plate are respectively connected to one of the transmission sections.

2. The suspension plate positioning mechanism according to claim 1, characterized in that, At least two of the first suspension plate, the second suspension plate, and the third suspension plate rotate synchronously around their respective corresponding axes.

3. The suspension plate positioning mechanism according to claim 2, characterized in that, The first suspension plate and the third suspension plate rotate synchronously around their respective corresponding axes, and the rotational speed of the first suspension plate around the first axis is equal to the rotational speed of the third suspension plate around the third axis.

4. The suspension plate positioning mechanism according to claim 1, characterized in that, At least two of the first suspension plate, the second suspension plate, and the third suspension plate rotate in the same direction around their respective corresponding axes.

5. The suspension plate positioning mechanism according to claim 1, characterized in that, The suspension plate positioning mechanism further includes: at least one first transmission unit; The first transmission unit is connected to at least two of the first, second, and third rotating shafts, respectively, for synchronizing the rotation of the suspension disc corresponding to the rotating shaft connected to the first transmission unit.

6. The suspension plate positioning mechanism according to claim 5, characterized in that, The suspension plate positioning mechanism includes: two first transmission units; One of the first transmission units is connected to the first rotating shaft and the second rotating shaft respectively, and is used to synchronize the rotation of the first suspension plate and the second suspension plate; Another of the first transmission units is connected to the second rotating shaft and the third rotating shaft respectively, and is used to synchronize the rotation of the second suspension plate and the third suspension plate so that the rotation of the first suspension plate, the second suspension plate and the third suspension plate rotate synchronously.

7. The suspension plate positioning mechanism according to claim 5, characterized in that, The first transmission unit includes a transmission belt that is closedly wrapped around at least two corresponding shafts.

8. The suspension plate positioning mechanism according to claim 1, characterized in that, The first, second, and third rotating shafts are parallel to each other, and the second rotating shaft is located on the perpendicular bisector of the line connecting the first and third rotating shafts.

9. The suspension plate positioning mechanism according to claim 8, characterized in that, The first rotating shaft, the second rotating shaft, and the third rotating shaft are located in the same plane.

10. The suspension plate positioning mechanism according to claim 1, characterized in that, The first and third suspension plates are configured to move in opposite directions with the two transmission sections as one of the fourth and fifth rotating shafts rotates.

11. The suspension plate positioning mechanism according to claim 10, characterized in that, The suspension plate positioning mechanism further includes a third transmission unit, which is connected to one of the fourth and fifth rotating shafts and the second rotating shaft respectively; it is used to synchronize the rotation of one of the fourth and fifth rotating shafts and the second rotating shaft.

12. The suspension plate positioning mechanism according to claim 11, characterized in that, At least one of the second, fourth, and fifth rotating shafts includes a braking mechanism for locking the rotation of the corresponding rotating shaft.

13. The suspension plate positioning mechanism according to claim 11, characterized in that, The second transmission unit and the third transmission unit each include a transmission belt, which respectively close around two corresponding rotating shafts.

14. The suspension plate positioning mechanism according to claim 1, characterized in that, The first suspension plate, the second suspension plate, and the third suspension plate each have a clutch mechanism. The first rotating shaft, the second rotating shaft, and the third rotating shaft move synchronously or independently with other rotating shafts through their respective clutch mechanisms.

15. A surgical robot, characterized in that, Includes the suspension plate positioning mechanism, a plurality of robotic arms, and a suspension arm according to any one of claims 1 to 14; The suspension plate positioning mechanism is connected to the suspension arm. Each suspension plate of the suspension plate positioning mechanism is connected to at least one of the robotic arms, and each robotic arm is rotatably connected to the corresponding suspension plate.

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