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 at least two main suspension plates, each rotatably connected to a suspension end around the same main axis. Each main suspension plate is used to connect at least one robotic arm. This configuration allows at least two main suspension plates to be rotatably connected to the suspension end around the same main axis, and each main suspension plate to carry at least one robotic arm. This enables multiple robotic arms to be quickly and simultaneously adjusted to their respective positions along with the main suspension plates, facilitating rapid surgical layout. Furthermore, by differentiating between the at least two main suspension plates, each robotic arm on the main suspension plate can obtain greater adjustment and surgical space.

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: at least two main suspension plates, the two main suspension plates being rotatably connected to a suspension end around the same main rotating shaft; each of the main suspension plates is used for connection to at least one robotic arm.

[0008] Optionally, the suspension plate positioning mechanism further includes: at least one first sub-suspension plate; the first sub-suspension plate is rotatably connected to the main suspension plate about a sub-axis parallel to the main axis, and each main suspension plate is connected to at least one first sub-suspension plate; each first sub-suspension plate is used for connection to at least one robotic arm.

[0009] Optionally, each of the main suspension plates is connected to one of the first sub-suspension plates, and each of the main suspension plates is used for a robotic arm to be rotatably connected about the sub-axis.

[0010] Optionally, the main suspension plate extends in a direction perpendicular to the main rotating shaft; the suspension plate positioning mechanism further includes: at least one second sub-suspension plate, the second sub-suspension plate being movably connected to the main suspension plate along the extension direction of the main suspension plate, each second sub-suspension plate being used for connection of at least one robotic arm.

[0011] Optionally, each of the main suspension plates is connected to at least two second sub-suspension plates, and the second sub-suspension plates connected to the same main suspension plate are spaced apart along the extension direction of the main suspension plate.

[0012] Optionally, the suspension plate positioning mechanism includes two main suspension plates and four second sub-suspension plates, with each main suspension plate connected to two second sub-suspension plates.

[0013] Optionally, the second sub-suspension plate extends in a direction perpendicular to the main rotating shaft, and the extension direction of the second sub-suspension plate is arranged at an angle to the extension direction of the main suspension plate; each second sub-suspension plate is used for at least one robotic arm to be movably connected along the extension direction of the second sub-suspension plate.

[0014] Optionally, the main suspension plate includes a first slide rail arranged along its own extension direction and a first slider movably arranged along the first slide rail; the second sub-suspension plate includes a second slide rail arranged along its own extension direction and a second slider movably arranged along the second slide rail; the second sub-suspension plate is connected to the first slider, and the second slider is used to connect to the robotic arm.

[0015] Optionally, during the rotation of the main suspension discs around the main rotating shaft, the relative angle between any two main suspension discs is not less than 60°.

[0016] Optionally, a limiting mechanism is provided between any two of the main suspension discs, the limiting mechanism being used to limit the relative angle between the two main suspension discs to not less than 60°; the limiting mechanism is configured such that when the first main suspension disc rotates and the angle relative to the second main suspension disc reaches 60°, the limiting mechanism drives the second main suspension disc to rotate following the first main suspension disc.

[0017] Optionally, the suspension plate positioning mechanism includes three main suspension plates, which are rotatably and independently arranged around the main rotating shaft. Each main suspension plate is connected to a first sub-suspension plate, and each first sub-suspension plate is used to connect to at least one robotic arm.

[0018] 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;

[0019] One main suspension plate of the suspension plate positioning mechanism is rotatably connected to the suspension arm around the main rotating shaft. The other suspension plates of the suspension plate positioning mechanism are rotatably connected to the main suspension plate connected to the same suspension arm around the main rotating shaft. Each main suspension plate is connected to at least one robotic arm, and each robotic arm is rotatably connected to the corresponding main suspension plate.

[0020] In summary, in the suspension plate positioning mechanism and surgical robot provided by the present invention, the suspension plate positioning mechanism includes at least two main suspension plates, and the two main suspension plates are rotatably connected to a suspension end around the same main rotating axis; each of the main suspension plates is used to connect to at least one robotic arm.

[0021] In this configuration, at least two main suspension plates are rotatably connected to the suspension end around the same main axis, and each main suspension plate carries at least one robotic arm. This allows multiple robotic arms to be quickly adjusted to their respective positions along with the main suspension plates, enabling rapid surgical layout. Furthermore, by differentiating between at least two main suspension plates, each robotic arm on the main suspension plate can obtain greater adjustment and surgical space. Attached Figure Description

[0022] 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:

[0023] Figure 1 This is a schematic diagram of a surgical scene using the surgical robot according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the lateral surgical procedure layout according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the zero-position technique layout according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the surgical robot according to Embodiment 1 of the present invention;

[0027] Figure 5a , Figure 5b This is a schematic diagram of the axial cross-section of the main suspension plate and the main rotating shaft in Embodiment 1 of the present invention;

[0028] Figure 6 This is a schematic diagram of the limiting mechanism according to Embodiment 1 of the present invention;

[0029] Figure 7 This is a schematic diagram of the suspension plate positioning mechanism according to Embodiment 1 of the present invention;

[0030] Figure 8 This is a schematic diagram of the suspension plate positioning mechanism and the robotic arm after being connected according to Embodiment 1 of the present invention;

[0031] Figures 9a-9c This is a schematic diagram of the suspension plate positioning mechanism of Embodiment 1 of the present invention for position conversion;

[0032] Figure 10a , Figure 10b This is a schematic diagram of a suspension plate positioning mechanism according to another preferred embodiment of the present invention;

[0033] Figure 11 This is a schematic diagram of the surgical robot according to Embodiment 2 of the present invention;

[0034] Figure 12 This is a schematic diagram of the suspension plate positioning mechanism according to Embodiment 2 of the present invention;

[0035] Figure 13 This is a schematic diagram of the suspension plate positioning mechanism and the robotic arm after being connected in Embodiment 2 of the present invention;

[0036] Figures 14a-14c This is a schematic diagram of the suspension plate positioning mechanism's positioning conversion according to Embodiment 2 of the present invention;

[0037] Figure 15 This is a schematic diagram of the surgical robot according to Embodiment 3 of the present invention;

[0038] Figure 16 This is a schematic diagram of the suspension plate positioning mechanism and the robotic arm after being connected in Embodiment 3 of the present invention;

[0039] Figures 17a-17c This is a schematic diagram of the position conversion of the suspension plate position mechanism according to Embodiment 3 of the present invention.

[0040] In the attached image:

[0041] 1-Surgical robot; 2-Doctor's control console; 3-Hospital bed; 4-Image cart; 5-Instrument table; 6-Ventilator and anesthesia machine;

[0042] 10-Suspension plate positioning mechanism; 11-Mechanical arm; 12-Suspension arm; 100-Main suspension plate; 110-Slewing bearing; 120-First slider; 130-Limiting groove; 140-Limiting block; 200-First sub-suspension plate; 300-Second sub-suspension plate; 320-Second slider; A1-Main shaft; A2-Sub-shaft. Detailed Implementation

[0043] 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 this 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.

[0044] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to include the meaning of “and / or”; the term “a number” is generally used to include the meaning of “at least one”; and the term “at least two” is generally used to include the meaning of “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,” and “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.

[0045] 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.

[0046] The following describes several different embodiments in detail with reference to the accompanying drawings.

[0047] Example 1

[0048] Please refer to Figures 1 to 10b ,in, Figure 1 This is a schematic diagram of a surgical scene using the 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 the surgical robot according to Embodiment 1 of the present invention; Figure 5a, Figure 5b This is a schematic diagram of the axial cross-section of the main suspension plate and the main rotating shaft in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the limiting mechanism according to Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the suspension plate positioning mechanism according to Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the suspension plate positioning mechanism and the robotic arm after being connected according to Embodiment 1 of the present invention; Figures 9a-9c This is a schematic diagram of the suspension plate positioning mechanism of Embodiment 1 of the present invention; Figure 10a, Figure 10b This is a schematic diagram of a suspension plate positioning mechanism according to another preferred embodiment of the present invention.

[0049] This 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.

[0050] 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 a suspension arm 12. For example... Figure 4As shown, the suspension plate positioning mechanism 10 includes at least two main suspension plates 100, each rotatably connected to a suspension end around the same main rotating shaft A1; each main suspension plate 100 is used to connect to at least one robotic arm 11. Different surgical instruments and endoscopes are mounted on different robotic arms 11. A master operator is provided on the doctor's console 2. The main operation of the surgical robot involves the operator (e.g., a surgeon) remotely operating the robot via the doctor's console 2 and the master operator to perform minimally invasive surgery on the patient on the bed 3. The master operator, robotic arms 11, and surgical instruments form a master-slave control relationship. During the surgery, the robotic arms 11 and surgical instruments move according to the movement of the master operator, i.e., according to the operator's hand movements. It should be noted that... Figure 1 In the surgical scenario shown, the suspension arm 12 of the surgical robot 1 is used as the suspension end. In practice, the suspension end is not limited to the suspension arm 12 of the surgical robot 1. For example, the suspension end can also be a fixed mechanism on the ceiling or the hospital bed 3. The suspension plate positioning mechanism 10 can also be connected to other fixed devices such as the ceiling or the hospital bed 3 to realize operation. The present invention is not limited to this.

[0051] In this configuration, at least two main suspension plates 100 are rotatably connected to the suspension arms 12 around the same main axis A1, and each main suspension plate 100 carries at least one robotic arm 11. This allows multiple robotic arms 11 to be quickly adjusted to their respective positions along with the main suspension plates 100, enabling rapid surgical layout. Furthermore, by differentiating the at least two main suspension plates 100, each robotic arm 11 on the main suspension plate 100 can obtain greater adjustment and surgical space.

[0052] Optionally, in some embodiments, each main suspension plate 100 can be directly connected to the main shaft A1. Taking two main suspension plates 100 as an example, such as... Figure 5a As shown, the main shaft A1 can be cylindrical, with two radially protruding retaining rings along its own axial direction. The two main suspension discs 100 are connected to the two retaining rings via their respective slewing bearings 110. In some other embodiments, at least one main suspension disc 100 is directly connected to the main shaft A1, and at least one other main suspension disc 100 is suspended from the aforementioned main suspension disc 100 directly connected to the main shaft A1, such as... Figure 5b As shown, the main shaft A1 has a radially protruding retaining ring along its own axial direction. Figure 5b The upper main suspension plate 100 is connected to the retaining ring through its corresponding slewing bearing 110, and the lower main suspension plate 100 is connected to the upper main suspension plate 100 through its corresponding slewing bearing 110, and is suspended on the upper main suspension plate 100.

[0053] Preferably, during the rotation of the main suspension plates 100 around the main rotation axis A1, the relative angle between any two main suspension plates 100 is not less than 60°. In practical use, to enable the robotic arm 11 to achieve rapid surgical layout, two or more main suspension plates 100 can be configured to rotate synchronously and in the same direction around the main rotation axis A1. It should be noted that synchronous and unidirectional rotation of two or more main suspension plates 100 means that each main suspension plate 100 rotates around the main rotation axis A1 simultaneously in the same direction, not that the rotational speed of each main suspension plate 100 is the same. Therefore, in reality, the angles rotated by each main suspension plate 100 within the same time period are not necessarily the same. However, as long as each main suspension plate 100 rotates synchronously and in the same direction, all main suspension plates 100 can quickly and uniformly 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. To ensure more accurate adjustment of the robotic arm 11, when any two main suspension plates 100 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 main suspension plates 100 is not less than 60°, it can adapt to different surgical placement requirements. Furthermore, subsequent fine-tuning can be performed by individually driving one main suspension plate 100 to rotate, or by driving the robotic arm 11 to rotate, compensating for the posture of the robotic arm 11, thus enabling rapid surgical placement. Optionally, in some embodiments, two or more main suspension plates 100 can be configured to rotate at the same speed, so that when the main suspension plates 100 rotate together, no relative rotation angle will occur.

[0054] Optionally, a limiting mechanism is provided between any two of the main suspension discs 100, the limiting mechanism being used to limit the relative angle between the two main suspension discs 100 to not less than 60°; the limiting mechanism is configured such that when the first main suspension disc 100 rotates and the angle relative to the second main suspension disc 100 reaches 60°, the limiting mechanism drives the second main suspension disc 100 to rotate following the first main suspension disc. Figure 6A limiting mechanism between two main suspension discs 100 is shown. The limiting mechanism includes a limiting groove 130 circumferentially formed on the first main suspension disc 100 and a limiting block 140 fixedly connected to the second main suspension disc 100. The limiting block 140 is movably disposed in the limiting groove 130. When the relative rotation angle of the two main suspension discs 100 reaches 60°, the limiting block 140 abuts against the side wall of the limiting groove 130, thereby realizing that the first main suspension disc 100 drives the second main suspension disc 100 to rotate accordingly. Generally, the two main suspension plates 100 can rotate independently around the main axis A1 without interfering with each other. However, when one main suspension plate 100 is driven to move relative to the other, after the actively driven main suspension plate 100 moves a certain angle and continues to move towards the other main suspension plate 100, a limiting mechanism can be used to push the other main suspension plate 100 to move synchronously and in the same direction. This arrangement allows all the main suspension plates 100 to quickly turn in the same direction to the desired 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. The limiting mechanism ensures that the angle between the two main suspension plates 100 is not less than 60°, thus minimizing interference between the related suspension plates or the robotic arm during adjustment. It should be noted that the limiting mechanism is not limited to the structure shown in Figure 6; those skilled in the art can configure it as other mechanical limiting structures according to actual needs.

[0055] Optionally, in some surgeries, the surgical system may also include auxiliary components such as an imaging cart 4, an instrument table 5, a ventilator, and an anesthesia machine 6 for use during surgery. Those skilled in the art can select and configure these auxiliary components according to existing technology, which will not be described in detail here.

[0056] 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.

[0057] Please refer to Figure 2 When positioned on the left or right side, the surgical puncture port is located on one side of the patient's abdomen. Each suspension plate of the suspension plate positioning mechanism 10 is arranged facing the side of the patient's body. The column of the surgical robot is located on one side of the bed 3. The surgical instruments corresponding to the upper and lower holes of the patient are held by the robotic arms 11 on both sides of the surgical robot, and the endoscope or surgical instrument corresponding to the middle hole is held by the robotic arm 11 in the middle of the surgical robot.

[0058] Please refer to Figure 3 In the zero-position setup, the surgical puncture port is located in the middle of the patient's abdomen and is vertically symmetrically distributed relative to the patient's sagittal plane. Each suspension plate of the suspension plate positioning mechanism 10 is arranged in a direction parallel to the patient's sagittal plane. The surgical instruments corresponding to the ports on the left and right sides of the patient are held by the robotic arms 11 on both sides of the surgical robot, while the endoscope or surgical instrument corresponding to the port in the middle is held by the robotic arm 11 in the middle of the surgical robot.

[0059] To ensure the required operating space for the robotic arm 11, the reach 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.

[0060] Please refer to Figure 7 and Figure 8 The suspension plate positioning mechanism 10 provided in this embodiment includes at least one first sub-suspension plate 200; two main suspension plates 100 are rotatably connected to a suspension end around the same main rotating shaft A1; each first sub-suspension plate 200 is used for connection of at least one robotic arm 11.

[0061] In practical use, the main suspension plate 100 can be arranged clockwise or counterclockwise around the main axis A1 to a suitable angle to match the arrangement of the hospital bed 3. During the rotation, the first sub-suspension plate 200 connected to the main suspension plate 100 can follow the main suspension plate 100 to rotate at a large angle (i.e., passively follow the rotation). Then, after the main suspension plate 100 has rotated to its position, the first sub-suspension plate 200 can rotate around the sub-axis A2 for fine adjustments to allow the robotic arm 11 mounted on it to move to a more suitable position. It should be noted that the rotation of the first sub-suspension plate 200 around the sub-axis A2 can also be performed simultaneously with the rotation of the main suspension plate 100 around the main axis A1.

[0062] Preferably, each of the main suspension plates 100 is connected to one of the first sub-suspension plates 200, and each main suspension plate 100 is used to rotatably connect a robotic arm 11 around the sub-rotation axis A2. In some embodiments, each main suspension plate 100 may be connected to one robotic arm 11, specifically, the robotic arm is rotatably connected to the main suspension plate 100 around the sub-rotation axis A2. Simultaneously, the first sub-suspension plate 200 is also rotatably connected to the main suspension plate 100 around the sub-rotation axis A2. Therefore, it can be understood that the robotic arms 11 mounted on the first sub-suspension plate 200 and the main suspension plate 100 are respectively connected to the main suspension plate 100 around the sub-rotation axis A2. Optionally, the rotation of the first sub-suspension plate 200 is decoupled from the rotation of the robotic arms 11 mounted on the main suspension plate 100, allowing each to rotate independently, which facilitates adjusting each robotic arm 11 to the required position.

[0063] Please continue to refer to this. Figure 7 and Figure 8 In one exemplary embodiment, the suspension plate positioning mechanism 10 includes two main suspension plates 100 and two first sub-suspension plates 200, each main suspension plate 100 being connected to one first sub-suspension plate 200. Each main suspension plate 100 and each first sub-suspension plate 200 respectively carries a robotic arm 11. In one exemplary example, each robotic arm 11 can rotate independently relative to its corresponding suspension plate. The robotic arms 11 carried by the two main suspension plates 100 are primarily designed for the central portion of the puncture site layout and can typically carry an endoscope and a surgical instrument. Of course, in other embodiments, each suspension plate can also be connected to other numbers of robotic arms 11, and 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.

[0064] Please refer to the following. Figures 9a to 9c , combined Figure 1 The positioning and conversion of the suspension plate positioning mechanism 10 provided in this embodiment will be described in detail. Specifically, Figure 9a The image shows the positioning state of the suspension plate positioning mechanism 10 corresponding to the left side position. Figure 9b The image shows the suspension plate positioning mechanism 10 in its zero-position positioning state. Figure 9c The suspension plate positioning mechanism 10 is shown in its positioning state corresponding to the right side position.

[0065] like Figure 1 As shown, when the column of the surgical robot 1 is positioned at the head end of the bed 3, looking from the column of the surgical robot 1 towards the suspension plate positioning mechanism 10, the puncture port on the left side is generally located on the left side of the suspension arm 12 of the surgical robot 1. Therefore, corresponding to the left side positioning state, each suspension plate rotates to approximately the position shown in the diagram. Figure 9aThe suspension plates are arranged in a directional manner, with each suspension plate mainly located on the right side of the suspension arm 12 to avoid interference with or impact on the patient's left surgical area. Each robotic arm 11 can be arranged sequentially towards the patient's left abdomen, thus allowing each robotic arm 11 to be arranged sequentially according to the expected surgical layout.

[0066] Figure 9b and Figure 9c The diagrams show the positioning states corresponding to the zero position and the right side position, respectively. For details regarding the left side position, please refer to the explanation above; further details will not be provided here. In practice, the suspension plate positioning mechanism 10 can quickly switch between various positions. 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 9a to 9c Any state between them, not limited to Figures 9a to 9c 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.

[0067] Please refer to Figure 10a and Figure 10b In another preferred example, a portion of the main suspension plate 100 is connected to two or more first sub-suspension plates 200.

[0068] Figure 10a In the example shown, the suspension plate positioning mechanism 10 includes two main suspension plates 100 and four first sub-suspension plates 200. Each main suspension plate 100 is connected to two first sub-suspension plates 200. In this configuration, the robotic arm 11 can be mounted only on the first sub-suspension plates 200, and not directly on the main suspension plates 100. This configuration of the suspension plate positioning mechanism 10 is also suitable for situations where surgical instruments need to be inserted into the patient from both sides. Specifically, for clinical applications such as hepatobiliary surgery and prostate surgery, where surgical instruments need to be inserted from both sides of the abdominal cavity, after the main suspension plates 100 are positioned to a predetermined position, the two first sub-suspension plates 200 on each main suspension plate 100 can be further rotated and adjusted to position the surgical instruments mounted on the two main suspension plates 100 on either side of the patient. This further expands the applicability of the surgical robot 1.

[0069] Figure 10b In the example shown, the suspension plate positioning mechanism 10 also includes two main suspension plates 100 and four first sub-suspension plates 200, and... Figure 8The example shown is different; one main suspension plate 100 is connected to three first sub-suspension plates 200, and another main suspension plate 100 is connected to one first sub-suspension plate 200. This configuration can also be applied to certain surgeries, increasing the applicability of the surgical robot 1. During positioning, the main suspension plate 100 connected to the three first sub-suspension plates 200 can move its three attached first sub-suspension plates 200 together, quickly positioning them to the required angle. Then, each of the three first sub-suspension plates 200 can make detailed adjustments, effectively improving the positioning speed.

[0070]

Example 2

[0071] Please refer to Figures 11 to 14c ,in, Figure 11 This is a schematic diagram of the surgical robot according to Embodiment 2 of the present invention; Figure 12 This is a schematic diagram of the suspension plate positioning mechanism according to Embodiment 2 of the present invention; Figure 13 This is a schematic diagram of the suspension plate positioning mechanism and the robotic arm after being connected in Embodiment 2 of the present invention; Figures 14a-14c This is a schematic diagram of the suspension plate positioning mechanism's positioning conversion according to Embodiment 2 of the present invention;

[0072] The suspension plate positioning mechanism and surgical robot provided in Embodiment 2 of the present invention are basically the same as those provided in Embodiment 1. The same parts will not be described again. The following only describes the differences.

[0073] like Figures 11 to 13 As shown, in the suspension plate positioning mechanism 10 provided in this embodiment, the main suspension plate 100 extends in a direction perpendicular to the main rotating shaft A1; the suspension plate positioning mechanism 10 further includes: at least one second sub-suspension plate 300, the second sub-suspension plate 300 being movably connected to the main suspension plate 100 along the extending direction of the main suspension plate 100, and each second sub-suspension plate 300 being used for connection to at least one robotic arm 11. It should be noted that the extending direction of the main suspension plate 100 is not limited to that shown in Figures 9 to 9. Figure 11 The line shown is a straight line, but its extension direction can also be a curve perpendicular to the main rotating shaft A1, such as an arc. With this configuration, the second sub-suspension disc 300 can move in an arc shape following the arc-shaped extension direction of the main suspension disc 100.

[0074] In practical use, the main suspension plate 100 can be arranged to match the bed 3, rotating clockwise or counterclockwise around the main axis A1 to a suitable angle. During the rotation, the second sub-suspension plate 300 connected to the main suspension plate 100 can follow the main suspension plate 100 to rotate at a large angle (i.e., passively follow the rotation). Then, when the main suspension plate 100 has rotated to its position, the second sub-suspension plate 300 can move along the extension direction of the main suspension plate 100 for fine adjustments, so that the robotic arm 11 mounted on it can move to a more suitable position. It should be noted that the movement of the second sub-suspension plate 300 along the main suspension plate 100 can also be carried out simultaneously with the rotation of the main suspension plate 100 around the main axis A1.

[0075] In some embodiments, the robotic arm 11 is rotatably mounted on a second sub-suspension plate 300 and moves along the main suspension plate 100 with the second sub-suspension plate 300. In other embodiments, the robotic arm 11 can further move along the extension direction of the second sub-suspension plate 300. Preferably, the second sub-suspension plate 300 extends in a direction perpendicular to the main rotating shaft A1, and the extension direction of the second sub-suspension plate 300 is arranged at an angle to the extension direction of the main suspension plate 100; each second sub-suspension plate 300 is used for movably connecting at least one robotic arm 11 along the extension direction of the second sub-suspension plate 300. The extension direction of the second sub-suspension plate 300 is arranged at an angle to the extension direction of the main suspension plate 100. The robotic arm 11, mounted on the second sub-suspension plate 300, can move along the extension direction of the second sub-suspension plate 300. Simultaneously, the second sub-suspension plate 300 can move along the extension direction of the main suspension plate 100. This configuration allows the robotic arm 11 to have more degrees of adjustment freedom. Similarly, the shape of the extension direction of the second sub-suspension plate 300 is not limited here, such as... Figures 11 to 13 The straight line shown can be any shape, or other shapes, such as an arc.

[0076] Optionally, the main suspension plate 100 includes a first slide rail arranged along its own extension direction and a first slider 120 movably arranged along the first slide rail; the second sub-suspension plate 300 includes a second slide rail arranged along its own extension direction and a second slider 320 movably arranged along the second slide rail; the second sub-suspension plate 300 is connected to the first slider 120, and the second slider 120 is used to connect to the robotic arm 11. In an exemplary embodiment, the main suspension plate 100 and the second sub-suspension plate 300 are connected via the first slider 120 and the first slide rail, and the robotic arm 11 is connected to the second sub-suspension plate 300 via the second slider 320 and the second slide rail, which allows the robotic arm 11 to be adjusted relative to the main suspension plate 100 in both directions along the first and second slide rails. Furthermore, the robotic arm 11 is rotatably connected to the second slider 320 to further improve the adjustment freedom of the robotic arm 11. Of course, in other embodiments, the connection between the robotic arm 11, the second sub-suspension plate 300 and the main suspension plate 100 is not limited to the use of sliders or slide rails. It can also use common connection methods in the art, such as synchronous belts or lead screws, for transmission. This embodiment does not limit this.

[0077] Preferably, each of the main suspension plates 100 is connected to at least two second sub-suspension plates 300, and the second sub-suspension plates 300 connected to the same main suspension plate 100 are spaced apart along the extension direction of the main suspension plate 100. In one example, the suspension plate positioning mechanism 10 includes two main suspension plates 100 and four second sub-suspension plates 300, with each main suspension plate 100 connected to two second sub-suspension plates 300. Each main suspension plate 100 is indirectly connected to a robotic arm 11 via a second sub-suspension plate 300, and the robotic arm 11 is not directly mounted on the main suspension plate 100. Each second sub-suspension plate 300 is equipped with a robotic arm 11. In use, the robotic arms 11 mounted on the two second sub-suspension plates 300 near the main pivot A1 are mainly used for the middle part of the puncture port layout, and can generally be equipped with an endoscope and a surgical instrument. The robotic arms 11 mounted on the two second sub-suspension plates 300, which are located away from the main rotating axis A1, are mainly for the two sides of the puncture site layout and are generally used to mount surgical instruments. Of course, in some other embodiments, each second sub-suspension plate 300 can also be connected to other numbers of robotic arms 11, and some robotic arms 11 can also be mounted on the main suspension plate 100. Those skilled in the art can configure the number and position of the robotic arms 11 connected to each suspension plate according to the actual needs of the surgery, and this embodiment does not limit this.

[0078] Please refer to Figures 14a to 14c , Figure 14aThe suspension plate positioning mechanism 10 of Embodiment 2 is shown in its positioning state corresponding to the left side position. Figure 14b The suspension plate positioning mechanism 10 of Embodiment 2 is shown in its positioning state corresponding to the zero position. Figure 14c The diagram illustrates the suspension plate positioning mechanism 10 of Embodiment 2 in its positioning state corresponding to the right side position. For details regarding the positioning states, please refer to the description in Embodiment 1, which will not be elaborated upon here. In practice, the suspension plate positioning mechanism 10 can quickly switch between various positioning positions. It should be noted that during surgical preparation, the initial state of the suspension plate positioning mechanism 10 can be in... Figures 14a to 14c Any state between them, not limited to Figures 14a to 14c 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.

[0079]

Example 3

[0080] Please refer to Figures 15 to 17c ,in, Figure 15 This is a schematic diagram of the surgical robot according to Embodiment 3 of the present invention; Figure 16 This is a schematic diagram of the suspension plate positioning mechanism and the robotic arm after being connected according to Embodiment 3 of the present invention; Figure 17a~ Figure 17c This is a schematic diagram of the position conversion of the suspension plate position mechanism according to Embodiment 3 of the present invention.

[0081] The suspension plate positioning mechanism and surgical robot provided in Embodiment 3 of the present invention are basically the same as those provided in Embodiment 1. The same parts will not be described again. The following only describes the differences.

[0082] like Figures 15 to 17c As shown, the suspension plate positioning mechanism 10 provided in this embodiment includes three main suspension plates 100, which are respectively arranged relatively independently and rotatably around the main rotating shaft A1.

[0083] Preferably, the suspension plate positioning mechanism 10 further includes three first sub-suspension plates 200, which are rotatably connected to three main suspension plates 100 around a sub-rotation axis A2. Each main suspension plate 100 is indirectly connected to a robotic arm 11 via a first sub-suspension plate 200. The robotic arm 11 is not directly mounted on the main suspension plate 100; each first sub-suspension plate 200 carries one robotic arm 11, and the robotic arm 11 is preferably rotatably connected to the first sub-suspension plate 200.

[0084] Please refer to Figures 17a to 17c , Figure 17a The suspension plate positioning mechanism 10 of Embodiment 1 is shown in its positioning state corresponding to the left side position. Figure 17bThe suspension plate positioning mechanism 10 of Embodiment 1 is shown in its positioning state corresponding to the zero position. Figure 17c The diagram illustrates the positioning state of the suspension plate positioning mechanism 10 according to Embodiment 1, corresponding to the right-side position. For details regarding the positioning states, please refer to the description in Embodiment 1; it will not be elaborated upon here. In practice, the suspension plate positioning mechanism 10 can quickly switch between various positioning positions. It should be noted that during surgical preparation, the initial state of the suspension plate positioning mechanism 10 can be in... Figures 17a to 17c Any state between them, not limited to Figures 17a to 17c 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.

[0085] Optionally, at least a portion of the main suspension discs 100 or the first sub-suspension discs 200 also have a clutch mechanism. The rotation shaft of each suspension disc can switch between linkage with other suspension discs or independent movement through the clutch mechanism. In some cases, it is necessary to adjust the position angle of a certain suspension disc. The clutch mechanism can be used to temporarily disengage the suspension disc from linkage with other suspension discs, thereby achieving the adjustment of the position angle of the suspension disc. For example, under normal circumstances, if rapid repositioning is required, the three main suspension discs 100 can be configured to move in linkage. After the three main suspension discs 100 rotate together to the predetermined position, one or two main suspension discs 100 can move independently through the clutch mechanism to better accommodate detailed repositioning adjustments.

[0086] It should be noted that the solutions in the above embodiments can be used in combination. For example, the suspension plate positioning mechanism 10 includes two main suspension plates 100, one of which, as in Embodiment 1, is rotatably connected to the first sub-suspension plate 200, and the other main suspension plate 100, as in Embodiment 2, is movably connected to the second sub-suspension plate 300. In use, after the two main suspension plates 100 are rotated and positioned to a predetermined position, the two sub-suspension plates can be adjusted in detail in their respective ways. For details, please refer to the description of the above embodiments, which will not be repeated here.

[0087] In summary, in the suspension plate positioning mechanism and surgical robot provided by this invention, the suspension plate positioning mechanism includes at least two main suspension plates, each rotatably connected to a suspension end around the same main axis; each main suspension plate is used to connect at least one robotic arm. This configuration, with at least two main suspension plates rotatably connected to the suspension end around the same main axis and each main suspension plate carrying at least one robotic arm, allows multiple robotic arms to be quickly and simultaneously adjusted to their corresponding positions along with the main suspension plates, enabling rapid surgical layout of the robotic arms. Furthermore, by differentiating between the at least two main suspension plates, each robotic arm on the main suspension plate can obtain greater adjustment and surgical space.

[0088] 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: At least two main suspension plates are provided, each of which is rotatably connected to a suspension end around the same main pivot axis; each of the main suspension plates is used to connect to at least one robotic arm; a limit mechanism is provided between any two of the main suspension plates, the limit mechanism being used to drive the second main suspension plate to rotate with the first main suspension plate to reach a specific value, so as to limit the relative angle between the two main suspension plates.

2. The suspension plate positioning mechanism according to claim 1, characterized in that, The suspension plate positioning mechanism further includes: at least one first sub-suspension plate; the first sub-suspension plate is rotatably connected to the main suspension plate around a sub-axis parallel to the main axis, and at least one of the main suspension plates is connected to at least one first sub-suspension plate; each first sub-suspension plate is used for connection to at least one robotic arm.

3. The suspension plate positioning mechanism according to claim 2, characterized in that, Each of the main suspension plates is connected to one of the first sub-suspension plates, and each sub-suspension plate is used for rotatably connecting a robotic arm about the sub-axis.

4. The suspension plate positioning mechanism according to claim 1, characterized in that, The main suspension plate extends in a direction perpendicular to the main rotating shaft; The suspension plate positioning mechanism further includes: at least one second sub-suspension plate, which is movably connected to the main suspension plate along the extension direction of the main suspension plate, and each second sub-suspension plate is used for connection of at least one robotic arm.

5. The suspension plate positioning mechanism according to claim 4, characterized in that, Each of the main suspension plates is connected to at least two second sub-suspension plates, and the second sub-suspension plates connected to the same main suspension plate are spaced apart along the extension direction of the main suspension plate.

6. The suspension plate positioning mechanism according to claim 5, characterized in that, The suspension plate positioning mechanism includes two main suspension plates and four second sub-suspension plates, with each main suspension plate connected to two second sub-suspension plates.

7. The suspension plate positioning mechanism according to claim 4, characterized in that, The second sub-suspension plate extends in a direction perpendicular to the main rotating shaft, and the extension direction of the second sub-suspension plate is arranged at an angle to the extension direction of the main suspension plate; each second sub-suspension plate is used for at least one robotic arm to be movably connected along the extension direction of the second sub-suspension plate.

8. The suspension plate positioning mechanism according to claim 7, characterized in that, The main suspension plate includes a first slide rail arranged along its own extension direction and a first slider movably arranged along the first slide rail; the second sub-suspension plate includes a second slide rail arranged along its own extension direction and a second slider movably arranged along the second slide rail; the second sub-suspension plate is connected to the first slider, and the second slider is used to connect to the robotic arm.

9. The suspension plate positioning mechanism according to claim 1, characterized in that, During the rotation of the main suspension discs around the main rotating shaft, the relative angle between any two main suspension discs is not less than 60°.

10. The suspension plate positioning mechanism according to claim 9, characterized in that, The limiting mechanism is used to limit the relative angle between the two main suspension discs to not less than 60°; the limiting mechanism is configured such that when the first main suspension disc rotates and the angle relative to the second main suspension disc reaches 60°, the limiting mechanism drives the second main suspension disc to rotate in tandem with the first main suspension disc.

11. The suspension plate positioning mechanism according to claim 1, characterized in that, The suspension plate positioning mechanism includes three main suspension plates, which are rotatably and independently arranged around the main rotating shaft. Each main suspension plate is connected to a first sub-suspension plate, and each first sub-suspension plate is used to connect to at least one robotic arm.

12. 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 11; One main suspension plate of the suspension plate positioning mechanism is rotatably connected to the suspension arm around the main rotating shaft. The other suspension plates of the suspension plate positioning mechanism are rotatably connected to the main suspension plate connected to the same suspension arm around the main rotating shaft. Each main suspension plate is connected to at least one robotic arm, and each robotic arm is rotatably connected to the corresponding main suspension plate.

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