Suspension disc 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 one first suspension plate and at least one second suspension plate. The first suspension plate has a first rotating shaft, and the second suspension plate has a second rotating shaft. The first suspension plate is rotatably arranged around the first rotating shaft, and the second suspension plate is rotatably arranged around the second rotating shaft. The first rotating shaft and the second rotating shaft extend in the same direction. Each first suspension plate includes a first robotic arm connection point for connecting to a robotic arm. The second suspension plate includes a second robotic arm connection point for connecting to a robotic arm. The first robotic arm connection points and the second robotic arm connection points do not overlap with each other in the direction along the first rotating shaft. This configuration ensures that the robotic arms are evenly distributed, closely spaced, and do not interfere with each other's movements, allowing for rapid surgical placement by the robotic arms.

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, comprising: at least one first suspension plate and at least one second suspension plate, wherein the first suspension plate has a first rotating shaft, the second suspension plate has a second rotating shaft, the first suspension plate is rotatably disposed around the first rotating shaft, the second suspension plate is rotatably disposed around the second rotating shaft, and the first rotating shaft and the second rotating shaft extend in the same direction; each of the first suspension plates includes a first robotic arm connection point for connecting to a robotic arm; the second suspension plate includes a second robotic arm connection point for connecting to a robotic arm, and the first robotic arm connection point and the second robotic arm connection point do not overlap with each other in the direction along the first rotating shaft.

[0008] Optionally, the first suspension plate and the second suspension plate rotate in the same direction or in opposite directions around their respective axes.

[0009] Optionally, the first suspension plate and the second suspension plate rotate synchronously around their respective corresponding axes.

[0010] Optionally, the rotational speed of the first suspension plate around the first axis is equal to the rotational speed of the second suspension plate around the second axis.

[0011] Optionally, the suspension plate positioning mechanism further includes: a first transmission unit;

[0012] The first transmission unit 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.

[0013] Optionally, the first suspension plate includes at least two first robotic arm connection points for connecting at least two robotic arms, with the at least two first robotic arm connection points located on both sides of the first rotating shaft; in the extending direction of the first suspension plate, the line connecting the at least two first robotic arm connection points intersects the first rotating shaft at a point.

[0014] Optionally, in one of the first suspension plates, the distance between the first robotic arm connection point and the first rotating shaft is a first distance; in adjacent first and second suspension plates, the distance between the first rotating shaft and the second rotating shaft is a second distance, and the first distance and the second distance are equal.

[0015] Optionally, the second suspension plate includes at least two second robotic arm connection points for connecting at least two robotic arms, with the at least two second robotic arm connection points located on both sides of the second rotating shaft respectively; in the extending direction of the second suspension plate, the line connecting the at least two second robotic arm connection points intersects the second rotating shaft at a point.

[0016] Optionally, the first suspension plate includes a first robotic arm connection point for connecting at least one robotic arm, and the second suspension plate includes a second robotic arm connection point for connecting at least one robotic arm. The distance between the first robotic arm connection point of the first suspension plate and the first rotating shaft is a first distance, and the distance between the second robotic arm connection point of the second suspension plate and the second rotating shaft is a third distance, wherein the third distance is equal to the first distance.

[0017] Optionally, the first distance and the third distance are less than the second distance between the first rotating shaft and the second rotating shaft.

[0018] Optionally, the first suspension plate and the second suspension plate each include a first sub-suspension plate, a second sub-suspension plate, and a third sub-suspension plate. The first and second sub-suspension plates of the first suspension plate are rotatably arranged around the first rotating shaft, and the first and second sub-suspension plates of the second suspension plate are rotatably arranged around the second rotating shaft. The third sub-suspension plate is rotatably connected to the first sub-suspension plate around a third rotating shaft parallel to the first rotating shaft. The second sub-suspension plate of the first suspension plate has a first robotic arm connection point at its end away from the first rotating shaft, the second sub-suspension plate of the second suspension plate has a second robotic arm connection point at its end away from the second rotating shaft, and the third sub-suspension plate has either a first robotic arm connection point or a second robotic arm connection point at its end away from the third rotating shaft.

[0019] Optionally, the distance between the first robotic arm connection point on the second sub-suspension plate of the first suspension plate and the first rotating shaft is a first distance, the distance between the first rotating shaft and the second rotating shaft is a second distance, and the distance between the second robotic arm connection point on the second sub-suspension plate of the second suspension plate and the second rotating shaft is a third distance, wherein the first distance is less than the sum of the second distance and the third distance.

[0020] Optionally, the suspension plate positioning mechanism further includes at least one braking element, which is used to lock the rotation of the first rotating shaft and / or the second rotating shaft.

[0021] Optionally, the first suspension plate and the second suspension plate each have a clutch component, and the first rotating shaft and the second rotating shaft move synchronously or independently with other rotating shafts through the corresponding clutch components.

[0022] To solve the above-mentioned technical problems, the present invention also provides a surgical robot, which includes the suspension plate positioning mechanism, suspension arm and at least two robotic arms as described above;

[0023] 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.

[0024] In summary, in the suspension plate positioning mechanism and surgical robot provided by the present invention, the suspension plate positioning mechanism includes at least one first suspension plate and at least one second suspension plate. The first suspension plate has a first rotating shaft, and the second suspension plate has a second rotating shaft. The first suspension plate is rotatably arranged around the first rotating shaft, and the second suspension plate is rotatably arranged around the second rotating shaft. The first rotating shaft and the second rotating shaft extend in the same direction. Each first suspension plate includes a first robotic arm connection point for connecting to a robotic arm. The second suspension plate includes a second robotic arm connection point for connecting to a robotic arm. The first robotic arm connection point and the second robotic arm connection point do not overlap with each other in the direction along the first rotating shaft.

[0025] In this configuration, the first and second suspension plates are rotatably arranged around their respective axes, and the connection points of the robotic arms on each suspension plate do not overlap along the direction of the first axis. This ensures that the robotic arms are evenly distributed, closely spaced, and do not interfere with each other's movements. This allows the robotic arms to be quickly adjusted to their corresponding positions along with the suspension plates, enabling rapid surgical layout. Furthermore, by distinguishing between the first and second suspension plates, the individual robotic arms on the suspension plates can obtain greater adjustment and surgical space. Attached Figure Description

[0026] 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:

[0027] Figure 1 This is a schematic diagram of a surgical scene using the surgical robot according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the lateral surgical procedure layout according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the zero-position technique layout according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of a surgical robot according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of a suspension plate positioning mechanism according to an embodiment of the present invention;

[0032] Figure 6 This is a simplified motion diagram of a suspension plate positioning mechanism according to an embodiment of the present invention;

[0033] Figures 7a-7e This is a schematic diagram of several preferred examples of a suspension plate positioning mechanism according to an embodiment of the present invention;

[0034] Figure 8aand Figure 8b This is a schematic diagram of several preferred examples of a first transmission unit according to an embodiment of the present invention;

[0035] Figure 9a and Figure 9b This is a schematic diagram of the position conversion of the suspension plate position mechanism according to an embodiment of the present invention;

[0036] Figures 10a-10c This is a schematic diagram of the positioning and transformation of a surgical robot according to an embodiment of the present invention.

[0037] In the attached image:

[0038] 1-Surgical robot; 2-Doctor's control console; 3-Hospital bed; 4-Image cart; 5-Instrument table; 6-Ventilator and anesthesia machine;

[0039] 10-Suspension plate positioning mechanism; 11-Mechanical arm; 12-Suspension arm; 100-First suspension plate; 101-First rotating shaft; 103-Third rotating shaft; 121-First sub-suspension plate; 122-Second sub-suspension plate; 123-Third sub-suspension plate; 140-First transmission unit; 200-Second suspension plate; 201-Second rotating shaft; 310-First mechanical arm connection point; 320-Second mechanical arm connection point. Detailed Implementation

[0040] 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.

[0041] 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.

[0042] 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.

[0043] The following description refers to the accompanying drawings.

[0044] Please refer to Figures 1 to 10c ,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 a surgical robot according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a suspension plate positioning mechanism according to an embodiment of the present invention; Figure 6 This is a simplified motion diagram of a suspension plate positioning mechanism according to an embodiment of the present invention; Figures 7a-7e This is a schematic diagram of several preferred examples of a suspension plate positioning mechanism according to an embodiment of the present invention; Figure 8aand Figure 8b This is a schematic diagram of several preferred examples of a first transmission unit according to an embodiment of the present invention; Figure 9a and Figure 9b This is a schematic diagram of the position conversion of the suspension plate position mechanism according to an embodiment of the present invention; Figures 10a-10c This is a schematic diagram of the positioning and transformation of a surgical robot according to an embodiment of the present invention.

[0045] 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.

[0046] 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 4 As shown, the suspension plate positioning mechanism 10 includes a first suspension plate 100 and a second suspension plate 200. The first suspension plate 100 has a first rotating shaft 101, and the second suspension plate 200 has a second rotating shaft 201. The first suspension plate 100 is rotatably disposed around the first rotating shaft 101, and the second suspension plate 200 is rotatably disposed around the second rotating shaft 201. The first rotating shaft 101 and the second rotating shaft 201 extend in the same direction. Each first suspension plate 100 includes a first robotic arm connection point 310 for connecting to a robotic arm 11. The second suspension plate 200 includes a second robotic arm connection point 320 for connecting to a robotic arm 11. The first robotic arm connection point 310 and the second robotic arm connection point 320 do not overlap with each other in the direction along the first rotating shaft 101. Preferably, each robotic arm 11 is rotatably connected to the corresponding suspension plate. The doctor's console 2 is equipped with a master operator. The main operation of the surgical robot involves the operator (e.g., a surgeon) remotely controlling the patient on bed 3 via the doctor's console 2 and the master operator. The master operator, robotic arm 11, and surgical instruments form a master-slave control relationship. During the surgery, the robotic arm 11 and surgical instruments move according to the movements of the master operator, that is, according to the operator's hand movements. It should be noted that... Figure 1In 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.

[0047] In this configuration, the first suspension plate 100 and the second suspension plate 200 are rotatably arranged around their respective axes of rotation, and the first robotic arm connection point 310 and the second robotic arm connection point 320 do not overlap in the direction along the first axis of rotation 101. This ensures that the robotic arms 11 are evenly distributed, closely spaced, and do not interfere with each other's movements, allowing the robotic arms 11 to be quickly adjusted to their corresponding positions along with the suspension plates, enabling rapid surgical layout. Furthermore, by distinguishing between the first suspension plate 100 and the second suspension plate 200, each robotic arm 11 on the suspension plate can obtain greater adjustment space and surgical space.

[0048] 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.

[0049] 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.

[0050] 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 3In 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 the endoscope.

[0051] Furthermore, in one of the first suspension plates 100, the distance between the first robotic arm connection point 310 and the first rotating shaft 101 is a first distance; in adjacent first suspension plates 100 and second suspension plates 200, the distance between the first rotating shaft 101 and the second rotating shaft 201 is a second distance. The first distance and the second distance are equal. This configuration ensures that the robotic arm connection points of each suspension plate do not overlap with each other in the direction along the first rotating shaft 101.

[0052] In actual use, the first suspension plate 100 and the second suspension plate 200 can be arranged in conjunction with the bed 3, rotating clockwise or counterclockwise around their respective axes to a suitable angle. The connection points of the robotic arms of each suspension plate do not overlap with each other in the direction along the first axis 101, ensuring that the robotic arms 11 are evenly distributed, closely spaced, and do not interfere with each other's movements. This allows the robotic arms 11 to be quickly adjusted to the corresponding positions along with the suspension plates, enabling the robotic arms 11 to achieve rapid surgical layout.

[0053] Preferably, the first suspension plate 100 and the second suspension plate 200 rotate in the same direction or in opposite directions around their respective axes. It should be noted that rotating in the same direction means rotating around their respective axes in the same direction of rotation. Rotating in opposite directions means rotating around their respective axes in opposite directions of rotation. This same or opposite rotation of the suspension plates allows them to quickly turn 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 shortening the surgical time.

[0054] Preferably, the first suspension plate 100 and the second suspension plate 200 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, and does not limit the rotational speed or direction of rotation of the suspension plates to the same value. Therefore, in reality, the angles rotated by the first suspension plate 100 and the second suspension plate 200 within the same time period are not necessarily the same. However, as long as the first suspension plate 100 and the second suspension plate 200 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.

[0055] More preferably, during the rotation of the first suspension plate 100 and the second suspension plate 200 around their respective axes, the relative angle between the first suspension plate 100 and the second suspension plate 200 is not less than 60°. Figure 7a In the illustrated embodiment, the relative angle between the first suspension plate 100 and the second suspension plate 200 is 180°. In practical use, to enable the robotic arm 11 to achieve rapid surgical layout, the first suspension plate 100 and the second suspension plate 200 can be configured to rotate synchronously and in the same direction around their respective axes. It should be noted that synchronous and unidirectional rotation of the first suspension plate 100 and the second suspension plate 200 means that each suspension plate rotates simultaneously around its respective axis in the same direction, not that the rotational speed of each suspension plate is the same. Therefore, in reality, the angles rotated by each suspension plate within the same time period are not necessarily the same. As long as the suspension plates rotate synchronously and in the same direction, all suspension plates can quickly and uniformly turn towards 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, the difference in rotation speed between the first suspension plate 100 and the second suspension plate 200, when rotating synchronously and in the same direction, results in a relative rotation angle between them. With a relative angle of not less than 60° between the two suspension plates, it can adapt to different surgical placement requirements. Furthermore, subsequent fine-tuning can be performed by individually driving one of the suspension plates or driving the robotic arm 11 to compensate for its posture, enabling rapid surgical placement. More preferably, the rotation speed of the first suspension plate 100 around the first axis 101 is equal to the rotation speed of the second suspension plate 200 around the second axis 201. The first suspension plate 100 and the second suspension plate 200 are configured to rotate at equal speeds, so that no relative rotation angle occurs when the suspension plates rotate together.

[0056] Optionally, the suspension plate positioning mechanism 10 further includes: a first transmission unit 140; the first transmission unit 140 is connected to the first rotating shaft 101 and the second rotating shaft 201 respectively, and is used to synchronize the rotation of the first suspension plate 100 and the second suspension plate 200.

[0057] Please refer to Figure 8a In one exemplary embodiment, the first transmission unit 140 includes a transmission belt that is closedly wrapped around at least two corresponding rotating shafts. The transmission belt is a closed-loop type, with one belt closedly wrapping around the first rotating shaft 101 and the second rotating shaft 201, and adapted to the spacing and diameter of the first and second rotating shafts 101 and 201. Preferably, it is tensioned between the first and second rotating shafts 101 and 201. With this configuration, rotation of either the first or second rotating shaft 101 can synchronously drive the other rotating shaft to rotate in the same direction via the transmission belt. The rotational speeds of the first and second rotating shafts 101 can be adjusted differently depending on the different diameter configurations of the two rotating shafts. 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. In some other embodiments, the transmission belt can be cross-wound around the first shaft 101 and the second shaft 201, so that the rotation of either the first shaft 101 or the second shaft 201 can synchronously drive the other shaft to rotate in the opposite direction through the gear set.

[0058] Please refer to Figure 8b In another exemplary embodiment, the first transmission unit 140 includes a gear set that meshes with both the first rotating shaft 101 and the second rotating shaft 201. As illustrated below, a first gear is coaxially fixed on the first rotating shaft 101, and a second gear is coaxially fixed on the second rotating shaft 201. A third gear (not shown) is provided between the first and second gears, meshing with both the first and second gears. This third gear effectively forms an intermediate transmission gear. With this configuration, rotation of either the first rotating shaft 101 or the second rotating shaft 201 can synchronously drive the other rotating shaft to rotate in the same direction via the gear set. The rotational speeds of the first rotating shaft 101 and the second rotating shaft 201 can be adjusted according to the different configurations of the gears in the gear set. In other embodiments, the first and second gears may mesh directly without the transmission of the third gear, allowing rotation of either the first rotating shaft 101 or the second rotating shaft 201 to synchronously drive the other rotating shaft to rotate in the opposite direction via the gear set.

[0059] Of course, in other embodiments, the first transmission unit 140 is not limited to the form of a transmission belt or gear set, but can also adopt transmission forms common in the art such as friction wheels, and the present invention is not limited to this.

[0060] Preferably, the suspension plate positioning mechanism 10 further includes at least one braking element, which is used to lock the rotation of at least one of the first rotating shaft 101, the second rotating shaft 201, and the third rotating shaft 103. During surgery or other situations where the suspension position needs to be locked, the braking element can be engaged to lock the movement of the first transmission unit 140 or each suspension plate.

[0061] Furthermore, the first suspension disc 100 and the second suspension disc 200 each have a clutch component. The first rotating shaft 101 and the second rotating shaft 201 move synchronously or independently with other rotating shafts through their respective clutch components. The rotating shaft of each suspension disc can switch between linkage with other suspension discs or independent movement through the clutch component. In some cases, it is necessary to adjust the position angle of a certain suspension disc. The clutch component can be used to temporarily disengage the suspension disc from linkage with other suspension discs, thereby achieving the adjustment of the position angle of that suspension disc.

[0062] Please refer to the following. Figures 7a to 7d Several preferred examples of the suspension plate positioning mechanism 10 provided in this embodiment will be described.

[0063] Figure 7aA first preferred example of a suspension plate positioning mechanism 10 is shown, comprising a first suspension plate 100 and a second suspension plate 200. Both the first and second suspension plates 100 and 200 are generally semi-circular flat plates extending perpendicular to the first and second pivot axes 101 and 201, respectively. Each plate has two robotic arm connection points, which are used for connecting two robotic arms 11. The two first robotic arm connection points 310 of the first suspension plate 100 are located on opposite sides of the first pivot axis 101; the line connecting the two first robotic arm connection points 310 intersects the first pivot axis 101 at a single point in the extending direction of the first suspension plate 100. The two second robotic arm connection points 320 of the second suspension plate 200 are located on opposite sides of the second pivot axis 201; the line connecting the two second robotic arm connection points 320 intersects the second pivot axis 201 at a single point in the extending direction of the second suspension plate 200. Preferably, the distances between the two first robotic arm connection points 310 of the first suspension plate 100 and the first rotating shaft 101 are both first distances, and the distances between the two second robotic arm connection points 320 of the second suspension plate 200 and the second rotating shaft 201 are both third distances, the third distance being less than the first distance; the second distance between the first rotating shaft 101 and the second rotating shaft 201 is equal to the aforementioned first distance. With this configuration, when the first suspension plate 100 rotates around the first rotating shaft 101, the rotation trajectory of its first robotic arm connection point 310 passes through the second rotating shaft 201. Conversely, when the second suspension plate 200 rotates around the second rotating shaft 201, the rotation trajectory of its second robotic arm connection point 320 lies between the rotation trajectory of the first robotic arm connection point 310 of the first suspension plate 100 and the first rotating shaft 101. At any point within their respective adjustment ranges, both suspension plates can consistently maintain four robotic arms 11 covering the puncture site of the target patient, with sufficient operating space. Furthermore, the four robotic arms 11 are evenly distributed, closely spaced, and their movements do not interfere with each other. Of course, those skilled in the art can, based on the above example, further configure more first robotic arm connection points 310 or second robotic arm connection points 320 on the first suspension plate 100 or the second suspension plate 200 to allow the first suspension plate 100 or the second suspension plate 200 to connect with even more robotic arms 11.

[0064] Figure 7b and Figure 7cA second preferred example of the suspension plate positioning mechanism 10 is shown, comprising a first suspension plate 100 and a second suspension plate 200. The first suspension plate 100 is generally semi-circular, and the second suspension plate 200 is generally straight. The first suspension plate 100 has three first robotic arm connection points 310, two of which are located on opposite sides of the first rotating shaft 101. In the extending direction of the first suspension plate 100, the line connecting the two first robotic arm connection points 310 intersects the first rotating shaft 101 at a single point. For ease of description, the line connecting the two first robotic arm connection points 310 intersecting the first rotating shaft 101 is referred to as a reference line. The third first robotic arm connection point 310 of the first suspension plate 100 lies on the perpendicular bisector of the aforementioned reference line. Preferably, the distances between the three first robotic arm connection points 310 of the first suspension plate 100 and the first rotating shaft 101 are all first distances, and the distances between the second robotic arm connection points 320 of the second suspension plate 200 and the second rotating shaft 201 are third distances. The third distance is equal to the first distance and also equal to the second distance between the first rotating shaft 101 and the second rotating shaft 201. When the first suspension plate 100 and the second suspension plate 200 rotate around their respective rotating shafts, preferably they rotate synchronously at the same speed, and the first suspension plate 100 and the second suspension plate 200 have a fixed relative angle. When the three first robotic arm connection points 310 of the first suspension plate 100 are at the position furthest from the second rotating shaft 201, such as... Figure 7c As shown, the second robotic arm connection point 320 of the second suspension plate 200 coincides with the first rotating shaft 101. This configuration allows the four robotic arms 11 to be evenly distributed, with similar spacing, and their movements to not interfere with each other.

[0065] Figure 7d A third preferred example of the suspension plate positioning mechanism 10 is shown, comprising a first suspension plate 100 and a second suspension plate 200, both of which are generally straight rods. Each of the first and second suspension plates has a robotic arm connection point. The distance between the first robotic arm connection point 310 of the first suspension plate 100 and the first rotating shaft 101 is a first distance, and the distance between the second robotic arm connection point 320 of the second suspension plate 200 and the second rotating shaft 201 is a third distance, which is equal to the first distance. When the first and second suspension plates 100 rotate around their respective rotating shafts, they preferably rotate synchronously at the same speed, and the first and second suspension plates 100 and 200 have a fixed relative angle, such as... Figure 7d As shown. Preferably, the first distance and the third distance are less than the second distance between the first rotating shaft 101 and the second rotating shaft 201.

[0066] Figure 7eA fourth preferred example of the suspension plate positioning mechanism 10 is shown, which includes a first suspension plate 100 and a second suspension plate 200, both of which are generally straight rod-shaped. Figure 7e The suspended plate positioning mechanism 10 shown is... Figure 7d The third preferred example shown is largely the same, but each suspension plate has two robotic arm connection points. Specifically, one first robotic arm connection point 310 of the first suspension plate 100 is located at the end of the first suspension plate 100 away from the first pivot 101, while the other first robotic arm connection point 310 is located on the first pivot 101; one second robotic arm connection point 320 of the second suspension plate 100 is located at the end of the second suspension plate 100 away from the second pivot 201, while the other second robotic arm connection point 320 is located on the second pivot 201.

[0067] It is understood that the above four examples are merely examples of the suspension plate positioning mechanism 10 and not limitations on the specific structure of the suspension plate positioning mechanism 10. In some other embodiments, the suspension plate positioning mechanism 10 may also include two or more first suspension plates 100, or two or more second suspension plates 200. Those skilled in the art can configure the specific structure of the suspension plate positioning mechanism 10 differently according to the prior art, and the present invention is not limited thereto.

[0068] Please refer to the following. Figures 9a to 9b , combined Figures 10a-10c ,by Figure 7a Taking the suspended plate positioning mechanism 10 shown as an example, the positioning conversion of the suspended plate positioning mechanism 10 provided in this embodiment will be explained in detail. Specifically, Figure 7a and Figure 10a The image shows the suspension plate positioning mechanism 10 in the lower abdominal position corresponding to the zero position. Figure 9a and Figure 10b The image shows the positioning state of the suspension plate positioning mechanism 10 corresponding to the upper abdominal position in the zero position. Figure 9b and Figure 10c The suspension plate positioning mechanism 10 is shown in the positioning state corresponding to the lateral position.

[0069] 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 lateral puncture port is generally located on one side of the suspension arm 12 of the surgical robot 1. Therefore, corresponding to the lateral positioning state, the two suspension plates rotate to approximately the same position. Figure 9b and Figure 10cThe two suspension plates are arranged in a direction that is roughly opposite to each other and along the extension direction of the suspension arm 12. At this time, the two suspension plates are relatively far apart along the extension direction of the suspension arm 12, that is, the two suspension plates are staggered by a certain distance along the extension direction of the suspension arm 12 to avoid interference and influence on the patient's lateral surgical area. Each robotic arm 11 can be arranged sequentially facing one side of the patient's abdomen, so that each robotic arm 11 is arranged sequentially according to the expected surgical layout.

[0070] The zero-position positioning can also be categorized into lower abdominal and upper abdominal positions based on the location of the puncture site in the patient's upper or lower abdomen. When in the zero-position position, the two suspension discs rotate to approximately... Figure 7a ,and Figure 9a The two suspension plates are arranged in roughly opposite directions and perpendicular to the extension direction of the suspension arm 12. That is, the two suspension plates are distributed at approximately a 90-degree angle relative to the extension direction of the suspension arm 12. Each robotic arm 11 can be arranged sequentially towards the patient's upper or lower abdomen, so that each robotic arm 11 is arranged sequentially according to the expected surgical layout.

[0071] 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... Figure 7a , Figure 9a and Figure 9b Any state between them, not limited to Figure 7a , Figure 9a and Figure 9b 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.

[0072] In summary, in the suspension plate positioning mechanism and surgical robot provided by this invention, the suspension plate positioning mechanism includes at least one first suspension plate and at least one second suspension plate. The first suspension plate has a first rotating shaft, and the second suspension plate has a second rotating shaft. The first suspension plate is rotatably arranged around the first rotating shaft, and the second suspension plate is rotatably arranged around the second rotating shaft. The first rotating shaft and the second rotating shaft extend in the same direction. Each first suspension plate includes a first robotic arm connection point for connecting to a robotic arm. The second suspension plate includes a second robotic arm connection point for connecting to a robotic arm. The first robotic arm connection point and the second robotic arm connection point do not overlap with each other in the direction along the first rotating shaft. This configuration ensures that the first and second suspension plates are rotatably arranged around their respective rotating shafts, and that the robotic arm connection points of each suspension plate do not overlap with each other in the direction along the first rotating shaft. This guarantees that the robotic arms are evenly distributed, closely spaced, and their movements do not interfere with each other, allowing the robotic arms to be quickly adjusted to the corresponding positions along with the suspension plates, thus enabling rapid surgical layout. Furthermore, by distinguishing between the first and second suspension plates, the various robotic arms on the suspension plates can gain greater adjustment and surgical space.

[0073] 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: The system includes at least one first suspension plate and at least one second suspension plate, the first suspension plate having a first pivot, the second suspension plate having a second pivot, the first suspension plate being rotatably disposed about the first pivot, the second suspension plate being rotatably disposed about the second pivot, the first pivot and the second pivot extending in the same direction; each first suspension plate includes a first robotic arm connection point for connecting to a robotic arm; the second suspension plate includes a second robotic arm connection point for connecting to a robotic arm, the first robotic arm connection point and the second robotic arm connection point not overlapping each other in the direction along the first pivot. The first suspension plate includes at least two first robotic arm connection points for connecting at least two robotic arms. The at least two first robotic arm connection points are respectively located on both sides of the first rotating shaft. In the extending direction of the first suspension plate, the line connecting the at least two first robotic arm connection points intersects the first rotating shaft at a point. Alternatively, the second suspension plate includes at least two second robotic arm connection points for connecting at least two robotic arms. The at least two second robotic arm connection points are respectively located on both sides of the second rotating shaft. In the extending direction of the second suspension plate, the line connecting the at least two second robotic arm connection points intersects the second rotating shaft at a point.

2. The suspension plate positioning mechanism according to claim 1, characterized in that, The first suspension plate and the second suspension plate rotate in the same direction or in opposite directions around their respective axes.

3. The suspension plate positioning mechanism according to claim 1, characterized in that, The first suspension plate and the second suspension plate rotate synchronously around their respective corresponding axes.

4. The suspension plate positioning mechanism according to claim 3, characterized in that, The rotational speed of the first suspension plate around the first axis is equal to the rotational speed of the second suspension plate around the second axis.

5. The suspension plate positioning mechanism according to claim 3, characterized in that, The suspension plate positioning mechanism further includes: a first transmission unit; The first transmission unit 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.

6. The suspension plate positioning mechanism according to claim 1, characterized in that, In one of the first suspension plates, the distance between the first robotic arm connection point and the first rotating shaft is the first distance; in adjacent first and second suspension plates, the distance between the first rotating shaft and the second rotating shaft is the second distance, and the first distance and the second distance are equal.

7. The suspension plate positioning mechanism according to claim 1, characterized in that, The first suspension plate includes a first robotic arm connection point for connecting at least one robotic arm, and the second suspension plate includes a second robotic arm connection point for connecting at least one robotic arm. The distance between the first robotic arm connection point of the first suspension plate and the first rotating shaft is a first distance, and the distance between the second robotic arm connection point of the second suspension plate and the second rotating shaft is a third distance, which is equal to the first distance.

8. The suspension plate positioning mechanism according to claim 7, characterized in that, The first distance and the third distance are less than the second distance between the first rotating shaft and the second rotating shaft.

9. The suspension plate positioning mechanism according to claim 1, characterized in that, The suspension plate positioning mechanism further includes at least one braking element, which is used to lock the rotation of the first rotating shaft and / or the second rotating shaft.

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

11. A surgical robot, characterized in that, Includes the suspension plate positioning mechanism, suspension arm, and at least two robotic arms according to any one of claims 1 to 10; 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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