Suspension disc positioning mechanism and surgical robot
By designing the suspension plate and limiting components, the problem of complex posture adjustment of the robotic arm in surgical robots is solved, enabling rapid adjustment and efficient surgical operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
- Filing Date
- 2020-09-30
- Publication Date
- 2026-06-26
Smart Images
Figure CN114305709B_ABST
Abstract
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 two suspension plates, each of the suspension plates having a first rotating shaft, the suspension plates being rotatably arranged around the first rotating shaft, the first rotating shafts of the at least two suspension plates extending in the same direction; the at least two suspension plates being configured to move in a direction perpendicular to the first rotating shaft; each of the suspension plates being used for connection to at least one robotic arm.
[0008] Optionally, at least two of the suspension plates are configured to move in opposite directions.
[0009] Optionally, the suspension plate positioning mechanism further includes: at least two limiting components and at least two sliding components; the limiting components extend in a direction perpendicular to the first rotating shaft, and the sliding components are movably connected to the limiting components in the extension direction of the limiting components, and are restricted by the limiting components in degrees of freedom other than in the extension direction of the limiting components.
[0010] Each of the sliding components is connected to at least one of the suspension plates.
[0011] Optionally, the limiting component includes a slide rail or a roller assembly, and the sliding component includes a slider, which is movably disposed along the slide rail or the roller assembly.
[0012] Optionally, the extension direction of the limiting component is linear or curved.
[0013] Optionally, the suspension plate positioning mechanism further includes a suspension beam that extends in a direction perpendicular to the first rotation axis, and at least two of the limiting components are symmetrically arranged about the extension direction of the end portion of the suspension beam.
[0014] Optionally, the suspension plate positioning mechanism further includes a first transmission unit, a second rotating shaft, and a third rotating shaft. The first transmission unit is connected to the second rotating shaft and the third rotating shaft respectively, and is used to synchronize the rotation of the second rotating shaft and the third rotating shaft. The first transmission unit includes two opposing transmission sections between the second rotating shaft and the third rotating shaft, and each transmission section is connected to at least one of the suspension plates.
[0015] Optionally, the suspension plate positioning mechanism further includes at least one braking element, which is used to lock any one of the first rotating shaft, the second rotating shaft, and the third rotating shaft.
[0016] Optionally, the first transmission unit includes a transmission belt or transmission wire, which are respectively closed around the second rotating shaft and the third rotating shaft.
[0017] Optionally, each of the suspension discs has a clutch component, and any one of the suspension discs can move synchronously or independently with the other suspension discs through the corresponding clutch component.
[0018] Optionally, the suspension plate positioning mechanism further includes a suspension beam extending in a direction perpendicular to the first rotating axis, at least two suspension plates being movably mounted on the suspension beam, and the movement direction of at least two suspension plates being parallel or perpendicular to the extension direction of the suspension beam; the extension direction of the suspension beam is used to be the same as or perpendicular to the extension direction of the suspension arm of the surgical robot.
[0019] To address the aforementioned technical problems, the present invention also provides a surgical robot, which includes a suspension plate positioning mechanism as described above, multiple robotic arms, and a suspension arm; 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.
[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 suspension plates, each of the suspension plates having a first rotating shaft, the suspension plates being rotatably arranged around the first rotating shaft, the first rotating shafts of the at least two suspension plates extending in the same direction; the at least two suspension plates are configured to move in a direction perpendicular to the first rotating shaft; each main suspension plate is used for connection to at least one robotic arm.
[0021] In this configuration, at least two suspension plates are rotatably arranged around their respective first axes of rotation, and at least two suspension plates are also movable in a direction perpendicular to the first axes of rotation. Each suspension plate carries at least one robotic arm, allowing multiple robotic arms to be quickly adjusted to their corresponding positions along with the suspension plates, enabling rapid surgical layout. Furthermore, by differentiating between the at least two suspension plates, each robotic arm on the suspension plate can obtain greater adjustment space 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 a surgical robot according to an embodiment of the present invention;
[0027] Figure 5 This is a schematic diagram of a suspension plate positioning mechanism according to an embodiment of the present invention;
[0028] Figures 6a-6c This is a schematic diagram of a limiting component and a sliding component, representing a different preferred embodiment of the present invention.
[0029] Figures 7a-7cThis is a schematic diagram of the position conversion of the suspension plate position mechanism according to an embodiment of the present invention;
[0030] Figure 8 This is a schematic diagram of the first transmission unit according to an embodiment of the present invention;
[0031] Figures 9a-9c This is a schematic diagram of the positioning and transformation of a surgical robot according to an embodiment of the present invention;
[0032] Figure 10 This is a schematic diagram of a suspension plate positioning mechanism according to another embodiment of the present invention;
[0033] Figure 11 This is a schematic diagram of a suspension plate positioning mechanism according to another embodiment of the present invention.
[0034] In the attached image:
[0035] 1-Surgical robot; 2-Doctor's control console; 3-Hospital bed; 4-Image cart; 5-Instrument table; 6-Ventilator and anesthesia machine;
[0036] 10-Suspension plate positioning mechanism; 11-Mechanical arm; 12-Suspension arm; 100-Suspension plate; 101-First rotating shaft; 110-Suspension beam; 111-Slide rail; 111a-First sub-slide rail section; 111b-Second sub-slide rail section; 112-Roller assembly; 112a-First pulley; 112b-Second pulley; 121-Slider; 130-End part; 131-Curved surface; 150-First transmission unit; 151-Second rotating shaft; 152-Third rotating shaft. Detailed Implementation
[0037] 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.
[0038] 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.
[0039] 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.
[0040] The following description refers to the accompanying drawings.
[0041] Please refer to Figures 1 to 11 ,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; Figures 6a-6c This is a schematic diagram of a limiting component and a sliding component, representing a different preferred embodiment of the present invention. Figures 7a-7c This is a schematic diagram of the position conversion of the suspension plate position mechanism according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the first transmission unit according to an embodiment of the present invention; Figures 9a-9c This is a schematic diagram of the positioning and transformation of a surgical robot according to an embodiment of the present invention; Figure 10 This is a schematic diagram of a suspension plate positioning mechanism according to another embodiment of the present invention; Figure 11 This is a schematic diagram of a suspension plate positioning mechanism according to another embodiment of the present invention.
[0042] 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.
[0043] 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 at least two suspension plates 100, each of which has a first rotating shaft 101. The suspension plates 100 are rotatably arranged around the first rotating shaft 101, and the first rotating shafts 101 of the at least two suspension plates 100 extend in the same direction. The at least two suspension plates 100 are configured to move in a direction perpendicular to the first rotating shaft 101. Each suspension plate 100 is used for connection to at least one robotic arm 11. Preferably, each robotic arm 11 is rotatably connected to its corresponding suspension plate 100. The doctor's console 2 is equipped with a master operator. The main operation of the surgical robot is performed by the operator (e.g., a surgeon) through the doctor's console 2 and the master operator to remotely operate the robot to perform minimally invasive surgery on the patient on the bed 3. The master operator, robotic arm 11, and surgical instruments form a master-slave control relationship. During the operation, the robotic arm 11 and surgical instruments move according to the movement of the master operator, that is, according to the operation of the operator's hand. 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.
[0044] In this configuration, at least two suspension plates 100 are rotatably arranged around their respective first rotation axes 101, and at least two suspension plates 100 are also movable in a direction perpendicular to the first rotation axes 101. Each suspension plate 100 carries at least one robotic arm 11, allowing multiple robotic arms 11 to be quickly adjusted to their respective positions along with the suspension plates 100, enabling rapid surgical layout of the robotic arms 11. Furthermore, by differentiating the at least two suspension plates 100, each robotic arm 11 on the suspension plate 100 can obtain greater adjustment space and surgical space.
[0045] Optionally, the suspension plate positioning mechanism 10 further includes a suspension beam 110, which extends in a direction perpendicular to the first rotating shaft 101. At least two suspension plates 100 are movably mounted on the suspension beam 110. The extension direction of the suspension beam 110 is either the same as or perpendicular to the extension direction of the suspension arm 12 of the surgical robot 1. Preferably, the suspension beam 110 is movably mounted along the extension direction of the suspension arm 12, so that the suspension plate positioning mechanism 10 is retractable relative to the column of the surgical robot 1. It should be noted that... Figure 4 The suspension plate positioning mechanism 10 shown includes two suspension plates 100, but the suspension plate positioning mechanism is not limited to including only two suspension plates 100. For example, one suspension plate 100 may be provided on one side of the suspension beam 110, and two suspension plates 100 may be provided on the other side of the suspension beam 110, etc. Those skilled in the art can configure the number of suspension plates 100 according to actual needs.
[0046] In practical use, to enable the robotic arm 11 to achieve rapid surgical layout, at least two suspension plates 100 can be configured to rotate synchronously and in the same direction around their respective first rotation axes 101. It should be noted that "at least two suspension plates 100 rotating synchronously and in the same direction" means that each suspension plate 100 rotates simultaneously around its respective first rotation axis 101 in the same direction, not that the rotational speeds of each suspension plate 100 are identical. Therefore, in reality, the angles rotated by each suspension plate 100 within the same time period are not necessarily the same. As long as the suspension plates 100 rotate synchronously and in the same direction, all suspension plates 100 can quickly turn in the same direction to achieve 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 at least two suspension plates 100 rotate synchronously and in the same direction, the difference in their rotational speeds results in a relative rotational angle between them. With a relative angle of at least 60° between at least two suspension plates 100, it can adapt to different surgical positioning requirements. Furthermore, subsequent fine-tuning can be performed by individually rotating one suspension plate 100 or by rotating the robotic arm 11, compensating for the posture of the robotic arm 11, thus enabling rapid surgical placement. Optionally, in some embodiments, at least two suspension plates 100 can be configured to rotate at the same speed, so that when the suspension plates 100 rotate together, no relative rotation angle is generated.
[0047] 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.
[0048] 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.
[0049] 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 endoscopes.
[0050] like Figure 5As shown, furthermore, at least two of the suspension plates 100 are configured to move in opposite directions. In actual use, the suspension plates 100 can be arranged to match the bed 3, rotating clockwise or counterclockwise around the first axis of rotation 101 to a suitable angle. During rotation, at least two suspension plates 100 can also slide relative to each other in a direction perpendicular to the first axis of rotation 101 for fine adjustments, so that the robotic arm 11 mounted on it can move to a more suitable position. It is understood that the relative sliding of at least two suspension plates 100 in a direction perpendicular to the first axis of rotation 101 can also be performed simultaneously with the rotation of the suspension plates 100 around the first axis of rotation 101. It should be noted that the movement of at least two suspension plates 100 in opposite directions here refers to the direction perpendicular to the first axis of rotation 101. However, "opposite" should not be narrowly interpreted as the two directions having to be on a coinciding straight line, but should be understood broadly. Specifically, taking a linear movement direction of the suspension disc 100 as an example, the movement direction of the suspension disc 100 can be considered as a vector. In this case, the movement directions of at least two suspension discs 100 (i.e., two vectors) can be parallel, skew, or intersecting. The angle between the two vectors should be limited to the range of 150° to 180°. With this configuration, although the movement directions of at least two suspension discs 100 do not coincide on a straight line, they are roughly in opposite directions, which can also meet the need for rapid adjustment of the suspension discs 100. Of course, the movement direction of the suspension disc 100 is not limited to a linear shape; it can also be curved. In this case, the angle between the tangent of the curve of one suspension disc 100 and the tangent of the curve of another suspension disc 100 at a certain moment can be limited to the range of 150° to 180°. Furthermore, after at least two of the suspension discs 100 move in opposite directions and the entire suspension disc positioning mechanism 10 quickly positions itself to a predetermined position, the position of any one of the suspension discs 100 can be fine-tuned. This is not limited to at least two suspension discs 100 moving in opposite directions; some suspension discs 100 may remain stationary while others move, or all suspension discs 100 may be fine-tuned simultaneously. More specifically, the movement of the suspension discs 100 can also be switched using the clutch mechanism described later, and those skilled in the art can make reasonable settings according to actual conditions.
[0051] Preferably, the movement direction of at least two of the suspension plates 100 is parallel or perpendicular to the extension direction of the suspension beam 110. Figure 4 In the illustrated embodiment, the direction of movement of the suspension plate 100 is parallel to the direction of extension of the suspension beam 110. Specifically, the direction of movement of at least two suspension plates 100 is parallel to the direction of extension of the suspension beam 110, and at least one suspension plate 100 is distributed on each side of the suspension beam 110 along the horizontal direction. Figure 10In another embodiment shown, the direction of movement of the suspension plate 100 is perpendicular to the extension direction of the suspension beam 110. Specifically, the suspension beam 110 has an end portion 130 perpendicular to the extension direction of the suspension beam 110, the end portion 130 being parallel to each other on both sides of the extension direction of the suspension beam 110, and at least one suspension plate 100 is distributed on each side of the end portion 130 on both sides of the extension direction of the suspension beam 110. It should be noted that the shape of the suspension beam 110 is not limited in this invention; it is not limited to a straight line and can also be curved.
[0052] Preferably, the suspension plate positioning mechanism 10 further includes: at least two limiting components and at least two sliding components; each sliding component is connected to one of the limiting components; the limiting components extend in a direction perpendicular to the first rotating shaft 101, and the sliding components are movably connected to the limiting components along the extension direction of the limiting components, and are restricted by the limiting components in their degrees of freedom outside the extension direction of the limiting components; each sliding component is connected to at least one suspension plate 100. The limiting components effectively restrict the movement of the sliding components to the extension direction of the limiting components, preventing the sliding components from slipping off and improving the positioning accuracy and reliability of the suspension plate positioning mechanism 10.
[0053] Optionally, the limiting component includes a slide rail 111 or a roller assembly 112, and the sliding component includes a slider 121, which is movably disposed along the slide rail 111 or the roller assembly 112. The following is in conjunction with... Figures 6a-6c Several exemplary examples of limit components will be explained. Figures 6a-6c Cross-sections of the three limiting components are shown respectively.
[0054] Figure 6a The first example of a limiting assembly is shown, which includes a slide rail 111 fixedly disposed along the extension direction of the suspension beam 110. The slide rail 111 has a cross-section with a generally C-shaped groove. A slider 121 is adapted to the shape of the slide rail 111. The slider 121 can move in the groove along the extension direction of the groove, but is restricted by the groove and cannot move in other directions.
[0055] Figure 6b A second example of a limiting component is shown, with... Figure 6aCompared to the illustrated example, the slide rail 111 includes two sub-slide rail segments (a first sub-slide rail segment 111a and a second sub-slide rail segment 111b), forming a two-section shape that is telescopically extendable along the extension direction of the slide rail 111. Specifically, the first sub-slide rail segment 111a is fixedly arranged along the extension direction of the suspension beam 110 and has a generally C-shaped first groove. The second sub-slide rail segment 111b is adapted to the shape of the first groove and is movably arranged along the extension direction of the first groove. The second sub-slide rail segment 111b has a generally C-shaped second groove, and the slider 121 is adapted to the shape of the second groove and is movably arranged along the extension direction of the second groove. With this configuration, the travel range of the slider 121 is further increased while extending the axial length of the limiting component. Of course, those skilled in the art can also configure the slide rail 111 to include a greater number of sub-slide rail segments.
[0056] Figure 6c A third example of a limiting assembly is shown, which includes a pulley assembly 112 fixedly arranged along the extension direction of the suspension beam 110. The pulley assembly 112 includes a plurality of first pulleys 112a and second pulleys 112b arranged perpendicular to the extension direction of the limiting assembly. The first pulleys 112a and second pulleys 112b are arranged at intervals relative to each other, and the interval between them is adapted to the outer contour size of the slider 121. All the first pulleys 112a and second pulleys 112b are arranged sequentially along the extension direction of the limiting assembly, so that the interval between the first pulleys 112a and second pulleys 112b forms a cavity extending along the extension direction of the limiting assembly. With this configuration, the slider can slide in the cavity formed between the first pulleys 112a and second pulleys 112b.
[0057] It is understood that the above three examples are merely examples of limiting components and not limitations on limiting components. Those skilled in the art can select other forms of limiting components based on existing technology, and this invention is not limited in this regard.
[0058] Furthermore, the extension direction of the limiting component is either linear or curved. Based on the above description of the movement direction of the suspension plate 100, it can be understood that the movement direction of the suspension plate 100 can be linear or curved; therefore, it is also understandable that the extension direction of the limiting component is correspondingly linear or curved. However, the extension direction of the limiting component should be configured to be perpendicular to the first rotating shaft 101.
[0059] Please refer to Figure 11The diagram illustrates a curved limiting assembly. Specifically, the suspension beam 110 has an enlarged end portion 130 with two horizontally oriented curved surfaces 131. The extending directions of the two limiting assemblies are respectively arranged along the two curved surfaces 131, such that the extending directions of the limiting assemblies are arc-shaped. With this configuration, the suspension disc 100 connected to the sliding assemblies on the two curved surfaces 131 can move in opposite directions along the arc shape. Preferably, at least two of the limiting assemblies are arranged symmetrically about the extending directions of the end portion of the suspension beam 110.
[0060] Please refer to Figure 8 Preferably, the suspension plate positioning mechanism 10 further includes a first transmission unit 150, a second rotating shaft 151, and a third rotating shaft 152. The first transmission unit 150 is connected to the second rotating shaft 151 and the third rotating shaft 152 respectively, for synchronizing the rotation of the second rotating shaft 151 and the third rotating shaft 152. The first transmission unit 150 includes two opposing transmission sections between the second rotating shaft 151 and the third rotating shaft 152, and each transmission section is connected to at least one of the suspension plates 100. In an exemplary embodiment, the second shaft 151 and the third shaft 152 are rotatably mounted on the suspension beam 110. The first transmission unit 150 includes a transmission belt or transmission wire that surrounds the second shaft 151 and the third shaft 152 in a closed loop. Specifically, the transmission belt or transmission wire is a closed loop type that surrounds the second shaft 151 and the third shaft 152 in a closed loop and is adapted to the spacing and diameter of the second shaft 151 and the third shaft 152. It is preferably tensioned between the second shaft 151 and the third shaft 152. With this configuration, the rotation of either the second shaft 151 or the third shaft 152 can synchronously drive the other shaft to rotate via the transmission belt or transmission wire. Using the plane containing the axes of the second shaft 151 and the third shaft 152 as a reference plane, the portion of the transmission belt or transmission wire between the second shaft 151 and the third shaft 152 forms two opposing transmission segments on either side of this reference plane. When the second shaft 151 and the third shaft 152 rotate, these two opposing transmission segments move in opposite directions. The suspension discs 100, each connected to one of these transmission segments, move in the opposite direction. Therefore, by driving at least one of the second shaft 151 and the third shaft 152, at least two suspension discs 100 can move in opposite directions. It should be noted that if the diameters of the second shaft 151 and the third shaft 152 are different, the movement directions of the two transmission segments may not be parallel. In this case, although the movement directions of the two suspension discs 100 are not parallel, they can still be considered as moving in opposite directions. Preferably, the second rotating shaft 151 and the third rotating shaft 152 have the same diameter, and the movement directions of at least the two suspension plates 100 are parallel to each other.
[0061] Furthermore, the two sliding components are fixedly connected to the two transmission sections respectively. With this configuration, the two sliding components can move synchronously in opposite directions under the drive of the first transmission unit 150.
[0062] Preferably, the suspension disc positioning mechanism further includes at least one braking element, which is used to lock any one of the first rotating shaft 101, the second rotating shaft 151, and the third rotating shaft 152. The braking element is used to lock the rotation of the corresponding rotating shaft. 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 disc 100.
[0063] Furthermore, each of the suspension discs 100 has a clutch component, allowing any one suspension disc 100 to move synchronously or independently with the other suspension discs 100 via the corresponding clutch component. The first rotating shaft 101 of each suspension disc 100 can be switched between synchronous and independent rotation with the first rotating shaft 101 of the other suspension discs 100 via the clutch component. Each suspension disc 100 can also be switched between synchronous and independent movement with the other suspension discs 100 along a direction perpendicular to the first rotating shaft 101 via the clutch component. In some cases, it is necessary to adjust the position or angle of a particular suspension disc 100. This can be achieved by temporarily disengaging the suspension disc 100 from the other suspension discs 100 via the clutch component, thereby adjusting the position or angle of the suspension disc 100.
[0064] Please refer to the following. Figures 7a to 7c , combined Figures 9a-9c The positioning conversion of the suspension plate positioning mechanism 10 provided in this embodiment is explained in detail through an example including two suspension plates. Specifically, Figure 7a The image shows the positioning state of the suspension plate positioning mechanism 10 corresponding to the right side position. Figure 7b and Figure 9a The image shows the positioning state of the suspension plate positioning mechanism 10 corresponding to the left side position. Figure 7c , Figure 9b and Figure 9c The diagram shows the suspension plate positioning mechanism 10 in its positioning state corresponding to the zero position, wherein... Figure 9b This indicates the lower abdomen position within the zero position. Figure 9c This illustrates the upper abdominal position within the zero 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 hole 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, the two suspension plates 100 rotate to approximately the same position. Figure 7b and Figure 9a The two suspension plates 100 are arranged in a direction that is roughly the same, while the two suspension plates 100 are relatively far apart along the extension direction of the suspension beam 110. That is, the two suspension plates 100 are staggered by a certain distance along the extension direction of the suspension beam 110 to avoid interference and influence on the left surgical area of the patient. Each robotic arm 11 can be arranged sequentially facing the left abdomen of the patient, so that each robotic arm 11 is arranged sequentially according to the expected surgical layout. Figure 7a The arrangement of the right side shown is a mirror image of the left side mentioned above, and will not be described again here.
[0066] 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 are rotated 100 degrees to approximately... Figure 7c , Figure 9b and Figure 9c The two suspension plates 100 are arranged in a direction that is approximately 90 degrees apart. At this time, the two suspension plates 100 are in the same position along the extension direction of the suspension beam 110. Each robotic arm 11 can be arranged sequentially towards the upper or lower abdomen of the patient, so that each robotic arm 11 is arranged sequentially according to the expected surgical layout.
[0067] 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... Figures 7a to 7c Any state between them, not limited to Figures 7a to 7c 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.
[0068] In summary, in the suspension plate positioning mechanism and surgical robot provided by this invention, the suspension plate positioning mechanism includes at least two suspension plates, each with a first rotating shaft. The suspension plates are rotatably arranged around the first rotating shaft, and the first rotating shafts of the at least two suspension plates extend in the same direction. The at least two suspension plates are configured to move in a direction perpendicular to the first rotating shaft. Each main suspension plate is used to connect to at least one robotic arm. With this configuration, the at least two suspension plates are rotatably arranged around their respective first rotating shafts, and the at least two suspension plates also move in a direction perpendicular to the first rotating shaft. Each suspension plate carries at least one robotic arm, allowing multiple robotic arms to be quickly adjusted to their corresponding positions along with the suspension plates, enabling rapid surgical layout of the robotic arms. Furthermore, by differentiating the at least two suspension plates, each robotic arm on the suspension plate can obtain greater adjustment space and surgical space.
[0069] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.
Claims
1. A suspension plate positioning mechanism, characterized in that, include: At least two suspension plates, each of the suspension plates having a first pivot, the suspension plates being rotatably disposed about the first pivot, the first pivots of the at least two suspension plates extending in the same direction; the at least two suspension plates being configured to move in a direction perpendicular to the first pivot; each suspension plate being used for connection to at least one robotic arm; The suspension plate positioning mechanism further includes: at least two limiting components and at least two sliding components; the limiting components extend in a direction perpendicular to the first rotating axis, and the sliding components are movably connected to the limiting components along the extension direction of the limiting components and are restricted by the limiting components to have degrees of freedom outside the extension direction of the limiting components; each sliding component is connected to at least one of the suspension plates.
2. The suspension plate positioning mechanism according to claim 1, characterized in that, At least two of the suspension plates are configured to move in opposite directions.
3. The suspension plate positioning mechanism according to claim 1, characterized in that, The limiting component includes a slide rail or a roller assembly, and the sliding component includes a slider, which is movably disposed along the slide rail or the roller assembly.
4. The suspension plate positioning mechanism according to claim 1, characterized in that, The extension direction of the limiting component is either linear or curved.
5. The suspension plate positioning mechanism according to claim 1, characterized in that, The suspension plate positioning mechanism further includes a suspension beam that extends in a direction perpendicular to the first rotation axis, and at least two of the limiting components are symmetrically arranged about the extension direction of the end portion of the suspension beam.
6. The suspension plate positioning mechanism according to claim 1, characterized in that, The suspension plate positioning mechanism further includes a first transmission unit, a second rotating shaft, and a third rotating shaft. The first transmission unit is connected to the second rotating shaft and the third rotating shaft respectively, and is used to synchronize the rotation of the second rotating shaft and the third rotating shaft. The first transmission unit includes two opposing transmission sections between the second rotating shaft and the third rotating shaft, and each transmission section is connected to at least one of the suspension plates.
7. The suspension plate positioning mechanism according to claim 6, characterized in that, The suspension plate positioning mechanism further includes at least one braking element, which is used to lock any one of the first rotating shaft, the second rotating shaft, and the third rotating shaft.
8. The suspension plate positioning mechanism according to claim 6, characterized in that, The first transmission unit includes a transmission belt or transmission wire, which are respectively closed around the second rotating shaft and the third rotating shaft.
9. The suspension plate positioning mechanism according to claim 1, characterized in that, Each of the suspension discs has a clutch component, and any one of the suspension discs can move synchronously or independently with the other suspension discs through the corresponding clutch component.
10. The suspension plate positioning mechanism according to claim 1, characterized in that, The suspension plate positioning mechanism further includes a suspension beam extending in a direction perpendicular to the first rotating axis. At least two suspension plates are movably mounted on the suspension beam, and the movement direction of at least two suspension plates is parallel or perpendicular to the extension direction of the suspension beam. The extension direction of the suspension beam is used to be the same as or perpendicular to the extension direction of the suspension arm of the surgical robot.
11. A surgical robot, characterized in that, Includes the suspension plate positioning mechanism, multiple robotic arms, and suspension arm 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.