Surgical robot and its heavy duty base

Abstract

The application provides a surgical robot and a heavy-load base thereof, the heavy-load base comprising a column support structure, a caster support structure and at least one distance adjustment structure; the heavy-load base is provided with a reference direction; the distance adjustment structure has a first adjustment end and a second adjustment end which are relatively movable, and is used for forming a movement stroke along the reference direction through relative movement between the first adjustment end and the second adjustment end; the first adjustment end is connected with the column support structure, and the second adjustment end is connected with the caster support structure. In this way, the heavy-load base of the application can realize the movement of at least one caster support structure along the reference direction through the configuration of at least one distance adjustment structure, so as to realize the distance adjustment of two caster support structures along the reference direction, and further realize the width adjustment of the heavy-load base, so that the surgical robot has greater environmental adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical robot and a heavy load base thereof. BACKGROUND

[0002] The emergence of surgical robots conforms to the development trend of precision surgery. Surgical robots have become a powerful tool to help doctors complete surgery, such as da Vinci surgical robots have been applied in hospitals around the world, because of less injury, less bleeding, faster recovery, and bring good news to patients.

[0003] The design concept of surgical robots is to use minimally invasive methods to accurately perform complex surgical operations. In the face of various limitations of traditional surgery, surgical robots have been developed to replace traditional surgery. Surgical robots break through the limitations of the human eye and use stereoscopic imaging technology to present internal organs more clearly to the operator. In areas where the hand cannot reach, the instrument arm can complete 360-degree rotation, movement, swing, and clamping, and avoid shaking. The incision is small, the bleeding is less, the recovery is fast, the hospitalization time of patients after surgery is greatly shortened, and the survival rate and rehabilitation rate after surgery can be significantly improved, which is favored by the majority of doctors and patients. As a kind of high-end medical equipment, it has been widely used in various clinical surgeries.

[0004] The surgical robot has a base, the base is provided with a moving structure, and the base realizes the moving function through the moving structure, so as to realize the moving function of the surgical robot. In the prior art, the base of the surgical robot is a fixed structure, and in order to ensure the stability of the structure, the surgical robot, especially the base structure, is designed to be very thick and wide, so as to ensure the stability of the whole under a certain degree of inclination. However, since the base of the surgical robot is a fixed structure, the width of the base cannot be adjusted, which causes the surgical robot to be unable to enter the operating room or the elevator. SUMMARY

[0005] The present application aims to provide a surgical robot and a heavy load base thereof to solve the problem that the surgical robot in the prior art may not be able to enter the operating room or the elevator due to the fixed structure of the base.

[0006] To solve the above technical problems, based on one aspect of the present application, a heavy load base is provided for a surgical robot, the heavy load base comprising a column support structure, a castor support structure, and at least one distance adjustment structure; the heavy load base is provided with a reference direction corresponding thereto;

[0007] The distance adjustment structure has a first adjustment end and a second adjustment end that can move relative to each other, and is used to form a moving stroke along the reference direction through the relative movement between the first adjustment end and the second adjustment end;

[0008] The first adjustment end is connected with the column support structure, and the second adjustment end is connected with the caster support structure.

[0009] Optionally, the relative movement direction of the first adjustment end and the second adjustment end is parallel to the reference direction.

[0010] Optionally, the distance adjustment structure comprises a sliding block and a guide rail movably arranged in the sliding block, the first adjustment end is configured as a connection end formed by the sliding block and the column support structure, and the second adjustment end is configured as a connection end formed by the guide rail and the caster support structure.

[0011] Optionally, the heavy load base further comprises a driving structure connected with the distance adjustment structure, and the driving structure is configured to drive the relative movement of the first adjustment end and the second adjustment end.

[0012] Optionally, the driving structure comprises a driving member, a driven member and a connecting member, the driving member and the driven member are rotatably connected with each other, the driving member is configured to convert the rotational movement of itself into the linear movement of the driven member perpendicular to the reference direction, and the two ends of the connecting member are rotatably connected with the driven member and the second adjustment end respectively.

[0013] Optionally, the driving member comprises a lead screw, and the axis of the driving member is perpendicular to the reference direction, and the driven member comprises a nut.

[0014] Optionally, the heavy load base comprises at least two distance adjustment structures, and the two caster support structures distributed on the two sides of the column support structure along the reference direction are connected with the column support structure through at least one distance adjustment structure respectively.

[0015] Optionally, the driving structure corresponding to one of the caster support structures and the driving structure corresponding to the other caster support structure share the same driving member.

[0016] Optionally, the driving structure comprises an adjusting handle fixedly connected with the driving member, and / or the driving structure comprises a rotary motor, and the rotating shaft of the rotary motor is coaxially connected with the driving member.

[0017] Optionally, when the driving structure comprises the rotary motor, the rotary motor is configured to be connected with a controller of a surgical robot, and a sensor is arranged on the caster support structure, and when the sensor detects that the state information of the heavy load base meets a preset condition in real time, the controller starts the rotary motor to drive the second adjustment end to move close to or away from the first adjustment end.

[0018] Optionally, the state information of the heavy load base comprises at least one of obstacle blocking information and load bearing pressure information.

[0019] The obstacle blocking information is configured to whether there is an obstacle within a preset distance along a first direction from an outermost position of the caster support structure, wherein the column support structure has a reference plane parallel to the reference direction, the first direction is parallel to the reference plane and perpendicular to the reference direction, and the outermost position of the caster support structure is a position farthest from the reference direction.

[0020] The load bearing pressure information is configured to a pressure value borne by each of the two caster support structures along the direction of gravity.

[0021] Optionally, when the state information of the heavy load base comprises the obstacle blocking information, the preset condition is configured to that there is an obstacle within a preset distance along a first direction from an outermost position of the caster support structure, and the controller starts the rotary motor to drive the second adjustment end to move close to the first adjustment end.

[0022] When the heavy load base comprises the load bearing pressure information, the preset condition is configured to that a ratio of a pressure value corresponding to one of the caster support structures to a pressure value corresponding to another of the caster support structures exceeds a preset range, and the controller starts the rotary motor to drive the second adjustment end to move away from the first adjustment end.

[0023] Optionally, the caster support structure comprises a support frame connected to the second adjustment end and at least two casters connected to the support frame.

[0024] Optionally, the caster support structure comprises at least four casters and a lifting assembly, at least two of the casters are configured as motion casters, and the other at least two of the casters are configured as adjustment casters, at least one of the adjustment casters and the motion casters is connected to the support frame through the lifting assembly; the column support structure has a reference plane parallel to the reference direction, the lifting assembly is used to adjust a relative distance of the adjustment casters and the motion casters along a vertical direction of the reference plane; and a central axis of the adjustment casters is parallel to the reference plane and perpendicular to a relative movement direction of the first adjustment end and the second adjustment end.

[0025] Based on another aspect of the present application, the present application further provides a surgical robot, which comprises a surgical execution assembly and a heavy load base as described above, and the surgical execution assembly is connected to the column support structure.

[0026] In summary, in the heavy load base and surgical robot provided by the application, the heavy load base comprises a column support structure, a caster support structure and at least one distance adjustment structure; the heavy load base is provided with a reference direction; the distance adjustment structure has a first adjustment end and a second adjustment end which are relatively movable, and is used to form a movement stroke along the reference direction through the relative movement between the first adjustment end and the second adjustment end; wherein the first adjustment end is connected with the column support structure, and the second adjustment end is connected with the caster support structure.

[0027] In this way, the heavy load base of the application can realize the movement of the at least one caster support structure along the reference direction by configuring the at least one distance adjustment structure, so as to realize the adjustable relative distance of the two caster support structures along the reference direction, and further realize the adjustable width of the heavy load base, so that the surgical robot has greater environmental adaptability, and the width of the heavy load base can be adjusted according to the actual situation, so as to be suitable for different transportation scenes and application scenes of the surgical robot. In addition, in some special use scenes, the width of the heavy load base can be increased through the distance adjustment structure, so as to further improve the structural stability of the surgical robot and ensure the safety of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0028] Those skilled in the art should understand that the provided drawings are used to better understand the application, and do not constitute any limitation on the scope of the application. Among them:

[0029] Figure 1 is a schematic diagram of an application scene of the surgical robot system related to the application;

[0030] Figure 2 is a schematic diagram of a surgical robot of an embodiment of the application;

[0031] Figure 3 is a top view of a heavy load base of an embodiment of the application;

[0032] Figure 4 is a bottom view of a heavy load base of an embodiment of the application;

[0033] Figure 5 is another top view of a heavy load base of an embodiment of the application;

[0034] Figure 6 is a schematic diagram of an adjusting caster and lifting assembly of an embodiment of the application;

[0035] Figure 7 is a state diagram of a caster support structure of an embodiment of the application;

[0036] Figure 8 is another state diagram of a caster support structure of an embodiment of the application;

[0037] Figure 9 This is a schematic diagram of a distance adjustment structure and a caster support structure according to an embodiment of the present invention;

[0038] Figure 10 This is a schematic diagram of the cooperation between a rotary motor and a drive structure according to an embodiment of the present invention;

[0039] Figure 11 This is a schematic diagram of the width sensor and the caster support structure in one embodiment of the present invention;

[0040] Figure 12 This is a flowchart illustrating how the width of a heavy-duty base is adjusted based on obstacle obstruction information detected by a width sensor, according to an embodiment of the present invention.

[0041] Figure 13 This is a schematic diagram of the pressure sensor and caster support structure in accordance with an embodiment of the present invention;

[0042] Figure 14 This is a schematic diagram showing other structures of a surgical robot according to an embodiment of the present invention applying pressure to a heavy-duty base;

[0043] Figure 15 This is a schematic diagram of the pressure exerted on a heavy-duty base under load according to an embodiment of the present invention;

[0044] Figure 16 This is a schematic diagram of the center of gravity of a heavy-duty base and a pressure sensor according to an embodiment of the present invention;

[0045] Figure 17 This is a schematic diagram of mathematical analysis of a heavy-duty base bearing load according to an embodiment of the present invention;

[0046] Figure 18 This is a flowchart illustrating how the width of a heavy-duty base is adjusted based on load-bearing pressure information detected by a pressure sensor, according to an embodiment of the present invention.

[0047] In the attached image:

[0048] 100-Main device; 101-Main operator; 102-Imaging equipment; 103-Foot-operated surgical control device; 200-Slave device; 201-Base; 210-Instrument arm; 221-Surgical instrument; 222-Endoscope; 300-Image cart; 302-Display device; 400-Support device; 410-Patient; 500-Ventilator and anesthesia machine; 600-Instrument table; 700-Lifting column;

[0049] 10 - column support structure; 20 - caster support structure; 21 - support frame; 22 - moving caster; 23 - adjusting caster; 24 - lifting assembly; 30 - distance adjusting structure; 31 - guide rail; 32 - sliding block; 40 - driving structure; 41 - driving member; 42 - driven member; 43 - connecting member; 44 - adjusting handle; 45 - rotary motor; 50 - controller; 61 - width sensor; 62 - pressure sensor; m - reference direction; n - first direction; H - reference plane. DETAILED DESCRIPTION

[0050] To make the objects, advantages and features of the present application more clearly, the following further describes the present application in conjunction with the drawings and specific embodiments. It should be noted that the drawings are very simplified and not drawn in proportion, and are only used to facilitate and clearly assist the purpose of describing the embodiments of the present application. In addition, the structures shown in the drawings are often a part of the actual structures. In particular, the emphasis shown in each drawing is different, and sometimes different proportions are used.

[0051] As used in the present application, the singular forms "a", "an" and "the" include plural referents, the term "or" is used in the inclusive sense, i.e., the term "or" is used in the inclusive sense, the term "at least one" is used in the inclusive sense, the term "at least two" is used in the inclusive sense, and the term "first", "second", "third" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "third" can explicitly or implicitly include one or at least two features, "one end" and "the other end" and "proximal end" and "distal end" generally refer to two parts corresponding to each other, which not only includes the end points, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal connection or interaction of two elements. In addition, as used in the present application, a component is provided in another component, which generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two components, and the two components can be directly or indirectly connected, coupled, cooperated or transmitted through an intermediate component, and cannot be understood as indicating or implying the spatial positional relationship between the two components, i.e. one component can be in any orientation inside, outside, above, below or one side of another component, unless the content is otherwise explicitly indicated. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] Figure 1An application scenario of a surgical robot system is shown, which includes a master-slave teleoperation surgical robot, i.e. the surgical robot system includes a master device 100 (i.e. a doctor end control device), a slave device 200 (i.e. a patient end control device), a master controller, and a support device 400 (e.g. a surgical bed) for supporting a surgical object to perform a surgery. It should be noted that in some embodiments, the support device 400 can also be replaced by other surgical operation platforms, and the present embodiment is not limited thereto.

[0053] The master device 100 is an operation end of the teleoperation surgical robot, and includes a master operation hand 101 installed thereon. The master operation hand 101 is used to receive hand movement information of an operator as a movement control signal input of the whole system. Optionally, the master controller is also arranged on the master device 100. Preferably, the master device 100 further includes an imaging device 102, which can provide a stereoscopic image for the operator, and provide a surgical field image for the operator to perform a surgical operation. The surgical field image includes the type, number, pose in the abdomen of surgical instruments, the morphology, arrangement of patient organ tissues and surrounding organ tissues, and blood vessels. Optionally, the master device 100 further includes a foot-operated surgical control device 103, and the operator can also complete the input of operation instructions such as electrocision and electrocoagulation through the foot-operated surgical control device 103.

[0054] The slave device 200 is a specific execution platform of the teleoperation surgical robot, and includes a base 201 and a surgical execution assembly installed thereon. The surgical execution assembly includes an instrument arm 210 and an instrument mounted or connected to the end of the instrument arm 210. Further, the instrument includes a surgical instrument 221 (such as a high-frequency electrotome) for specifically performing a surgical operation, and an endoscope 222 for auxiliary observation; accordingly, the instrument arm 210 for connecting or mounting the endoscope 222 can be referred to as a mirror holding arm.

[0055] In one embodiment, the instrument arm 210 includes an adjustment arm and a working arm. The tool arm is a mechanical fixed point mechanism, which is used to drive the instrument to move around a mechanical fixed point, so as to realize minimally invasive surgical treatment or shooting operation on a patient 410 on the support device 400. The adjustment arm is used to adjust the pose of the mechanical fixed point in the working space. In another embodiment, the instrument arm 210 is a spatial configuration mechanism with at least six degrees of freedom, which is used to drive the surgical instrument 221 to move around a driven fixed point under program control. The surgical instrument 221 is used to perform specific surgical operations such as clamping, cutting, and shearing. It should be noted that since the surgical instrument 221 and the endoscope 222 have a certain volume in practice, the above-mentioned "fixed point" should be understood as a fixed area. Of course, those skilled in the art can understand the "fixed point" according to the prior art.

[0056] The master controller is communicatively connected with the master device 100 and the slave device 200, respectively, and is configured to control the movement of the surgical execution assembly according to the movement of the master manipulator 101. Specifically, the master controller comprises a master-slave mapping module, which is configured to obtain the end position of the master manipulator 101, and a predetermined master-slave mapping relationship, to obtain the expected end position of the surgical execution assembly, and then control the instrument arm 210 to drive the instrument to move to the expected end position. Further, the master-slave mapping module is also configured to receive an instrument function operation instruction (such as an electric cutting, electric coagulation, or other related operation instruction), and control the energy driver of the surgical instrument 221 to release energy to implement the electric cutting, electric coagulation, or other surgical operation. In some embodiments, the master controller also receives the force information of the surgical execution assembly (for example, the force information of the human body tissue and organs on the surgical instrument), and feeds back the force information of the surgical execution assembly to the master manipulator 101, so that the operator can more intuitively feel the feedback force of the surgical operation.

[0057] Further, the medical robot system further comprises an image trolley 300. The image trolley 300 comprises an image processing unit (not shown) communicatively connected with the endoscope 222. The endoscope 222 is configured to obtain the surgical field image inside the cavity (i.e., inside the body cavity of the patient). The image processing unit is configured to perform image processing on the surgical field image obtained by the endoscope 222, and transmit the image to the imaging device 102, so that the operator can observe the surgical field image. Optionally, the image trolley 300 further comprises a display device 302. The display device 302 is communicatively connected with the image processing unit, and is configured to provide the display device 302 to the auxiliary operator (for example, a nurse) in real time to display the surgical field image or other auxiliary display information.

[0058] Optionally, in some surgical application scenarios, the surgical robot system further comprises a breathing machine and an anesthetic machine 500, and an instrument table 600 and other auxiliary components for use in surgery. Those skilled in the art can select and configure these auxiliary components according to the prior art, which will not be described here.

[0059] In the prior art, the base of the surgical robot is a fixed structure, and in order to ensure the stability of the structure, the surgical robot, especially the base structure, is designed to be very thick and wide, so as to ensure the stability of the whole surgical robot under a certain degree of inclination. However, since the base of the surgical robot is a fixed structure, the width of the base cannot be adjusted, which may result in that the surgical robot cannot enter the operating room or the elevator.

[0060] Therefore, an embodiment of the present application provides a surgical robot and a heavy-load base thereof, to solve the problem that the surgical robot in the prior art cannot enter the operating room or the elevator due to the fixed structure of the base.

[0061] The surgical robot and heavy-duty base of this embodiment will be described in detail below with reference to the accompanying drawings.

[0062] Figure 2 This is a schematic diagram of a surgical robot according to an embodiment of the present invention. Figure 2 As shown, one embodiment of the present invention provides a surgical robot, which includes a surgical execution component and a heavy-duty base. Figure 3 This is a top view of a heavy-duty base according to an embodiment of the present invention. The heavy-duty base includes a column support structure 10 and a caster support structure 20. The heavy-duty base is configured with a reference direction m, which can be understood as the width direction of the heavy-duty base. Typically, there are two caster support structures 20, located on opposite sides of the column support structure 10 along the reference direction m and connected to it. The heavy-duty base achieves its movement function through the caster support structures 20. The surgical execution component is connected to the column support structure 10, typically, for example, through a lifting column 700, and the height of the surgical execution component is adjusted by the lifting function of the lifting column 700. The surgical execution component includes an instrument arm 210 and instruments, with the instruments mounted or connected to the end of the instrument arm 210. Instruments include surgical instruments 221 (such as high-frequency electrosurgical units) used to perform specific surgical procedures and endoscopes 222 used for auxiliary observation; correspondingly, the instrument arm 210 used to connect to or mount the endoscope 222 can be called an endoscope-holding arm. It should be noted that those skilled in the art can understand the surgical robot of this embodiment based on the various components of the robot system described above, and will not be elaborated further here.

[0063] Furthermore, the column support structure 10 has a reference plane H parallel to the reference direction m. Typically, the column support structure 10 is roughly plate-shaped, and the reference plane H can be understood as a plane parallel to the plate. When the heavy-duty base is placed on a horizontal surface, the reference plane H is parallel to the horizontal surface. The reference plane H can be further understood as the top or bottom surface of the column support structure 10. Further, the direction parallel to the reference plane H and perpendicular to the reference direction m is denoted as the first direction n, which can also be understood as the length direction of the heavy-duty base. In one embodiment, the heavy-duty base moves linearly along the first direction n through the movement function of the caster support structure 20, thereby entering the operating room or elevator, or other corresponding rooms.

[0064] Continue reading Figure 3Generally, the extension direction of the caster support structure 20 is linear, and the plane where the two caster support structures 20 are located is substantially parallel to the reference plane H. Preferably, the extension direction of the two caster support structures 20 is perpendicular to the reference direction m and parallel to the reference plane H (i.e. the extension direction of both is parallel to the first direction n), so that the heavy load base is substantially in the shape of "H" or "U" in the top view. Of course, in some other embodiments, the extension direction of one of the caster support structures 20 can be parallel to the first direction n, and the extension direction of the other caster support structure 20 is arranged at an angle (e.g. 10°, 15°, 20°, etc.) to the first direction n; or the extension direction of both caster support structures 20 is arranged at an angle to the first direction n, so that the two column support structures 10 are in the shape of "8".

[0065] Figure 4 is a bottom view of the heavy load base according to an embodiment of the present application. Referring to Figure 4 The moving function of the caster support structure 20 is realized by the casters mounted thereon. Specifically, the caster support structure 20 includes at least two casters, which can be configured as motion casters 22. The moving function of the caster support structure 20 is realized by providing the motion casters 22. In other words, the caster support structure 20 includes a support frame 21 and at least two motion casters 22, and the extension direction of the caster support structure 20 is also the extension direction of the support frame 21, and the motion casters 22 are mounted on the support frame 21. The motion casters 22 can be universal wheels, or wheels with fixed direction, such as the installation of the motion casters 22 limits the moving direction of the heavy load base to the first direction n.

[0066] Figure 5 is another top view of the heavy load base according to an embodiment of the present application. As Figure 5As shown, the heavy load base further comprises at least one distance adjustment structure 30. At least one of the two caster support structures 20 is connected with the column support structure 10 through the at least one distance adjustment structure 30, including the following two cases: (a) one of the two caster support structures 20 is connected with the column support structure 10 through the distance adjustment structure 30, and the number of the distance adjustment structures 30 is not limited, which can be one, two, three, etc., and the other caster support structure 20 can be directly fixedly connected with the column support structure 10 through the support frame 21; (b) the two caster support structures 20 are each connected with the column support structure 10 through the distance adjustment structure 30, and the number of the distance adjustment structures 30 corresponding to the two caster support structures 20 can be equal or not equal. The distance adjustment structure 30 has a first adjustment end and a second adjustment end which are relatively movable, and is used to form a movement stroke along the reference direction m (i.e. the relative movement stroke of the first adjustment end and the second adjustment end) through the relative movement between the first adjustment end and the second adjustment end, and the first adjustment end is connected with the column support structure 10, and the second adjustment end is connected with the caster support structure 20, and specifically can be connected with the support frame 21 of the caster support structure 20. In this way, the relative movement stroke along the reference direction m formed by the first adjustment end and the second adjustment end can make the caster support structure 20 have a movement stroke along the reference direction m, so as to adjust the relative distance between the caster support structure 20 and the column support structure 10 along the reference direction m, and further adjust the relative distance between the two caster support structures 20 along the reference direction m, so as to realize the width adjustment of the heavy load base.

[0067] Preferably, the relative movement direction of the first adjustment end and the second adjustment end is parallel to the reference direction m, so that the relative movement distance of the first adjustment end and the second adjustment end is all used to form the movement stroke along the reference direction m. In other embodiments, the relative movement direction of the first adjustment end and the second adjustment end can be arranged at an angle (such as 10°, 20°, 30°) with the reference direction m, including the following two cases: (c) the relative movement direction of the first adjustment end and the second adjustment end is at an angle with the reference direction m, and the relative movement direction of the first adjustment end and the second adjustment end is parallel to the reference plane H; (d) the relative movement direction of the first adjustment end and the second adjustment end is at an angle with the reference direction m, and the relative movement direction of the first adjustment end and the second adjustment end is at an angle with the reference plane H. In the two cases, the relative movement stroke of the first adjustment end and the second adjustment end can be decomposed by the orthogonal decomposition method, and for case (c), the orthogonal decomposition is performed according to the reference direction m and the first direction n, and for case (d), the orthogonal decomposition is performed according to the reference direction m and the vertical direction of the reference plane H, so as to form the movement stroke along the reference direction m.

[0068] It should be noted that if the single caster support structure 20 is connected to the column support structure 10 through at least two distance adjustment structures 30, the relative movement directions of the first adjustment end and the second adjustment end in each distance adjustment structure 30 of the single caster support structure 20 corresponding to all the distance adjustment structures 30 are parallel to each other to avoid interference during movement. For example, the relative movement directions of the first adjustment end and the second adjustment end in each distance adjustment structure 30 are both parallel to the reference direction m, or the relative movement directions of the first adjustment end and the second adjustment end in each distance adjustment structure 30 are both inclined to the reference direction m, and the inclination directions and inclination angles are consistent.

[0069] Preferably, referring to Figure 6 and referring to Figure 4 , Figure 6 is a schematic view of an adjusting caster and lifting assembly according to an embodiment of the present application. The caster support structure 20 includes at least four casters and a lifting assembly 24, at least two of which are matched as the moving casters 22 described above, and the other at least two are configured as the adjusting casters 23. The at least two adjusting casters 23 and the at least two moving casters 22 are both mounted on the support frame 21, and at least one of the adjusting casters 23 and the moving casters 22 is connected to the support frame 21 through the lifting assembly 24; the lifting assembly 24 is used to adjust the relative distance of the adjusting casters 23 and the moving casters 22 along the vertical direction of the reference plane H. In addition, the central axis of the adjusting caster 23 is parallel to the reference plane H and perpendicular to the relative movement direction of the first adjustment end and the second adjustment end, so as to define the rolling direction of the adjusting caster 23 as the relative movement direction of the second adjustment end and the first adjustment end. In an embodiment, the relative movement direction of the second adjustment end and the first adjustment end is parallel to the reference direction m, and accordingly, the central axis of the adjusting caster 23 is parallel to the reference plane H and perpendicular to the reference direction m. In this way, when the reference plane H is parallel to the horizontal plane, the relative height of the moving casters 22 and the adjusting casters 23 to the ground can be adjusted through the lifting assembly 24. For example, when it is necessary to move the caster support structure 20 to adjust the width of the heavy load base, the moving casters 22 can be made higher than the adjusting casters 23 under the action of the lifting assembly 24, the moving casters 22 are lifted off the ground, the adjusting casters 23 are in contact with the ground, and the support structure is moved under the action of the adjusting casters 23. Although configuring the moving casters 22 as universal wheels can also achieve the movement of the caster support structure 20 along the reference direction m, additionally configuring the adjusting casters 23 and limiting the adjusting casters 23 as fixed-direction casters (i.e., defining the rolling direction of the adjusting caster 23 as the relative movement direction of the second adjustment end and the first adjustment end) can reduce the movement friction and make the width adjustment more convenient. The implementation of the lifting assembly is not limited, which can be a telescopic lifting rod, a driving motor, a hydraulic cylinder, etc.

[0070] Figure 7 is a state diagram of the caster support structure 20 of an embodiment of the present application, Figure 8 is another state diagram of the caster support structure 20 of an embodiment of the present application. By way of example, refer to Figure 6 , Figure 7 and Figure 8 By way of example, when the width of the heavy load base needs to be adjusted, the lifting assembly 24 is driven to work so as to make the adjusting caster 23 extend downward to contact the ground (as shown in Figure 7 ), and the moving caster 22 is lifted up to be away from the ground, so as to be adjusted in width under the action of the adjusting caster 23; after the width adjustment is completed, the lifting assembly 24 is driven to work so as to make the adjusting caster 23 be retracted upward, so that the moving caster 22 contacts the ground (as shown in Figure 8 ). Of course, the moving caster 22 can also be connected with the support frame 21 through the lifting assembly 24, when the width of the heavy load base needs to be adjusted, the lifting assembly 24 is driven to work so as to make the moving caster 22 be retracted upward, so that the adjusting caster 23 contacts the ground, and the moving caster 22 is away from the ground, so as to be adjusted in width under the action of the adjusting caster 23; after the width adjustment is completed, the lifting assembly 24 is driven to work so as to make the moving caster 22 extend downward, so as to contact the ground and lift up the adjusting caster 23 to be away from the ground.

[0071] In other embodiments, the moving caster 22 and the adjusting caster 23 can be respectively connected with the support frame 21 through a lifting assembly 24, so that the moving caster 22 and the adjusting caster 23 can both be adjusted in height. The lifting assembly 24 of the moving caster 22 can also adjust the overall height of the surgical robot to adapt to more application scenarios.

[0072] It should be noted that when the moving caster 22 is a universal wheel, the adjusting caster 23 can not be configured, and the width can also be adjusted under the action of the moving caster 22.

[0073] The specific mechanical structure of the distance adjustment structure 30 of the present embodiment is not limited. Figure 9 is a schematic diagram of the distance adjustment structure 30 and the caster support structure 20 of an embodiment of the present application, in an example, as Figure 9As shown, the distance adjustment structure 30 comprises a slider 32 and a guide rail 31 movably arranged in the slider 32, the slider 32 is fixedly connected with the column support structure 10, the guide rail 31 is fixedly connected with the caster support structure 20, the first adjustment end is configured as a connection end formed by the connection of the slider 32 and the column support structure 10, and the second adjustment end is configured as a connection end formed by the connection of the guide rail 31 and the caster support structure 20. In this way, the relative movement of the first adjustment end and the second adjustment end can be realized by the movable arrangement of the guide rail 31 in the slider 32, thereby realizing the width adjustment of the heavy load base. The relative movement direction of the first adjustment end and the second adjustment end is the extension direction of the guide rail 31. It can be understood that, if the relative movement direction of the first adjustment end and the second adjustment end needs to be parallel to the reference direction m, the extension direction of the guide rail 31 can be configured to be parallel to the reference direction m. Further, the extension direction of the guide rail 31 is configured to be perpendicular to the extension direction of the column support structure 10. In some alternative embodiments, the guide rail 31 can be replaced by a guide column, and the slider 32 can be replaced by a sliding ring sleeved on the guide column.

[0074] Although the operator can manually push the column support structure 10 to cause the relative movement of the second adjustment end and the first adjustment end of the distance adjustment structure 30 connected thereto, thereby adjusting the width of the heavy load base, in actual application scenarios, the heavy load base is usually wide and thick, and it is laborious to manually push the column support structure 10. Based on this, the present application considers that the relative movement of the first adjustment end and the second adjustment end is driven by the force transmission principle, thereby driving the caster support structure 20 to move. Therefore, the heavy load base of the present embodiment is further configured with a driving structure 40 connected with the distance adjustment structure 30, and the operator can drive the distance adjustment structure 30 to form the relative movement of the first adjustment end and the second adjustment end by operating the driving structure 40, including the direction (left or right) and the size of the movement stroke. The adjustment structure configured based on the force transmission principle can save the force.

[0075] Continuing to refer to Figure 9, about the configuration of the driving structure 40, the driving structure 40 comprises a driving member 41, a driven member 42 and a connecting member 43, the driving member 41 and the driven member 42 are rotatably connected with each other, the extension direction of the driving member 41 is perpendicular to the reference direction m, the driving member 41 is used for converting the rotary motion of itself into the linear motion of the driven member 42 along the line perpendicular to the reference direction m, and the two ends of the connecting member 43 are rotatably connected with the driven member 42 and the second adjustment end respectively. In this way, when the driving member 41 rotates, the driving member 41 can convert the rotary motion of itself into the linear motion of the driven member 42, and the linear motion of the driven member 42 will drive the connecting member 43 to rotate, so as to change the included angle between the connecting member 43 and the driving member 41, change the perpendicular distance from the second adjustment end to the driving member 41, and then realize the relative movement between the second adjustment end and the first adjustment end. It can be understood that the vertical position of the first adjustment end relative to the driving member 41 is fixed. Preferably, the extension direction of the driving member 41 is parallel to the reference plane H, and in other embodiments, the extension direction of the driving member 41 can also be inclined to the reference plane H. It can be understood that the respective number of the driven member 42 and the connecting member 43 corresponds to the number of the distance adjustment structure 30, for example Figure 9 In the embodiment, the single caster support structure 20 is connected with the two distance adjustment structures 30 and the columnar support structure 10, and correspondingly, two connecting members 43 and two driven members 42 are configured.

[0076] Further, the rotatable connection mode of the connecting member 43 with the second adjustment end and the driven member 42 respectively can be that the connecting member 43 rotates at any angle around a point. In an embodiment, the driving member 41 and the connecting member 43 can be configured to be parallel to the reference plane H, and the two ends of the connecting member 43 are connected with the second adjustment end and the driven member 42 around a straight line respectively, in other words, the rotation axis between the connecting member 43 and the second adjustment end and the rotation axis between the connecting member 43 and the driven member 42 are both perpendicular to the reference plane H.

[0077] It should be noted that the rotatable connection of the connecting member 43 with the second adjustment end cannot be understood as the connection of the connecting member 43 with the second adjustment end in a narrow sense, but should be understood as the connection of the connecting member 43 with the component forming the second adjustment end in a broad sense. For example, according to the foregoing, the connecting end formed by the guide rail 31 and the caster support structure 20 is taken as the second adjustment end, and then it should be understood that the connecting member 43 is rotatably connected with the connecting end formed by the guide rail 31 and the caster support structure 20, or the connecting member 43 is rotatably connected with the guide rail 31.

[0078] In one example, the driving structure 40 is configured by the working principle of a screw structure, the driving member 41 is a screw, the axial direction of the screw is the reference direction m, and the driven member 42 is a nut connected to the screw. In an alternative embodiment, the driving structure 40 can be configured by the working principle of a worm gear, the driving member 41 is a worm, and the driven member 42 is a worm wheel, the central axis of the worm wheel is parallel to the reference direction m.

[0079] As a preferred embodiment (corresponding to the above case (b)), the heavy load base includes at least two distance adjustment structures 30, and each of the two caster support structures 20 on both sides of the column support structure 10 along the reference direction m is connected to the column support structure 10 through at least one distance adjustment structure 30. In this way, the caster support structures 20 on both sides can be moved relative to the column support structure 10 along the reference direction m through the respective corresponding distance adjustment structures 30. Accordingly, each of the two caster support structures 20 is configured with a driving structure 40 to realize independent control movement of the two caster support structures 20, and the movements of the two caster support structures 20 do not interfere with each other. Preferably, referring to Figure 9 one of the driving structures 40 corresponding to one of the caster support structures 20 and the driving structure 40 corresponding to the other caster support structure 20 share the same driving member 41, so that synchronous control of the movements of the two caster support structures 20 can be realized by controlling the rotational movement of one driving member 41, thereby simplifying the control coupling and also simplifying the mechanical structure. Therefore, when the driving member 41 rotates, the transmission relationship between the parts in the driving structure can make the left and right caster support structures 20 move synchronously as symmetric movements of approaching or moving away from each other. It should be noted that, for example, Figure 9 the lengths of the left connecting member 43 and the right connecting member 43 are preferably configured to be equal, but they can also be configured to be unequal.

[0080] Further, referring to Figure 9 the driving structure 40 includes an adjustment handle 44 fixedly connected to the driving member 41. The adjustment handle 44 is used for the operator to hold and manipulate the adjustment handle 44 to drive the driving member 41 to rotate.

[0081] Further, referring to Figure 10 , Figure 10 is a schematic view of a rotating motor 45 cooperating with the driving structure 40 according to an embodiment of the present application. The driving structure 40 includes the rotating motor 45, and the rotating shaft of the rotating motor 45 is coaxially connected to the driving member 41. In this way, the rotating movement of the driving member 41 can be controlled by the rotating motor 45.

[0082] It should be noted that the embodiment can also be configured with the adjusting handle 44 and the rotating motor 45, for example, the shaft of the driving member 41 can be connected with the adjusting handle 44 and the rotating motor 45 at two axial ends respectively, so that the manual control and the electric control of the driving member 41 can be realized, and the manual adjustment mode and the electric adjustment mode of the width of the heavy load base can be realized.

[0083] Preferably, when the driving structure 40 comprises the rotating motor 45, the rotating motor 45 is used to be connected with the controller 50 of the surgical robot, the controller 50 can be arranged on the heavy load base (for example, arranged on the column support structure 10) or arranged on the lifting column 700, the sensor (for example, arranged on the support frame 21) is arranged on the caster support structure 20, the sensor detects the state information of the heavy load base in real time, when the sensor detects that the state information of the heavy load base meets the preset condition, the controller 50 starts the rotating motor 45 to drive the second adjustment end to move close to or away from the first adjustment end until the sensor detects that the state information of the heavy load base does not meet the preset condition, and the controller 50 stops the work of the rotating motor 45.

[0084] Figure 11 is a schematic view of the sensor cooperating with the caster support structure 20 according to an embodiment of the present application. In an implementation scenario, referring to Figure 11 , the state information of the heavy load base comprises obstacle blocking information, the obstacle blocking information is configured as whether there is an obstacle within a preset distance along the first direction n at the outermost position of the caster support structure 20, wherein the outermost position of the caster support structure 20 is the position farthest away from the reference direction m of the two caster support structures 20. The corresponding preset condition is configured as there is an obstacle within a preset distance along the first direction n at the outermost position of the caster support structure 20, at this time, the controller 50 starts the rotating motor 45 to drive the second adjustment end to move close to the first adjustment end. In this way, as the heavy load base moves along the first direction n, when the sensor (hereinafter referred to as the width sensor 61) detects that there is an obstacle (such as a door frame) in front within a preset distance, the width sensor 61 sends a signal to the controller 50, and the controller 50 controls the rotating motor 45 to work to make the second adjustment end move in the direction close to the first adjustment end, so as to reduce the width of the heavy load base, until the width sensor 61 detects that there is no obstacle within a preset range in front, at this time, the width of the heavy load base can support it to enter the operating room or the elevator.

[0085] Figure 12 is a flow chart of adjusting the width of the heavy load base according to the obstacle blocking information detected by the width sensor according to an embodiment of the present application. Referring to Figure 12Further, the width sensor 61 detects in real time the obstacle blocking information in front of the heavy load base moving along the first direction n, when detecting that there is an obstacle within a preset distance in front, the width sensor 61 sends an instruction, the user receives the instruction and confirms the instruction, when the user observes that there is indeed an obstacle in front, the controller 50 is started to start the rotating motor 45 to work to reduce the width of the heavy load base, until the width is reduced to a certain value, the width sensor 61 cannot detect the obstacle within the preset distance in front, and does not send the corresponding instruction. The step of increasing the user confirmation improves the safety. The instruction sent by the width sensor 61 can be a visual signal (such as a color light), an audible signal (a sound signal such as a bell song, etc.), or a visual and audible signal (a combination of a visual signal and an audible signal). It should be noted that during the width reduction process, the left and right two caster support structures 20 can move together or only one caster support structure 20 can move, which is determined according to the actual situation.

[0086] Figure 13 is another schematic view of the sensor cooperating with the caster support structure 20 in an embodiment of the present application. In another implementation scenario, referring to Figure 13 , the state information of the heavy load base includes load pressure information, at this time the sensor can be correspondingly provided as a pressure sensor 62, which can be arranged between the moving caster 22 and the support frame 21, so as to perceive the pressure borne by the moving caster 22 and can transmit the pressure signal to the controller 50. Therefore, the load pressure information is configured as the pressure values borne by the two caster support structures 20 along the gravity direction respectively. Figure 14 is a schematic view of other structures of the surgical robot applying pressure to the heavy load base, Figure 15 is a schematic view of the pressure borne by the heavy load base when bearing load, referring to Figure 14 and Figure 15 , the pressure borne by the caster support structure 20 mainly comes from the lifting column 700 on the heavy load base and the surgical execution assembly (including the instrument arm 210 and the instrument mounted on the instrument arm). Correspondingly, the preset condition is configured as that the ratio of the pressure value corresponding to one of the caster support structures 20 to the pressure value corresponding to the other caster support structure 20 exceeds a preset range, at this time, the controller 50 starts the rotating motor 45 to drive the second adjustment end to move away from the first adjustment end, so as to increase the width of the heavy load base, until the ratio of the pressure values of the left and right two caster support structures 20 does not exceed the preset range, at this time the controller 50 stops the work of the rotating motor 45.

[0087] Figure 16 is a schematic view of the center of gravity of the heavy load base and the sensor in an embodiment of the present application, referring to Figure 16The state information of the heavy load base includes the bearing pressure information. In actual use, the position of the instrument arm 210 can be adjusted, and the center of gravity of the surgical robot is different at different positions of the instrument arm 210, which directly affects the stability of the surgical robot. The pressure sensors 62 are directly installed on the moving casters 22 and the support frames 21, and the pressure sensors 62 are installed on the four moving casters 22 and the corresponding support frames 21. According to the pressure values of the four pressure sensors 62 and the weight of the surgical robot itself, it can be analyzed whether the surgical robot is stable. If not, the signal of the pressure sensor 62 will be informed to the robot to move the support structure 20 of the moving casters, so as to realize the width adjustment of the heavy load base, and the width of the heavy load base is increased to be stable. Specifically, referring to Figure 15 , with different positions of the instrument arm 210, the center of gravity of the heavy load base can appear three situations:

[0088] (e) The center of gravity is on the center line of the heavy load base parallel to the first direction n. At this time, the center of gravity is called “centered center of gravity”, and the pressure values of the left lower pressure sensor 62 and the right lower pressure sensor 62 are equal, and the pressure values of the left upper pressure sensor 62 and the right upper pressure sensor 62 are equal;

[0089] (f) The center of gravity deviates to the left of the above center line. At this time, the center of gravity is called “left deviation center of gravity”, and the pressure value of the left lower pressure sensor 62 is greater than the pressure value of the right lower pressure sensor 62, and the pressure value of the left upper pressure sensor 62 is greater than the pressure value of the right upper pressure sensor 62. Overall, the pressure on the left side is greater than the pressure on the right side, and the width needs to be increased by the controller 50 to drive the rotating motor 45 to make the center of gravity as close to the center line as possible;

[0090] (g) The center of gravity deviates to the right of the above center line. At this time, the center of gravity is called “right deviation center of gravity”, and the pressure value of the left lower pressure sensor 62 is less than the pressure value of the right lower pressure sensor 62, and the pressure value of the left upper pressure sensor 62 is less than the pressure value of the right upper pressure sensor 62. Overall, the pressure on the left side is less than the pressure on the right side, and the width needs to be increased by the controller 50 to drive the rotating motor 45 to make the center of gravity as close to the center line as possible.

[0091] Figure 17 is a mathematical analysis diagram of the heavy load base bearing. Referring to Figure 17, the pressure on the left side is F1, the pressure on the right side is F2, the pressure on the heavy load base is Fpress, the force arm of Fpress on the left side column caster support structure 20 is L1, the force arm of Fpress on the right side caster support structure 20 is F2, according to the principle of force and moment balance, Fpress = F1 + F2, Fpress * L1 = F2 * (L1 + L2), Fpress * L2 = F1 * (L1 + L2), based on this, F1 / F2 = L2 / L1. The preset range is configured as [Y, X], when L2 / L1 ≥ X or L2 / L1 ≤ Y, the controller 50 drives the rotary motor 45 to control the driving structure 40 to manipulate the distance adjustment structure 30, so that the width of the heavy load base increases, until Y < L2 / L1 < X, the controller 50 controls the rotary motor 45 to stop moving.

[0092] Figure 18 is a flowchart of adjusting the width of the heavy load base according to the bearing pressure information detected by the pressure sensor in an embodiment of the application. Referring to Figure 18 Further, the pressure sensor 62 detects the bearing pressure information of the heavy load base along the gravity direction in real time, detects the center of gravity distribution of the heavy load base according to the pressure values of the left and right two caster support structures 20 in real time, when the center of gravity of the heavy load base deviates from the "centered center of gravity", that is, the center of gravity of the heavy load base is "left-biased center of gravity" or "right-biased center of gravity", at this time, the pressure sensor 62 sends an instruction, the user receives the instruction and confirms the instruction, when the user observes that the surgical robot indeed exists left-biased tilt or right-biased tilt, the user confirms to start the controller 50 to start the rotary motor 45 to work to increase the width of the heavy load base, until the width is increased to a certain value, the center of gravity of the heavy load base tends to be "centered center of gravity", the pressure sensor 62 will stop sending the corresponding instruction. The step of increasing user confirmation improves safety. The instruction sent by the width sensor 61 may be a visual signal (such as a color light), an audible signal (such as a sound signal, such as a bell song, etc.) or a visual and audible signal (combination of visual and audible signals). It should be noted that in the process of increasing the width, the left and right two caster support structures 20 can move together, or only one of the caster support structures 20 can move, which is determined according to the actual situation.

[0093] In summary, in the heavy load base and surgical robot provided by the application, the heavy load base comprises a column support structure, a caster support structure and at least one distance adjustment structure; the heavy load base is provided with a reference direction; the distance adjustment structure has a first adjustment end and a second adjustment end which are relatively movable, and is used to form a movement stroke along the reference direction through the relative movement between the first adjustment end and the second adjustment end; wherein the first adjustment end is connected with the column support structure, and the second adjustment end is connected with the caster support structure. In this way, the heavy load base of the application can realize the movement of at least one caster support structure along the reference direction by configuring at least one distance adjustment structure, so as to realize the adjustable relative distance of the two caster support structures along the reference direction, and further realize the adjustable width of the heavy load base, so that the surgical robot has greater environmental adaptability, and the width of the heavy load base can be adjusted according to the actual situation, so as to be suitable for different transportation scenes and application scenes of the surgical robot. In addition, in some special use scenes, the width of the heavy load base can be increased through the distance adjustment structure, so as to further improve the structural stability of the surgical robot and ensure the safety of the operation.

[0094] The above description is only a description of the preferred embodiments of the application, and does not limit the scope of the application in any way. Any modification or change made by a person skilled in the art according to the above disclosure is within the protection scope of the technical scheme of the application.

Claims

1. A heavy duty base applied to a surgical robot, characterized by, The heavy load base comprises a column support structure, a caster support structure, and at least one distance adjustment structure; the heavy load base is provided with a reference direction in correspondence; The distance adjustment structure has a first adjustment end and a second adjustment end that are relatively movable, and is configured to form a movement stroke along the reference direction through relative movement between the first adjustment end and the second adjustment end; The first adjustment end is connected to the column support structure, and the second adjustment end is connected to the caster support structure; The caster support structure comprises at least four casters and a lifting assembly, at least two of the casters are configured as motion casters, and the other at least two casters are configured as adjustment casters; at least one of the adjustment casters and the motion casters is connected to the second adjustment end through the lifting assembly; the column support structure has a reference plane parallel to the reference direction; the lifting assembly is configured to adjust the relative distance between the adjustment casters and the motion casters in the vertical direction of the reference plane; and the rolling direction of the adjustment casters is parallel to the relative movement direction of the second adjustment end and the first adjustment end.

2. The heavy duty pedestal of claim 1, wherein, The relative movement direction of the first adjustment end and the second adjustment end is parallel to the reference direction.

3. The heavy duty pedestal of claim 1, wherein, The distance adjustment structure comprises a slider and a guide rail movably arranged in the slider; the first adjustment end is configured as a connection end formed by the slider and the column support structure; and the second adjustment end is configured as a connection end formed by the guide rail and the caster support structure.

4. The heavy duty pedestal of claim 1, wherein, The heavy load base further comprises a driving structure connected to the distance adjustment structure, and the driving structure is configured to drive the distance adjustment structure to form the relative movement between the first adjustment end and the second adjustment end.

5. The heavy duty pedestal of claim 4, wherein, The driving structure comprises a driving member, a driven member, and a connecting member; the driving member and the driven member are rotatably connected to each other; the driving member is configured to convert the rotational movement of itself into linear movement of the driven member in a direction perpendicular to the reference direction; and the two ends of the connecting member are rotatably connected to the driven member and the second adjustment end, respectively.

6. The heavy duty pedestal of claim 5, wherein, The driving member comprises a lead screw, and the axial direction of the driving member is perpendicular to the reference direction; and the driven member comprises a nut.

7. The heavy duty pedestal of claim 5, wherein, The heavy load base comprises at least two distance adjustment structures; two caster support structures distributed on both sides of the column support structure along the reference direction are each connected to the column support structure through at least one distance adjustment structure.

8. The heavy duty pedestal of claim 7, wherein, The driving structure corresponding to one of the caster support structures and the driving structure corresponding to the other caster support structure share the same driving member.

9. A heavy duty pedestal according to claim 7 or 8, wherein, The driving structure comprises an adjustment handle fixedly connected to the driving member; and / or the driving structure comprises a rotary motor, and the rotating shaft of the rotary motor is coaxially connected to the driving member.

10. The heavy duty pedestal of claim 9, wherein, When the driving structure comprises the rotary motor, the rotary motor is configured to be connected with a controller of a surgical robot, and a sensor is arranged on the caster support structure; when the sensor detects that the state information of the heavy-load base meets a preset condition, the controller starts the rotary motor to drive the second adjusting end to move close to or away from the first adjusting end.

11. The heavy duty pedestal of claim 10, wherein, The state information of the heavy-load base comprises at least one of obstacle blocking information and bearing pressure information. The obstacle blocking information is configured to whether there is an obstacle within a preset distance along a first direction from an outermost position of the caster support structure, wherein the column support structure has a reference surface parallel to a reference direction, the first direction is parallel to the reference surface and perpendicular to the reference direction, and the outermost position of the caster support structure is a position farthest from the column support structure along the reference direction. The bearing pressure information is configured to a pressure value borne by each of the two caster support structures along a gravity direction.

12. The heavy duty pedestal of claim 11, wherein, When the state information of the heavy-load base comprises the obstacle blocking information, the preset condition is configured to that there is an obstacle within a preset distance along a first direction from an outermost position of the caster support structure, and the controller starts the rotary motor to drive the second adjusting end to move close to the first adjusting end. When the state information of the heavy-load base comprises the bearing pressure information, the preset condition is configured to that a ratio of a pressure value corresponding to one of the caster support structures to a pressure value corresponding to another of the caster support structures exceeds a preset range, and the controller starts the rotary motor to drive the second adjusting end to move away from the first adjusting end.

13. The heavy duty pedestal of claim 1, wherein, The caster support structure comprises a support frame connected with the second adjusting end, and the support frame is connected with the caster.

14. The heavy duty pedestal of claim 13, wherein, The central axis of the adjustable caster is parallel to the reference surface and perpendicular to a relative movement direction of the first adjusting end and the second adjusting end.

15. A surgical robot, characterized in that, The surgical execution assembly is connected with the column support structure. The surgical execution assembly is connected with the column support structure.

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