A main control unit base linkage system for a surgical robot

Abstract

The present invention discloses a main control part base linkage system of a surgical robot, comprising a base part and a central control wheel part connected to the base part; the central control wheel part comprises a main lock central control wheel, a locking part and a main self-locking part. When in use, the main self-locking part drives the locking part to lock or unlock the main lock central control wheel; the main control part base linkage system can quickly realize base locking.

Description

Technical Field

[0001] The present invention belongs to the field of surgical robots, and in particular relates to a main control unit base linkage system of a surgical robot. Background Art

[0002] A surgical robot is a high-precision surgical device used for minimally invasive surgery. The surgical robot system primarily consists of a main control unit located on the surgeon's side, an actuator located on the patient's side, and an audio and video control module. Normally, the main control unit is located in the surgeon's operating room, the actuator is located in the patient's operating room, and at least a portion of the audio and video control module is located on a video cart. The surgeon inputs surgical action commands to the surgical robot through the main console, and the actuator executes the corresponding actions. This allows the surgeon to perform surgeries relatively remotely.

[0003] During the pre-operative configuration process, in order to facilitate the subsequent surgery, the main control unit and the execution unit need to be positioned to the preset position, so as to better realize the action mapping and mechanism linkage of the main control and execution instruments.

[0004] The base linkage system of the main control unit is directly related to the operational convenience and stability during the positioning process. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide a main control unit base linkage system of a surgical robot.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A main control part base linkage system of a surgical robot comprises a base part and a central control wheel part connected to the base part; the central control wheel part comprises a main lock central control wheel, a locking part and a main self-locking part, and when in use, the main self-locking part drives the locking part to lock or unlock the main lock central control wheel; the main self-locking part is a reciprocating gear lock mechanism, and the reciprocating gear lock mechanism comprises a pedal end locking tooth seat, a locking shaft and a base end locking tooth seat; the base end locking tooth seat is fixedly connected to the base part; the upper end of the pedal end locking tooth seat is fixedly connected to the pedal, and the upper end of the locking shaft is rotatably connected to the pedal end locking tooth seat; the locking shaft is connected to a reset elastic body that can provide an upward thrust to the locking shaft The locking tooth seat at the base end is provided with a third locking tooth arranged in an annular shape; the plurality of locking protrusions are arranged on the locking shaft at intervals; when the initial state is reached, the locking protrusion is connected to the locking groove; the locking shaft can move along the axis direction of the locking shaft in the insertion hole, and the locking protrusion moves along the length direction of the locking groove during the process; the lower end of the locking tooth seat at the pedal end is provided with a first locking tooth arranged in an annular shape, and the top of each locking protrusion is fixedly provided with a second locking tooth; the lower end of the locking tooth seat at the base end is provided with a third locking tooth arranged in an annular shape; the plurality of locking protrusions are arranged on the locking shaft at intervals; when the initial state is reached, the locking tooth seat at the base end is provided with a third locking tooth arranged in an annular shape; the plurality of locking protrusions are arranged on the locking shaft at intervals; when the initial state is reached, the locking protrusion is connected to the locking groove; the locking shaft can move along the axis direction of the locking shaft in the insertion hole, and the locking protrusion is connected to the locking groove When the cam is in the unlocked position, the first locking tooth and the second locking tooth are in an incompletely meshed connection state; when the pedal of the main lock central control wheel is pressed down, the pedal presses the locking shaft downward, and the locking shaft moves downward along the axial direction of the locking shaft under the guidance of the locking protrusion and the locking groove. When the locking protrusion disengages from the locking groove, the first locking tooth pushes the second locking tooth along the tooth surface, causing the locking shaft to rotate one tooth position. At this time, the downward pressure stroke of the locking shaft reaches the limit, and the pedal is stopped. The locking shaft moves upward under the elastic force of the reset elastic body until the second locking tooth engages with the third locking tooth. At this time, there is no corresponding locking groove at the position of the locking protrusion, causing the locking shaft to be limited. The first locking tooth contacts the second locking tooth when the main lock is unlocked, and the second locking tooth is not fully engaged. The first locking tooth of the pedal is continued to be pressed down, and the second locking tooth is pushed to rotate one tooth position along the tooth surface. The locking shaft rotates again. At this time, the downward stroke of the locking shaft reaches the limit, and the pedal is stopped, and the locking shaft is reset upward. At this time, the locking protrusion enters the locking groove, and the locking shaft rises to the initial position under the elastic force of the reset elastic body. The locking shaft is connected to the locking part, and the locking part is connected to the control rod of the main lock central control wheel. The locking shaft drives the locking part to lock / unlock the main lock central control wheel.

[0008] The locking portion includes a connecting portion, and the connecting portion includes a first connecting rod, a second connecting rod, a first support plate and a second support plate; the first support plate is fixedly connected to the base, and the second support plate is fixedly connected to the lifting module in the middle of the base; the two ends of the first connecting rod are respectively rotatably connected to the first support plate and the second support plate, and the two ends of the second connecting rod are respectively rotatably connected to the first support plate and the second support plate; the reset elastic body is connected to the locking shaft through the connecting portion, and the lower end of the locking shaft is connected to the lifting module; the reset elastic body is a gas spring, and the two ends of the gas spring are respectively rotatable with the first connecting rod and the base The first link is connected to the first support plate through the driving shaft; the locking part includes a transmission part connected to the connecting part, and the transmission part is a gear meshing transmission part, and the gear meshing transmission part includes a locking active gear fixedly connected to the driving shaft, and the locking active gear is meshed with the locking driven gear on the control lever of the main lock central control wheel; when working, the pedal is pressed down until the locking shaft moves, thereby driving the lifting module to move, and the lifting module drives the second support plate to move, thereby driving the driving shaft to rotate, and the driving shaft drives the locking active gear to rotate, and finally drives the control lever to lock or unlock the central control wheel.

[0009] Preferably, the central control wheel portion further comprises a secondary lock central control wheel, the secondary lock central control wheel being connected to the secondary self-locking portion, the secondary self-locking portion being located on the opposite side of the main self-locking portion, the secondary self-locking portion comprising a connecting rod, the upper end of the connecting rod being fixedly connected to a pedal, the lower end of the connecting rod being connected to a lifting module located in the middle of the base portion;

[0010] The auxiliary self-locking part is connected to the auxiliary lock central control wheel through the locking part;

[0011] The pedal with the main self-locking part and the pedal with the secondary self-locking part are symmetrically arranged on both sides of the base. The driving shaft on the main lock central control wheel is connected to the driving shaft on the secondary lock central control wheel on the opposite side through a linkage transmission shaft;

[0012] When the linkage transmission shaft rotates, the driving shaft on the central control wheel of the main lock rotates synchronously with the driving shaft on the central control wheel of the secondary lock located on the opposite side.

[0013] Preferably, the central control wheel portion further comprises a slave lock central control wheel, and a control rod of the slave lock central control wheel is connected to the main lock central control wheel or the auxiliary lock central control wheel on the same side through a transmission rod;

[0014] The two ends of the transmission rod are respectively connected to the control rod and the locking driven gear. When the locking driven gear rotates, the control rod of the control wheel in the lock rotates synchronously.

[0015] Preferably, the central control wheel portion includes a main lock central control wheel, a secondary lock central control wheel and two slave lock central control wheels;

[0016] The main lock central control wheel is located on the opposite side of the secondary lock central control wheel, and the slave lock central control wheel is located on the same side of the main lock central control wheel or the secondary lock central control wheel;

[0017] The main lock central control wheel, the secondary lock central control wheel and the slave lock central control wheel can be locked / unlocked synchronously.

[0018] Preferably, a connecting lever is fixedly provided on the control rod of the control wheel from the lock, one end of the connecting lever is fixedly connected to the control rod, and the other end is rotatably connected to the transmission rod, and the connecting lever is perpendicular to the control rod;

[0019] One end of the transmission rod is rotatably connected to the outer circumference of the locking driven gear.

[0020] Preferably, the first connecting rod, the second connecting rod, the first support plate and the second support plate constitute a parallelogram motion mechanism.

[0021] Preferably, the bottom of the locking shaft is fixedly connected to the lifting module via a transfer mechanism;

[0022] The transfer mechanism includes an L-shaped load-bearing connecting plate fixedly connected to the lifting module and a bearing track fixing plate fixedly connected to the load-bearing connecting plate; a positioning groove is fixedly provided on the bearing track fixing plate, and a bearing is fixedly provided at the bottom of the locking shaft, and the bearing is connected to the positioning groove; when working, the bearing can move along the length direction of the positioning groove, and cannot separate from the positioning groove while moving along the length direction of the positioning groove.

[0023] Preferably, the transmission part is a flexible transmission mechanism, and the flexible transmission mechanism includes a shaft groove provided on the driving shaft for fixing the driving rope and a shaft groove provided on the control rod for fixing the driving rope;

[0024] Two driving ropes with opposite winding directions are fixedly arranged between the driving shaft and the adjacent control rod;

[0025] The driving shaft drives the control rod to rotate synchronously through the driving rope.

[0026] Preferably, the central control wheel portion includes a main lock central control wheel, a secondary lock central control wheel and a slave lock central control wheel, the control lever of the slave lock central control wheel is connected to the drive shaft on the main lock central control wheel located on the same side through a drive rope, and the control lever of the slave lock central control wheel is connected to the drive shaft on the secondary lock central control wheel located on the same side through a drive rope, and when the drive shaft rotates, the corresponding control lever rotates accordingly.

[0027] Preferably, the base portion is fixedly provided with a guide wheel bracket, and a driving rope between the driving shaft and the control wheel of the slave lock is connected to the guide wheel bracket.

[0028] Preferably, a vibration module is fixedly provided in the pedal and can emit a vibration prompt according to the locking state of the main lock central control wheel.

[0029] The main control unit base linkage system of the surgical robot disclosed in the present invention can quickly achieve base locking.

[0030] On the other hand, it can perform linked braking to further improve the overall locking stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Attachment Figure 1 It is a structural schematic diagram of the present invention;

[0032] Attachment Figure 2 It is a structural schematic diagram of the connection relationship between the main self-locking part and the locking part of the present invention;

[0033] Attachment Figure 3 It is a schematic structural diagram of the transfer mechanism of the present invention;

[0034] Attachment Figure 4 It is a structural schematic diagram of the flexible transmission mechanism of the present invention;

[0035] Attachment Figure 5 It is a structural schematic diagram of the connection relationship between the secondary lock central control wheel and the slave lock central control wheel of the present invention;

[0036] Attachment Figure 6 It is a structural schematic diagram of the transmission rod of the present invention;

[0037] Attachment Figure 7 It is a structural schematic diagram of the main self-locking part of the present invention;

[0038] Attachment Figure 8 : is a schematic structural diagram of the positional relationship between the lock hook and the locking path plate in one embodiment of the present invention (wherein part B is a comparative schematic diagram of the locking path);

[0039] Attachment Figure 9 It is a schematic structural diagram of the lock hook of the present invention;

[0040] Attachment Figure 10 is a structural schematic diagram of the locking path of the present invention;

[0041] Attachment Figure 11 This invention is attached Figure 3 A schematic diagram of the enlarged structure of part A;

[0042] Attachment Figure 12 is a structural schematic diagram of the positional relationship between the second bend and the V-shaped path in one embodiment of the present invention;

[0043] Attachment Figure 13 is a schematic structural diagram of a main console in the surgical robot system of the present invention;

[0044] Attachment Figure 14 It is a structural schematic diagram of the process of coupling the split power mechanism and the base portion in the surgical robot system of the present invention;

[0045] Attachment Figure 15 It is a structural schematic diagram of an embodiment of the present invention;

[0046] In the accompanying drawings, 1 base portion, 21 main lock central control wheel, 22 locking portion, 221 first connecting rod, 222 second connecting rod, 223 first support plate, 224 second support plate, 23 main self-locking portion, 231 pedal end locking tooth seat, 232 locking shaft, 233 base end locking tooth seat, 234 locking protrusion, 235 insertion hole, 236 locking groove, 237 first locking tooth, 238 second locking tooth, 239 third locking tooth, 3 gas spring, 4 lifting module, 5 driving shaft, 6 transmission part, 61 locking driving gear, 62 locking driven gear, 7 transfer mechanism, 71 load-bearing connecting plate, 72 bearing track fixing plate, 721 limit plate, 722 outer ring of bearing, 73 positioning groove, 74 bearing, 8 secondary lock center control wheel, 81 secondary self-locking part, 82 connecting rod, 91 shaft groove, 92 driving rope, 93 guide wheel bracket, 10 secondary lock center control wheel, 101 transmission rod , 102 connecting lever, a pedal, b control lever, c linkage transmission shaft, d connecting part, e pedal positioning groove, 11 pedal connecting rod, 12 locking path plate, 121 locking path, 13 locking hook, 131 first bend, 132 second bend, 133 rod, 14 support body, 15 guide rail, 16 first path, 17 second path, 18 third path, 191 step, 192 guide slope, 193 side guide slope, 194 V-shaped path location, 195 V-shaped path entrance, 196 V-shaped path exit, 20 audio and video part, 201 main control robot arm, 202 support device, 203 armrest mechanism, 204 [-shaped body, 2041 first connecting part, 2042 second connecting part, 205 travel switch, 206 power wheel, 207 disinfector, 208 liquid tank, 209 atomizing pump, 210 atomizing pipeline, 211 laser locator. DETAILED DESCRIPTION

[0047] The following embodiments are provided in conjunction with the accompanying drawings to further illustrate the specific implementation methods. The present invention is not limited to the description of the following embodiments.

[0048] The present invention discloses a base linkage system for a surgical robot system. The surgical robot system described in the present invention is an intelligent medical device for surgical operations. It is currently used primarily in minimally invasive surgical procedures that are not conducive to direct manual operation. However, in the context of a constantly changing macro-environment, it also has the potential value of being used in high-infection-risk operations in other medical fields (such as the collection of medical samples with high infection risks, and pathological dissection with high infection risks). Figure 13 The main console unit in the surgical robot system includes a base system, an audio / video unit connected to the base system for transmitting patient-side surgical area image information to the surgeon, a master control arm connected to the base system for the surgeon to input surgical instructions, a support device for supporting the audio / video unit and the master control arm, and an armrest mechanism for supporting the surgeon's arm. The patient-side actuator unit includes a base system for the actuator unit, a support unit connected to the base system for adjusting the x and y axes within the same coordinate system, an actuator arm connected to the support unit for mapping surgical movements input by the surgeon via the master control arm, and an actuator fixed to the distal end of the actuator arm for directly actuating surgical instruments. The video trolley unit includes a frame for carrying a control module, a video viewer and audio device configured on the frame to suit medical personnel's usage habits, and a temporary instrument storage unit configured on the frame to suit medical personnel's usage habits.

[0049] Example 1

[0050] like Figure 1-2 As shown, a main control part base linkage system of a surgical robot includes a base part and a central control wheel part connected to the base part;

[0051] The central control wheel unit includes a main lock central control wheel, a locking unit and a main self-locking unit. When in use, the main self-locking unit drives the locking unit to lock or unlock the main lock central control wheel.

[0052] Refer to the attached Figure 7 As shown, the main self-locking part is a reciprocating gear lock mechanism, which includes a pedal end locking gear seat, a locking shaft and a base end locking gear seat; the base end locking gear seat is fixedly connected to the base part;

[0053] The upper end of the pedal-end locking gear seat is fixedly connected to the pedal, and the upper end of the locking shaft is rotatably connected to the pedal-end locking gear seat; the locking shaft is connected to a reset elastic body that can provide an upward thrust to the locking shaft; a plurality of locking protrusions are evenly distributed on the outer circumference of the locking shaft, and an insertion hole is provided on the base-end locking gear seat, and a locking groove corresponding to the locking protrusion is provided in the insertion hole, and the locking shaft is inserted in the insertion hole, and the locking protrusion is connected to the locking groove, and the locking shaft can move in the insertion hole along the axis direction of the locking shaft, and during this process, the locking protrusion moves along the length direction of the locking groove; the lower end of the pedal-end locking gear seat is provided with a first locking tooth arranged in an annular shape, and a second locking tooth is fixedly provided on the top of each locking protrusion; the lower end of the base-end locking gear seat is provided with a third locking tooth arranged in an annular shape; the multiple locking protrusions are arranged at intervals on the locking shaft.

[0054] Refer to the attached Figure 7As shown, in the initial state: the main lock central control wheel is in the unlocked state, and the first locking tooth and the second locking tooth are in an incompletely meshed connection state; the pedal of the main lock central control wheel is pressed down, and the pedal presses the locking shaft to move downward, and the locking shaft moves downward along the axial direction of the locking shaft under the guidance of the locking protrusion and the locking groove. When the locking protrusion disengages from the locking groove, the first locking tooth pushes the second locking tooth along the tooth surface, causing the locking shaft to rotate one tooth position. At this time, the downward pressure stroke of the locking shaft reaches the limit, and the pedal is stopped from being pressed down. The locking shaft moves upward under the elastic force of the reset elastic body until the second locking tooth engages with the third locking tooth. At this time, there is no corresponding locking groove at the position of the locking protrusion, causing the locking shaft to be limited under the locking tooth seat at the base end.

[0055] When the main lock central control wheel is unlocked, the pedal is pressed down again, and the first locking tooth contacts the second locking tooth. At this time, the first locking tooth and the second locking tooth are not fully engaged. Continue to press the pedal down on the first locking tooth, and push the second locking tooth along the tooth surface to rotate one tooth position. The locking shaft rotates again. At this time, the downward stroke of the locking shaft reaches the limit, and the pedal is stopped from being pressed down. The locking shaft resets upward. At this time, the locking protrusion enters the locking groove, and the locking shaft rises to the initial position under the elastic force of the reset elastic body.

[0056] The locking shaft is connected to the locking part, which is connected to the control rod of the main lock central control wheel. The locking shaft drives the locking part to lock / unlock the main lock central control wheel.

[0057] Refer to the attached Figure 2 As shown, the locking portion includes a connecting portion, and the connecting portion includes a first connecting rod, a second connecting rod, a first supporting plate and a second supporting plate.

[0058] The first support plate is fixedly connected to the base, and the second support plate is fixedly connected to the lifting module in the middle of the base;

[0059] The two ends of the first connecting rod are rotatably connected to the first support plate and the second support plate respectively, and the two ends of the second connecting rod are rotatably connected to the first support plate and the second support plate respectively;

[0060] The reset elastic body is a gas spring, and both ends of the gas spring are rotatably connected to the first connecting rod and the base portion respectively;

[0061] The lower end of the locking shaft is connected to the lifting module; the first connecting rod is connected to the first support plate through the driving shaft;

[0062] The locking portion includes a transmission portion connected to the engagement portion. Figure 2 The transmission part is a gear meshing transmission part, which includes a locking active gear fixedly connected to the driving shaft, and the locking active gear is meshed with a locking driven gear on the control lever of the main lock central control wheel.

[0063] During operation, the pedal is pressed down until the locking shaft moves, thereby driving the lifting module to move, the lifting module drives the second support plate to move, thereby driving the driving shaft to rotate, the driving shaft drives the locking active gear to rotate, and finally drives the control lever to lock or unlock the central control wheel.

[0064] In this embodiment, when the second locking gear is clamped below the third locking tooth, the main lock central control wheel is in a locked state.

[0065] Refer to the attached Figure 1 In this embodiment, the lifting module is rotatably mounted in the middle of the base. When the locking shaft moves downward under pressure from the pedal, the lifting module rotates accordingly, tilting the module and lowering the front height. This allows the multiple foot controls located on the lifting module to be easily operated by the doctor. When the locking shaft moves to the unlocked position under the action of the gas spring, the lifting module rotates and lifts upward, preventing collisions during movement. Locking the base system and raising and lowering the lifting module are accomplished with a single foot-operated action.

[0066] Preferably, a shaft is fixedly mounted on the upper end of the locking shaft, and the shaft is inserted into the locking tooth holder at the pedal end. The locking shaft can rotate relative to the locking tooth holder at the pedal end about the shaft. The base portion is provided with a pedal positioning groove that prevents the pedal from rotating. The pedal can move axially within the corresponding pedal positioning groove along with the locking shaft.

[0067] Refer to the attached Figure 1 、 2 As shown in 5, preferably, the central control wheel portion further includes a secondary lock central control wheel, the secondary lock central control wheel is connected to the secondary self-locking portion, the secondary self-locking portion is located on the opposite side of the main self-locking portion, the secondary self-locking portion includes a connecting rod, the upper end of the connecting rod is fixedly connected to the pedal, and the lower end of the connecting rod is connected to the lifting module located in the middle of the base portion;

[0068] The auxiliary self-locking part is connected to the auxiliary lock central control wheel through the locking part;

[0069] Refer to the attached Figure 4 The pedal with the main self-locking part and the pedal with the secondary self-locking part are symmetrically arranged on both sides of the base. The driving shaft on the main lock central control wheel is connected to the driving shaft on the secondary lock central control wheel on the opposite side through a linkage transmission shaft;

[0070] When the linkage transmission shaft rotates, the driving shaft on the central control wheel of the main lock rotates synchronously with the driving shaft on the central control wheel of the secondary lock located on the opposite side.

[0071] Refer to the attached Figure 4 and 6Preferably, the central control wheel portion further includes a slave lock central control wheel, and the control rod of the slave lock central control wheel is connected to the main lock central control wheel or the auxiliary lock central control wheel on the same side through a transmission rod;

[0072] The two ends of the transmission rod are respectively connected to the control rod and the locking driven gear. When the locking driven gear rotates, the control rod of the control wheel in the lock rotates synchronously.

[0073] Refer to the attached Figure 4 Preferably, the central control wheel unit includes a primary lock central control wheel, a secondary lock central control wheel, and two slave lock central control wheels. The primary lock central control wheel is located on the opposite side of the secondary lock central control wheel, and the slave lock central control wheel is located on the same side as the primary lock central control wheel or the secondary lock central control wheel. The primary lock central control wheel, the secondary lock central control wheel, and the slave lock central control wheels can be locked / unlocked synchronously.

[0074] In this embodiment, by driving the four-wheel linkage locking on one side, the space occupied can be reduced while maintaining the locking stability.

[0075] Refer to the attached Figure 6 Preferably, a connecting lever is fixedly mounted on the control lever of the slave lock's central control wheel. One end of the connecting lever is fixedly connected to the control lever, and the other end is rotatably connected to the transmission lever. The connecting lever is perpendicular to the control lever. One end of the transmission lever is rotatably connected to the outer circumference of the locking driven gear. The transmission lever drives the slave lock's central control wheel to lock and unlock.

[0076] Refer to the attached Figure 5 As shown, the first connecting rod, the second connecting rod, the first support plate and the second support plate constitute a parallelogram motion mechanism.

[0077] Refer to the attached Figure 7 、 2 As shown in Figure 3, preferably, the bottom of the locking shaft is fixedly connected to the lifting module via a transfer mechanism. The transfer mechanism includes an L-shaped load-bearing connecting plate fixedly connected to the lifting module and a bearing track fixing plate fixedly connected to the load-bearing connecting plate; a positioning groove is fixedly provided on the bearing track fixing plate, and a bearing is fixedly provided at the bottom of the locking shaft, the bearing is connected to the positioning groove, and the bearing can move along the length direction of the positioning groove and cannot escape from the positioning groove while moving along the length direction of the positioning groove. Figure 3 As shown in the figure, the bearing track plate is fixed above the load-bearing connecting plate, and the outer ring of the bearing is set in the positioning groove, thereby limiting the outer ring of the bearing in the positioning groove. The positioning groove is a long slot hole, refer to the attached Figure 11 , attached Figure 11 For attachment Figure 3 An enlarged schematic diagram of the structure of part A shows that the bearing track fixing plate includes a limit plate fixedly arranged along the edge of the positioning groove, the load-bearing connecting plate includes a limit plate fixedly arranged along the edge of the positioning groove, and the outer ring of the bearing is limited between the two limit plates.

[0078] Preferably, the lower end of the connecting rod is fixedly connected to the lifting module through a transfer mechanism.

[0079] During the configuration of the main control part, the main control part is moved to the predetermined position, and the pedal of the main lock central control wheel or the auxiliary lock central control wheel is stepped on. The main self-locking part drives the locking part to rotate the control lever of the main lock central control wheel to a locked state.

[0080] Refer to the attached Figure 13 and 14 In some embodiments of the present invention, the main control unit utilizes a split power mechanism. This split power mechanism comprises two "["-shaped bodies. Each "["-shaped body comprises a first connecting portion and second connecting portions located at either end of the first connecting portion and perpendicular to the first connecting portion. A square connector is located in the middle of the "["-shaped body, whose contour matches the side of the main control unit's base. The "["-shaped body) is equipped with multiple power wheels connected to a drive motor, which in turn is connected to its control module. The two "["-shaped bodies"] sandwich the main control unit's base unit in the middle. A wireless control handle allows for synchronous operation of both "["-shaped bodies. The wireless control handle remotely controls the power wheels' movement, thereby driving the movement of the base unit. Furthermore, a trigger-type limit switch is located inside the first connecting portion. This trigger-type limit switch corresponds to the position of the pedal when unlocked. The limit switch is connected to the control module located inside the housing of the "["-shaped body). The first connecting portion is equipped with a laser locator to provide positioning information when moving toward the base unit. The laser locator is connected to the control module to ensure that the "["-shaped body"] correctly engages the base unit between the two.

[0081] During use, the remote control handle controls the two [-shaped bodies to reach the side of the base part. With the assistance of the laser locator, the [-shaped body moves toward the base part until it engages with the base part. At this time, if the limit switch is triggered, it means that the central control wheel part is in an unlocked state and the base part can move. If the limit switch does not transmit a trigger signal to the control module, the alarm on the [-shaped body will sound an alarm, and the control module will issue a path return instruction, and the [-shaped body will retreat. If the control module receives the limit switch trigger signal, the base part is in an unlocked state and can move. At this time, the indicator light on the [-shaped body will show green. At this time, the movement of the power wheel is controlled by the direction key of the remote control handle. At this time, the movement of the dynamic vertical wheels on the two [-shaped bodies is synchronized. In some embodiments of the present invention, another way of use is to manually push the [-shaped body to the position where it engages with the base part. Using this method to move the main control part can greatly reduce the number of personnel, and only one person is needed to complete the transfer.

[0082] Example 2

[0083] like Figure 4 and 5As shown, with reference to other drawings, in this embodiment, the transmission part is a flexible transmission mechanism, and the flexible transmission mechanism includes an axis groove provided on the driving shaft for fixing the driving rope and an axis groove provided on the control rod for fixing the driving rope; two driving ropes with opposite winding directions are fixedly provided between the driving shaft and the adjacent control rod; the driving shaft drives the control rod to rotate synchronously through the driving rope.

[0084] Preferably, the central control wheel portion includes a main lock central control wheel, a secondary lock central control wheel and a slave lock central control wheel, the control lever of the slave lock central control wheel is connected to the drive shaft on the main lock central control wheel located on the same side through a drive rope, and the control lever of the slave lock central control wheel is connected to the drive shaft on the secondary lock central control wheel located on the same side through a drive rope, and when the drive shaft rotates, the corresponding control lever rotates accordingly.

[0085] Preferably, the base portion is fixedly provided with a guide wheel bracket, and a driving rope between the driving shaft and the control wheel of the slave lock is connected to the guide wheel bracket.

[0086] In some embodiments of the present invention, the lower end of the connecting rod is connected to the load-bearing link plate through the guide rail.

[0087] During use, the central control wheel is locked and unlocked through a flexible transmission mechanism, and the four-wheel linkage lock and unlock improves the stability and speed of the equipment positioning process. This flexible transmission mechanism can smoothly transmit the power through narrow spaces.

[0088] Refer to the attached Figure 15 In some embodiments of the present invention, a group of disinfectants that can be implanted in the bottom of the base are provided in the [-shaped main body. The function of the disinfectant is an additional enhanced disinfection process. When the equipment is transferred from one place to another, the disinfectant is started remotely to inject the disinfectant into the atomization pipeline to disinfect the bottom of the base.

[0089] The disinfector includes a detachable probe plate, which is fixedly connected to a [-shaped main body. A detachable liquid tank is provided inside the [-shaped main body, which is connected to an atomizing pump, which is connected to an atomizing pipeline, which is connected to an atomizing head. In this embodiment, it is necessary to ensure that the lifting module is in a raised state, otherwise the probe plate will collide with the lifting module. A path sensor is provided at the front of the probe plate, which is connected to the control module. When the path sensor detects that the lifting module is obstructing the probe path, the alarm sounds an alarm. In an embodiment of the present invention, each electrical consumer is connected to a power module. In some embodiments, the power module is an external power module. In other embodiments, the power module is a mobile power supply that can move with the device.

[0090] Example 3

[0091] This embodiment is optimized on the basis of embodiment 1 or 2, and the main self-locking part connected to the main lock central control wheel in the central control wheel part includes a pedal connecting rod, a pedal fixedly arranged at the upper end of the pedal connecting rod, a locking path plate fixedly connected to the lower part of the pedal connecting rod, and a lock hook connected to the locking path plate.

[0092] One end of the locking hook is rotatably connected to the support body, and the other end of the locking hook is connected to the locking path located on the locking path plate. The locking hook includes a first bend and a second bend located at each end of the locking hook, and the first bend and the second bend are fixedly connected by a rod. The first bend is connected to the support body, and the second bend extends into the locking path. After connection, the locking hook is constrained between the support body and the locking path plate. When the locking path plate moves up and down, the locking hook rotates about the first bend as the axis, and the second bend of the locking hook moves along the locking path.

[0093] The support body is fixedly connected to the base, the locking path plate is fixedly connected to the L-shaped load-bearing connecting plate, and the L-shaped load-bearing connecting plate is fixedly connected to the lifting module. The load-bearing connecting plate rises and falls with the lifting module, and the support body is fixedly connected to the base. During the base system locking process, the support body is relatively fixed in position.

[0094] The locking path is a structure that is recessed into the locking path plate, thereby forming a path groove. One end (the second bend) of the locking hook extends into the locking path.

[0095] Refer to the attached Figure 10 In the accompanying drawings, the path represented by the square "□" is the first path, the path represented by the circle "○" is the second path, and the path represented by the triangle "△" is the third path. Referring to the accompanying drawings, the first path, the second path, and the third path intersect at a junction. At the junction, the depth of the first path is greater than that of the third path. The depth difference between the first path and the third path forms a step that prevents the second bend of the lock hook from entering the third path from the first path. A guiding slope is provided between the first path and the second path, and the end of the lock hook can pass through this guiding slope to enter the second path. The end of the lock hook can enter the third path through the second path. The end of the lock hook can return to the first path through the third path. The locking path is a rotation path. During operation, the end of the lock hook passes through the first path to enter the second path, from the second path to the third path, and then returns to the first path through the third path.

[0096] When the pedal is stopped, the locking path plate rises under the drive of the return spring. At this time, the second bend of the lock hook just falls into the middle of the V-shaped path and is stuck in the middle of the V-shaped path. In this process, the locking part moves accordingly under the transmission of the load-bearing connecting plate and the lifting module, and the control lever of the main lock central control wheel rotates to the locked position.

[0097] When unlocking, the pedal is pressed again. At this time, the second bend moves along the V-shaped path toward the third path, and the side guide slope at the top of the third path further causes the rod to tilt. The pedal is stopped, and the lock path plate is driven to rise by the return spring. During this process, the second bend moves downward along the third path and enters the first path to return to the initial position. During this process, the control lever of the main lock central control wheel rotates accordingly and rotates back to the unlocked position.

[0098] Preferably, refer to the attached Figure 12 In some embodiments of the present invention, in order to improve the smoothness of the movement of the locking hook, when the second bend is locked at the V-shaped bottom of the V-shaped path, the distance between the center of the cross section of the second bend and the outlet of the V-shaped path is L1, and the distance between the sharp corner of the V-shaped top of the V-shaped path and the outlet of the V-shaped path is L2. L1 is smaller than L2. That is, Figure 12 As an orientation reference, when the second bend of the locking hook is locked in the V-shaped path, the sharp corner of the V-shaped top of the V-shaped path should be located to the left of the center of the cross section of the second bend.

[0099] Refer to the attached Figure 4 and 8 As shown, the bottom of the locking path plate is connected to the L-shaped load-bearing connecting plate through a guide rail, and the guide rail is parallel to the center line of the base (such as Figure 4 The locking path plate is able to move along the guide rails (as shown in the center line from front to back).

[0100] Preferably, in some embodiments of the present invention, sensors that can be triggered by the end of the lock hook are provided at the two highest points of the path of the side guide slope. When the end of the lock hook triggers the corresponding sensor, the indicator light module located on the pedal turns on. Furthermore, the end of the lock hook triggers different sensors during the locking process and the unlocking process, and corresponding different indicator lights light up. Preferably, in some embodiments of the present invention, a vibrator with appropriate energy efficiency is implanted in the pedal. After the second bent end of the lock hook triggers the corresponding sensor, the vibrator vibrates appropriately for a certain period of time. We try to use more ways to enable doctors, assistants and other operators on the patient side to confirm very accurately and quickly that the base linkage system has been triggered or released.

[0101] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A main control unit base linkage system for a surgical robot, characterized by: It includes a base portion and a central control wheel portion connected to the base portion; The central control wheel unit includes a main lock central control wheel, a locking unit and a main self-locking unit. When in use, the main self-locking unit drives the locking unit to lock or unlock the main lock central control wheel. The main self-locking part is a reciprocating gear lock mechanism, which includes a pedal end locking gear seat, a locking shaft and a base end locking gear seat; The base end locking gear seat is fixedly connected to the base portion; The upper end of the pedal end locking gear seat is fixedly connected to the pedal, and the upper end of the locking shaft is rotatably connected to the pedal end locking gear seat; The locking shaft is connected to a reset elastic body capable of providing an upward thrust to the locking shaft; The outer circumference of the locking shaft is evenly distributed with a plurality of locking protrusions, and the locking tooth seat at the base end is provided with an insertion hole, and a locking groove corresponding to the locking protrusion is provided in the insertion hole. The locking shaft is inserted into the insertion hole, and the locking protrusion is connected to the locking groove. The locking shaft can move in the insertion hole along the axis direction of the locking shaft. During this process, the locking protrusion moves along the length direction of the locking groove; The lower end of the pedal end locking tooth seat is provided with a first locking tooth arranged in an annular shape, and the top of each locking protrusion is fixedly provided with a second locking tooth; the lower end of the base end locking tooth seat is provided with a third locking tooth arranged in an annular shape; the multiple locking protrusions are arranged at intervals on the locking shaft; When the cam is in the unlocked position, the first locking tooth and the second locking tooth are in an incompletely meshed connection state; when the pedal of the main lock central control wheel is pressed down, the pedal presses the locking shaft downward, and the locking shaft moves downward along the axial direction of the locking shaft under the guidance of the locking protrusion and the locking groove. When the locking protrusion disengages from the locking groove, the first locking tooth pushes the second locking tooth along the tooth surface, causing the locking shaft to rotate one tooth position. At this time, the downward pressure stroke of the locking shaft reaches the limit, and the pedal is stopped from being pressed down. The locking shaft moves upward under the elastic force of the reset elastic body until the second locking tooth engages with the third locking tooth. At this time, there is no corresponding locking groove at the position of the locking protrusion, causing the locking shaft to be limited under the locking tooth seat at the base end; When the main lock central control wheel is unlocked, the pedal is pressed down again, and the first locking tooth contacts the second locking tooth. At this time, the first locking tooth and the second locking tooth are not fully engaged. The first locking tooth of the pedal is pressed down again, and the second locking tooth is pushed to rotate one tooth position along the tooth surface. The locking shaft rotates again. At this time, the downward stroke of the locking shaft reaches the limit. The pedal is stopped and the locking shaft resets upward. At this time, the locking protrusion enters the locking groove, and the locking shaft rises to the initial position under the elastic force of the reset elastic body. The locking shaft is connected to the locking part, which is connected to the control rod of the main lock central control wheel. The locking shaft drives the locking part to lock or unlock the main lock central control wheel. The locking portion includes a connecting portion, and the connecting portion includes a first connecting rod, a second connecting rod, a first supporting plate, and a second supporting plate; The first support plate is fixedly connected to the base, and the second support plate is fixedly connected to the lifting module in the middle of the base; The two ends of the first connecting rod are rotatably connected to the first support plate and the second support plate respectively, and the two ends of the second connecting rod are rotatably connected to the first support plate and the second support plate respectively; The reset elastic body is connected to the locking shaft through a connecting portion, and the lower end of the locking shaft is connected to the lifting module; the reset elastic body is a gas spring, and the two ends of the gas spring are rotatably connected to the first connecting rod and the base portion respectively; The first connecting rod is connected to the first supporting plate via a driving shaft; The locking portion includes a transmission portion connected to the connecting portion, the transmission portion is a gear meshing transmission portion, the gear meshing transmission portion includes a locking driving gear fixedly connected to the driving shaft, and the locking driving gear is meshed with a locking driven gear located on the control lever of the main lock central control wheel; During operation, the pedal is pressed down until the locking shaft moves, thereby driving the lifting module to move, the lifting module drives the second support plate to move, thereby driving the driving shaft to rotate, the driving shaft drives the locking active gear to rotate, and finally drives the control lever to lock or unlock the central control wheel.

2. The main control unit base linkage system of a surgical robot according to claim 1, characterized in that: The central control wheel portion also includes a secondary lock central control wheel, which is connected to a secondary self-locking portion. The secondary self-locking portion is located on the opposite side of the main self-locking portion. The secondary self-locking portion includes a connecting rod, the upper end of which is fixedly connected to a pedal, and the lower end of which is connected to a lifting module located in the middle of the base portion. The auxiliary self-locking part is connected to the auxiliary lock central control wheel through the locking part; The pedal with the main self-locking part and the pedal with the secondary self-locking part are symmetrically arranged on both sides of the base part; the driving shaft on the main lock central control wheel is connected to the driving shaft on the secondary lock central control wheel on the opposite side through a linkage transmission shaft; When the linkage transmission shaft rotates, the driving shaft on the central control wheel of the main lock rotates synchronously with the driving shaft on the central control wheel of the secondary lock located on the opposite side.

3. The main control unit base linkage system of a surgical robot according to claim 1, characterized in that: The central control wheel portion also includes a slave lock central control wheel, the control rod of which is connected to the main lock central control wheel or the auxiliary lock central control wheel on the same side through a transmission rod; The two ends of the transmission rod are respectively connected to the control rod and the locking driven gear. When the locking driven gear rotates, the control rod of the control wheel in the lock rotates synchronously.

4. The main control unit base linkage system of a surgical robot according to claim 1, characterized in that: The central control wheel unit includes a main lock central control wheel, a secondary lock central control wheel and two slave lock central control wheels; The main lock central control wheel is located on the opposite side of the secondary lock central control wheel, and the slave lock central control wheel is located on the same side of the main lock central control wheel or the secondary lock central control wheel; The main lock central control wheel, the secondary lock central control wheel and the slave lock central control wheel can be locked / unlocked synchronously.

5. The main control unit base linkage system of a surgical robot according to claim 3, characterized in that: A connecting lever is fixedly provided on the control rod of the control wheel in the slave lock, one end of the connecting lever is fixedly connected to the control rod, and the other end is rotatably connected to the transmission rod, and the connecting lever is perpendicular to the control rod; One end of the transmission rod is rotatably connected to the outer circumference of the locking driven gear.

6. The main control unit and base linkage system of a surgical robot according to claim 1, characterized in that: The first connecting rod, the second connecting rod, the first supporting plate and the second supporting plate constitute a parallelogram motion mechanism.

7. The main control unit base linkage system of a surgical robot according to claim 1, characterized in that: The bottom of the locking shaft is fixedly connected to the lifting module via a transfer mechanism; The transfer mechanism includes an L-shaped load-bearing connecting plate fixedly connected to the lifting module and a bearing track fixing plate fixedly connected to the load-bearing connecting plate; a positioning groove is fixedly provided on the bearing track fixing plate, and a bearing is fixedly provided at the bottom of the locking shaft, and the bearing is connected to the positioning groove; when working, the bearing can move along the length direction of the positioning groove, and cannot separate from the positioning groove while moving along the length direction of the positioning groove.

8. The main control unit and base linkage system of a surgical robot according to claim 1, characterized in that: The transmission part is a flexible transmission mechanism, which includes a shaft groove provided on the driving shaft for fixing the driving rope and a shaft groove provided on the control rod for fixing the driving rope; Two driving ropes with opposite winding directions are fixedly arranged between the driving shaft and the adjacent control rod; The driving shaft drives the control rod to rotate synchronously through the driving rope.

9. The main control unit base linkage system of a surgical robot according to claim 8, characterized in that: The central control wheel portion includes a main lock central control wheel, a secondary lock central control wheel and a slave lock central control wheel. The control lever of the slave lock central control wheel is connected to the drive shaft on the main lock central control wheel located on the same side through a drive rope. The control lever of the slave lock central control wheel is connected to the drive shaft on the secondary lock central control wheel located on the same side through a drive rope. When the drive shaft rotates, the corresponding control lever rotates accordingly.

10. The main control unit and base linkage system of a surgical robot according to claim 9, characterized in that: The base portion is fixedly provided with a guide wheel bracket, and a driving rope between the driving shaft and the control wheel from the lock is connected to the guide wheel bracket.

11. The main control unit base linkage system of a surgical robot according to claim 1, characterized in that: A vibration module is fixedly provided in the pedal and can emit a vibration prompt according to the locking state of the main lock central control wheel.

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