A positioning device for a surgical arm slide, a surgical platform, and a surgical system.

Abstract

This invention relates to the field of testing mechanisms, specifically to a positioning device for a surgical arm slide, a surgical platform, and a surgical system. The positioning device for the surgical arm slide includes a slide cover and a sensor. The sensor is a three-dimensional force control sensor, with both its upper and lower ends serving as sensing terminals. The slide cover covers the three-dimensional force control sensor and connects to its upper end. The slide includes a slide shell, and the lower end of the three-dimensional force control sensor is connected to the slide shell. A gap is provided between the lower end of the slide cover and the slide shell. By setting the sensor as a three-dimensional force control sensor and placing it on the slide, it can directly sense forces acting in three directions, reducing errors and simplifying the structure. The gap between the slide cover and the slide shell prevents the generation of multiple detection results, thus avoiding interference and improving the accuracy of the three-dimensional force control sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection mechanism, in particular to a positioning device of a surgical arm sliding table, a surgical platform and a surgical system. BACKGROUND

[0002] The surgical system includes a doctor's console, a surgical platform, an image trolley and the like. The surgical arm is the final component of the surgical platform and is the end control mechanism directly contacted by the surgical robot and the patient. The surgical sliding table is the frontmost execution mechanism of the surgical arm, and the surgical instrument is mounted thereon. Before the laparoscopic surgery starts, the surgical arm needs to be positioned, and the staff will drag and position the sliding table by grasping the sliding table so as to achieve the best surgical angle and surgical space.

[0003] In the prior art, in order to facilitate the staff to drag the sliding table, torque sensors are arranged in the joints of the surgical arm. When the staff applies force to the sliding table, the plurality of torque sensors detect the force direction data of the joints, the force direction of the sliding table is obtained by coupling the data measured by the plurality of torque sensors, and then the driving mechanism is used to drive the sliding table to move in the force direction, so as to assist the staff. Since the data measured by the torque sensors may have errors, the force direction of the sliding table obtained by coupling may have greater errors, the driving direction of the driving mechanism is different from the actual force direction of the sliding table, the driving mechanism is difficult to assist the staff, and then the positioning process of the sliding table is difficult. SUMMARY

[0004] The problem solved by the present application is how to improve the accuracy of detecting the force direction of the sliding table so as to facilitate the positioning of the sliding table.

[0005] To solve the above problems, the present application provides a positioning device of a surgical arm sliding table, which comprises a sliding table upper cover and a sensor. The sensor is a three-dimensional force control sensor, the upper and lower ends of the three-dimensional force control sensor are sensing ends, the three-dimensional force control sensor is connected with a driving mechanism in data, and the driving mechanism is used to drive the sliding table to move. The sliding table upper cover is arranged on the three-dimensional force control sensor and connected with the upper end of the three-dimensional force control sensor. The sliding table comprises a sliding table outer shell, the lower end of the three-dimensional force control sensor is connected with the sliding table outer shell, and a gap is arranged between the lower end of the sliding table upper cover and the sliding table outer shell.

[0006] Technical effects of the present application: When the force is applied to the upper cover of the sliding table to position the sliding table, the upper end of the upper cover of the sliding table is connected with the sensor, the sensor is a three-dimensional force control sensor, the upper end of the sensor is an induction end, and the direction of the force can be sensed by the upper end of the sensor. Since the sensor is in data connection with the driving mechanism, the driving mechanism can drive the sliding table to move in the direction of the force. Thus, the sensor is a three-dimensional force control sensor, and the sensor is arranged on the sliding table, so that the three-direction force can be directly sensed. Compared with the torque sensor arranged on the joints of the surgical arm, the structure of the positioning device of the surgical arm sliding table is simplified. The data of the multiple torque sensors does not need to be coupled, the error can be reduced, the detection result of the force direction is more accurate, the accuracy of the driving mechanism driving the sliding table is ensured, the driving mechanism can provide better assistance effect for the worker, and the sliding table is conveniently positioned. Meanwhile, a gap is arranged between the upper cover of the sliding table and the sliding table shell, so that the force cannot be transmitted to the sliding table shell through the upper cover of the sliding table, and thus cannot be transmitted to the lower end of the three-dimensional force control sensor connected with the sliding table shell. Therefore, only the upper end of the three-dimensional force control sensor can detect the direction of the force, multiple detection results do not interfere with each other, the accuracy of the three-dimensional force control sensor detection is improved, the driving mechanism can drive the sliding table more accurately, the assistance effect of the driving mechanism on the worker is improved, and the sliding table is conveniently positioned.

[0007] Optionally, the upper cover of the sliding table is arranged on the three-dimensional force control sensor and connected with the upper end of the three-dimensional force control sensor, the sliding table comprises a sliding table shell, the lower end of the three-dimensional force control sensor is connected with the sliding table shell, and a gap is arranged between the lower end of the upper cover of the sliding table and the sliding table shell.

[0008] Optionally, the lower end of the upper cover of the sliding table is provided with a first baffle, the upper end of the sliding table shell is provided with a second baffle, the second baffle is arranged in the inner-to-outer overlapping manner with the first baffle, and a gap is arranged between the first baffle and the second baffle.

[0009] Optionally, the positioning device of the surgical arm sliding table further comprises a force control mounting seat, the lower end surface of the force control mounting seat is connected with the sliding table shell, and the upper end surface of the force control mounting seat is connected with the lower end surface of the three-dimensional force control sensor.

[0010] Optionally, the upper end of the force control mounting seat is provided with a third baffle, the third baffle is arranged in the inner-to-outer overlapping manner with the first baffle, and a gap is arranged between the first baffle and the third baffle.

[0011] Optionally, the positioning device of the surgical arm sliding table further comprises a force control mounting plate, an upper end surface of the force control mounting plate is connected with the sliding table upper cover, and a lower end surface of the force control mounting plate is connected with an upper end surface of the three-dimensional force control sensor.

[0012] Optionally, the lower end surface of the force control mounting plate is arranged as a plane and is parallel to the upper end surface of the three-dimensional force control sensor.

[0013] Optionally, the positioning device of the surgical arm sliding table further comprises a control mechanism, the control mechanism is electrically connected with the driving mechanism and is used for controlling the opening and closing of the driving mechanism.

[0014] Optionally, the control mechanism comprises a force control positioning key and a force control positioning key plate, the force control positioning key and the force control positioning key plate are arranged in the sliding table upper cover, the force control positioning key is located in the holding area through the sliding table upper cover, and the force control positioning key, the force control positioning key plate and the driving mechanism are electrically connected in sequence.

[0015] Optionally, the control mechanism comprises a force control positioning key and a force control positioning key plate, the force control positioning key and the force control positioning key plate are arranged in the sliding table upper cover, and the force control positioning key plate is electrically connected with the force control positioning key and the driving mechanism respectively.

[0016] The application further provides a surgical platform comprising the positioning device of the surgical arm sliding table.

[0017] The surgical platform comprises all the structures of the positioning device of the surgical arm sliding table and has the same effect as the positioning device of the surgical arm sliding table, and thus details are not repeated.

[0018] The application further provides a surgical system comprising the surgical platform.

[0019] The surgical system comprises all the structures of the surgical platform, the surgical platform comprises all the structures of the positioning device of the surgical arm sliding table, and the surgical system has the same effect as the positioning device of the surgical arm sliding table, and thus details are not repeated. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a structural schematic diagram of a sliding table according to the application;

[0021] Figure 2 FIG. 2 is an enlarged view of area A in FIG. 1; Figure 1

[0022] Figure 3 FIG. 3 is a structural schematic diagram of a positioning device of a surgical arm sliding table according to the application;

[0023] Figure 4 ​For Figure 3 Front view of the positioning device of the surgical arm sliding table;

[0024] Figure 5 For Figure 3 Bottom view of the positioning device of the surgical arm sliding table.

[0025] Reference signs:

[0026] 1, sliding table upper cover; 11, first baffle; 12, holding area; 13, positioning area; 2, sensor; 3, sliding table outer shell; 31, second baffle; 4, force control mounting seat; 41, third baffle; 5, force control mounting plate; 6, control mechanism; 61, force control positioning button; 62, force control positioning button plate; 7, sliding table. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0028] The XYZ axis coordinate system is established in this embodiment, the positive direction of the X axis is the front direction, the negative direction of the X axis is the rear direction, the positive direction of the Y axis is the left direction, the negative direction of the Y axis is the right direction, the positive direction of the Z axis is the upward direction, and the negative direction of the Z axis is the downward direction.

[0029] To solve the above problems, as Figures 1-5 shown, the positioning device of the surgical arm sliding table in the embodiment of the present application includes a sliding table upper cover 1 and a sensor 2. The sensor 2 is a three-dimensional force control sensor, both the upper and lower ends of the three-dimensional force control sensor are sensing ends, the three-dimensional force control sensor is used in data connection with a driving mechanism, and the driving mechanism is used to drive the movement of the sliding table 7. The sliding table upper cover 1 is arranged on the three-dimensional force control sensor and connected with the upper end of the three-dimensional force control sensor. The sliding table 7 includes a sliding table outer shell 3, the lower end of the three-dimensional force control sensor is connected with the sliding table outer shell 3, and a gap is arranged between the lower end of the sliding table upper cover 1 and the sliding table outer shell 3.

[0030] The three-dimensional force control sensor is generally provided in a cylindrical structure, and both upper and lower ends are sensing ends. When both upper and lower ends of the three-dimensional force control sensor are simultaneously sensed, interference will be caused to the detection result of the three-dimensional force control sensor. For example, when the sliding table upper cover 1 is connected with the sliding table shell 3, the sliding table upper cover 1 is stressed, the sliding table upper cover 1 is connected with the upper end of the three-dimensional force control sensor, and part of the acting force is transmitted to the upper end of the three-dimensional force control sensor; the sliding table shell 3 is connected with the lower end of the three-dimensional force control sensor, and the sliding table upper cover 1 transmits part of the acting force to the lower end of the three-dimensional force control sensor through the sliding table shell 3; that is, both upper and lower ends of the three-dimensional force control sensor are sensed with the acting force, the three-dimensional force control sensor detects two groups of different stress direction data, the transmission path of the acting force of the sliding table upper cover 1 to the lower end of the three-dimensional force control sensor is long, and a large error may be caused in the detection result, which will affect the accuracy of the detection result of the three-dimensional force control sensor, thereby affecting the assisting effect of the driving mechanism on the worker.

[0031] In the embodiment, the driving mechanism can be provided as an electric motor, and the three-dimensional force control sensor can sense three-direction acting forces F X , F Y , F Z parallel to X, Y and Z axes respectively. The sliding table upper cover 1 is provided as a cover structure and is arranged at the upper end of the sliding table shell 3, and the three-dimensional force control sensor is wrapped by the sliding table upper cover 1 to protect the structure of the three-dimensional force control sensor. The sliding table main body structure is arranged in the sliding table shell 3. The sliding table upper cover 1 is arranged on the three-dimensional force control sensor, and the sliding table upper cover 1 is connected with the upper end of the three-dimensional force control sensor. The acting force applied to the sliding table upper cover 1 can be transmitted to the upper end surface of the three-dimensional force control sensor through the sliding table upper cover 1. A gap is arranged between the sliding table upper cover 1 and the sliding table shell 3, and the acting force cannot be transmitted to the sliding table shell 3 through the sliding table upper cover 1, so the acting force cannot be transmitted to the lower end of the three-dimensional force control sensor connected with the sliding table shell 3. The three-dimensional force control sensor is connected with the driving mechanism in data, and the obtained acting force direction data can be transmitted to the driving mechanism, and the driving mechanism drives the sliding table 7 to move towards the acting force direction, so as to realize the assisting effect on the worker.

[0032] In summary, when the force is applied to the upper cover 1 of the sliding table 7 to position the sliding table 7, the upper end of the sensor 2 is connected to the upper cover 1 of the sliding table 7, the sensor 2 is set as a three-dimensional force control sensor, the upper end of the sensor 2 is set as a sensing end, and the direction of the force can be sensed by the upper end of the sensor 2. Since the sensor 2 is in data connection with the driving mechanism, the driving mechanism can drive the sliding table 7 to move in the direction of the force. Thus, the sensor 2 is set as a three-dimensional force control sensor, and the sensor 2 is arranged on the sliding table 7, so that the three-direction force can be directly sensed. Compared with the torque sensor arranged on the joints of the surgical arm, the structure of the positioning device of the sliding table of the surgical arm is simplified. The data of the multiple torque sensors does not need to be coupled, the error can be reduced, the detection result of the direction of the force is more accurate, the accuracy of the driving mechanism driving the sliding table 7 is ensured, the driving mechanism can provide better assistance effect for the worker, and the sliding table 7 is conveniently positioned. At the same time, the direction of the force can be detected only by the upper end of the three-dimensional force control sensor, multiple detection results are not generated to cause interference, the accuracy of the detection of the three-dimensional force control sensor is improved, the driving mechanism can drive the sliding table 7 more accurately, the assistance effect of the driving mechanism on the worker is improved, and the sliding table 7 is conveniently positioned.

[0033] Optionally, as shown in Figure 2 The lower end of the upper cover 1 of the sliding table is provided with a first baffle 11, and the upper end of the outer shell 3 of the sliding table is provided with a second baffle 31. The second baffle 31 and the first baffle 11 are arranged in an inside-out overlapping manner, and a gap is arranged between the first baffle 11 and the second baffle 31.

[0034] In the embodiment, the first baffle 11 is arranged in a ring structure and extends downward to the lower end surface of the three-dimensional force control sensor, and the second baffle 31 is arranged in a half ring structure and located at the rear side of the upper cover 1 of the slide table, and extends upward to the lower end surface of the three-dimensional force control sensor. The upper cover 1 of the slide table is arranged on the upper end of the three-dimensional force control sensor, and can shield the upper part of the three-dimensional force control sensor to protect the structure of the upper part of the three-dimensional force control sensor. The lower end of the upper cover 1 of the slide table is provided with the first baffle 11, and the first baffle 11 extends downward to the lower end surface of the three-dimensional force control sensor. Meanwhile, the upper end of the slide table outer shell 3 is provided with the second baffle 31 at the rear side, and the second baffle 31 extends upward to the lower end surface of the three-dimensional force control sensor. The second baffle 31 and the first baffle 11 are arranged in an inside-out overlapping manner, which can shield the rear side of the lower part of the three-dimensional force control sensor, and can prevent air impurities from entering the three-dimensional force control sensor from the rear side of the lower end of the upper cover 1 of the slide table, so as to protect the structure of the three-dimensional force control sensor. Meanwhile, a gap is arranged between the second baffle 31 and the first baffle 11, which can prevent the upper cover 1 of the slide table from being connected to the slide table outer shell 3 through the first baffle 11 and the second baffle 31, and can prevent the force of the staff on the upper cover 1 of the slide table from being transmitted to the lower end of the three-dimensional force control sensor through the slide table outer shell 3, so as to ensure the accuracy of the detection of the three-dimensional force control sensor.

[0035] Optionally, as shown in Figure 2 , the positioning device of the surgical arm slide table further comprises a force control mounting seat 4, the lower end surface of the force control mounting seat 4 is connected with the slide table outer shell 3, and the upper end surface of the force control mounting seat 4 is connected with the lower end surface of the three-dimensional force control sensor.

[0036] In the embodiment, the lower end surface of the force control mounting seat 4 is connected with the slide table outer shell 3 by using a screw, and the upper end surface of the three-dimensional force control sensor is connected with the force control mounting seat 4 by using a screw. In this way, by arranging the force control mounting seat 4, the three-dimensional force control sensor can be conveniently assembled.

[0037] Optionally, the upper end surface and the lower end surface of the force control mounting seat 4 are both arranged as planes and are parallel to each other.

[0038] In the embodiment, the guide rail of the slide table 7 is arranged on the slide table outer shell 3 and is parallel to the XZ plane. Specifically, the direction F Y of the three-dimensional force sensor is perpendicular to the guide rail of the slide table 7. The lower end surface of the force control mounting seat 4 is connected with the slide table outer shell 3, and the upper end surface of the force control mounting seat 4 is parallel to the XY plane. In this way, by arranging the force control mounting seat 4, arranging the upper end surface of the force control mounting seat 4 as a plane, and arranging the lower end surface of the three-dimensional force control sensor parallel to the upper end surface of the force control mounting seat 4, the three sensing directions F X , F Y , and F ZRespectively parallel with the X, Y, Z axes, so as to ensure the accuracy of the detection of the three-dimensional force control sensor.

[0039] Optionally, as shown in Figure 2 The upper end of the force control mounting base 4 is provided with a third baffle plate 41, the third baffle plate 41 and the first baffle plate 11 are arranged in an inside-out overlapping manner, and a gap is arranged between the first baffle plate 11 and the third baffle plate 41.

[0040] In this embodiment, the third baffle plate 41 extends upward to the lower end surface of the three-dimensional force control sensor. The third baffle plate 41 is arranged on the front side of the upper end of the force control mounting base 4 and extends upward to the lower end surface of the three-dimensional force control sensor. The third baffle plate 41 and the first baffle plate 11 are arranged in an inside-out overlapping manner, which can shield the front side of the lower part of the three-dimensional force control sensor, prevent air impurities from entering the three-dimensional force control sensor from the front side of the lower end of the slide cover 1, and protect the structure of the three-dimensional force control sensor. At the same time, a gap is arranged between the third baffle plate 41 and the first baffle plate 11, which can prevent the slide cover 1 from being connected to the force control mounting base 4 through the first baffle plate 11 and the third baffle plate 41, avoid the force of the operator on the slide cover 1 being transmitted to the lower end of the three-dimensional force control sensor through the force control mounting base 4, and ensure the accuracy of the detection of the three-dimensional force control sensor.

[0041] Optionally, as shown in Figure 2 The positioning device of the surgical arm slide also includes a force control mounting plate 5, the force control mounting plate 5 is connected to the slide cover 1, and the lower end surface of the force control mounting plate 5 is connected to the upper end surface of the three-dimensional force control sensor.

[0042] In this embodiment, the lower end surface of the force control mounting plate 5 is connected to the three-dimensional force control sensor by using a screw, and the upper end surface of the force control mounting plate 5 is connected to the slide cover 1 by using a screw. In this way, by arranging the force control mounting plate 5, the slide cover 1 can be conveniently assembled.

[0043] Optionally, the lower end surface of the force control mounting plate 5 is arranged as a plane and is parallel to the upper end surface of the three-dimensional force control sensor.

[0044] In this embodiment, the lower end surface of the force control mounting plate 5 is parallel to the upper end surface of the three-dimensional force control sensor, both of which are XY planes. When a force is applied to the slide 7, the force direction of the slide cover 1 is the same as the force direction of the three-dimensional force control sensor. In this way, the sensing direction of the three-dimensional force control sensor corresponds to the force direction of the slide cover 1, so that the three-dimensional force control sensor can accurately detect the force direction of the slide cover 1.

[0045] Optionally, as shown in Figure 3 and Figure 4As shown, the sliding table upper cover 1 is provided with a holding area 12 for matching the palm.

[0046] In this embodiment, the holding area 12 is located on the front side of the sliding table upper cover 1 and is opened backward to form a structure matching the palm. The palm is matched with the holding area 12 of the sliding table upper cover 1, and the force is applied on the sliding table upper cover 1. In this way, on the one hand, the worker can confirm the position of the force, prevent the worker from applying force to the sliding table 7, avoid the upper and lower ends of the three-dimensional force control sensor being stressed at the same time, and improve the detection accuracy of the three-dimensional force control sensor; on the other hand, the worker matches the palm with the holding area 12 on the sliding table upper cover 1, which is convenient for the worker to apply force to the sliding table upper cover 1.

[0047] Optionally, as shown in Figure 3 The sliding table upper cover 1 is also provided with a positioning area 13.

[0048] In this embodiment, the positioning area 13 is provided with two and is located on the left and right sides of the sliding table upper cover 1, which is a recess inward. When the palm is matched with the holding area 12, the fingers are arranged in the recess, which is beneficial to increase the contact area between the palm and the sliding table upper cover 1, and is convenient for applying force.

[0049] Optionally, as shown in Figure 2 The positioning device of the surgical arm sliding table further includes a control mechanism 6, which is electrically connected with the driving mechanism and is used for controlling the opening and closing of the driving mechanism.

[0050] In this embodiment, the control mechanism 6 is provided to control the opening and closing of the driving mechanism, which avoids the position and angle of the sliding table 7 from being deviated due to the worker unintentionally touching the sliding table upper cover 1, and improves the stability of the sliding table 7.

[0051] Optionally, as shown in Figure 2 and Figure 5 The control mechanism 6 includes a force control positioning key 61 and a force control positioning key plate 62, which are arranged in the sliding table upper cover 1, and the force control positioning key plate 62 is electrically connected with the force control positioning key 61 and the driving mechanism in sequence.

[0052] In the embodiment, the force control positioning button 61 is located in the holding area of the sliding table upper cover 1 and penetrates the sliding table upper cover 1. The force control positioning button plate 62 is electrically connected with the driving mechanism, and the driving mechanism is in transmission connection with the sliding table 7. The force control positioning button plate 62 is a circuit board. When the palm is covered on the sliding table upper cover 1, the palm heart abuts against the force control positioning button 61 to apply force to the force control positioning button 61, so as to trigger the force control positioning button plate 62, so that the circuit of the force control positioning button plate 62 is closed and conducted, and then an electric signal is formed to control the driving mechanism to be opened. At this time, when the worker applies force to the sliding table upper cover 1, the driving mechanism can drive the sliding table 7 to move to assist the worker. At the same time, when the palm heart is separated from the force control positioning button 61 or no force is applied to the force control positioning button 61, the circuit in the force control positioning button plate 62 is disconnected, and the driving mechanism is closed. At this time, when the worker applies force to the sliding table upper cover 1, the driving mechanism will not drive the sliding table 7 to move. Therefore, the control mechanism 6 is provided as the force control positioning button 61 and the force control positioning button plate 62, so that the palm is covered on the holding area 12 of the sliding table upper cover 1 to position the sliding table 7, so as to ensure the effect of the control mechanism 6 and improve the stability of the sliding table 7.

[0053] Another embodiment of the surgical platform comprises the positioning device of the surgical arm sliding table as described above.

[0054] In the embodiment, the surgical platform comprises all the structures of the positioning device of the surgical arm sliding table, and has the same effect as the positioning device of the surgical arm sliding table, and thus will not be described again.

[0055] Another embodiment of the surgical system comprises the surgical platform as described above.

[0056] In the embodiment, the surgical system comprises all the structures of the surgical platform, and the surgical platform comprises all the structures of the positioning device of the surgical arm sliding table. The surgical system has the same effect as the positioning device of the surgical arm sliding table, and thus will not be described again.

[0057] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present disclosure.

Claims

1. A positioning device of a surgical arm sliding table, characterized in that, The device comprises a slide cover (1) and a sensor (2), the sensor (2) is a three-dimensional force control sensor, both the upper end and the lower end of the three-dimensional force control sensor are sensing ends, the three-dimensional force control sensor is connected with a driving mechanism, and the driving mechanism is used for driving the movement of a slide (7); The slide cover (1) covers the three-dimensional force control sensor and is connected with the upper end of the three-dimensional force control sensor, the slide (7) comprises a slide shell (3), the lower end of the three-dimensional force control sensor is connected with the slide shell (3), and a gap is arranged between the lower end of the slide cover (1) and the slide shell (3); The lower end of the slide cover (1) is provided with a first baffle (11), the upper end of the slide shell (3) is provided with a second baffle (31), the second baffle (31) and the first baffle (11) are arranged in an inside-to-outside overlapping mode, and a gap is arranged between the first baffle (11) and the second baffle (31); The device further comprises a force control mounting seat (4), the lower end surface of the force control mounting seat (4) is connected with the slide shell (3), and the upper end surface of the force control mounting seat (4) is connected with the lower end surface of the three-dimensional force control sensor; the upper end of the force control mounting seat (4) is provided with a third baffle (41), the third baffle (41) and the first baffle (11) are arranged in an inside-to-outside overlapping mode, and a gap is arranged between the first baffle (11) and the third baffle (41). The gap is used for preventing the force of the slide cover (1) from being transmitted to the lower end of the three-dimensional force control sensor through the slide shell (3) and / or the force control mounting seat (4).

2. The positioning device of a surgical arm sliding table according to claim 1, characterized in that, The device further comprises a force control mounting plate (5), the upper end surface of the force control mounting plate (5) is connected with the slide cover (1), and the lower end surface of the force control mounting plate (5) is connected with the upper end surface of the three-dimensional force control sensor.

3. The positioning device of a surgical arm sliding table according to claim 2, characterized in that, The lower end surface of the force control mounting plate (5) is a plane and is parallel to the upper end surface of the three-dimensional force control sensor.

4. The positioning device of claim 1, wherein, The device further comprises a control mechanism (6), the control mechanism (6) is electrically connected with the driving mechanism and is used for controlling the opening and closing of the driving mechanism.

5. The positioning device of claim 4, wherein the first and second linear actuators are configured to move the surgical arm slide in the first direction and the second direction, respectively. The control mechanism (6) comprises a force control positioning key (61) and a force control positioning key plate (62), the force control positioning key (61) and the force control positioning key plate (62) are arranged in the slide cover (1), and the force control positioning key plate (62) is electrically connected with the force control positioning key (61) and the driving mechanism.

6. A surgical platform, characterized by, The device comprises the positioning device of the surgical arm slide as claimed in any one of claims 1-5.

7. A surgical system characterized by comprising: The device comprises the surgical platform as claimed in claim 6.

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