Fixing device, mobile device, surgical system and control method thereof

Abstract

The application relates to a fixing device, a mobile device, a surgical system and a control method thereof. The fixing device comprises a lifting mechanism capable of outputting lifting movement in the vertical direction of a trolley and a clamping mechanism connected to the lifting mechanism and capable of clamping or releasing the mounting slide rail of a surgical bed. Thus, the step of dismounting and mounting the surgical robot from the trolley is omitted, the mounting and dismounting process of the surgical robot is greatly simplified, the operation difficulty of medical staff is reduced, the mounting and dismounting time is reduced, a good use experience is brought to the medical staff and patients, and the safety hidden danger is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical equipment technology, and in particular to a fixation device, a mobile device, a surgical system, and a control method thereof. Background Technology

[0002] Interventional vascular surgery refers to the procedure in which a surgeon, guided by a digital subtraction angiography (DSA) machine, manipulates a catheter within a blood vessel to treat lesions, achieving purposes such as embolizing abnormal blood vessels, dissolving thrombi, and dilating narrowed vessels. Interventional vascular surgery requires the interventional robot and the operating table to be relatively stationary to ensure surgical stability. The robot must be mounted and fixed on the operating table, and must be removed after the procedure.

[0003] Currently, installing and securing the robot onto the operating table requires at least two people to disassemble it from the trolley and lift it onto the operating table. Similarly, after the surgery, at least two more people are needed to disassemble the robot and lift it back onto the trolley for installation and securing. The entire installation and disassembly process is cumbersome, whether on the operating table or the trolley. Therefore, the installation and disassembly of vascular interventional robots is time-consuming and labor-intensive, increasing the need for surgical personnel and introducing the risk of the robot falling and being damaged during transport, thus jeopardizing the success of the surgery. Summary of the Invention

[0004] This application provides a fixation device, mobile device, surgical system, and control method that eliminates the steps of installing, fixing, and disassembling surgical robots, improves efficiency, and reduces safety hazards.

[0005] A fixing device, comprising:

[0006] The lifting mechanism can output lifting motion along the vertical direction of the trolley; and

[0007] A clamping mechanism is connected to the lifting mechanism and moves up and down with the lifting mechanism. The clamping mechanism can clamp or release the mounting rails of the operating table.

[0008] In the fixing device of this invention, the lifting mechanism can output lifting and lowering motion along the vertical direction of the trolley, and the clamping mechanism can output clamping and releasing actions. The clamping mechanism can clamp or release the mounting rail of the operating table, so that the trolley is fixed to or separated from the operating table. When it is necessary to fix the trolley to the operating table, the trolley is moved to the vicinity of the operating table and aligned with the mounting rail. The lifting mechanism drives the clamping mechanism to descend, so that the mounting rail is located in the clamping mechanism, and the clamping mechanism clamps the mounting rail. In this way, the movement effect is achieved to fix it to the operating table, so that the position of the surgical robot on the trolley and the operating table is relatively fixed. After the surgical robot has finished operating, the clamping mechanism releases the mounting rail, and the lifting mechanism drives the clamping mechanism to rise and reset.

[0009] This fixing device adjusts the position of the clamping mechanism via a lifting mechanism, aligning it with the mounting rails of the operating table. The clamping mechanism then secures the mounting rails, thus fixing the trolley to the operating table. This fixing device enables the trolley to be fixed in place, eliminating the need to remove and install the surgical robot from the trolley. This greatly simplifies the installation and disassembly process of the surgical robot, reducing the difficulty of operation for medical staff, shortening the time required for installation and disassembly, providing a better user experience for medical staff and patients, and reducing safety hazards.

[0010] In one embodiment, the lifting mechanism includes a first power source and a first transmission assembly, wherein the first power source has a first output shaft;

[0011] The first transmission assembly includes a first gear and a first rack. The first gear is disposed on the first output shaft, and the first rack is disposed on the trolley. The first gear and the first rack are meshed together. This drives the clamping mechanism to rise and fall.

[0012] In one embodiment, the lifting mechanism further includes a first braking element disposed on the first output shaft for locking or unlocking the first output shaft. When the first braking element locks the first output shaft, it can reliably lock the first output shaft, keeping the first power source in its current position.

[0013] In one embodiment, the lifting mechanism further includes a guide member extending vertically, and the clamping mechanism is disposed on the guide member and can slide along the guide member. This ensures the accuracy of the lifting trajectory of the clamping mechanism.

[0014] In one embodiment, the lifting mechanism further includes a limiting component disposed on the guide member, the limiting component being used to limit the upward and / or downward position of the first power source. This reduces the overtravel of the first power source during upward or downward movement.

[0015] In one embodiment, the clamping mechanism includes a second power source, a second transmission assembly, a first clamping assembly, and a second clamping assembly. The second transmission assembly is disposed on the second output shaft of the second power source. The first clamping assembly and the second clamping assembly are arranged vertically and are used to clamp or release the mounting slide rail. The second transmission assembly drivesly connects the first clamping assembly and the second clamping assembly, causing the first clamping assembly and the second clamping assembly to move towards or away from each other. This achieves the clamping or releasing of the mounting slide rail.

[0016] In one embodiment, the second transmission assembly includes a second gear, a second rack, and a third rack. The second rack and the third rack are disposed opposite each other on both sides of the second gear and mesh with the second gear. The second rack is connected to the first clamping assembly, and the third rack is connected to the second clamping assembly. This enables the relative movement control of the first and second clamping assemblies, thereby achieving the clamping or loosening of the mounting slide rail.

[0017] In one embodiment, the first clamping assembly includes a first connecting plate and a first clamping block connected to the first connecting plate, and the second clamping assembly includes a second connecting plate and a second clamping block connected to the second connecting plate. The first connecting plate is connected to the second rack, and the second connecting plate is connected to the third rack. The first clamping block and the second clamping block are arranged opposite each other in a vertical direction. This enables the relative or opposite movement control of the first clamping assembly and the second clamping assembly, thereby achieving the clamping or loosening of the mounting slide rail.

[0018] In one embodiment, the first clamping block has a first notch, and the second clamping block has a second notch, with the first notch and the second notch disposed opposite to each other for clamping the mounting slide rail;

[0019] The first notch and the second notch at least partially accommodate the mounting rail. This achieves reliable clamping of the mounting rail.

[0020] In one embodiment, the first clamping assembly further includes a first guide member disposed on the first connecting plate and the mounting base, and the second clamping assembly further includes a second guide member disposed on the second connecting plate and the mounting base. This ensures accurate movement trajectories of the first and second connecting plates.

[0021] In one embodiment, the first connecting plate has a first mating portion, the second connecting plate has a second mating portion, and the first mating portion and the second mating portion are mated and connected.

[0022] The first mating part and the second mating part have a protrusion and groove mating structure. This ensures that the movement trajectory of the first connecting plate and the second connecting plate is accurate.

[0023] In one embodiment, the clamping power source further includes a second braking element disposed on the second output shaft for locking or unlocking the second output shaft. When the second braking element locks the second output shaft, it locks the second braking element in its current position.

[0024] In one embodiment, the clamping mechanism further includes a detection component disposed on the first clamping component and the second clamping component;

[0025] The detection component includes a first detection element and a second detection element. The first detection element is disposed on the first clamping component, and the second detection element is disposed on the second clamping component. The first detection element is used to detect the force exerted when the first clamping component contacts the mounting slide rail, and the second detection element is used to detect the force exerted when the second clamping component contacts the mounting slide rail. This achieves reliable clamping of the mounting slide rail.

[0026] In one embodiment, the clamping mechanism further includes a fixed wedge block and a movable wedge block. The movable wedge block is disposed on the second clamping assembly, and the fixed wedge block is disposed on the lifting mechanism. When the second clamping assembly performs a lifting movement, the movable wedge block moves up and down synchronously along the fixed wedge block. This achieves reliable clamping of the mounting slide rail.

[0027] In one embodiment, the fixing device further includes a dustproof component, which is foldable or extendable and is disposed on the lifting mechanism, and which, when folded or extended, can cover the opening of the trolley, thus serving a dustproof function.

[0028] A mobile device includes a trolley and, as described in any of the foregoing technical features, a fixing device disposed on the trolley. This facilitates the fixing of the surgical robot relative to a mounting rail.

[0029] A surgical system includes a surgical robot, an operating table, and a mobile device as described above. The operating table has mounting rails on its side. The surgical robot is mounted on a trolley of the mobile device, and a fixing device for the mobile device clamps and fixes it to the mounting rails. This facilitates the relative fixation of the surgical robot to the mounting rails.

[0030] A control method for a surgical system, applied to the surgical system as described above, wherein the mobile device of the surgical system includes a trolley and a fixing device, the fixing device includes a lifting mechanism and a clamping mechanism, the lifting mechanism includes a first power source and a first braking element, the clamping mechanism includes a second power source, a first clamping assembly, a second clamping assembly, and a detection assembly, the detection assembly includes a first detection element and a second detection element; the control method includes the following steps:

[0031] After the control panel receives the installation signal, it controls the first braking component to unlock the first power source. Under the action of gravity, the first power source drives the clamping mechanism to descend, so that the installation slide rail is located in the clamping mechanism.

[0032] When the first detection element contacts the mounting slide rail and detects a change in pressure value, the control panel controls the second power source to work, causing the first clamping assembly and the second clamping assembly to move towards each other;

[0033] When the second detection element detects that the force of contact with the mounting slide rail reaches a preset value, the control panel controls the second power source to stop working and controls the first braking element to lock the first power source.

[0034] The control panel controls the unlocking of the surgical robot, and the surgical robot performs operations.

[0035] After the operation is completed, the control panel initiates a reset operation, which controls the surgical robot to reset and lock.

[0036] The control panel controls the clamping mechanism to release the mounting slide rail and controls the first brake to unlock the first power source. After the first power source is raised to a preset height, the control panel controls the first brake to lock the first power source. Attached Figure Description

[0037] Figure 1 This is a perspective view of a mobile device with a fixing device according to an embodiment of the present invention;

[0038] Figure 2 for Figure 1 A schematic diagram showing the coordination of the fixation device in the mobile device with the operating table;

[0039] Figure 3 for Figure 2 A magnified view of the fixation device in conjunction with the operating table;

[0040] Figure 4 for Figure 1 A schematic diagram of the lifting mechanism in the fixed device shown;

[0041] Figure 5 for Figure 4 A schematic diagram showing the cooperation between the first power source and the limit component in the lifting mechanism shown;

[0042] Figure 6 for Figure 1 The diagram shows a fixing device in a mobile device;

[0043] Figure 7 for Figure 6 A partial enlarged view of the clamping mechanism in the shown fixing device from one angle;

[0044] Figure 8 for Figure 7 The longitudinal cross-sectional view of the clamping mechanism shown;

[0045] Figure 9 for Figure 7 The cross-sectional view of the clamping mechanism shown;

[0046] Figure 10 for Figure 6 A schematic diagram of the clamping mechanism as seen from another angle;

[0047] Figure 11 for Figure 1 The shown fixing device is an enlarged view from one angle at the first clamp and the second clamp;

[0048] Figure 12 for Figure 1 The shown fixing device is an enlarged view from another angle at the first and second clamping blocks;

[0049] Figure 13 for Figure 1 The image shows a magnified view of the surgical robot mounted on the trolley.

[0050] Figure 14 This is a flowchart of the control process of the surgical system of the present invention;

[0051] Figure 15 This is a preoperative control principle diagram of the surgical system of the present invention;

[0052] Figure 16 This is a schematic diagram of the postoperative control principle of the surgical system of the present invention. Detailed Implementation

[0053] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0054] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0056] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0058] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0059] See Figures 1 to 3 This invention provides a fixing device 100. The fixing device 100 is used for mounting on the trolley 200 of the mobile device 10 and for locking the mounting rail 401 of the operating table 40. Of course, in other embodiments of this invention, the fixing device 100 can also be used for the automatic installation and fixing of other components. In this invention, only the example of the fixing device 100 being fixed to the mounting rail 401 of the operating table will be described.

[0060] Understandably, currently, when a surgical robot is fixed to the operating table, at least two people are needed to disassemble the surgical robot from the trolley and lift it onto the operating table for installation and fixation. After the surgery, at least two people are also needed to disassemble the robot and lift it onto the trolley for installation and fixation. The entire installation and disassembly process is very cumbersome, time-consuming, labor-intensive, and poses safety hazards.

[0061] See Figures 1 to 3 This invention provides a fixing device 100 that locks a trolley 200 onto the mounting rail 401 of an operating table 40, thereby fixing the relative position of the surgical robot 30 on the trolley 200 and the operating table 40. This eliminates the need to remove the surgical robot 30 from the trolley 200 and then fix it onto the operating table 40, simplifying the installation and removal process. This reduces the difficulty of operation for medical staff, shortens installation and removal time, provides a better user experience for medical staff and patients, and reduces safety hazards. The specific structure of the fixing device 100 according to one embodiment is described below.

[0062] See Figures 4 to 10 In one embodiment, the fixing device 100 includes a base 110, a lifting mechanism 120, and a clamping mechanism 130. The base 110 is vertically mounted on the trolley 200. The lifting mechanism 120 is mounted on the base 110 and can output vertical movement along the trolley 200. The clamping mechanism 130 is mounted on the base 110 and moves up and down with the lifting mechanism 120. The clamping mechanism 130 can clamp or release the mounting rail 401 of the operating table 40. The lifting mechanism 120 drives the base 110 to move the clamping mechanism 130 up and down along the trolley 200 to adjust the position of the clamping mechanism 130 so that the clamping mechanism 130 is aligned with the mounting rail 401. By clamping the mounting rail 401 with the clamping mechanism 130, the trolley 200 is fixed to the operating table 40.

[0063] The base 110 supports all components of the fixing device 100, making the fixing device 100 a single, integrated structure that facilitates installation onto the trolley 200. As can be understood, lifting motion refers to movement along the vertical direction, such as... Figure 1The vertical direction is shown. The lifting mechanism 120 and clamping mechanism 130 are disposed on the base 110. After the lifting mechanism 120 outputs a lifting motion along the vertical direction of the trolley 200, this lifting motion can drive the base 110 and clamping mechanism 130 to lift synchronously. Of course, in other embodiments of the present invention, the fixing device 100 may omit the base 110, that is, the fixing device 100 only includes the lifting mechanism 120 and clamping mechanism 130. In this case, the clamping mechanism 130 is directly disposed on the lifting mechanism 120, such as the first power source 121 (mentioned later), and the lifting motion output by the lifting mechanism 120 drives the clamping mechanism 130 to lift. In this invention, only the fixing device 100 including the base 110 is described as an example.

[0064] When the lifting mechanism 120 is working, it can drive the base 110 to move up and down relative to the trolley 200. Understandably, when the lifting mechanism 120 outputs lifting motion, since the trolley 200 remains stationary in the vertical direction, this lifting motion will act on the first power source 121, causing the first power source 121 to drive the base 110 to move up and down.

[0065] A clamping mechanism 130 is disposed on the base 110. The clamping mechanism 130 can output clamping or releasing movements to clamp or release the mounting slide rail 401 on the side of the operating table 40. When the trolley 200 needs to be fixed to the operating table 40, the clamping mechanism 130 outputs a clamping movement to clamp the mounting slide rail 401, so that the position of the trolley 200 and the operating table 40 is relatively fixed. When the trolley 200 is removed from the operating table 40, the clamping mechanism 130 outputs a releasing movement to separate the clamping mechanism 130 from the mounting slide rail 401. At this time, the trolley 200 can be detached from the operating table 40.

[0066] The lifting mechanism 120 and the clamping mechanism 130 work together to automatically mount and fix the trolley 200 onto the mounting rail 401 of the operating table 40. When the fixing device 100 is working, the base 110 and the clamping mechanism 130 descend under gravity. When the clamping mechanism 130 descends to the position of the mounting rail 401, it contacts the rail, and the base 110 and clamping mechanism 130 stop descending. Then, the clamping mechanism 130 outputs a clamping motion to clamp the mounting rail 401, thus fixing the trolley 200 onto the operating table 40, and consequently fixing the surgical robot 30 onto the operating table 40. After the surgical robot 30 completes its operation, the clamping mechanism 130 outputs a releasing motion to release the mounting rail 401. Then, the lifting mechanism 120 drives the base 110 and the clamping mechanism 130 upwards, causing the fixing device 100 to return to its initial position for use in the next surgery.

[0067] The fixing device 100 in the above embodiment adjusts the position of the clamping mechanism 130 through the lifting mechanism 120, aligning the clamping mechanism 130 with the mounting slide rail 401 of the operating table, and clamping the mounting slide rail 401 through the clamping mechanism 130, thereby fixing the trolley 200 to the operating table 40. In this way, the fixing device 100 enables the trolley 200 to have an automatic installation and fixing function, eliminating the need for the surgical robot 30 to be removed from and installed on the trolley 200, greatly simplifying the installation and disassembly process of the surgical robot 30, reducing the operational difficulty for medical staff, reducing installation and disassembly time, providing a better user experience for medical staff and patients, and reducing safety hazards.

[0068] See Figure 4 In one embodiment, the lifting mechanism 120 includes a first power source 121 and a first transmission assembly 122, which are connected in a transmission manner. The first power source 121 provides power for the lifting mechanism 120 to output lifting motion. The first power source 121 is mounted on the base 110 and has a first output shaft through which it outputs power. The first transmission assembly 122 is connected to the first output shaft and the trolley 200. The first power source 121 is connected to the first transmission assembly 122 through the first output shaft to drive the first transmission assembly 122 to output lifting motion relative to the trolley 200, thereby causing the clamping mechanism 130 to move in a lifting motion relative to the trolley 200.

[0069] Optionally, the first power source 121 is a stepper motor to reduce overall cost. Of course, in other embodiments of the present invention, the first power source 121 may also be a servo motor to ensure control stability.

[0070] See Figure 4 In one embodiment, the first transmission assembly 122 includes a first gear 1221 and a first rack 1222. The first gear 1221 is disposed on the first output shaft, and the first rack 1222 is disposed on the trolley 200. The first gear 1221 and the first rack 1222 are meshed together. That is, the first transmission assembly 122 has a gear and rack transmission structure. The first rack 1222 is disposed vertically in the trolley 200, and the first gear 1221 is disposed on the first output shaft of the first power source 121. The first gear 1221 and the first rack 1222 are meshed together.

[0071] When the first power source 121 outputs rotational motion, it drives the first gear 1221 to rotate via the first output shaft. The first gear 1221, when rotating, meshes with the first rack 1222 for transmission. Since the first rack 1222 is fixedly mounted in the trolley 200, the first gear 1221 moves up and down along the rack 1222. This, in turn, drives the first power source 121 to move up and down synchronously via the first output shaft, which in turn drives the clamping mechanism 130 to move up and down synchronously via the base 110.

[0072] Optionally, the first power source 121 outputs an upward motion. That is, the first power source 121 moves upward relative to the first rack 1222, and the descent of the first power source 121 is achieved by its own gravity. After the first power source 121 is unlocked, the first power source 121 descends along the first rack 1222 under its own gravity. Of course, in other embodiments of the present invention, the first power source 121 outputs both upward and downward motion. That is, the first power source 121 moves upward or downward relative to the first rack 1222. In this invention, only the upward motion output by the first power source 121 is used as an example for explanation. The principle of the first power source 121 outputting both upward and downward motion is essentially the same as that of the first power source 121 outputting upward motion, and will not be repeated here.

[0073] In one embodiment, the lifting mechanism 120 further includes a first brake member disposed on the first output shaft for locking or unlocking the first output shaft. The first brake member enables the first power source 121 to engage in brake locking. When the first brake member unlocks the first output shaft, i.e., the first power source 121 is deactivated from brake engagement, the first output shaft can rotate, and thus the first power source 121 can rise or fall relative to the first rack 1222. When the first brake member locks the first output shaft, i.e., the first power source 121 engages in brake engagement, the first output shaft cannot rotate, and the first power source 121 remains in its current position.

[0074] Understandably, when the clamping mechanism 130 needs to clamp the mounting slide rail 401, the first brake unlocks the first output shaft. At this time, the first power source 121 descends under the action of power, causing the clamping mechanism 130 to move to the position of the mounting slide rail 401. After the clamping mechanism 130 clamps the mounting slide rail 401, the first brake locks the first output shaft, fixing the position of the first power source 121 to ensure the position of the trolley 200 and the operating table is fixed. When the clamping mechanism 130 releases the mounting slide rail 401, the first brake unlocks the first output shaft, and the first power source 121 outputs an upward motion to drive the base 110 and the clamping mechanism 130 to reset. The first brake enables the first power source 121 to have a holding brake function, allowing the lifting mechanism 120 to selectively brake or freely descend when needed, thereby realizing the centering function of the clamping mechanism 130.

[0075] Optionally, the first braking element includes an electromagnetic coil and a brake pad. When the electromagnetic coil is energized, it attracts the brake pad to engage the first power source 121, thereby locking the first output shaft. When the electromagnetic coil is de-energized, it releases the brake pad, disabling the engagement of the first power source 121 and unlocking the first output shaft. Optionally, the control panel 210 of the surgical system A can control the unlocking or locking of the first output shaft of the first power source 121 via software. Of course, in other embodiments of the present invention, the first braking element can also be other structural forms capable of controlling the engagement of the first power source 121.

[0076] See Figure 4 and Figure 5 In one embodiment, the lifting mechanism 120 further includes a guide component 123, which is vertically disposed on the trolley 200. The base 110 is connected to the guide component 123 and can slide along the extension direction of the guide component 123. The guide component 123 is used to guide the lifting of the base 110, so that the base 110 can drive the clamping mechanism 130 to accurately move vertically, ensuring that the lifting trajectory of the base 110 and the clamping mechanism 130 is accurate.

[0077] Optionally, the guide component 123 is a linear bearing, and the base 110 is slidably mounted on the linear bearing. Optionally, the guide component 123 is a guide shaft, and the base 110 has a guide hole that is slidably engaged with the guide shaft. Of course, in other embodiments of the present invention, the guide component 123 may also be other structural forms capable of providing a guiding function.

[0078] See Figure 5 In one embodiment, the lifting mechanism 120 further includes a limiting component 124, which is disposed on the guide component 123. The limiting component 124 is used to limit the extreme positions of the rising and / or falling of the first power source 121. The limiting component 124 limits the lifting movement of the first power source 121, reduces the overtravel of the first power source 121 during rising or falling, ensures the accurate movement trajectory of the base 110 driving the clamping mechanism 130, and thereby reduces damage to the equipment caused by excessive lifting of the base 110.

[0079] Optionally, the limiting component 124 includes a trigger 1241 and a limiting component 1242. The trigger 1241 is disposed on the first power source 121, and the limiting component 1242 is disposed on the guide component 123. The trigger 1241 and the limiting component 1242 cooperate to limit the rising and / or falling of the first power source 121. For example, there are two triggers 1241 and two limiting components 1242. The two triggers 1241 are symmetrically disposed on the upper and lower sides of the first power source 121, and the two limiting components 1242 are disposed on the upper and lower sides of the guide component 123. The triggers 1241 and the corresponding limiting components 1242 cooperate to limit the movement of the first power source 121.

[0080] Optionally, the trigger 1241 is a touch switch, and the limit member 1242 is a sensor. Of course, in other embodiments of the present invention, the limit member 1242 and the trigger 1241 can also be other components capable of detecting the arrival of the first power source 121, such as limit switches, etc. It is worth noting that the up-down direction and lifting direction in the present invention refer to the height direction of the trolley 200, which will not be described again later.

[0081] It is worth noting that the shape of the base 110 is not limited in principle, as long as the base 110 can support the various components of the fixing device 100 and can move up and down with the lifting mechanism 120. Optionally, the base 110 includes a support plate and two mounting seats, which are symmetrically arranged on both sides of the support plate. A clamping mechanism 130 is mounted on the support plate, one of the mounting seats is equipped with a first power source 121, and the two mounting seats are slidably mounted on the guide member 123. Of course, in other embodiments of the present invention, the base 110 can also be in other structural forms that can mount the first power source 121 and the clamping mechanism 130, such as multiple mounting plates spliced ​​together.

[0082] See Figures 1 to 3 , Figures 6 to 12 In one embodiment, the clamping mechanism 130 includes a second power source 131, a second transmission component 132, a first clamping component 133, and a second clamping component 134. The second transmission component 132 is disposed on the second output shaft of the second power source 131. The first clamping component 133 and the second clamping component 134 are arranged in a vertical direction and are used to clamp or release the mounting slide rail 401. The second transmission component 132 drives the first clamping component 133 and the second clamping component 134, so that the first clamping component 133 and the second clamping component 134 move towards or away from each other.

[0083] The second power source 131 is disposed on the base 110. After the second power source 131 is installed on the base 110, the second output shaft of the second power source 131 extends out of the base 110 so that the end of the second output shaft can be used to install the second transmission assembly 132. Furthermore, the second transmission assembly 132 is connected to the first clamping assembly 133 and the second clamping assembly 134 respectively, so that the first clamping assembly 133 and the second clamping assembly 134 can move closer to each other or further away from each other to clamp or release the mounting slide rail 401.

[0084] In other words, the second power source 131, the second transmission assembly 132, the first clamping assembly 133, and the second clamping assembly 134 are respectively disposed on both sides of the base 110, such as Figure 8 As shown, the second power source 131 is located on one side of the base 110, and its second output shaft extends through the base 110 to the other side of the base 110. The second transmission assembly 132 is mounted on the second output shaft on the other side of the base 110 and is connected to the first clamping assembly 133 and the second clamping assembly 134 in a transmission connection. Furthermore, the first clamping assembly 133 and the second clamping assembly 134 are arranged vertically, with the first clamping assembly 133 located above and the second clamping assembly 134 located below. The first clamping assembly 133 and the second clamping assembly 134 can move towards each other or away from each other.

[0085] When the slide rail 401 needs to be clamped, the second power source 131 outputs a movement in one direction, such as counterclockwise. The second power source 131 drives the second transmission component 132 to move the first clamping component 133 and the second clamping component 134 towards each other, so that the first clamping component 133 and the second clamping component 134 clamp the slide rail 401, thus fixing the trolley 200 to the operating table 40. When the slide rail 401 needs to be released, the second power source 131 outputs a movement in another direction, such as clockwise. The second power source 131 drives the second transmission component 132 to move the first clamping component 133 and the second clamping component 134 away from each other, so that the first clamping component 133 and the second clamping component 134 release the slide rail 401.

[0086] Optionally, the second power source 131 is a stepper motor to reduce overall cost. Of course, in other embodiments of the present invention, the second power source 131 may also be a servo motor to ensure the stability of the control process.

[0087] See Figures 7 to 9 In one embodiment, the second transmission assembly 132 includes a second gear 1321, a second rack 1322 and a third rack 1323. The second rack 1322 and the third rack 1323 are disposed opposite to each other on both sides of the second gear 1321 and mesh with the second gear 1321. The second rack 1322 is connected to the first clamping assembly 133 and the third rack 1323 is connected to the second clamping assembly 134.

[0088] The second gear 1321 is disposed on the second output shaft of the second power source 131, and the second rack 1322 and the third rack 1323 are located on opposite sides of the second gear 1321. When the second power source 131 rotates, it drives the second output shaft to rotate the second gear 1321. When the second gear 1321 rotates, it can drive one of the meshing second rack 1322 and the third rack 1323 to rise and the other to fall. When the second rack 1322 and the third rack 1323 move up and down, they can drive the first clamping assembly 133 and the second clamping assembly 134 to move closer to each other or further away from each other.

[0089] For example, the second power source 131 drives the second gear 1321 to rotate counterclockwise. The second gear 1321 drives the second rack 1322 to move downward and the third rack 1323 to move upward. The second rack 1322 then drives the first clamping assembly 133 to move downward, and the third rack 1323 drives the second clamping assembly 134 to move upward. The first clamping assembly 133 and the second clamping assembly 134 move towards each other to clamp the mounting slide rail 401. Alternatively, the second power source 131 can drive the second gear 1321 to rotate clockwise. The second gear 1321 drives the second rack 1322 to move upward and the third rack 1323 to move downward. The second rack 1322 then drives the first clamping assembly 133 to move upward, and the third rack 1323 drives the second clamping assembly 134 to move downward. The first clamping assembly 133 and the second clamping assembly 134 move in opposite directions to release the mounting slide rail 401.

[0090] See Figures 7 to 9 In one embodiment, the second rack 1322 and the third rack 1323 are at least partially offset in the horizontal direction. That is, the projections of the second rack 1322 and the third rack 1323 on the horizontal plane are at least partially offset. This facilitates the connection of the second rack 1322 to the first clamping assembly 133 and the third rack 1323 to the second clamping assembly 134, reducing interference between the first clamping assembly 133 and the second clamping assembly 134.

[0091] See Figure 10 In one embodiment, the first clamping assembly 133 includes a first connecting plate 1331 and a first clamping block 1332 connected to the first connecting plate 1331, and the second clamping assembly 134 includes a second connecting plate 1341 and a second clamping block 1342 connected to the second connecting plate 1341. The first connecting plate 1331 is connected to a second rack 1322, and the second connecting plate 1341 is connected to a third rack 1323. The first clamping block 1332 and the second clamping block 1342 are arranged opposite each other in the vertical direction.

[0092] The first connecting plate 1331 is located at the top, connecting to the second rack 1322, and also connecting to the first clamping block 1332. The second connecting plate 1341 is located at the bottom, connecting to the third rack 1323, and also connecting to the second clamping block 1342. The first clamping block 1332 and the second clamping block 1342 are arranged opposite each other to achieve clamping and loosening of the mounting slide rail 401. The first connecting plate 1331 and the second connecting plate 1341 serve as a supporting connection, connecting the first clamping block 1332 to the second rack 1322 and the second clamping block 1342 to the third rack 1323, while keeping the first clamping block 1332 and the second clamping block 1342 away from the second gear 1321 to reduce interference.

[0093] It is worth noting that the shapes of the first connecting plate 1331 and the second connecting plate 1341 are not restricted in principle, as long as the first connecting plate 1331 can connect the second rack 1322 and the first clamping block 1332, and the second connecting plate 1341 can connect the third rack 1323 and the second clamping block 1342, and the first clamping block 1332 and the second clamping block 1342 correspond to each other.

[0094] See Figures 7 to 9 In one embodiment, the first clamping block 1332 has a first notch, and the second clamping block 1342 has a second notch. The first notch and the second notch are disposed opposite to each other for clamping the mounting slide rail 401. The first notch and the second notch at least partially accommodate the mounting slide rail 401. That is, the surface of the first clamping block 1332 facing the second clamping block 1342 has the first notch, and the surface of the second clamping block 1342 facing the first clamping block 1332 has the second notch. When the first clamping assembly 133 and the second clamping assembly 134 clamp the mounting slide rail 401, the mounting slide rail 401 is located in the first notch and the second notch, thus achieving the clamping of the mounting slide rail 401.

[0095] See Figures 6 to 12 In one embodiment, the first clamping assembly 133 further includes a first guide 135, which connects the first connecting plate 1331 and the base 110. The second clamping assembly 134 further includes a second guide 136, which connects the second connecting plate 1341 and the base 110. The first guide 135 guides the lifting movement of the first connecting plate 1331, and the second guide 136 guides the lifting movement of the second connecting plate 1341, so that the first clamping block 1332 and the second clamping block 1342 move along a preset trajectory.

[0096] Optionally, the first guide member 135 and the second guide member 136 are a sliding rail and slider mating structure to guide the movement of the first connecting plate 1331 and the second connecting plate 1341. Of course, in other embodiments of the present invention, the first guide member 135 and the second guide member 136 may also be other structural forms capable of achieving sliding engagement for guidance.

[0097] See Figures 6 to 12 In one embodiment, the first connecting plate 1331 has a first mating portion 13311, and the second connecting plate 1341 has a second mating portion 13411. The first mating portion 13311 and the second mating portion 13411 are connected in a mating manner. When the first connecting plate 1331 and the second connecting plate 1341 move relative to each other, the first connecting plate 1331 moves relative to the second connecting plate 1341 through the mating of the first mating portion 13311 and the second mating portion 13411, ensuring that the movement trajectories of the first connecting plate 1331 and the second connecting plate 1341 are accurate.

[0098] Optionally, the first mating portion 13311 and the second mating portion 13411 are mating structures of a protrusion and a groove. For example, the first mating portion 13311 is a protrusion with a triangular cross-section, and correspondingly, the second mating portion 13411 is a groove with a triangular cross-section. Of course, in other embodiments of the present invention, the first mating portion 13311 and the second mating portion 13411 may also be other structural forms capable of achieving a sliding fit for guidance.

[0099] In one embodiment, the second power source 131 further includes a second braking element disposed on the second output shaft for locking or unlocking the second output shaft. The second braking element enables the second power source 131 to engage a brake lock. When the second braking element unlocks the second output shaft, i.e., the second power source 131 disables the brake, the second output shaft can rotate, and thus the second power source 131 can drive the first clamping block 1332 to clamp or release the second clamping block 1342. When the second braking element locks the second output shaft, i.e., the second power source 131 engages the brake, the second output shaft cannot rotate, and the second power source 131 remains in its current position. It is worth noting that the braking principle of the second braking element is essentially the same as that of the first braking element, and will not be described in detail here.

[0100] See Figure 11In one embodiment, the clamping mechanism 130 further includes a detection component disposed on the first clamping component 133 and / or the second clamping component 134. The detection component is used to detect the clamping force between the first clamping block 1332 and the second clamping block 1342 to determine whether the clamping mechanism 130 clamps the mounting slide rail 401, thereby ensuring that the mounting slide rail 401 is reliably clamped between the first clamping block 1332 and the second clamping block 1342. When the clamping mechanism 130 clamps the mounting slide rail 401, the mounting slide rail 401 contacts the detection component, and the detection component detects the force applied to it by the mounting slide rail 401 to determine whether the clamping mechanism 130 clamps the mounting slide rail 401.

[0101] See Figure 11 In one embodiment, the detection component includes a first detection element 137 and a second detection element. The first detection element 137 is disposed on the first clamping component 133, and the second detection element is disposed on the second clamping component 134. The first detection element 137 is used to detect the force when the first clamping component 133 contacts the mounting slide rail 401, and the second detection element is used to detect the force when the second clamping component 134 contacts the mounting slide rail 401.

[0102] After the lifting mechanism 120 lowers the base 110 and clamping mechanism 130 to the position of the mounting slide rail 401, the mounting slide rail 401 can contact the first clamping block 1332 of the first clamping assembly 133. At this time, the base 110 stops descending. The mounting slide rail 401 contacts the first detection element 137. After the first detection element 137 detects the force applied by the mounting slide rail 401, the control panel 210 of the surgical system A controls the second power source 131 to rotate. When the second power source 131 rotates, it can drive the first clamping block 1332 and the second clamping block 1342 to clamp the mounting slide rail 401. When the mounting slide rail 401 contacts the second detection element of the second clamping block 1342, and the clamping force detected by the second detection element reaches a preset value, the control panel 210 controls the second power source 131 to stop operating, indicating that the clamping mechanism 130 has clamped the mounting slide rail 401.

[0103] Optionally, the first detection element 137 and the second detection element are pressure sensors. Of course, in other embodiments of the present invention, the first detection element 137 and the second detection element may also be other components capable of pressure detection, such as proximity switches.

[0104] See Figure 8 In one embodiment, the clamping mechanism 130 further includes a fixed wedge block 138 and a movable wedge block 139. The movable wedge block 139 is disposed on the second clamping assembly 134, and the fixed wedge block 138 is disposed on the base 110. When the second clamping assembly 134 moves up and down, the movable wedge block 139 moves up and down synchronously along the fixed wedge block 138.

[0105] The fixed wedge block 138 and the movable wedge block 139 are wedge-shaped, with the wedge-shaped surface of the movable wedge block 139 engaging with the wedge-shaped surface of the fixed wedge block 138. When the second clamping block 1342 rises, it can drive the movable wedge block 139 to rise along the fixed wedge block 138. Due to the wedge-shaped engagement structure, the movable wedge block 139 will also move towards the mounting slide rail 401, that is, the movable wedge block 139 moves towards... Figure 8 The left-side movement shown is used to press the mounting slide rail 401, making the structure more compact.

[0106] See Figure 1 , Figure 11 and Figure 12 In one embodiment, the fixing device 100 further includes a dustproof component 150, which is foldable or extendable and is disposed on the base 110. When folded or extended, the dustproof component 150 can cover the opening of the trolley 200. After the fixing device 100 is installed on the trolley 200, the dustproof component 150 is located at the opening of the trolley 200, thus covering the opening and preventing dust and debris from entering the trolley 200, providing safety protection and ensuring the reliability of the fixing device 100. Simultaneously, the dustproof component 150 also prevents hands from entering the trolley 200, preventing accidents. Furthermore, the first clamping block 1332 and the second clamping block 1342 protrude from the dustproof component 150, facilitating its engagement with the mounting rail 401. Optionally, the dustproof component 150 can be a dustproof folded cloth or other structural form capable of achieving dust prevention.

[0107] join Figure 15 The engagement process between the fixing device 100 and the mounting rail 401 is as follows: The control panel 210 of the mobile device 10 activates the automatic installation function. The control panel 210 controls the first power source 121 to be in a disabled brake state. The base 110, clamping mechanism 130, and first power source 121 descend under gravity. At this time, the first clamping block 1332 contacts the mounting rail 401. The pressure applied by the mounting rail 401 is detected by the first detection element 137, causing the control panel 210 to control the second power source 131 to operate. The second power source 131 controls the first clamping block 1332 and the second clamping block 1342 to move towards each other to begin clamping the mounting rail 401. Due to the interaction of forces, the first clamping block 1332 is at rest at this time, while the second clamping block 1342 rises. After the mounting slide rail 401 contacts the second clamping block 1342, the second detection element will be triggered. When the clamping force applied by the mounting slide rail 401 to the second detection element reaches the preset value, it indicates that the first slider and the second slider are clamping the mounting slide rail 401. The control panel 210 controls the second power source 131 to stop operating and controls the first power source 121 to apply the brake to ensure that the current position no longer changes.

[0108] See Figures 1 to 16The fixing device 100 employs two power sources for drive control. The first power source 121 is used to control the raising, lowering, and braking of the base 110 and clamping mechanism 130. By properly controlling the braking function of the first power source 121, the clamping mechanism 130 can adapt to the height of the mounting slide rail 401 of the operating table 40. The second power source 131 is used to control the clamping and releasing of the first clamping block 1332 and the second clamping block 1342. Simultaneously, a first detection element 137 is installed on the first clamping block 1332, and a second detection element is installed on the second clamping block 1342 to form a closed-loop control circuit. When the first detection element 137 and the second detection element detect the force exerted on the mounting slide rail 401, it indicates that the first clamping block 1332 and the second clamping block 1342 have clamped the mounting slide rail 401. Combined with the torque feedback from the second power source 131, the clamping force can be ensured to reach a safe value.

[0109] The fixing device 100 is integrated into the rear of the trolley 200, reducing the cumbersome installation, fixing, and disassembly of the surgical robot 30, reducing the number of installation personnel, and shortening the installation, fixing, and disassembly time. At the same time, it also reduces the risk of the surgical robot 30 falling during manual handling, lowering safety hazards. The entire automatic clamping process requires no manual intervention to adjust the height, making operation simple and quick. Moreover, this fixing method is firm and reliable, improving the safety and reliability of the surgery.

[0110] See Figures 1 to 3 , Figure 13 The present invention also provides a mobile device 10, including a trolley 200 and a fixing device 100 as described in any of the above embodiments, wherein the fixing device 100 is disposed on the trolley 200. A surgical robot 30 is disposed on the trolley 200. When the mobile device 10 of the present invention adopts the fixing device 100 of the above embodiments, it can be fixed to the mounting rail 401 of the operating table 40 by the fixing device 100, thereby fixing the relative position of the surgical robot 30 and the mounting rail 401, improving the safety and reliability of the surgery.

[0111] Furthermore, the surgical robot 30 and the fixation device 100 are integrated into the carriage 200, which facilitates storage and improves the space utilization of the operating room. Simultaneously, integrating the surgical robot 30 into the carriage 200 simplifies its base, reducing design and manufacturing costs. The integration of the surgical robot 30 into the carriage 200 enables rapid movement of the surgical robot 30, and the fixation device 100 facilitates quick installation, fixation, and separation of the surgical robot 30 from the operating table 40. This enhances the technological feel of the surgical robot 30, ensures the reliability and safety of the surgical procedure, and makes it more acceptable to patients.

[0112] Optionally, the trolley 200 has a fixing interface, through which the surgical robot 30 of the surgical system A is fixed to the trolley 200. Optionally, the surgical robot 30 is fixed to the trolley 200 by means of screws or other methods, facilitating installation and disassembly. Moreover, since the motors of each joint of the surgical robot 30 have a braking function, the closed-loop system control can ensure that the components of the surgical robot 30 remain in their original positions (fully retracted) during non-surgical procedures. This fundamentally solves the problem of the trolley 200 tipping over when the surgical robot 30 is deployed.

[0113] See Figures 1 to 3 , Figure 13 Optionally, the operating table 40 has a control structure, which includes a control panel 210, a controller, a PCB board, a power supply module, and a motor drive module. The PCB board, power supply module, and motor drive module are electrically connected to the controller. The control panel 210 is located on the top of the trolley 200 and is electrically connected to the controller. The user operates the control panel 210 to control the fixing device 100. This enhances the user's acceptance of human-machine interaction and improves the user's operating experience. The control panel 210 realizes the input of control commands. All operation commands of the fixing device 100 during the installation and fixing process will be input through the control panel 210. Optionally, the control panel 210 is a touch screen, and all prompts during the operation process will be displayed on the control panel 210. Of course, physical buttons can also be used instead of a touch screen, or the control panel 210 can use a combination of buttons and indicator lights or external devices.

[0114] See Figures 1 to 3 The present invention also provides a surgical system A, including a surgical robot 30, an operating table 40, and a mobile device 10 as described in the above embodiments. The operating table 40 has a mounting rail 401 on its side. The surgical robot 30 is mounted on a trolley 200, and a fixing device 100 clamps and fixes it to the mounting rail 401. When the surgical system A of the present invention uses the mobile device 10 of the above embodiments, the trolley 200 can be reliably mounted and fixed to the operating table 40, thereby fixing the relative position of the surgical robot 30 and the operating table 40.

[0115] See Figures 14 to 16After the trolley 200 is pushed to the vicinity of the mounting rail 401 on the operating table 40, the clamping mechanism 130 is raised or lowered to a suitable height via the control panel 210 and visual inspection. Then, the trolley 200 is pushed to position the mounting rail 401 inside the clamping mechanism 130. Next, the automatic installation function is activated, firmly fixing the fixing device 100 to the mounting rail 401 on the operating table. To ensure stability during the installation, fixing, or disengagement process, the surgical robot 30 must remain in its original position (fully retracted) throughout the process, and this position should also be maintained during the pushing process. During the surgery, the surgical robot 30 can be manually pulled to position the head in a suitable operating position. After the operation is completed, the surgical robot 30 automatically returns to its original position.

[0116] See Figures 1 to 3 , Figures 14 to 16 The present invention also provides a control method for a surgical system A, applied to the surgical system A as described in the above embodiments. The mobile device 10 of the surgical system A includes a trolley 200 and a fixing device 100. The fixing device 100 includes a lifting mechanism 120 and a clamping mechanism 130. The lifting mechanism 120 includes a first power source 121 and a first braking element. The clamping mechanism 130 includes a second power source 131, a first clamping component 133, a second clamping component 134, and a detection component. The detection component includes a first detection element 137 and a second detection element. The control method includes the following steps:

[0117] After the control panel 210 receives the installation signal, it controls the first braking component to unlock the first power source 121. Under the action of gravity, the first power source 121 drives the clamping mechanism 130 to descend, so that the installation slide rail 401 is located in the clamping mechanism 130.

[0118] When the first detection element 137 contacts the mounting slide rail 401 and detects the change in pressure value, the control panel 210 controls the second power source 131 to work, so that the first clamping assembly 133 and the second clamping assembly 134 move towards each other.

[0119] When the force of the second detection element on the contact mounting slide rail 401 reaches a preset value, the control panel 210 controls the second power source 131 to stop working and controls the first braking element to lock the first power source 121.

[0120] Control panel 210 unlocks surgical robot 30, and surgical robot 30 performs operations;

[0121] After the operation is completed, the control panel 210 initiates the reset operation, and the control panel 210 controls the surgical robot 30 to reset and lock the surgical robot 30;

[0122] The control panel 210 controls the clamping mechanism 130 to release the mounting slide rail 401 and controls the first brake to unlock the first power source 121. After the control panel 210 controls the first power source 121 to rise to a preset height, it controls the first brake to lock the first power source 121.

[0123] When the trolley 200 aligns with the mounting rail 401 of the operating table 40, the control panel 210 activates the automatic installation function. The control panel 210 controls the first power source 121 to be in a disabled brake state. The base 110, clamping mechanism 130, and first power source 121 descend under gravity. At this time, the first clamping block 1332 contacts the mounting rail 401. The pressure applied by the mounting rail 401 is detected by the first detection element 137, causing the control panel 210 to control the second power source 131 to operate. The second power source 131 controls the first clamping block 1332 and the second clamping block 1342 to move towards each other to begin clamping the mounting rail 401. Due to the interaction of forces, the first clamping block 1332 is at rest, while the second clamping block 1342 rises. After the mounting slide rail 401 contacts the second clamping block 1342, the second detection element is triggered. When the clamping force applied by the mounting slide rail 401 to the second detection element reaches a preset value, it indicates that the first clamping block 1332 and the second clamping block 1342 have clamped the mounting slide rail 401. The control panel 210 controls the second power source 131 to stop operating and controls the first power source 121 to apply a brake, ensuring that the current position does not change. Subsequently, the control panel 210 controls the surgical robot 30 to perform the corresponding operation. After the operation is completed, the control panel 210 initiates a reset operation, controls the surgical robot 30 to reset and lock. The control panel 210 controls the clamping mechanism 130 to release the mounting slide rail 401 and controls the first brake to unlock the first power source 121. After the control panel 210 controls the first power source 121 to rise to a preset height, it controls the first brake to lock the first power source 121.

[0124] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0125] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A control method for a surgical system, characterized in that, The surgical system includes a surgical robot, an operating table, and a mobile device. The mobile device includes a trolley and a fixing device. The operating table has mounting rails on its side. The surgical robot is mounted on the trolley of the mobile device. The fixing device is clamped and fixed to the mounting rails. The fixing device includes a lifting mechanism and a clamping mechanism. The lifting mechanism includes a first power source and a first braking component. The clamping mechanism includes a second power source, a first clamping assembly, a second clamping assembly, and a detection assembly. The detection assembly includes a first detection element and a second detection element. The control method includes the following steps: After the control panel receives the installation signal, it controls the first braking component to unlock the first power source. Under the action of gravity, the first power source drives the clamping mechanism to descend, so that the installation slide rail is located in the clamping mechanism. When the first detection element contacts the mounting slide rail and detects a change in pressure value, the control panel controls the second power source to work, causing the first clamping assembly and the second clamping assembly to move towards each other; When the second detection element detects that the force of contact with the mounting slide rail reaches a preset value, the control panel controls the second power source to stop working and controls the first braking element to lock the first power source. The control panel controls the unlocking of the surgical robot, and the surgical robot performs operations. After the operation is completed, the control panel initiates a reset operation, which controls the surgical robot to reset and lock. The control panel controls the clamping mechanism to release the mounting slide rail and controls the first brake to unlock the first power source. After the first power source is raised to a preset height, the control panel controls the first brake to lock the first power source.

2. The control method according to claim 1, characterized in that, The lifting mechanism can output lifting motion along the vertical direction of the trolley, and the clamping mechanism rises and falls with the lifting mechanism. The clamping mechanism can clamp or release the mounting rail of the operating table. When the trolley needs to be fixed to the operating table, the lifting mechanism can drive the clamping mechanism to move, so that the clamping mechanism clamps the mounting slide rail to fix the trolley to the operating table; when the trolley is removed from the operating table, the clamping mechanism releases the mounting slide rail, and the lifting mechanism drives the clamping mechanism to move, so that the clamping mechanism moves away from the mounting slide rail.

3. The control method according to claim 2, characterized in that, The lifting mechanism includes a first transmission component, and the first power source has a first output shaft; The first transmission assembly includes a first gear and a first rack. The first gear is disposed on the first output shaft, and the first rack is disposed on the trolley. The first gear and the first rack are meshed together.

4. The control method according to claim 3, characterized in that, The first braking element is disposed on the first output shaft and is used to lock or unlock the first output shaft.

5. The control method according to claim 3, characterized in that, The lifting mechanism further includes a guide component that extends vertically, and the clamping mechanism is disposed on the guide component and can slide along the guide component.

6. The control method according to claim 5, characterized in that, The lifting mechanism further includes a limiting component, which is disposed on the guide component and is used to limit the rising and / or falling position of the first power source.

7. The control method according to any one of claims 1 to 6, characterized in that, The clamping mechanism includes a second transmission component, which is disposed on the second output shaft of the second power source. The first clamping component and the second clamping component are disposed in a vertical direction and are used to clamp or release the mounting slide rail. The second transmission component drives the first clamping component and the second clamping component to move towards or away from each other.

8. The control method according to claim 7, characterized in that, The second transmission assembly includes a second gear, a second rack, and a third rack. The second rack and the third rack are disposed opposite to each other on both sides of the second gear and mesh with the second gear. The second rack is connected to the first clamping assembly, and the third rack is connected to the second clamping assembly.

9. The control method according to claim 8, characterized in that, The first clamping assembly includes a first connecting plate and a first clamping block connected to the first connecting plate. The second clamping assembly includes a second connecting plate and a second clamping block connected to the second connecting plate. The first connecting plate is connected to the second rack, and the second connecting plate is connected to the third rack. The first clamping block and the second clamping block are arranged opposite each other in the vertical direction.

10. The control method according to claim 9, characterized in that, The first clamping block has a first notch, and the second clamping block has a second notch. The first notch and the second notch are arranged opposite to each other for clamping the mounting slide rail.

11. The control method according to claim 7, characterized in that, The first detection element is disposed on the first clamping assembly, and the second detection element is disposed on the second clamping assembly. The first detection element is used to detect the force when the first clamping assembly contacts the mounting slide rail, and the second detection element is used to detect the force when the second clamping assembly contacts the mounting slide rail.

12. The control method according to claim 7, characterized in that, The clamping mechanism further includes a fixed wedge block and a movable wedge block. The movable wedge block is disposed on the second clamping assembly, and the fixed wedge block is disposed on the lifting mechanism. When the second clamping assembly performs lifting and lowering movements, the movable wedge block moves up and down synchronously along the fixed wedge block.

13. The control method according to any one of claims 1 to 6, characterized in that, The fixing device also includes a dustproof component, which is foldable or extendable and is disposed on the lifting mechanism. When folded or extended, the dustproof component can cover the opening of the trolley.

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