Braking device of surgical robot and surgical robot

Abstract

The application provides a brake device of a surgical robot and the surgical robot, and relates to the technical field of braking. The brake device of the surgical robot comprises a support, a motor, a sliding block, a sliding rail and a motor control mechanism. The support is connected to the chassis of the surgical robot. The motor and the sliding rail are connected to the support. The sliding block is slidingly connected to the sliding rail. The motor is used to drive the sliding block to move until the sliding block abuts against the ground or moves away from the ground. The motor control mechanism controls the operation or stop of the motor. The motor control mechanism is used to control the motor to drive the sliding block to move towards the ground until the sliding block abuts against the ground, thereby assisting the braking of the surgical robot. At this time, the motor control mechanism controls the motor to stop rotating, so that the surgical robot is in the braking state. When it is necessary to release the braking, the motor control mechanism controls the motor to reverse, and the sliding block moves away from the ground, thereby releasing the braking.

Description

Technical Field

[0001] This invention relates to the field of braking technology, and more specifically, to a braking device for a surgical robot and a surgical robot. Background Technology

[0002] Surgical robots are advanced medical devices invented thanks to advancements in minimally invasive surgery and related underlying technologies. They enable surgeons to perform minimally invasive surgeries with a level of precision in manipulating surgical instruments that surpasses human capabilities. Robotic surgical systems are comprehensive systems integrating multiple modern high-tech methods, with wide-ranging applications in clinical surgery. Surgeons can operate these machines remotely from the operating table, a concept entirely different from traditional surgery, making them a truly revolutionary surgical tool in the world of minimally invasive surgery.

[0003] Surgical robots typically consist of a surgical control console, a patient surgical platform, and an image processing system. After preoperative sterilization, the patient surgical platform is pushed to the patient's side using wheels on its chassis. The robotic arm and platform positions are adjusted to align the puncture card with the puncture site. The platform is then braked and locked before connection with the patient is established. A safe and reliable braking device and control method are therefore crucial and fundamental to improving surgical safety. Summary of the Invention

[0004] The problem this invention aims to solve is how to assist in the braking and locking of a surgical robot.

[0005] Therefore, the present invention provides a braking device for a surgical robot, including a bracket, a motor, a slider, a slide rail, and a motor control mechanism. The bracket has a "gate"-shaped structure. The lower surfaces of the left and right end columns of the bracket are used to connect to the chassis of the surgical robot. The motor is connected to the upper crossbeam of the bracket. The slider and the slide rail are located inside the "gate"-shaped bracket. The slide rail is connected to the left or right end column of the bracket. The slider is slidably connected to the slide rail. The motor is used to drive the slider to slide along the slide rail towards or away from the ground until the slider comes into contact with or moves away from the ground. The motor control mechanism is electrically connected to the motor and is used to control the operation or stop of the motor.

[0006] Optionally, the motor control mechanism includes a current regulator and a speed regulator, which are electrically connected to the motor. The speed regulator is used to detect changes in the slider speed and output a signal to the current regulator. The current regulator and the speed regulator are positively correlated. The current regulator adjusts the current of the motor according to the received signal.

[0007] Optionally, the motor control mechanism further includes a closed-loop stepper driver chip, which is electrically connected to the current regulator, the speed regulator and the motor, and is used to control the current regulator and the speed regulator to receive signals.

[0008] Optionally, the braking device of the surgical robot also includes a lead screw, the motor being driven by the lead screw, and the lead screw being connected to the slider.

[0009] Optionally, the slider has a U-shaped structure, and the bottom surface of the U-shaped structure is used to abut against the ground.

[0010] Optionally, there are two slide rails, which are respectively connected to the left and right columns of the bracket, and are slidably connected to the left and right sides of the U-shaped structure.

[0011] Optionally, a connecting block is provided between the two sides of the U-shaped structure, with the left and right ends of the connecting block respectively connected to the two sides of the U-shaped structure, and the lead screw is connected to the connecting block.

[0012] Optionally, the connecting block is provided with a limiting block, the upper end of which is used to abut against the lower surface of the upper crossbeam of the bracket, and the lower end of which is used to abut against the chassis.

[0013] Optionally, the connecting block is provided with a switch baffle, and the bracket is provided with a photoelectric switch. The switch baffle is used to block the photoelectric switch. The photoelectric switch is electrically connected to the motor and is used to control the motor to stop.

[0014] Compared with the prior art, the beneficial effects of the braking device of the surgical robot described in this invention are:

[0015] This invention provides mounting positions for the motor, slide rail, and slider by setting a bracket on the chassis of a surgical robot. The bracket can be a "gate" shaped structure, with the lower surfaces of the two end columns of the "gate" structure fixed to the chassis. The braking device of the surgical robot is connected to the chassis through the two end columns of the bracket, ensuring high stability. The motor can be connected to the upper crossbeam of the "gate" structure, and the slide rail can be connected to the inner side of the left or right end column of the "gate" structure, making the slide rail perpendicular to the ground. A slider is also provided, slidably connected to the slide rail. The motor is driven by the slider. When the motor operates, it drives the slider to move along the slide rail towards or away from the ground. When braking the surgical robot is required, the motor drives the slider to move along the slide rail towards the ground until the slider contacts the ground. The friction between the slider and the ground prevents the surgical robot from moving arbitrarily, aiding in braking. When braking is not required, the motor reverses, driving the slider to move along the slide rail away from the ground to release the brakes. The device is equipped with a motor control mechanism electrically connected to the motor. The motor control mechanism can control the motor to run or stop, thereby controlling the direction and distance of the slider's movement. When braking is required, the motor control mechanism drives the motor to move the slider towards the ground until the slider contacts the ground, assisting the surgical robot in braking. At this time, the motor control mechanism stops the motor, putting the surgical robot in a braking state. When braking needs to be released, the motor control mechanism reverses the motor, causing the slider to move away from the ground, releasing the brake. The slide rail and slider are both located inside the "gate"-shaped support column, and the motor is connected to the crossbeam of the "gate"-shaped support. The motor, slider, and slide rail are all connected to the "gate"-shaped support. The overall arrangement of the device is reasonable, with high space utilization, reducing the volume of the surgical robot's braking device. Furthermore, the force generated during the slider's movement directly acts along the support column to the chassis, improving the stress on other parts of the support and further enhancing its stability.

[0016] In addition, to solve the above problems, the present invention also provides a surgical robot, including the braking device of the surgical robot described above.

[0017] Compared with the prior art, the beneficial effects of the surgical robot described in this invention are roughly the same as those of the braking device of the surgical robot described above, and will not be repeated here. Attached Figure Description

[0018] Figure 1 This is one of the structural schematic diagrams of the braking device of the surgical robot according to an embodiment of the present invention;

[0019] Figure 2 This is a second schematic diagram of the braking device of the surgical robot described in an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures:

[0021] 1-Bracket; 11-Motor base; 12-Slide rail base; 2-Motor; 3-Slider; 4-Slide rail; 5-Lead screw; 6-Connecting block; 7-Limit block; 8-Chassis; 91-Switch baffle; 92-Photoelectric switch. Detailed Implementation

[0022] 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.

[0023] It should be noted that in the description of this invention, the orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "top," "bottom," "front," "back," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention. They are not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this invention.

[0024] 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.

[0025] Furthermore, although specific embodiments have been described herein, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways not used in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

[0026] To solve the above problems, such as Figure 1 and Figure 2As shown, the present invention provides a braking device for a surgical robot, including a support 1, a motor 2, a slider 3, a slide rail 4, and a motor control mechanism. The support 1 has a "gate"-shaped structure. The lower surfaces of the left and right end columns of the support 1 are used to connect to the chassis 8 of the surgical robot. The motor 2 is connected to the upper crossbeam of the support 1. The slider 3 and the slide rail 4 are located inside the "gate"-shaped support 1. The slide rail 4 is connected to the left or right end column of the support 1. The slider 3 is slidably connected to the slide rail 4. The motor 2 is used to drive the slider 3 to slide along the slide rail 4 towards or away from the ground until the slider 3 touches or moves away from the ground. The motor control mechanism is electrically connected to the motor 2 and is used to control the operation or stop of the motor 2.

[0027] In this embodiment, a bracket 1 is installed on the chassis 8 of the surgical robot to provide mounting positions for the motor 2, slide rail 4, and slider 3. The bracket 1 can be a "gate" shaped structure, with the lower surfaces of the two end columns of the "gate" shaped structure fixed to the chassis 8. The braking device of the surgical robot is connected to the chassis 8 through the two end columns of the bracket 1, providing strong stability. The motor 2 can be connected to the upper crossbeam of the "gate" shaped structure, and the slide rail 4 can be connected to the inner side of the left or right end column of the "gate" shaped structure, making the setting direction of the slide rail 4 perpendicular to the ground. A slider 3 is also provided, which is slidably connected to the slide rail 4. The motor 2 is driven by the slider 3. When the motor 2 is working, it can drive the slider 3 to move along the slide rail 4 towards or away from the ground. When braking the surgical robot is required, the motor 2 drives the slider 3 to move along the slide rail 4 towards the ground until the slider 3 comes into contact with the ground. Friction is generated between the slider 3 and the ground due to contact, preventing the surgical robot from moving randomly and facilitating braking. When braking of the surgical robot is not required, the motor 2 reverses and drives the slider 3 to move along the slide rail 4 away from the ground, releasing the brakes. In addition to braking, a motor control mechanism is also provided. The motor control mechanism is electrically connected to motor 2 and can control motor 2 to run or stop, thereby controlling the direction and distance of movement of slider 3. When braking is required, the motor control mechanism controls motor 2 to drive slider 3 to move towards the ground until slider 3 touches the ground, assisting the surgical robot in braking. At this time, the motor control mechanism controls motor 2 to stop, putting the surgical robot in a braking state. When braking is required, the motor control mechanism controls motor 2 to reverse, and slider 3 moves away from the ground to release the braking. Slide rail 4 and slider 3 are both set inside the column of the "gate"-shaped support 1, and motor 2 is connected to the crossbeam of the "gate"-shaped support 1. Motor 2, slider 3 and slide rail 4 are all connected to the "gate"-shaped support 1. The overall arrangement of the device is reasonable, with high space utilization, reducing the volume of the braking device of the surgical robot. Furthermore, the force generated during the movement of slider 3 directly acts along the column of support 1 to the chassis 8, improving the stress situation of other parts of support 1 and further improving the stability of support 1.

[0028] Specifically, the bracket 1 includes a motor base 11 and a slide rail base 12. The motor base 11 is the upper crossbeam of a "door" shaped structure. The motor 2 is connected to the motor base 11. The slide rail base 12 is the two end columns of a "door" shaped structure. The slide rail 4 can be installed on the slide rail base 12. The slide rail 4 can be provided with a groove structure. The slider 3 can be embedded in the groove structure and slidably connected to the slide rail 4.

[0029] Optionally, the motor control mechanism includes a current regulator and a speed regulator. The current regulator, the speed regulator, and the motor 2 are electrically connected. The speed regulator is used to detect the speed change of the slider 3 and output a signal to the current regulator. The current regulator and the speed regulator are positively correlated. The current regulator adjusts the current of the motor 2 according to the received signal.

[0030] In this embodiment, by setting a current regulator and a speed regulator electrically connected to the motor 2, when the motor 2 drives the slider 3 to move towards the ground, after the slider 3 comes into contact with the ground, the ground provides an upward supporting force to the slider 3. Under the action of the supporting force, the speed of the slider 3 decreases. The speed regulator detects the decrease in the speed of the slider 3 and outputs a signal to the current regulator. The current regulator and the speed regulator are positively correlated. The current regulator adjusts the current of the motor 2, so that the current of the motor 2 decreases. The decrease in the current of the motor 2 causes the speed of the motor 2 to decrease, resulting in a decrease in the downward movement speed of the slider 3, thereby realizing closed-loop control and finally stopping the movement of the slider 3, which facilitates the control of the motor 2 to stop.

[0031] Specifically, the motor control mechanism is electrically connected to the surgical robot. When the surgical robot needs to brake, the motor control mechanism can control the motor 2 to rotate. When the braking needs to be released, the motor control mechanism controls the motor 2 to reverse.

[0032] Optionally, the motor control mechanism further includes a closed-loop stepper drive chip, which is electrically connected to the current regulator, the speed regulator and the motor 2. The closed-loop stepper drive chip is used to control the current regulator and the speed regulator to receive signals.

[0033] In this embodiment, by setting a closed-loop stepper drive chip, which is electrically connected to the current regulator, speed regulator, and motor 2, the closed-loop stepper drive chip can control the current regulator and speed regulator to receive signals, making the closed-loop control loop of slider 3 speed adjustment more complete and assisting the current regulator and speed regulator in working.

[0034] Specifically, motor 2 can be a stepper motor. When braking is required, after slider 3 comes into contact with the ground, as the contact force between slider 3 and the ground increases, the friction between slider 3 and the ground increases. When the torque value generated by the friction on motor 2 exceeds the set torque value of motor 2, i.e. 1.3 Nm, motor 2 stalls and stops running.

[0035] Optionally, such as Figure 2 As shown, the braking device of the surgical robot also includes a lead screw 5, the motor 2 is driven by the lead screw 5, and the lead screw 5 is connected to the slider 3.

[0036] In this embodiment, by setting a lead screw 5, the rotating end of the lead screw 5 is connected to the motor 2, and the screw end of the lead screw 5 is connected to the slider 3. The lead screw 5 converts rotation into linear motion, which makes it easier for the motor 2 to drive the slider 3 to move along the slide rail 4 toward or away from the ground.

[0037] Optionally, such as Figure 2 As shown, the slider 3 has a U-shaped structure, and the bottom surface of the U-shaped structure is used to abut against the ground.

[0038] In this embodiment, by setting the slider 3 as a U-shaped structure, the large bottom area of ​​the U-shaped structure increases the contact area between the slider 3 and the ground, and increases the friction between the ground and the slider 3, which facilitates braking of the surgical robot.

[0039] Optionally, such as Figure 2 As shown, there are two slide rails 4, which are respectively connected to the left and right columns of the bracket 1, and are slidably connected to the left and right sides of the U-shaped structure.

[0040] In this embodiment, by setting two slide rails 4, the two slide rails 4 are respectively connected to the columns at the left and right ends of the "door" shaped structure of the bracket 1. The two slide rails 4 are used in conjunction with the left and right sides of the U-shaped slider 3, making the connection between the slider 3 and the bracket 1 more stable and facilitating the slider 3 to move up and down relative to the bracket 1.

[0041] Optionally, such as Figure 2 As shown, a connecting block 6 is provided between the two sides of the U-shaped structure. The left and right ends of the connecting block 6 are respectively connected to the two sides of the U-shaped structure, and the lead screw 5 is connected to the connecting block 6.

[0042] In this embodiment, by setting a connecting block 6 in the middle of the U-shaped structure, with the left and right ends of the connecting block 6 connected to the two sides of the U-shaped structure respectively, the connecting block 6 and the U-shaped structure are connected as a whole, which increases the structural strength of the slider 3, increases the pressure resistance of the slider 3, and avoids the slider 3 from being damaged by force.

[0043] Optionally, such as Figure 2As shown, the connecting block 6 is provided with a limiting block 7. The upper end of the limiting block 7 is used to abut against the lower surface of the upper crossbeam of the bracket 1, and the lower end of the limiting block 7 is used to abut against the chassis 8.

[0044] In this embodiment, by setting a limiting block 7 on the connecting block 6, when the slider 3 moves toward the ground, and the slider 3 comes into contact with the ground and completes braking, the lower end of the limiting block 7 comes into contact with the upper surface of the chassis 8, which plays a mechanical limiting role. When the braking is released and the slider 3 moves away from the ground, the slider 3 can move to the upper end of the limiting block 7 and come into contact with the lower surface of the upper crossbeam of the "door" shaped structure of the bracket 1, which plays a mechanical limiting role. Working together with the motor control mechanism, it is easy to stop the slider 3 when it moves away from the ground.

[0045] Optionally, such as Figure 2 As shown, the connecting block 6 is provided with a switch baffle 91, and the bracket 1 is provided with a photoelectric switch 92. The switch baffle 91 is used to block the photoelectric switch 92. The photoelectric switch 92 is electrically connected to the motor 2 and is used to control the motor 2 to stop rotating.

[0046] In this embodiment, a switch baffle 91 is provided on the connecting block 6, and a photoelectric switch 92 is provided on the bracket 1. The photoelectric switch 92 and the switch baffle 91 work together. When the slider 3 moves away from the ground, the slider 3 drives the switch baffle 91 to move upward. When the switch baffle 91 moves to the position of the photoelectric switch 92, the switch baffle 91 blocks the photoelectric switch 92. The photoelectric switch 92 sends a signal to the motor control mechanism to control the motor 2 to stop, so that the slider 3 can stop when it moves away from the ground.

[0047] Another embodiment of the present invention provides a surgical robot that includes the braking device of the surgical robot described above.

[0048] Compared with the prior art, the beneficial effects of the surgical robot in this embodiment are roughly the same as those of the braking device of the surgical robot described above, and will not be repeated here.

[0049] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A braking device of a surgical robot characterized by comprising: The brake device comprises a support (1), a motor (2), a sliding block (3), a sliding rail (4) and a motor control mechanism, the support (1) is a "door" type structure, the lower surface of the left and right end columns of the support (1) is used for being connected to the chassis (8) of a surgical robot, the motor (2) is connected with the upper end beam of the support (1), the sliding block (3) and the sliding rail (4) are located on the inner side of the support (1) of the "door" type structure, the sliding rail (4) is connected with the left end column or the right end column of the support (1), the motor (2) is used for driving the sliding block (3) to slide along the sliding rail (4) towards or away from the ground, until the sliding block (3) abuts against the ground or is away from the ground, the motor control mechanism is electrically connected with the motor (2) and is used for controlling the operation or stop of the motor (2). The brake device further comprises a lead screw (5), the motor (2) is drivingly connected with the lead screw (5), and the lead screw (5) is connected to the sliding block (3). The sliding block (3) is a U-shaped structure, the bottom surface of the U-shaped structure is used for abutting against the ground, a connecting block (6) is arranged between the two sides of the U-shaped structure, the left and right ends of the connecting block (6) are respectively connected to the two sides of the U-shaped structure, the lead screw (5) is connected with the connecting block (6), a limiting block (7) is arranged on the connecting block (6), the upper end of the limiting block (7) is used for abutting against the lower surface of the upper end beam of the support (1), and the lower end of the limiting block (7) is used for abutting against the upper surface of the chassis (8). The motor control mechanism comprises a current regulator and a speed regulator, the current regulator, the speed regulator and the motor (2) are electrically connected, the speed regulator is used for detecting the speed change of the sliding block (3) and outputting a signal to the current regulator, the current regulator is positively correlated with the speed regulator, and the current regulator adjusts the current of the motor (2) according to the received signal. The support (1) comprises a motor base (11) and a sliding rail seat (12), the motor base (11) is an upper end beam of a "door" type structure, the motor (2) is connected above the motor base (11), the sliding rail seat (12) is two end columns of a "door" type structure, the sliding rail (4) is mounted on the sliding rail seat (12), the sliding rail (4) is provided with a groove structure, and the sliding block (3) is embedded in the groove structure and is in sliding connection with the sliding rail (4).

2. The braking device of the surgical robot according to claim 1, characterized by, The motor control mechanism further comprises a closed-loop stepping drive chip, the closed-loop stepping drive chip is electrically connected with the current regulator, the speed regulator and the motor (2), and is used for controlling the current regulator and the speed regulator to receive signals.

3. The surgical robot brake device of claim 1, wherein The sliding rail (4) is two, the two sliding rails (4) are respectively connected to the left end column and the right end column of the support (1), and the two sliding rails (4) are respectively in sliding connection with the left and right sides of the U-shaped structure.

4. The surgical robot brake device of claim 1, wherein The connecting block (6) is provided with a switch baffle (91), the support (1) is provided with a photoelectric switch (92), the switch baffle (91) is used for shielding the photoelectric switch (92), the photoelectric switch (92) is electrically connected with the motor (2), and the photoelectric switch (92) is used for controlling the motor (2) to stop rotating.

5. A surgical robot, characterized by Braking device for a surgical robot comprising a robot as claimed in any one of claims 1 to 4.

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