A movable base, master console, and surgical robot system

Abstract

The application relates to the technical field of surgical robots and discloses a movable base, a main control console and a surgical robot system. The movable base comprises a main body, moving wheels, a hexagonal shaft, a brake assembly, a connecting assembly and a first limiting piece; the locking piece of the brake assembly has a first position, a second position and a third position; the connecting assembly comprises a first sliding piece, a first spring, a second spring and a transmission mechanism; the first sliding piece is connected to the hexagonal shaft through the transmission mechanism to drive the hexagonal shaft to rotate; the first spring is connected between the first sliding piece and the main body; the second spring is connected between the locking piece and the first sliding piece; the elastic coefficient of the first spring is smaller than that of the second spring; the first limiting piece is connected to the main body and located below the first sliding piece; and when the locking piece is in the second position, the first sliding piece abuts against the first limiting piece. The application avoids damaging the locking structure inside the moving wheels, reduces the maintenance cost and guarantees the safety of surgery.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to a movable base, a main control console, and a surgical robot system. Background Technology

[0002] Surgical robots are widely used in the medical field. A surgical robot typically consists of a main control console and a patient operating end. The main control console usually has casters on its base, allowing medical staff to move it to a suitable position before surgery. The base also includes a locking mechanism that switches the casters between a directional and locked state.

[0003] The wheel locking mechanism includes a hexagonal axle and a locking hole on the caster wheel. The locking hole is hexagonal in shape. The hexagonal axle is inserted into the locking hole, and rotating the axle triggers the locking component inside the caster wheel, thus switching the caster wheel between its omnidirectional and locked states. For some casters, when the caster wheel is in its omnidirectional state, rotating the hexagonal axle by a certain angle switches the caster wheel to the locked state. When the caster wheel is in the locked state, rotating the hexagonal axle in the opposite direction by a certain angle switches the caster wheel back to its omnidirectional state. If the rotation angle of the hexagonal axle exceeds the certain angle, the internal structure of the caster wheel may be damaged. If the rotation angle of the hexagonal axle is less than the certain angle, the locking component of the caster wheel is not fully triggered, resulting in a poor wheel locking effect.

[0004] Chinese patent application CN216280109U discloses an anesthesia machine base and an anesthesia machine, which includes a limiting assembly capable of locking a brake lever (i.e., a hexagonal shaft) at a position with a limited rotation angle. Specifically, a locking member in the limiting assembly moves vertically and can drive the brake lever to rotate via gears and racks. The greater the distance the locking member descends, the greater the angle of rotation of the brake shaft. During the movement of the locking member, it descends from an initial position to an intermediate position, and then rises from the intermediate position to the locked position. When the locking member is in the locked position, the caster wheel is locked. It is understandable that the angle of rotation of the brake shaft when the locking member is in the intermediate position is greater than the angle of rotation when the locking member is in the locked position. This means that the internal structure of the caster wheel may be damaged, increasing maintenance costs. Furthermore, damage to the caster wheel can compromise braking effectiveness, potentially affecting the doctor's operation and treatment outcomes.

[0005] Therefore, there is an urgent need for a movable base, main control console, and surgical robot system to solve the problems mentioned above. Summary of the Invention

[0006] The purpose of this invention is to provide a movable base, a main control panel, and a surgical robot system, so as to ensure braking effect while avoiding damage to the locking structure inside the movable wheels, reduce maintenance costs, ensure surgical safety, and reduce the space occupied by the movable base.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] A movable base includes a main body, a movable wheel, a hexagonal shaft, and a braking assembly. The movable wheel is disposed at the bottom of the main body. The hexagonal shaft is horizontally disposed and fixedly inserted into a locking hole on the movable wheel. The hexagonal shaft can rotate around itself to switch the movable wheel between a locked state and a omnidirectional state. The braking assembly includes a locking member that can move vertically relative to the main body. The locking member has a first position, a second position, and a third position arranged sequentially from top to bottom. After the locking member descends from the first position to the third position, it can rise and lock in the second position. After the locking member descends from the second position to the third position, it can rise back to the first position. When the locking member is in the second position, the movable wheel is in the locked state.

[0009] Also includes:

[0010] The connecting assembly includes a first slider, a first spring, a second spring, and a transmission mechanism. The first slider is connected to the hexagonal shaft via the transmission mechanism and can move relative to the main body in the vertical direction to drive the hexagonal shaft to rotate. The top end of the first spring is connected to the bottom end of the first slider, and the bottom end of the first spring is connected to the main body. The top end of the second spring is connected to the bottom end of the locking member, and the bottom end of the second spring is connected to the first slider. The elastic coefficient of the first spring is smaller than that of the second spring.

[0011] The first limiting member is connected to the main body and located below the first sliding member. When the locking member is in the second position, the first sliding member presses against the first limiting member.

[0012] As an optional technical solution for a movable base, the top of the first sliding member has a receiving hole, the bottom of the locking member extends into the receiving hole, and the second spring is placed in the receiving hole.

[0013] As an optional technical solution for the movable base, the bottom of the locking member is connected to a limiting plate, the top of the second spring is connected to the bottom of the limiting plate, the locking member is cylindrical and its axis extends vertically, the limiting plate is coaxially connected to the locking member, and the diameter of the limiting plate is larger than the diameter of the locking member, a limiting part is provided protruding on the wall of the receiving hole, the limiting part is located on the side of the limiting plate facing the opening of the receiving hole, and the limiting part can abut against the limiting plate.

[0014] As an optional technical solution for the movable base, the connecting assembly further includes a turntable, which is placed inside the receiving hole. The second spring is placed on the turntable and fixedly connected to it. The turntable is rotatably connected to the first sliding member, and the rotation axis of the turntable extends along the vertical direction.

[0015] As an optional technical solution for the movable base, the movable base further includes a guide rail, which extends vertically and is fixedly connected to the main body. A first slider is slidably disposed on the guide rail, and the first slider is connected to the first sliding member.

[0016] As an optional technical solution for the movable base, the brake assembly further includes a pressing member and a pedal. The pressing member is connected to the pedal and is located above the locking member. The pressing member can move relative to the main body in the vertical direction so that the locking member can switch between the first position, the second position, and the third position.

[0017] A second slider is slidably mounted on the guide rail, and the second slider is connected to the pressing member.

[0018] As an optional technical solution for the movable base, the brake assembly further includes a third spring and a second slider. The second slider is connected to the pressing member and the second slider respectively. The second slider is located above the first slider. The two ends of the third spring are connected to the first slider and the second slider respectively.

[0019] As an optional technical solution for the movable base, the movable base further includes a stop assembly, which includes a stop member movably connected to the first sliding member. During the process of the locking member descending from the first position to the second position, the stop member is in an avoidance position, and the first sliding member can move relative to the main body. During the process of the locking member descending from the second position to the third position, the stop member is in a stop position that can restrict the relative movement between the first sliding member and the main body.

[0020] As an optional technical solution for the movable base, the stop assembly further includes a limiting seat, which is connected to the main body and has a limiting hole. The axis of the limiting hole extends horizontally. When the stop member is in the stop position, the stop member extends into the limiting hole. When the stop member is in the avoidance position, the stop member disengages from the limiting hole.

[0021] As an optional technical solution for a movable base, the top of the first sliding member has a receiving hole, the bottom of the locking member extends into the receiving hole, the second spring is placed in the receiving hole, the bottom of the locking member is connected to a limiting plate, the top of the second spring is connected to the bottom of the limiting plate, the locking member is cylindrical and its axis extends vertically, the limiting plate is coaxially connected to the locking member, and the diameter of the limiting plate is larger than the diameter of the locking member, a limiting part protrudes from the hole wall of the receiving hole, the limiting part is located on the side of the limiting plate facing the opening of the receiving hole, and the limiting part can abut against the limiting plate;

[0022] The receiving hole has a through hole that runs radially through its wall. The stop extends radially along the receiving hole and is placed inside the through hole. The stop has a fourth inclined surface at one end facing the inside of the receiving hole. The top of the fourth inclined surface is connected to the top surface of the stop. The fourth inclined surface is inclined towards the center of the receiving hole from top to bottom. The bottom edge of the limiting plate contacts the fourth inclined surface. When the locking member is in the second position, the stop is directly opposite the limiting hole.

[0023] As an optional technical solution for the movable base, the stop assembly further includes a fourth spring, one end of which is connected to the stop member and the other end of which is connected to the first sliding member. The fourth spring enables the stop member to return from the avoidance position to the stop position.

[0024] A control panel, including the movable base as described above.

[0025] As an optional technical solution for the main control console, the main control console also includes a screen and a moving device. The moving device is mounted on the movable base and connected to the screen, and the moving device can drive the screen to rise or fall.

[0026] A surgical robot system, including a control console as described above.

[0027] The beneficial effects of this invention are:

[0028] The movable base provided by this invention includes a main body, a movable wheel, a hexagonal shaft, a braking assembly, a connecting assembly, and a first limiting member. When the locking member is in the second position, the first sliding member presses against the first limiting member, which restricts the movement of the first sliding member and the hexagonal shaft. However, due to the second spring, the locking member can also move relative to the first sliding member to a third position, allowing the locking member to be locked in the second position. This ensures the movable wheel is locked in the locked state, guarantees the braking effect, and prevents the hexagonal shaft from rotating during the movement of the locking member between the second and third positions. This avoids damage to the locking structure inside the movable wheel, ensures the reliability of the movable wheel, reduces the possibility of the movable base not locking reliably due to damage to the movable wheel, reduces the risk of doctor's misoperation, ensures treatment effect and surgical safety, reduces the possibility of secondary injury to the patient, and also ensures the service life of the movable wheel, reducing maintenance costs. Furthermore, the combination of the second spring and the first limiting member simplifies the structure of the movable base, making it easier to reduce its size and space occupation.

[0029] The main control panel provided by this invention ensures braking effectiveness and avoids damage to the internal locking structure of the moving wheels caused by excessive rotation angle of the hexagonal shaft. This ensures the reliability of the moving wheels, reduces the risk of doctor misoperation, guarantees treatment effectiveness and surgical safety, reduces the possibility of secondary injury to patients, and also ensures the service life of the moving wheels, reducing maintenance costs. In addition, the simple structure helps to reduce the size of the movable base and also reduces the space occupied by the movable base.

[0030] The surgical robot system provided by this invention has a simple structure, reduces the possibility of damaging the locking structure inside the moving wheels, ensures the durability of the main control panel, and reduces maintenance costs; in addition, the simple structure helps to reduce the space occupied. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the main control console provided in Embodiment 1 of the present invention;

[0032] Figure 2 This is a partial structural schematic diagram of the main control console provided in Embodiment 1 of the present invention;

[0033] Figure 3 This is a schematic diagram of the movable base provided in Embodiment 1 of the present invention;

[0034] Figure 4 This is a partial structural schematic diagram of the movable base provided in Embodiment 1 of the present invention;

[0035] Figure 5 yes Figure 4 A sectional view;

[0036] Figure 6 This is an exploded view of the brake assembly and connecting assembly provided in Embodiment 1 of the present invention;

[0037] Figure 7 This is a schematic diagram of the sleeve structure provided in Embodiment 1 of the present invention;

[0038] Figure 8 This is a schematic diagram of the structure of the pressing component provided in Embodiment 1 of the present invention;

[0039] Figure 9 This is a schematic diagram of the locking component provided in Embodiment 1 of the present invention;

[0040] Figure 10 This is a process diagram of the locking process of the locking component provided in Embodiment 1 of the present invention;

[0041] Figure 11 This is a process diagram of the unlocking process of the locking component provided in Embodiment 1 of the present invention;

[0042] Figure 12 This is a partial structural schematic diagram of the movable base provided in Embodiment 2 of the present invention;

[0043] Figure 13 This is a cross-sectional view of the movable base provided in Embodiment 2 of the present invention.

[0044] In the picture:

[0045] 10. Movable base; 20. Screen; 30. Mobile device; 40. Housing;

[0046] 1. Main body; 2. Casters; 21. Locking hole; 3. Hexagonal shaft; 31. Round shaft; 32. Support base;

[0047] 4. Brake assembly; 41. Sleeve; 411. Guide part; 4111. First inclined surface; 42. Pressing part; 421. Slide groove; 422. Angled tooth; 4221. Second inclined surface; 43. Locking part; 431. Limiting groove; 432. Angled tooth groove; 4321. Third inclined surface; 4322. Limiting wall; 44. Limiting plate; 45. Third spring; 46. Second sliding part; 47. Pedal;

[0048] 5. Connecting assembly; 51. First sliding member; 511. Receiving hole; 512. Limiting part; 513. Through hole; 52. First spring; 53. Second spring; 54. Turntable; 55. Transmission mechanism; 551. First connecting rod; 552. Second connecting rod;

[0049] 6. First limiting component; 7. Guide rail; 71. First slider; 72. Second slider;

[0050] 8. Stop assembly; 81. Stop component; 811. Fourth inclined surface; 82. Limit seat; 821. Limit hole; 83. Fourth spring;

[0051] 9. Mounting bracket; 91. Base plate; 911. Through hole; 92. Side plate; 93. Second limiting component. Detailed Implementation

[0052] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0055] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0056] Example 1

[0057] This embodiment provides a movable base. Specifically, as shown... Figures 1-11As shown, the movable base 10 includes a main body 1, a movable wheel 2, a hexagonal shaft 3, a brake assembly 4, a connecting assembly 5, and a first limiting member 6. The movable wheel 2 is located at the bottom of the main body 1. The hexagonal shaft 3 is horizontally positioned and fixedly inserted into the locking hole 21 on the movable wheel 2. The hexagonal shaft 3 can rotate around its own axis to allow the movable wheel 2 to switch between a locked state and a omnidirectional state. The brake assembly 4 includes a locking member 43, which can move vertically relative to the main body 1. The locking member 43 has a first position, a second position, and a third position arranged sequentially from top to bottom. After the locking member 43 descends from the first position to the third position, it can rise and lock in the second position. After the locking member 43 descends from the second position to the third position, it can rise back to the first position. When the locking member 43 is in the second position, the movable wheel 2 is in a locked state. The connecting assembly 5 includes a first sliding member 51, a first spring 52, a second spring 53, and a transmission mechanism 55. The first sliding member 51 is connected to the hexagonal shaft 3 through the transmission mechanism 55 and can move vertically relative to the main body 1 to drive the hexagonal shaft 3 to rotate. The top end of the first spring 52 is connected to the bottom end of the first sliding member 51, and the bottom end of the first spring 52 is connected to the main body 1. The top end of the second spring 53 is connected to the bottom end of the locking member 43, and the bottom end of the second spring 53 is connected to the first sliding member 51. The elastic coefficient of the first spring 52 is smaller than that of the second spring 53. The first limiting member 6 is connected to the main body 1 and located below the first sliding member 51. When the locking member 43 is in the second position, the first sliding member 51 presses against the first limiting member 6.

[0058] In this embodiment, the movable wheel 2 is a swivel wheel. When the movable wheel 2 is in the swivel state, it can rotate relative to the main body 1 around a horizontal axis and also around a vertical axis. During the process of switching the movable wheel 2 from the swivel state to the locked state, the hexagonal shaft 3 rotates 30°. The structure of the swivel wheel is prior art and is not the focus of this embodiment, so it will not be described in detail here.

[0059] The process described above, in which "the locking member 43 descends from the first position to the third position, then rises and locks itself in the second position," is defined as the locking process. During the locking process of the locking member 43, the movement of each component is as follows:

[0060] When the locking member 43 is in the first position, the hexagonal shaft 3 is in the initial position. During the vertical movement of the locking member 43 from the first position to the second position, the hexagonal shaft 3 rotates around its own axis in the first rotation direction. Because the elastic coefficient of the first spring 52 is less than that of the second spring 53, the first spring 52 is more prone to deformation. Therefore, during the movement of the locking member 43 from the first position to the second position, the first spring 52 deforms, while the second spring 53 does not deform. The first sliding member 51 moves synchronously with the locking member 43 until the locking member 43 reaches the second position, at which point the first sliding member 51 is placed on the first limiting member 6.

[0061] When the first sliding member 51 presses against the first limiting member 6, the locking member 43 is in the second position, the hexagonal shaft 3 rotates 30°, and the moving wheel is in the locked state.

[0062] During the process of the locking member 43 moving vertically from the second position to the third position, since the first limiting member 6 can restrict the position of the first sliding member 51, the hexagonal shaft 3 connected to the first sliding member 51 will no longer rotate. Moreover, the second spring 53 provided between the locking member 43 and the first sliding member 51 allows the locking member 43 to descend relative to the first sliding member 51 during the process of moving from the second position to the third position, while the second spring 53 is compressed.

[0063] When the locking member 43 is in the third position, the compressed second spring 53 can raise the locking member 43 to the second position.

[0064] The first rotation direction can be either clockwise or counterclockwise, and is not limited here.

[0065] The process described above, where "the locking element 43 descends from the second position to the third position and then rises back to the first position," is defined as the unlocking process. During the unlocking process of the locking element 43, the movement of each component is as follows:

[0066] When the locking member 43 is in the second position, the moving wheel 2 is locked and the first sliding member 51 is placed on the first limiting member 6.

[0067] During the process of the locking member 43 moving vertically from the second position to the third position, the first limiting member 6 can restrict the position of the first sliding member 51, the hexagonal shaft 3 is stationary, the locking member 43 descends to the third position relative to the first sliding member 51, and the second spring 53 is compressed.

[0068] When the locking member 43 is in the third position, the compressed second spring 53 can raise the locking member 43 to the second position.

[0069] As the locking member 43 moves vertically from the second position to the first position, the hexagonal shaft 3 rotates around its own axis in the second rotation direction to the initial position. During the movement of the locking member 43 from the second position to the first position, the compressed first spring 52 moves upward synchronously with the first sliding member 51 and the locking member 43 until the locking member 43 reaches the first position.

[0070] The second rotation direction is opposite to the first rotation direction.

[0071] The movable base provided in this embodiment includes a main body 1, a movable wheel 2, a hexagonal shaft 3, a brake assembly 4, a connecting assembly 5, and a first limiting member 6. When the locking member 43 is in the second position, the first sliding member 51 presses against the first limiting member 6, which restricts the movement of the first sliding member 51 and the hexagonal shaft 3. However, due to the second spring 53, the locking member 43 can also move relative to the first sliding member 51 to the third position, so that the locking member 43 can be locked in the second position, ensuring that the movable wheel 2 is locked in the locked state, ensuring the braking effect, and preventing the locking member 43 from moving excessively between the second and third positions. During the process, the hexagonal shaft 3 rotates accordingly, avoiding damage to the locking structure inside the movable wheel 2, ensuring the reliability of the movable wheel 2, reducing the possibility that the movable base 10 cannot be reliably locked due to damage to the movable wheel 2, reducing the risk of doctor's misoperation, ensuring treatment effect and surgical safety, reducing the possibility of secondary injury to the patient, and also ensuring the service life of the movable wheel 2 and reducing maintenance costs; in addition, the setting of the second spring 53 and the first limiting member 6 makes the structure of the movable base 10 simpler, which is conducive to reducing the size of the movable base 10 and also reducing the space occupied by the movable base 10.

[0072] Specifically, the brake assembly 4 also includes a sleeve 41, a pressing member 42, and a pedal 47. The sleeve 41 is fixedly connected to the main body 1 and its axis extends vertically. A guide portion 411 protrudes from the inner wall of the sleeve 41. The bottom surface of the guide portion 411 is a first inclined surface 4111, which is inclined to the horizontal plane. The pressing member 42 and the locking member 43 are both movably disposed inside the sleeve 41, with the locking member 43 located below the pressing member 42. The pedal 47 is located outside the main body 1 and is connected to the pressing member 42, facilitating the doctor to apply downward force to the pressing member 42 by stepping on the pedal 47 from outside the main body 1.

[0073] A groove 421 is formed on the outer wall of the pressing member 42, and the groove 421 extends vertically through the bottom of the pressing member 42. A guide part 411 is placed in the groove 421, so that the pressing member 42 can only move vertically relative to the sleeve 41. A convex tooth 422 is provided on the bottom of the pressing member 42, and the bottom surface of the convex tooth 422 is a second inclined surface 4221, one end of which extends to the groove 421. A limiting groove 431 is formed on the outer wall of the locking member 43, and the limiting groove 431 extends vertically through the top of the locking member 43. The locking member 43 can move vertically relative to the sleeve 41, and can also rotate relative to the sleeve 41 around the vertical axis, so that the limiting groove 431 can be directly connected to the groove 421. The top of the locking member 43 is provided with a helical tooth groove 432, the vertical length of which is less than the vertical length of the sliding groove 421. One sidewall of the helical tooth groove 432 is a third inclined surface 4321, one end of which extends to the limiting groove 431. Both the third inclined surface 4321 and the second inclined surface 4221 are parallel to the first inclined surface 4111. The other sidewall of the helical tooth groove 432 is a limiting wall 4322, which is vertically arranged and connected to the other end of the third inclined surface 4321.

[0074] The guide section 411, the limiting groove 431, and the slide groove 421 all have the same width.

[0075] During the locking process of locking member 43, when locking member 43 is in the first position, pressing member 42 does not push locking member 43 downward, limiting groove 431 and sliding groove 421 are directly connected, and the second inclined surface 4221 of inclined tooth 422 is directly opposite to the third inclined surface 4321 of inclined tooth groove 432. When the doctor applies a stepping force to pressing member 42 by stepping on pedal 47, the first spring 52 and the second spring 53 are compressed in sequence, the second inclined surface 4221 and the third inclined surface 4321 are in contact, and pressing member 42 pushes locking member 43 downward along guide portion 411 until the second inclined surface 4221 and the first inclined surface 4111 are coplanar. At this time, locking member 43 is in the third position. Under the action of second spring 53, locking member 43 moves along the second inclined surface 4221 and the first inclined surface 4111, and locking member 43 rotates until the side wall of inclined tooth 422 is in contact with limiting wall 4322. When the pressing member 42 is lifted upward, the oblique protrusion 422 disengages from the oblique tooth groove 432. Under the action of the second spring 53, the third oblique surface 4321 of the locking member 43 continues to move along the first oblique surface 4111. The locking member 43 rotates until the side wall of the guide portion 411 is in contact with the limiting wall 4322. At this time, the locking member 43 is in the second position, and the bottom of the guide portion 411 abuts against the bottom end of the limiting groove 432, thus locking the locking member 43 in the second position. During the locking process, at least part of the guide portion 411 remains within the slide groove 421.

[0076] During the unlocking process of locking member 43, when locking member 43 is in the second position, pressing member 42 does not push locking member 43 downward, the first inclined surface 4111 and the third inclined surface 4321 are in contact, and the side wall of guide portion 411 is in contact with limiting wall 4322. When the doctor applies a stepping force to pressing member 42 by stepping on pedal 47, pressing member 42 pushes locking member 43 downward along guide portion 411, and second spring 53 is compressed until the second inclined surface 4221 and the first inclined surface 4111 are coplanar, at which point locking member 43 is in the third position. First sliding member 51 and locking member 43 move along the second inclined surface 4221 and the first inclined surface 4111 under the action of spring (second spring 53 or first spring 52 and second spring 53 together), and locking member 43 rotates until the side wall of limiting groove 431 is in contact with the side wall of inclined tooth 422. When the pressing member 42 is lifted upwards, the oblique protrusion 422 disengages from the side wall of the limiting groove 431. Under the action of the spring (first spring 52 or first spring 52 and second spring 53 together), the first sliding member 51 and the locking member 43 continue to move along the first inclined surface 4111. The locking member 43 rotates until the side wall of the guide portion 411 is in contact with the limiting wall 4322, and the sliding groove 421 is directly opposite the limiting groove 431. The pressing member 42 continues to lift upwards, and the locking member 43 moves along the guide portion 411 under the action of the spring (first spring 52 or first spring 52 and second spring 53 together) until the bottom end of the guide portion 411 contacts the bottom of the limiting groove 431. At this time, the locking member 43 is in the first position.

[0077] The pressing member 42 and the locking member 43 can both refer to the existing technology, as long as they can realize the locking and unlocking process of the locking member 43. They are not the focus of protection in this embodiment, and will not be described in detail here.

[0078] As a preferred embodiment, the movable base 10 also includes a guide rail 7, which extends vertically and is fixedly connected to the main body 1. A first slider 71 is slidably mounted on the guide rail 7 and is connected to the first sliding member 51. By setting the guide rail 7 and the first slider 71, the first sliding member 51 can be guided, while ensuring that the locking member 43 can also move vertically. This facilitates the locking and unlocking processes of the locking member 43, ensuring the braking effect. It also reduces the possibility of damage to the structure on the locking member 43 and the structure on the pressing member 42 due to mis-deflection of the locking member 43, ensuring the durability of the brake assembly 4 and reducing maintenance costs.

[0079] In this embodiment, the movable base 10 further includes a mounting frame 9, which is fixedly connected to the main body 1. The mounting frame 9 includes a base plate 91 and a side plate 92. The base plate 91 is horizontally arranged, and the side plate 92 is vertically arranged. The bottom end of the side plate 92 is vertically connected to one end of the base plate 91. A guide rail 7 is fixedly connected to the side plate 92, and the guide rail 7 and the base plate 91 are located on the same side of the side plate 92. A brake assembly 4 is placed above the base plate 91. Specifically, a sleeve 41 is fixedly connected to the side plate 92, and the sleeve 41 is located above the first sliding member 51. A first limiting member 6 is fixedly connected to the base plate 91. The bottom end of the first spring 52 is connected to the base plate 91.

[0080] Preferably, a through hole 911 is provided on the base plate 91, and the bottom of the first sliding member 51 passes through the through hole 911, which can further reduce the space occupied by the movable base 10.

[0081] Furthermore, a second slider 72 is slidably mounted on the guide rail 7, and the second slider 72 is connected to the pressing member 42. The second slider 72 ensures that the pressing member 42 moves vertically, further facilitating the locking and unlocking processes of the locking member 43, ensuring braking effectiveness, and reducing the possibility of damage to the structures on the locking member 43 and the pressing member 42 due to erroneous deflection. This ensures the durability of the brake assembly 4 and reduces maintenance costs. It is understood that the first slider 71 is located below the second slider 72.

[0082] In this embodiment, a second limiting member 93 is fixedly provided on the side plate 92. The second limiting member 93 is located above the guide rail 7. The second limiting member 93 can limit the movement range of the second slider 72, prevent the second slider 72 from disengaging from the guide rail 7, and further reduce maintenance costs.

[0083] Specifically, the brake assembly 4 also includes a second slider 46, which is fixedly connected to the pressing member 42 and the second slider 72 respectively, and the second slider 46 is located above the first slider 51.

[0084] As a preferred embodiment, the brake assembly 4 further includes a third spring 45, which is disposed between the first sliding member 51 and the second sliding member 46, with both ends of the third spring 45 connected to the first sliding member 51 and the second sliding member 46 respectively. When the doctor presses the pedal 47, the pressing member 42 moves downward, compressing the third spring 45. When the doctor stops pressing the pedal 47, the pressing member 42 is no longer subjected to the pressing force, and the third spring 45 enables the second sliding member 46 and the pressing member 42 to move upward. This avoids the doctor manually moving the second sliding member 46 and the pressing member 42 upward, improving the automation level of the brake assembly 4 and simplifying the operation of the movable base 10.

[0085] In this embodiment, a first spring 52 and a third spring 45 are respectively provided on opposite sides of the sleeve 41, which can ensure stable support for the first sliding member 51 and the second sliding member 46.

[0086] As a preferred embodiment, the top of the first sliding member 51 is provided with a receiving hole 511, the bottom of the locking member 43 extends into the receiving hole 511, and the second spring 53 is placed in the receiving hole 511. By opening the receiving hole 511, the overall volume of the first sliding member 51 and the locking member 43 can be reduced, thereby reducing the space occupied by the movable base 10.

[0087] Furthermore, the connecting assembly 5 also includes a turntable 54, which is placed inside the receiving hole 511. The second spring 53 is placed on the turntable 54 and fixedly connected to it. The turntable 54 is rotatably connected to the first sliding member 51, and the rotation axis of the turntable 54 extends vertically. Since the locking member 43 needs to rotate around the vertical axis during both the locking and unlocking processes, the turntable 54 facilitates the synchronous rotation of the second spring 53 and the locking member 43, reducing the friction between them and allowing the locking member 43 to rotate smoothly. This further facilitates the locking and unlocking processes, ensuring the braking effect. It also reduces the possibility of damage to the structure on the locking member 43 and the structure on the pressing member 42 due to the locking member 43 not rotating smoothly, ensuring the durability of the brake assembly 4 and reducing maintenance costs.

[0088] In this embodiment, the turntable 54 is rotatably connected to the first sliding member 51 via a bearing.

[0089] Preferably, the bottom of the locking member 43 is connected to a limiting disk 44, and the top of the second spring 53 is connected to the bottom of the limiting disk 44. The locking member 43 is cylindrical and its axis extends vertically. The limiting disk 44 is coaxially connected to the locking member 43, and the diameter of the limiting disk 44 is larger than the diameter of the locking member 43. A limiting part 512 protrudes from the wall of the receiving hole 511. The limiting part 512 is located on the side of the limiting disk 44 facing the opening of the receiving hole 511 and can abut against the limiting disk 44. By setting the limiting disk 44 and the limiting part 512, the movement range of the locking member 43 can be limited, preventing the locking member 43 from disengaging from the receiving hole 511 and reducing the possibility that the locking member 43 cannot accurately enter the receiving hole 511 after disengaging from it. This ensures that the locking member 43 can reliably realize the locking and unlocking processes and ensures the braking effect. In this embodiment, the limiting part 512 is arranged circumferentially around the receiving hole 511. During the movement of the locking member 43 between the second position and the first position, and when the locking member 43 is in the second position, the limiting plate 44 contacts the limiting part 512. During the movement of the locking member 43 between the second position and the third position, since the first sliding member 51 remains stationary, the limiting plate 44 disengages from the limiting part 512.

[0090] As a preferred embodiment, the movable base 10 further includes a circular shaft 31 extending horizontally. Each end of the circular shaft 31 is coaxially connected to a hexagonal shaft 3, and each hexagonal shaft 3 is inserted into a locking hole 21 of a movable wheel 2. The first sliding member 51 is connected to the circular shaft 31 via a transmission mechanism 55, enabling simultaneous locking or unlocking of two movable wheels 2 using a single brake assembly 4. This reduces the number of brake assemblies 4 and connecting assemblies 5, simplifying the structure of the movable base 10 and reducing its size. Specifically, the hexagonal shaft 3 is a regular hexagonal prism.

[0091] In this embodiment, four movable wheels 2 are provided at the bottom of the main body 1. A set of movable wheels 2 is provided on each side of the main body 1 along the left-right direction, and each set of movable wheels 2 includes two movable wheels 2 spaced apart along the front-back direction. A circular shaft 31 extends along the front-back direction, and its two ends along the front-back direction are respectively connected to a hexagonal shaft 3. Two circular shafts 31 are provided, and the two circular shafts 31 are spaced apart along the left-right direction, thereby realizing the braking and unlocking of the four movable wheels 2.

[0092] Preferably, a plurality of support seats 32 are connected to the round shaft 31. The support seats 32 are spaced apart along the length of the round shaft 31. The support seats 32 are fixedly connected to the main body 1 or the base plate 91. The support seats 32 and the round shaft 31 are rotatably connected by bearings.

[0093] Specifically, the transmission mechanism 55 includes a first connecting rod 551 and a second connecting rod 552. One end of the first connecting rod 551 is rotatably connected to the first sliding member 51, and the other end of the first connecting rod 551 is rotatably connected to one end of the second connecting rod 552. The other end of the second connecting rod 552 is fixedly connected to the circular shaft 31. The rotation axes of the first connecting rod 551, the second connecting rod 552, and the first sliding member 51 all extend in the front-rear direction, thus enabling the rotation of the circular shaft 31 through the vertical movement of the first sliding member 51. It is understood that the inclusion of the first limiting member 6 also prevents the transmission mechanism 55 from exhibiting unusual configurations, ensuring the smooth operation of the transmission mechanism 55.

[0094] In other embodiments, a gear may be coaxially fixedly connected to the circular shaft 31, and a rack may be fixedly provided on the first sliding member 51. The gear meshes with the rack, and the circular shaft 31 can be rotated by the vertical movement of the first sliding member 51.

[0095] It is worth noting that the directional descriptions such as front, back, left, and right mentioned in this embodiment are all based on the main control console in normal use, that is, the doctor is in front of the movable base 10, the side of the movable base 10 away from the doctor is the back side, and the left and right directions of the doctor are the left and right directions of the movable base 10.

[0096] This embodiment also provides a main control console. Specifically, as shown below... Figure 1 As shown, the main control unit includes a movable base 10 as described above.

[0097] The main control panel provided in this embodiment ensures braking effect and avoids damage to the locking structure inside the movable wheel 2 due to excessive rotation angle of the hexagonal shaft 3. This ensures the reliability of the movable wheel 2, reduces the risk of doctor's misoperation, ensures treatment effect and surgical safety, reduces the possibility of secondary injury to the patient, and also ensures the service life of the movable wheel 2, reducing maintenance costs. In addition, the simple structure helps to reduce the size of the movable base 10 and also reduces the space occupied by the movable base 10.

[0098] Specifically, such as Figure 2 As shown, the main control console also includes a screen 20 and a moving device 30. The moving device 30 is mounted on the main body 1 and connected to the screen 20. The moving device 30 can drive the screen 20 to rise or fall, allowing the height of the screen 20 to be adjusted according to the height of different operators. This further reduces operator fatigue when using the main control console, ensures safety during the surgical procedure, and reduces the possibility of secondary injury to the patient. In this embodiment, the moving device 30 can be a cylinder, motor, or other similar structure, and is not limited thereto.

[0099] like Figures 1-2As shown, the main control console also includes a housing 40, which covers the movable base 10 and the movable device 30. The screen 20 is located outside the housing 40. The structure and material of the housing 40 can refer to the prior art and are not the focus of this embodiment, so they will not be described in detail here.

[0100] The main control console also includes structures such as the main operating arm. The other structures of the main control console, except for the movable base 10, can refer to existing technologies and are not the focus of this embodiment; therefore, they will not be described in detail here.

[0101] This embodiment also provides a surgical robot system. Specifically, the surgical robot system includes a main control console as described above.

[0102] The surgical robot system provided in this embodiment has a simple structure, which reduces the possibility of damaging the locking structure inside the moving wheel 2, ensures the durability of the main control panel, and reduces maintenance costs; in addition, the simple structure helps to reduce the space occupied.

[0103] The surgical robot system may also include structures such as the patient's surgical end. Apart from the main control console, other structures of the surgical robot system can refer to existing technologies and are not the focus of this embodiment, so they will not be described in detail here.

[0104] Example 2

[0105] This embodiment provides a movable base, and the movable base 10 provided in this embodiment has a basically the same structure as the movable base 10 provided in Embodiment 1, with only some structural differences. This embodiment will not describe the other structures that are the same as in Embodiment 1.

[0106] As a preferred option, such as Figures 1-13 As shown, the movable base 10 also includes a stop assembly 8, which includes a stop member 81. The stop member 81 is movably connected to the first sliding member 51. During the process of the locking member 43 descending from the first position to the second position, the stop member 81 is in a clearance position, allowing the first sliding member 51 to move relative to the main body 1. During the process of the locking member 43 descending from the second position to the third position, the stop member 81 is in a stop position that restricts the relative movement between the first sliding member 51 and the main body 1. By setting the stop member 81, the hexagonal shaft 3 can be further prevented from rotating during the movement of the locking member 43 between the second and third positions, further avoiding damage to the locking structure inside the moving wheel 2. Moreover, the stop member 81 and the second spring 53 work together to make the restriction of the position of the first sliding member 51 more reliable, further reducing the risk of damage to the moving wheel 2.

[0107] Furthermore, the stop assembly 8 also includes a limiting seat 82, which is connected to the main body 1. The limiting seat 82 has a limiting hole 821, the axis of which extends horizontally. When the stop member 81 is in the stop position, the stop member 81 extends into the limiting hole 821. When the stop member 81 is in the avoidance position, the stop member 81 disengages from the limiting hole 821. This design simplifies the structure of the stop assembly 8, thereby reducing the space occupied by the stop assembly 8 and the movable base 10.

[0108] In this embodiment, the limiting seat 82 is fixedly mounted on the base plate 91. The outline of the limiting hole 821 is the same as the outline of the stop member 81.

[0109] Furthermore, a through hole 513 is radially formed in the wall of the receiving hole 511. The stop member 81 extends radially along the receiving hole 511 and is placed inside the through hole 513. The end of the stop member 81 facing the inside of the receiving hole 511 has a fourth inclined surface 811. The top end of the fourth inclined surface 811 is connected to the top surface of the stop member 81. The fourth inclined surface 811 is inclined towards the center of the receiving hole 511 from top to bottom. The bottom edge of the limiting plate 44 contacts the fourth inclined surface 811. Thus, during the process of the locking member 43 descending from the first position to the second position, the stop member 81 is in a clearance position, with the end of the stop member 81 facing outward from the receiving hole 511 contacting the side wall of the limiting seat 82 above the limiting hole 821. When the locking member 43 is in the second position, the stop member 81 is directly opposite the limiting hole 821. During the process of the locking member 43 descending from the second position to the third position, the stop member 81 extends into the limiting hole 821, and the stop member 81 is in a stopping position. In all three positions—first, second, and third—the stop member 81 remains in contact with the side wall of the limiting plate 44. This configuration, through the locking member 43 and the limiting plate 44, allows for the switching of the stop member 81's position without requiring other structures, further simplifying the structure of the stop assembly 8 and reducing the space occupied by the stop assembly 8 and the movable base 10.

[0110] In this embodiment, the angle between the fourth inclined plane 811 and the horizontal plane is 45°.

[0111] As a preferred embodiment, the stop assembly 8 further includes a fourth spring 83, one end of which is connected to the stop member 81 and the other end to the first sliding member 51. The fourth spring 83 enables the stop member 81 to return from the avoidance position to the stop position. The fourth spring 83 avoids the need to manually return the stop member 81 from the avoidance position to the stop position, thus simplifying the operation of the movable base 10.

[0112] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A movable base, comprising a main body (1), a movable wheel (2), a hexagonal shaft (3), and a brake assembly (4), wherein the movable wheel (2) is disposed at the bottom of the main body (1), the hexagonal shaft (3) is horizontally disposed and fixedly inserted into a locking hole (21) on the movable wheel (2), the hexagonal shaft (3) is rotatable around itself so that the movable wheel (2) switches between a locked state and a omnidirectional state, the brake assembly (4) comprises a locking member (43), the locking member (43) is movable relative to the main body (1) in a vertical direction, the locking member (43) has a first position, a second position, and a third position arranged sequentially from top to bottom, the locking member (43) descends from the first position to the third position and can rise and lock in the second position, the locking member (43) descends from the second position to the third position and can rise back to the first position, and when the locking member (43) is in the second position, the movable wheel (2) is in the locked state; Its features are, Also includes: The connecting component (5) includes a first sliding member (51), a first spring (52), a second spring (53), and a transmission mechanism (55). The first sliding member (51) is connected to the hexagonal shaft (3) through the transmission mechanism (55) and can move relative to the main body (1) in the vertical direction to drive the hexagonal shaft (3) to rotate. The top end of the first spring (52) is connected to the bottom end of the first sliding member (51), and the bottom end of the first spring (52) is connected to the main body (1). The top end of the second spring (53) is connected to the bottom end of the locking member (43), and the bottom end of the second spring (53) is connected to the first sliding member (51). The elastic coefficient of the first spring (52) is smaller than that of the second spring (53). The first limiting member (6) is connected to the main body (1) and located below the first sliding member (51). When the locking member (43) is in the second position, the first sliding member (51) presses against the first limiting member (6).

2. The movable base according to claim 1, characterized in that, The first sliding member (51) has a receiving hole (511) at its top, the bottom of the locking member (43) extends into the receiving hole (511), and the second spring (53) is placed in the receiving hole (511).

3. The movable base according to claim 2, characterized in that, The bottom of the locking member (43) is connected to a limiting disk (44), and the top of the second spring (53) is connected to the bottom of the limiting disk (44). The locking member (43) is cylindrical and its axis extends vertically. The limiting disk (44) is coaxially connected to the locking member (43), and the diameter of the limiting disk (44) is larger than the diameter of the locking member (43). A limiting part (512) protrudes from the wall of the receiving hole (511). The limiting part (512) is located on the side of the limiting disk (44) facing the opening of the receiving hole (511), and the limiting part (512) can abut against the limiting disk (44).

4. The movable base according to claim 2, characterized in that, The connecting assembly (5) further includes a turntable (54), which is placed inside the receiving hole (511). The second spring (53) is placed on the turntable (54) and fixedly connected to the turntable (54). The turntable (54) is rotatably connected to the first sliding member (51), and the rotation axis of the turntable (54) extends along the vertical direction.

5. The movable base according to claim 1, characterized in that, The movable base also includes a guide rail (7), which extends vertically and is fixedly connected to the main body (1). A first slider (71) is slidably disposed on the guide rail (7), and the first slider (71) is connected to the first sliding member (51).

6. The movable base according to claim 5, characterized in that, The brake assembly (4) further includes a pressing member (42) and a pedal (47). The pressing member (42) is connected to the pedal (47). The pressing member (42) is located above the locking member (43). The pressing member (42) is movable relative to the main body (1) in the vertical direction so that the locking member (43) can switch between the first position, the second position and the third position. A second slider (72) is slidably disposed on the guide rail (7), and the second slider (72) is connected to the pressing member (42).

7. The movable base according to claim 6, characterized in that, The brake assembly (4) further includes a third spring (45) and a second slider (46). The second slider (46) is connected to the pressing member (42) and the second slider (72) respectively. The second slider (46) is located above the first slider (51). The two ends of the third spring (45) are connected to the first slider (51) and the second slider (46) respectively.

8. The movable base according to any one of claims 1-7, characterized in that, The movable base also includes a stop assembly (8), which includes a stop member (81) movably connected to the first sliding member (51). During the process of the locking member (43) descending from the first position to the second position, the stop member (81) is in a clearance position, and the first sliding member (51) can move relative to the main body (1). During the process of the locking member (43) descending from the second position to the third position, the stop member (81) is in a stop position that can restrict the relative movement between the first sliding member (51) and the main body (1).

9. The movable base according to claim 8, characterized in that, The stop assembly (8) further includes a limiting seat (82), which is connected to the main body (1). The limiting seat (82) has a limiting hole (821) on it. The axis of the limiting hole (821) extends horizontally. When the stop member (81) is in the stop position, the stop member (81) extends into the limiting hole (821). When the stop member (81) is in the avoidance position, the stop member (81) disengages from the limiting hole (821).

10. The movable base according to claim 9, characterized in that, The first sliding member (51) has a receiving hole (511) at its top. The bottom of the locking member (43) extends into the receiving hole (511). The second spring (53) is placed in the receiving hole (511). The bottom of the locking member (43) is connected to a limiting plate (44). The top of the second spring (53) is connected to the bottom of the limiting plate (44). The locking member (43) is cylindrical and its axis extends vertically. The limiting plate (44) is coaxially connected to the locking member (43). The diameter of the limiting plate (44) is larger than the diameter of the locking member (43). A limiting part (512) protrudes from the hole wall of the receiving hole (511). The limiting part (512) is located on the side of the limiting plate (44) facing the opening of the receiving hole (511). The limiting part (512) can abut against the limiting plate (44). A through hole (513) is radially provided on the wall of the receiving hole (511). The stop (81) extends radially along the receiving hole (511) and is placed in the through hole (513). The stop (81) has a fourth inclined surface (811) at one end facing the inside of the receiving hole (511). The top end of the fourth inclined surface (811) is connected to the top surface of the stop (81). The fourth inclined surface (811) is inclined towards the center of the receiving hole (511) from top to bottom. The bottom edge of the limiting plate (44) contacts the fourth inclined surface (811). When the locking member (43) is in the second position, the stop (81) and the limiting hole (821) are directly opposite each other.

11. The movable base according to claim 10, characterized in that, The stop assembly (8) further includes a fourth spring (83), one end of which is connected to the stop member (81) and the other end is connected to the first sliding member (51). The fourth spring (83) can cause the stop member (81) to return from the avoidance position to the stop position.

12. A main control console, characterized in that, Includes the movable base as described in any one of claims 1-11.

13. The main control console according to claim 12, characterized in that, The main control unit also includes a screen (20) and a moving device (30). The moving device (30) is mounted on the movable base and connected to the screen (20). The moving device (30) can drive the screen (20) to rise or fall.

14. A surgical robot system, characterized in that, Includes the main control console as described in any one of claims 12-13.

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