Horizontal telescoping device and surgical robot

Abstract

The application provides a horizontal telescopic device and a surgical robot, the horizontal telescopic device comprising: a fixed seat and a telescopic part, the telescopic part moving linearly towards or away from the fixed seat along the length direction of the fixed seat; a linear motor module comprising a stator and a rotor, the stator being fixedly installed on the fixed seat, the rotor being connected with the telescopic part through a joint bearing, the rotor driving the joint bearing, and the joint bearing driving the telescopic part to move linearly back and forth. The horizontal telescopic device has the advantages of compact structure, low resistance, no return difference in the movement process, improved performance and reliability, the telescopic part being driven by the linear motor module to move linearly back and forth in the horizontal direction of the fixed seat without low resistance, so that the preoperative position adjustment of the surgical robot is realized, and the surgical efficiency and success rate are further improved; the telescopic part is allowed to have relative displacement and deformation within a certain range by the soft connection of the joint bearing, and the telescopic function is not affected.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and in particular to a horizontal telescopic device and a surgical robot. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limited incision size of minimally invasive instruments significantly increases the difficulty of the procedure, which has become a key factor restricting the development of minimally invasive surgical techniques. With the development of robotics technology, minimally invasive surgical robot technology has emerged.

[0003] A typical minimally invasive surgical robot consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the input device from the console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. The patient-side trolley (the slave arm) generally includes a base, a column, a main arm connected to the transverse upper arm, and multiple instrument movement platforms located at the end of the main arm. The surgeon can align the robot preoperatively and easily perform manual adjustments. Each degree of freedom can be adjusted individually, with low-resistance adjustments and a counter-drive function.

[0004] The lateral boom typically uses a motor equipped with a rotary encoder, combined with a coupling and a ball screw to provide lateral drive power for horizontal linear movement. A rotary brake is located at the motor's tail. When braking the motor shaft, the overall counter-drive resistance of the lateral boom increases, and due to space and layout constraints, the motor experiences increased load, ultimately affecting the stress on the cantilever connected to the lateral boom. Furthermore, the use of a synchronous belt in motor drive systems is prone to aging, affecting its service life. Summary of the Invention

[0005] The purpose of this application is to provide a horizontal telescopic device. The horizontal telescopic device of this application has a compact structure, low resistance, and no backlash during movement, thereby improving performance and reliability. By driving the joint bearing through a linear motor module, the telescopic component can perform reciprocating linear motion with low resistance in the horizontal direction of the fixed seat, thereby realizing the preoperative position adjustment of the surgical robot and further improving surgical efficiency and success rate. The soft connection of the joint bearing allows the telescopic component to have relative displacement and deformation within a certain range without affecting the telescopic function.

[0006] In a first aspect, this application provides a horizontal telescopic device, comprising: a fixed base and a telescopic member, wherein the telescopic member moves in a straight line along the elongated direction of the fixed base, approaching or moving away; and a linear motor module, comprising a stator and a mover, wherein the stator is fixedly mounted on the fixed base, and the mover is connected to the telescopic member via a spherical bearing, wherein the mover drives the spherical bearing, and the spherical bearing drives the telescopic member to perform reciprocating linear motion.

[0007] In one embodiment, a first linear guide rail is provided along the direction of the stator and on one side of the stator. The mover is connected to a motor sliding plate, and the mover drives the motor sliding plate to move along the first linear guide rail.

[0008] In one embodiment, the spherical bearing includes: a first fixed mounting portion, a connecting portion, and a second fixed mounting portion; the first fixed mounting portion is connected to the motor sliding plate associated with the mover, the second fixed mounting portion is disposed on the telescopic member, and the first fixed mounting portion and the second fixed mounting portion are connected through the connecting portion.

[0009] In one embodiment, the connecting portion of the spherical bearing includes: a connecting rod, a ball bearing, and a connecting post; the connecting rod is used to connect the moving part, the ball bearing is disposed at one end of the connecting rod, the connecting post passes through the ball bearing, and the connecting post is used to connect the telescopic member.

[0010] In one embodiment, the connecting portion of the spherical bearing is further provided with a limiting groove, the ball bearing is disposed in the limiting groove, and the connecting post passes through the limiting groove and through the ball bearing.

[0011] In one embodiment, a second linear guide rail is provided along the elongated direction of the fixed base, and a slider is connected to the telescopic member. The slider is disposed on the second linear guide rail and moves along the direction of the second linear guide rail.

[0012] In one embodiment, the telescopic member includes a sliding base plate and a magnetic suction plate. A braking assembly is provided on the sliding base plate, and the magnetic suction plate is disposed on the fixed base. When the braking assembly attracts the magnetic suction plate, braking is achieved.

[0013] In one embodiment, the horizontal telescopic device further includes a cable chain assembly, the cable chain assembly including a support and a drag member; the support is disposed on the fixed base, and the drag member is connected to the telescopic member.

[0014] In one embodiment, a linear absolute encoder is provided along the stator direction and on one side of the stator, and a linear encoder is provided on one side of the telescopic member.

[0015] Secondly, this application provides a surgical robot, including a horizontal telescopic device, a base, a lifting device, a rotating device, and a surgical execution device as described in any embodiment of the first aspect of this application; the lifting device is disposed on the base, the horizontal telescopic device is disposed on the lifting device, the rotating device is disposed on the horizontal telescopic device, and the surgical execution device is connected to the rotating device.

[0016] The technical solution of this application features a compact structure, low resistance, and no backlash during movement of the horizontal telescopic device, which improves performance and reliability. By driving the joint bearing through a linear motor module, the telescopic component can perform reciprocating linear motion with low resistance in the horizontal direction of the fixed seat, thereby realizing the preoperative position adjustment of the surgical robot and further improving surgical efficiency and success rate.

[0017] Secondly, during the use of surgical robots, the end of the horizontal telescopic device is connected to the surgical execution device. Due to the influence of gravity, the telescopic component is prone to deformation during the telescopic process. The deformed mechanism cannot achieve telescopic function. By using the soft connection of the joint bearing, relative displacement and deformation within a certain range are allowed without affecting the telescopic function. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a horizontal telescopic device provided in an embodiment of this application;

[0020] Figure 2 This is a partial structural schematic diagram of a horizontal telescopic device provided in one embodiment of this application;

[0021] Figure 3 Left view of a horizontal telescopic device provided in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of the structure of a linear motor module provided in one embodiment of this application;

[0023] Figure 5 for Figure 4 Enlarged structural diagram of the spherical bearing at point A;

[0024] Figure 6 for Figure 3 Sectional view along line AA in the middle;

[0025] Figure 7 This is a schematic diagram of the structure of a brake assembly provided in one embodiment of this application;

[0026] Figure 8 This is an exploded view of a brake assembly provided in one embodiment of this application;

[0027] Figure 9 This is a schematic diagram of a braking assembly provided in an embodiment of this application during braking;

[0028] Figure 10 This is a schematic diagram of the brake assembly moving according to one embodiment of the application.

[0029] Figure label:

[0030] 1-Horizontal telescopic device; 100-Fixed base; 110-Second linear guide rail; 120-Slider; 200-Telescopic component; 201-Linear encoder; 210-Sliding base plate; 220-Magnetic suction plate; 230-Brake assembly; 231-Base; 2311-Through hole; 2312-Limiting component; 2313-Third mounting hole; 232-Telescopic part; 233-Elastic component; 234-Magnetic suction component; 2341-Second mounting hole; 2342-Wiring; 235-Limiting cover plate; 236-Magnetic suction component back plate; 2361-First mounting hole; 2362-Second bearing component; 237-Mounting plate; 2371-First bearing component; 23 8-Limiting groove; 239-Telescopic connecting seat; 2391-Connecting plate; 2392-Through hole; 2393-Third bearing component; 2394-Protruding ring; 2310-Elastic component base; 300-Linear motor module; 310-Stator; 311-Linear absolute encoder; 320-Motor; 330-First linear guide rail; 340-Motor sliding plate; 400-Spherical bearing; 410-First fixed mounting part; 420-Connecting part; 421-Connecting rod; 422-Ball bearing; 423-Connecting column; 424-Limiting groove; 430-Second fixed mounting part; 500-Drag chain assembly; 510-Support; 520-Drag component. Detailed Implementation

[0031] The terms “first,” “second,” “third,” etc., are used only for distinguishing descriptions and do not indicate a sequence number, nor should they be interpreted as indicating or implying relative importance.

[0032] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0033] In the description of this application, it should be noted that the terms "inner", "outer", "left", "right", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application 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 application.

[0034] In the description of this application, unless otherwise expressly specified and limited, the terms “set up,” “install,” “connect,” and “link” shall be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium; or as a connection within two components.

[0035] The technical solution of this application will now be described with reference to the accompanying drawings.

[0036] This application provides a surgical robot, including, as follows: Figure 1 The horizontal telescopic device 1, as well as the base, lifting device, rotating device, and surgical execution device; the lifting device is located on the base, the horizontal telescopic device 1 is located on the lifting device, the rotating device is located on the horizontal telescopic device 1, and the surgical execution device is connected to the rotating device.

[0037] The base is used to fix and support the entire surgical robot structure. The lifting device can be a liftable column, which is connected to the horizontal telescopic device 1 to adjust the height of the horizontal telescopic device 1, thereby realizing height adjustment during the surgical operation and controlling the extension and retraction of the horizontal telescopic device 1. In other embodiments, the lifting device can also be configured as a non-liftable column.

[0038] The rotating device can rotate around the horizontal telescopic device 1 to achieve multi-directional and multi-degree-of-freedom adjustments during surgical operations. The surgical execution device can be a tissue forceps, needle holder, scissors, ultrasonic scalpel, energy tool, endoscope, etc.

[0039] According to the needs of the surgery, the base is moved and fixed in an appropriate position, and the lifting device is raised to a certain height and locked to meet the pre-operative planning and layout of the horizontal telescopic device 1. Then, according to the distribution range of the patient's surgical wound, the horizontal movement range is adjusted through the horizontal telescopic device 1. Finally, according to the distribution of the patient's wound, the rotation device is adjusted to match the wound with the corresponding surgical execution device for surgical operation.

[0040] Please refer to Figure 1 , Figure 2 , Figure 3This application provides a horizontal telescopic device 1, including: a fixed base 100, a telescopic member 200, and a linear motor module 300. The telescopic member 200 moves linearly towards or away from the fixed base 100 along its elongated direction. Please refer to... Figure 4 The linear motor module 300 includes a stator 310 and a mover 320. The stator 310 is fixedly mounted on the fixed base 100. The mover 320 is connected to the telescopic member 200 through a spherical bearing 400. The mover 320 drives the spherical bearing 400, and the spherical bearing 400 drives the telescopic member 200 to perform reciprocating linear motion.

[0041] In this embodiment, the fixed base 100 has an elongated structure. The linear motor module 300 has advantages such as high control precision, extendable stroke, simple assembly, low wear, and smooth operation. Therefore, the linear motor module 300 provides driving force to convert kinetic energy into linear motion mechanical energy. The linear motor module 300 drives the spherical bearing 400 to perform linear motion, which in turn drives the telescopic member 200 connected to the spherical bearing 400 to perform reciprocating linear motion in the elongated direction of the fixed base 100, moving closer to or further away from it.

[0042] For further details, please refer to Figure 4 A first linear guide rail 330 is provided along the direction of the stator 310 and on one side of the stator 310. A mover 320 is connected to a motor sliding plate 340, and the mover 320 drives the motor sliding plate 340 to move along the first linear guide rail 330. The motor sliding plate 340 is oriented by the first linear guide rail 330. In this embodiment, the first linear guide rail 330 can support and limit the movement of the motor sliding plate 340, preventing the motor sliding plate 340 from deviating during movement, providing stability during the movement of the motor sliding plate 340, and also improving the overall rigidity of the structure. For example, there are two first linear guide rails 330, but in actual use, the number of first linear guide rails 330 can be increased or decreased according to the situation, but the number of first linear guide rails 330 is at least one.

[0043] In the optional first embodiment, please refer to Figure 5 and Figure 6 The spherical bearing 400 includes: a first fixed mounting part 410, a connecting part 420 and a second fixed mounting part 430; the first fixed mounting part 410 is connected to the motor sliding plate 340 associated with the mover 320, the second fixed mounting part 430 is disposed on the telescopic member 200, and the first fixed mounting part 410 and the second fixed mounting part 430 are connected by the connecting part 420.

[0044] Optionally, the first fixed mounting part 410 and the motor sliding plate 340 can be fixedly connected by bolts or welding. The second fixed mounting part 430 and the telescopic member 200 can be fixedly connected by bolts or welding. The first fixed mounting part 410 and the second fixed mounting part 430 are connected by a connecting part 420.

[0045] In an optional second embodiment, the connecting portion 420 of the spherical bearing 400 includes: a connecting rod 421, a ball bearing 422, and a connecting post 423. The connecting rod 421 is used to connect the mover 320, the ball bearing 422 is disposed at one end of the connecting rod 421, and the connecting post 423 passes through the ball bearing 422 and is used to connect the telescopic member 200. Optionally, the connecting post 423 can be a bolt or screw to fix and lock the ball bearing 422.

[0046] Furthermore, the connecting portion 420 of the spherical bearing 400 is also provided with a limiting groove 424, and the ball bearing 422 is disposed in the limiting groove 424. The connecting post 423 passes through the limiting groove 424 and through the ball bearing 422. In this embodiment, when the mover 320 in the linear motor module 300 drives the spherical bearing 400 to drive the telescopic member 200 to perform reciprocating linear motion, the connecting portion 420 is driven to move accordingly. By placing the ball bearing 422 in the limiting groove 424, the limiting groove 424 can restrict the ball bearing 422 and prevent the ball bearing 422 from detaching from the fixing of the connecting post 423 when moving. During the use of the surgical robot, the end of the horizontal telescopic device 1 is connected to the surgical execution device. Affected by gravity, the telescopic member 200 is prone to deformation during the telescopic process. The deformed mechanism cannot achieve telescopic function. By utilizing the soft connection of the spherical bearing 400, relative displacement and deformation within a certain range are allowed without affecting the telescopic function.

[0047] Please refer to Figure 5 as well as Figure 6 Optionally, in the first embodiment described above, one end of the connecting rod 421 is disposed on the first fixed mounting portion 410, the ball bearing 422 is disposed on the other end of the connecting rod 421, and the connecting post 423 is disposed on the second fixed mounting portion 430, with the connecting post 423 passing through the ball bearing 422 to fix the ball bearing 422 on the second fixed mounting portion 430. A limiting groove 424 is disposed on the second fixed mounting portion 430, the ball bearing 422 is disposed within the limiting groove 424, and the connecting post 423 passes through the limiting groove 424 and through the ball bearing 422.

[0048] Therefore, the mover 320 drives the motor sliding plate 340 to move along the extension direction of the first linear guide rail 330 on one side of the stator 310, thereby driving the spherical bearing 400 connected to the motor sliding plate 340 to move along the extension direction of the first linear guide rail 330, thereby driving the telescopic member 200 connected to the other end of the spherical bearing 400 to make reciprocating linear motions approaching or moving away in the longitudinal direction of the fixed seat 100.

[0049] Optionally, a second linear guide rail 110 is provided along the elongated direction of the fixed base 100, and a slider 120 is connected to the telescopic member 200. The slider 120 is disposed on the second linear guide rail 110 and moves along the direction of the second linear guide rail 110. In this embodiment, the linear motor module 300 provides driving force to the telescopic member 200, enabling the telescopic member 200 to reciprocate linearly along the elongated direction of the fixed base 100 along the second linear guide rail 110 with the slider 120. By setting the second linear guide rail 110, on the one hand, through the cooperation between the second linear guide rail 110 and the slider 120, the slider 120 can be supported and limited during its movement, preventing the slider 120 from deviating during its movement and improving the stability of the slider 120 during its movement; on the other hand, some of the overturning moment can be transmitted to the second linear guide rail 110, and under the support provided by the second linear guide rail 110, the overall rigidity of the structure is improved.

[0050] For example, there are two second linear guides 110, but in actual use, the number of second linear guides 110 can be increased or decreased as needed, but the number of second linear guides 110 is at least one.

[0051] Optional, please refer to Figure 2 A linear absolute encoder 311 is provided along the direction of the stator 310 and on one side of the stator 310, and a linear encoder 201 is provided on one side of the telescopic member 200. By setting the linear absolute encoder 311, electromagnetic field interference of the linear motor module can be prevented, and the linear encoder 201 can detect parameters such as the movement position and speed of the linear motor.

[0052] In the above embodiments, during the use of the surgical robot, the linear motor module 300 drives the telescopic component 200 to perform horizontal reciprocating linear motion on the fixed seat 100 by driving the joint bearing 400, so that the horizontal telescopic device 1 can extend and retract horizontally according to the needs of the surgery to reach the preset position required by the surgery, thereby meeting the position planning requirements of different surgeries.

[0053] Furthermore, the telescopic component 200 includes a sliding base plate 210 and a magnetic suction plate 220. A brake assembly 230 is provided on the sliding base plate 210, and the magnetic suction plate 220 is provided on the fixed seat 100. When the brake assembly 230 and the magnetic suction plate 220 are attracted to each other, braking is achieved.

[0054] Optionally, the sliding base plate 210 and the slider 120 are fixedly connected by screws, and the motor sliding plate 340 associated with the mover 320 in the linear motor module 300 is connected to the sliding base plate 210 through a joint bearing 400. Furthermore, the second fixed mounting part 430 on the joint bearing 400 can be fixedly connected to the sliding base plate 210 by bolts or welding. When the sliding base plate 210 is subjected to force by the cantilever on the rotating device of the surgical robot, it will experience a slight vertical offset. This slight offset can be compensated by the ball bearing 422 on the joint bearing 400, thereby preventing the sliding base plate 210 from jamming when reciprocating on the fixed seat 100.

[0055] In this embodiment, the brake assembly 230 can achieve braking by magnetic attraction. Since the brake assembly 230 maintains electromagnetic force when energized, it can counteract the permanent magnet force, thereby releasing the protective force of the brake assembly 230 and breaking the attraction with the magnetic plate 220. When the linear motor module 300 drives the telescopic member 200 to perform reciprocating linear motion on the fixed base 100, the brake assembly 230 can slide on the fixed base 100 together with the sliding base plate 210. When the brake assembly 230 is de-energized, the brake assembly 230 generates magnetic force and maintains attraction with the magnetic plate 220, instantaneously generating a holding force, causing the brake assembly 230 to stop sliding and achieving braking.

[0056] Please refer to Figure 7 and Figure 8 Optionally, the brake assembly 230 includes: a base 231, a telescopic part 232, an elastic element 233, a magnetic element 234, and a limiting cover plate 235; wherein, the base 231 is connected to the sliding base plate 210 and can be fixedly connected to the sliding base plate 210 by bolts. The base 231 is shaped like a "T" and has a through hole 2311. The telescopic part 232 passes through the through hole 2311, and an elastic element 233 is sleeved on one end of the telescopic part 232 extending out of the through hole 2311. The magnetic element 234 is connected to the other end of the telescopic part 232 extending out of the through hole 2311, and the magnetic plate 220 can attract the magnetic element 234. A limiting cover plate 235 is provided on one end of the telescopic part 232 extending out of the through hole 2311, and the limiting cover plate 235 is used to restrict the upward movement of the elastic element 233.

[0057] In this embodiment, the telescopic part 232 can be a telescopic shaft structure, which passes through the through hole 2311 and can move within the through hole 2311. The elastic element 233 is a spring structure, which is sleeved on the end of the telescopic shaft that extends out of the through hole 2311. The top of the spring is limited by a limiting cover plate 235.

[0058] The magnetic attractor 234 can be an electromagnet structure, located on the other end of the telescopic shaft passing through the through hole 2311. The magnetic attractor 234 has a wiring 2342, which connects to a power source, allowing it to be energized and de-energized. The sliding base plate 210 has a through hole allowing the magnetic attractor 234 to pass through. After passing through the sliding base plate 210, the magnetic attractor 234 can attract the magnetic plate 220 even when the power is off.

[0059] For further details, please refer to Figure 8 The brake assembly 230 further includes: a magnetic back plate 236, which has a first mounting hole 2361; a mounting plate 237 is provided on the other end of the telescopic part 232 extending out of the through hole 2311; the mounting plate 237 has a first bearing member 2371 that can pass through the first mounting hole 2361 and connect and fix the telescopic part 232 to the magnetic back plate 236. In other embodiments, the first bearing member 2371 may also be a locking bolt with a connecting tightening function.

[0060] In this embodiment, a disc-shaped mounting plate 237 is provided on the other end of the telescopic part 232 extending out of the through hole 2311. The mounting plate 237 is connected and fixed to the magnetic suction component back plate 236 by a bearing component. The structure of the magnetic suction component back plate 236 can be the same as that of the mounting plate 237, both being disc-shaped. When the mounting plate 237 at the end of the telescopic part 232 comes into contact with the connection point of the magnetic suction component back plate 236, the contact area increases, thereby making the connection and fixation between the magnetic suction component back plate 236 and the telescopic part 232 more stable.

[0061] Furthermore, to connect and fix the magnetic chuck back plate 236 to the magnetic chuck 234, a second mounting hole 2341 is provided on the magnetic chuck 234, and a second bearing member 2362 is provided on the magnetic chuck back plate 236, which can pass through the second mounting hole 2341 and connect and fix the magnetic chuck 234 to the magnetic chuck back plate 236. The magnetic chuck 234 and the magnetic chuck back plate 236 are connected and fixed by the second bearing member 2362. In other embodiments, the second bearing member 2362 can also be a locking bolt with a tightening function.

[0062] Optionally, a limiting member 2312 is provided on the base 231. The limiting member 2312 is a limiting post structure that penetrates the base 231. A limiting groove 238 is provided on the magnetic back plate 236 to accommodate the limiting member 2312 and to restrict the rotation of the telescopic part 232. The shape of the limiting groove 238 matches the shape of the telescopic part 232. When the brake assembly 230 performs de-energized braking, the telescopic part 232 will move within the through hole 2311 due to the influence of energized sliding or de-energized braking. By providing the limiting member 2312, the limiting member 2312 is restricted within the limiting groove 238 on the magnetic back plate 236, which can prevent the telescopic part 232 from freely rotating and shaking within the through hole 2311, thereby affecting the braking effect.

[0063] Furthermore, a limiting groove 238 that accommodates the limiting member 2312 and restricts the rotation of the telescopic part 232 can also be provided on the telescopic part 232. Alternatively, in other embodiments, by providing limiting grooves 238 on both the magnetic back plate 236 and the telescopic part 232, the limiting member 2312 can be restricted within the limiting groove 238, thus preventing the free rotation and swaying of the telescopic part 232 within the through hole 2311.

[0064] Please continue to refer to Figure 8 The brake assembly 230 also includes a telescopic connector 239, which includes a connecting plate 2391 and a protruding ring 2394 disposed on the connecting plate 2391. The connecting plate 2391 has a through hole 2392, and the protruding ring 2394 extends outward along the through hole 2392. The protruding ring 2394 can extend into the through hole 2311 and allow the telescopic part 232 to pass through the protruding ring 2394.

[0065] The outer diameter of the protruding ring 2394 should be smaller than the inner diameter of the through hole 2311, so that the protruding ring 2394 can extend into the through hole 2311. At the same time, the diameter of the telescopic part 232 should also be smaller than the diameter of the through hole 2392, so that the telescopic part 232 can extend along the protruding ring 2394.

[0066] The connecting plate 2391 is connected to the base 231. Optionally, the base 231 is provided with a third mounting hole 2313, and the connecting plate 2391 is provided with a third bearing 2393, which is interference-fitted with the third mounting hole 2313. For example, four third mounting holes 2313 are provided on the base 231, and four third bearings 2393 are provided at corresponding positions on the connecting plate 2391. The third bearings 2393 are interference-fitted with the third mounting holes 2313 to prevent the brake assembly 230 from having a gap between the telescopic connecting seat 239 and the base 231 when it is energized and sliding or de-energized and braking, which would cause the telescopic part 232 in the convex ring 2394 to have a gap with the through hole 2311 and move left and right.

[0067] In other embodiments, the connecting plate 2391 may also be bolted to the base 231.

[0068] Furthermore, the brake assembly 230 also includes: an elastic element base 2310, which is connected to the telescopic part connecting seat 239, and an elastic element 233 disposed between the elastic element base 2310 and the limiting cover plate 235. The top of the elastic element base 2310 and the telescopic part connecting seat 239 can be fixed by bolts or welding, and the elastic element 233 is sleeved on the telescopic part 232 located between the elastic element base 2310 and the limiting cover plate 235.

[0069] Please refer to Figure 9 When the brake assembly 230 is de-energized, the electromagnetic force of the magnetic chuck 234 disappears. Due to its own attraction, the magnetic chuck 234 is momentarily attracted to the magnetic plate 220, causing the brake assembly 230 and the magnetic plate 220 to be attracted and fixed together. The brake assembly 230 cannot slide, thus achieving the braking function of the brake assembly 230. When the brake assembly 230 is braking, the elastic member 233 is in an elastically stretched state. However, the traction force generated by the stretched state of the elastic member 233 is far less than the attraction force between the magnetic chuck 234 and the magnetic plate 220. Therefore, the elastic member 233 cannot rely on its own elastic energy to pull the magnetic chuck 234 upwards, causing the magnetic chuck 234 to detach from the magnetic plate 220.

[0070] Please refer to Figure 10 When the brake assembly 230 is energized, the electromagnetic force generated by the magnetic chuck 234 can counteract the permanent magnet force between the magnetic chuck 234 and the magnetic plate 220, releasing the holding force of the brake assembly 230. At this time, the elastic element 233 returns to its original position from the stretched state, and the elastic element 233 pulls the magnetic chuck 234 upward with the telescopic part 232, thereby causing the magnetic chuck 234 to disengage from the magnetic plate 220. The linear motor module 300 drives the sliding base plate 210 to slide on the fixed seat 100, and the brake assembly 230 can reciprocate along with the sliding base plate 210 on the fixed seat 100. During the sliding process of the brake assembly 230, the elastic element 233 drives the magnetic chuck 234 to move upward, moving the magnetic chuck 234 away from the magnetic plate 220 and reducing the friction between the magnetic chuck 234 and the magnetic plate 220.

[0071] After the horizontal telescopic device 1 is positioned at the designated location, during the surgeon's operation, the end of the surgical execution device may shake, potentially causing the body, the joint bearing 400, and the telescopic component 200 to shake. During surgery, the operation on the patient's lesion requires precision and finesse; even slight shaking can hinder the surgery and increase its risks. After achieving free telescopic movement using the joint bearing 400, a stationary phase is needed. The flexibility of the joint bearing 400 is unnecessary in this phase. Therefore, the joint bearing 400 needs to be combined with the brake assembly 230 to achieve both free telescopic movement and to solve the shaking problem.

[0072] In the above embodiments, when the horizontal telescopic device 1 extends and retracts horizontally according to the needs of the surgery and reaches the designated preset surgical position, the brake assembly 230 is de-energized. Through the braking action of the brake assembly 230, the horizontal telescopic device 1 can be locked in time after reaching the designated preset surgical position and no longer move. This ensures that the horizontal telescopic device 1 can be in a braked and stationary state during the surgery, avoiding the horizontal telescopic device 1 from shaking and affecting the surgical operation when the surgical execution device is performing the surgical operation, and reducing the occurrence of surgical risks.

[0073] After the surgical procedure is completed, the braking assembly 230 is energized, and the attraction between the braking assembly 230 and the magnetic suction plate 220 is released, causing the braking assembly 230 to disengage from the horizontal telescopic device 1. After the horizontal telescopic device 1 is no longer braked by the braking assembly 230, it can continue to perform reciprocating telescopic movements in the horizontal direction to meet the position planning requirements of different surgeries.

[0074] Of course, in other embodiments, the brake assembly 230 may not be provided on the horizontal telescopic device 1.

[0075] Optional, please refer to Figure 2 The horizontal telescopic device 1 also includes a cable chain assembly 500, which includes a support 510 and a drag member 520. The support 510 is mounted on the fixed base 100, and the drag member 520 is connected to the telescopic member 200.

[0076] Furthermore, one end of the drag member 520 is connected to the support 510, and the other end of the drag member 520 can be connected to the sliding base plate 210.

[0077] For the telescopic component 200, which performs linear reciprocating motion towards or away from the telescopic component 200, the trailing component 520 serves to traction, guide the cable, and protect the telescopic component 200. The trailing component 520 operates with low noise, is wear-resistant, and can move at high speeds. Furthermore, the linear encoder 201 can be installed on the sliding base plate 210 near the trailing component 520, providing dual identification and protection for the movement of the trailing component 520.

[0078] The horizontal telescopic device 1 of this application has a compact structure, low resistance, and no backlash during movement, thus improving performance and reliability. It drives the joint bearing 400 through the linear motor module 300, which in turn drives the telescopic component 200 to perform reciprocating linear motion with low resistance in the horizontal direction of the fixed seat 100, thereby realizing the preoperative position adjustment of the surgical robot and further improving surgical efficiency and success rate.

[0079] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0080] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A horizontal telescoping device, characterized by, The horizontal telescopic device comprises a fixed base and a telescopic part, the telescopic part moves linearly towards or away from the fixed base along the length direction of the fixed base. The linear motor module comprises a stator and a mover, the stator is fixedly installed on the fixed base, the mover is connected with the telescopic part through a joint bearing, the mover drives the joint bearing, the joint bearing drives the telescopic part to move linearly. The joint bearing comprises a first fixed installation part, a connecting part and a second fixed installation part, the first fixed installation part is connected with a motor sliding plate associated with the mover, the second fixed installation part is arranged on the telescopic part, and the first fixed installation part and the second fixed installation part are connected through the connecting part. The connecting part of the joint bearing comprises a connecting rod, a ball bearing and a connecting column, the connecting rod is used to connect the mover, the ball bearing is arranged at one end of the connecting rod, and the connecting column penetrates through the ball bearing and is used to connect the telescopic part. The connecting part of the joint bearing is further provided with a limiting groove, the ball bearing is arranged in the limiting groove, and the connecting column penetrates through the limiting groove and penetrates through the ball bearing. A first linear guide rail is arranged on one side of the stator along the direction of the stator, the mover is connected with a motor sliding plate, and the mover drives the motor sliding plate to move along the first linear guide rail.

2. The horizontal telescoping device of claim 1, wherein, A second linear guide rail is arranged along the length direction of the fixed base, a sliding block is connected to the telescopic part, and the sliding block is arranged on the second linear guide rail and moves along the direction of the second linear guide rail.

3. The horizontal telescoping device of claim 1, wherein, The telescopic part comprises a sliding bottom plate and a magnetic attraction plate, a brake assembly is arranged on the sliding bottom plate, the magnetic attraction plate is arranged on the fixed base, and the brake assembly is attracted to the magnetic attraction plate to realize brake braking.

4. The horizontal telescoping device of claim 1, wherein, The horizontal telescopic device further comprises a drag chain assembly, the drag chain assembly comprises a support and a drag part.

5. The horizontal telescoping device of claim 1, wherein, The support is arranged on the fixed base, and the drag part is connected with the telescopic part. A linear absolute encoder is arranged on one side of the stator along the direction of the stator, and a linear encoder is arranged on one side of the telescopic part.

6. The horizontal telescoping device of claim 1, wherein, The horizontal telescopic device, the base, the lifting device, the rotating device and the surgical execution device are arranged according to any one of claims 1 to 6.

7. A surgical robot, characterized by The lifting device is arranged on the base, the horizontal telescopic device is arranged on the lifting device, the rotating device is arranged on the horizontal telescopic device, and the surgical execution device is connected with the rotating device. ​

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