A brake assembly, a sliding platform of a horizontal telescopic arm and a surgical robot

Abstract

The application provides a brake assembly, a sliding platform of a horizontal telescopic arm and a surgical robot. The brake assembly comprises a base connected with a sliding platform of a horizontal telescopic arm of a surgical robot, wherein a through hole is arranged on the base; a telescopic part penetrates the through hole, and an elastic piece is arranged on one end of the telescopic part protruding out of the through hole; a magnetic attraction piece is connected with the other end of the telescopic part protruding out of the through hole, and a magnetic attraction plate is arranged on the sliding platform of the horizontal telescopic arm and is attracted to the magnetic attraction piece; and a limiting cover plate is arranged on the one end of the telescopic part protruding out of the through hole and is used for limiting upward movement of the elastic piece. The brake assembly is more compact in structure, has large braking force, has no return difference, and is safe and reliable in operation.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and in particular to a braking assembly, a sliding platform with a horizontal telescopic arm, 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 transverse upper arm, 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 easily manually adjust the robot before surgery to achieve proper positioning; each degree of freedom can be adjusted individually. After the transverse upper arm is positioned, it must be braked to ensure proper positioning. Emergency braking is also required in case of power failure during operation.

[0004] Emergency braking typically employs a rotary brake located at the motor's tail to brake the motor shaft. This causes a backlash difference in the gap between the gears or timing belt teeth, making the motor shaft prone to wobbling. Sometimes, a guide rail clamp is used for braking. However, guide rail clamps are generally pneumatically driven, and surgical robots typically operate in environments without a pneumatic supply. Special electrically operated guide rail clamps lack a normally closed function, and in the event of a power outage, they can only maintain the function they had before power-on. Therefore, emergency braking cannot be achieved during movement. Both of these braking methods suffer from backlash differences, wobbling, and high maintenance costs. Summary of the Invention

[0005] The purpose of this application is to provide a braking assembly. The braking assembly of this application has a more compact structure, greater braking force, no backlash, and is safe and reliable in operation.

[0006] This application provides a braking assembly, comprising: a base connected to the sliding platform of a horizontal telescopic arm of a surgical robot, the base having a through hole; a telescopic part extending through the through hole, with an elastic element sleeved on one end of the telescopic part extending out of the through hole; a magnetic suction element connected to the other end of the telescopic part extending out of the through hole, and a magnetic suction plate attracted to the magnetic suction element being provided on the sliding platform of the horizontal telescopic arm; and a limiting cover plate disposed on the end of the telescopic part extending out of the through hole for limiting the upward movement of the elastic element.

[0007] In one embodiment, the brake assembly further includes: a magnetic back plate, the magnetic back plate having a first mounting hole; and a mounting plate on the other end of the telescopic part extending out of the through hole, the mounting plate having a first bearing member that can pass through the first mounting hole and connect and fix the telescopic part to the magnetic back plate.

[0008] In one embodiment, the magnetic attractor is provided with a second mounting hole, and the back plate of the magnetic attractor is provided with a second bearing member that can pass through the second mounting hole and connect and fix the magnetic attractor to the back plate of the magnetic attractor.

[0009] In one embodiment, the base is provided with a limiting member; the back plate of the magnetic suction member and / or the telescopic part are provided with a limiting groove that accommodates the limiting member and can restrict the rotation of the telescopic part.

[0010] In one embodiment, the brake assembly further includes: a telescopic part connecting seat, the telescopic part connecting seat including: a connecting plate and a protruding ring disposed on the connecting plate, the connecting plate having a through hole, the protruding ring extending outward along the through hole; the protruding ring being able to extend into the through hole and allow the telescopic part to pass through the protruding ring; the connecting plate being connected to the base.

[0011] In one embodiment, the base is provided with a third mounting hole, and the connecting plate is provided with a third bearing component, the third bearing component being interference-fitted with the third mounting hole.

[0012] In one embodiment, the brake assembly further includes: an elastic element base connected to the telescopic connecting seat, wherein the elastic element is disposed between the elastic element base and the limiting cover plate.

[0013] Secondly, this application provides a sliding platform for a horizontal telescopic arm, including a brake assembly, a platform base, a sliding plate, and a magnetic plate as described in any embodiment of the first aspect of the application; the brake assembly is disposed on the sliding plate, and the magnetic plate is disposed on the platform base; the brake assembly achieves braking when it attracts the magnetic plate.

[0014] In one embodiment, the sliding platform of the horizontal telescopic arm further includes a sliding drive assembly; the sliding drive assembly is disposed on the platform base and connected to the sliding plate, and the sliding drive assembly drives the sliding plate to slide on the platform base.

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

[0016] The technical solution of this application provides a brake assembly with a more compact structure, greater braking force, no backlash, and safe and reliable operation, enabling braking without a rotating shaft. Attached Figure Description

[0017] 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.

[0018] Figure 1 A schematic diagram of the overall structure of the sliding platform of the horizontal telescopic arm of a surgical robot provided in an embodiment of this application;

[0019] Figure 2 A schematic diagram of the sliding platform portion of the horizontal telescopic arm of a surgical robot provided in an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the structure of a brake assembly provided in one embodiment of this application;

[0021] Figure 4 This is an exploded view of a brake assembly provided in one embodiment of this application;

[0022] Figure 5 This is a schematic diagram of a braking assembly provided in an embodiment of this application during braking;

[0023] Figure 6 This is a schematic diagram of the braking assembly moving according to an embodiment of this application.

[0024] Figure label:

[0025] 1-Sliding platform of horizontal telescopic arm; 11-Brake assembly; 100-Base; 110-Through hole; 120-Limiting component; 130-Third mounting hole; 200-Telescopic part; 300-Elastic component; 400-Magnetic component; 410-Second mounting hole; 420-Wiring; 500-Limiting cover plate; 600-Magnetic component back plate; 610-First mounting hole; 620-Second bearing component; 700-Mounting plate; 710-First bearing component; 800-Limiting groove; 900-Telescopic part connecting seat; 910-Connecting plate; 911-Through hole; 912-Third bearing component; 920-Protruding ring; 1000-Elastic component base; 12-Platform base; 13-Sliding plate; 14-Magnetic plate; 15-Sliding drive assembly. Detailed Implementation

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] The technical solution of this application will now be described with reference to the accompanying drawings.

[0031] Please refer to Figure 1 , Figure 2This application provides a sliding platform 1 for a horizontal telescopic arm of a surgical robot. The sliding platform 1 of the horizontal telescopic arm of the surgical robot includes a brake assembly 11, a platform base 12, a sliding plate 13, and a magnetic suction plate 14. The brake assembly 11 is disposed on the sliding plate 13, and the magnetic suction plate 14 is disposed on the platform base 12. When the brake assembly 11 and the magnetic suction plate 14 are attracted to each other, braking is achieved.

[0032] Furthermore, the sliding platform 1 of the horizontal telescopic arm of the surgical robot also includes a sliding drive assembly 15, which is disposed on the platform base 12 and connected to the sliding plate 13. The sliding drive assembly 15 drives the sliding plate 13 to slide on the platform base 12.

[0033] Optionally, the sliding drive assembly 15 includes: a drive motor, a lead screw, a nut seat, and a slider. The output end of the drive motor is connected to the lead screw, and the nut seat is driven and connected to the lead screw. The sliding plate 13 is connected to the nut seat. Meanwhile, sliders are symmetrically arranged on the sliding plate 13. A pair of guide rails are provided on the platform base 12, and the sliders can slide along the guide rails. When the drive motor drives the lead screw to rotate, the lead screw converts the rotational motion of the drive motor into linear motion, and the nut seat can move linearly on the lead screw, thereby driving the sliding plate 13 to slide on the platform base 12.

[0034] Optionally, the sliding drive assembly 15 can also be a direct drive motor, which drives the sliding plate 13 to slide on the platform base 12.

[0035] In other embodiments, the sliding drive assembly 15 may also be a hydraulic cylinder or a pneumatic cylinder, with the output end of the hydraulic cylinder directly connected to the sliding plate 13, thereby driving the sliding plate 13 to move laterally in the horizontal direction via the hydraulic cylinder or pneumatic drive.

[0036] In this embodiment, the brake assembly 11 achieves braking function through magnetic attraction. Since the brake assembly 11 maintains electromagnetic force when energized, it can counteract the permanent magnet force, releasing the holding force of the brake assembly 11 and thus breaking the attraction with the magnetic plate 14. When the sliding drive assembly 15 drives the sliding plate 13 to slide on the platform base 12, the brake assembly 11 can slide along with the sliding plate 13 on the platform base 12. When the brake assembly 11 is de-energized, it generates magnetic force to maintain attraction with the magnetic plate 14, instantaneously generating a holding force that stops the brake assembly 11 from sliding, thus achieving the braking function.

[0037] The structure of brake assembly 11 will be described in detail below. Please refer to... Figure 3 , Figure 4 This application provides a braking assembly 11, including: a base 100, a telescopic part 200, an elastic element 300, a magnetic element 400, and a limiting cover plate 500; wherein, the base 100 is connected to the sliding platform 1 of the horizontal telescopic arm of the surgical robot, from... Figure 1 and Figure 2 As can be seen, the base 100 is connected to the sliding plate 13 of the sliding platform 1 of the horizontal telescopic arm of the surgical robot, and can be fixedly connected to the sliding plate 13 by bolts. The base 100 is shaped like a "T" and has a through hole 110. The telescopic part 200 passes through the through hole 110, and an elastic element 300 is sleeved on one end of the telescopic part 200 that extends out of the through hole 110. The magnetic suction element 400 is connected to the other end of the telescopic part 200 that extends out of the through hole 110. The magnetic suction plate 14 on the sliding platform 1 of the horizontal telescopic arm of the surgical robot can attract the magnetic suction element 400. A limiting cover plate 500 is provided on one end of the telescopic part 200 that extends out of the through hole 110. The limiting cover plate 500 is used to limit the upward movement of the elastic element 300.

[0038] In this embodiment, the telescopic part 200 can be a telescopic shaft structure, which passes through the through hole 110 and can move within the through hole 110. The elastic element 300 is a spring structure, which is sleeved on the end of the telescopic shaft that extends out of the through hole 110. The top of the spring is limited by a limiting cover plate 500.

[0039] The magnetic attractor 400 can be an electromagnet structure, located on the other end of the telescopic shaft passing through the through hole 110. The magnetic attractor 400 has a wiring 420, which connects to a power source, allowing the magnetic attractor 400 to be energized and de-energized. The sliding plate 13 has a through hole allowing the magnetic attractor 400 to pass through. After passing through the sliding plate 13, the magnetic attractor 400 can attract the magnetic attractor 14 when the power is off.

[0040] For further details, please refer to Figure 4 The brake assembly 11 further includes: a magnetic back plate 600, which has a first mounting hole 610; a mounting plate 700 is provided on the other end of the telescopic part 200 extending out of the through hole 110; the mounting plate 700 has a first bearing member 710 that can pass through the first mounting hole 610 and connect and fix the telescopic part 200 to the magnetic back plate 600. In other embodiments, the first bearing member 710 may also be a locking bolt with a connecting tightening function.

[0041] In this embodiment, a disc-shaped mounting plate 700 is provided on the other end of the telescopic part 200 extending out of the through hole 110. The mounting plate 700 is connected and fixed to the magnetic suction component back plate 600 by a bearing component. The structure of the magnetic suction component back plate 600 can be the same as that of the mounting plate 700, both being disc-shaped. When the mounting plate 700 at the end of the telescopic part 200 comes into contact with the connection point of the magnetic suction component back plate 600, the contact area increases, thereby making the connection and fixation between the magnetic suction component back plate 600 and the telescopic part 200 more stable.

[0042] Furthermore, to connect and fix the magnetic chuck back plate 600 to the magnetic chuck 400, a second mounting hole 410 is provided on the magnetic chuck 400, and a second bearing member 620 is provided on the magnetic chuck back plate 600, which passes through the second mounting hole 410 and connects and fixes the magnetic chuck 400 to the magnetic chuck back plate 600. The second bearing member 620 is used to connect and fix the magnetic chuck 400 to the magnetic chuck back plate 600. In other embodiments, the second bearing member 620 can also be a locking bolt with a tightening function.

[0043] Optionally, a limiting member 120 is provided on the base 100. The limiting member 120 is a limiting post structure that penetrates the base 100. A limiting groove 800 is provided on the magnetic back plate 600 to accommodate the limiting member 120 and to restrict the rotation of the telescopic part 200. The shape of the limiting groove 800 matches the shape of the telescopic part 200. When the brake assembly 11 performs power-off braking, the telescopic part 200 will move within the through hole 110 due to the influence of power-on sliding or power-off braking. By providing the limiting member 120, the limiting member 120 is restricted within the limiting groove 800 on the magnetic back plate 600, which can prevent the telescopic part 200 from freely rotating and shaking within the through hole 110, thereby affecting the braking effect.

[0044] Furthermore, a limiting groove 800 that accommodates the limiting member 120 and restricts the rotation of the telescopic part 200 can also be provided on the telescopic part 200. Alternatively, in other embodiments, by providing limiting grooves 800 on both the magnetic back plate 600 and the telescopic part 200, the limiting member 120 can be confined within the limiting groove 800, thus preventing the telescopic part 200 from freely rotating and wobbling within the through hole 110.

[0045] Please continue to refer to Figure 4 The brake assembly 11 also includes a telescopic connecting seat 900, which includes a connecting plate 910 and a protruding ring 920 disposed on the connecting plate 910. The connecting plate 910 is provided with a through hole 911, and the protruding ring 920 extends outward along the through hole 911. The protruding ring 920 can extend into the through hole 110 and allow the telescopic part 200 to pass through the protruding ring 920.

[0046] The outer diameter of the convex ring 920 should be smaller than the inner diameter of the through hole 110 so that the convex ring 920 can extend into the through hole 110. At the same time, the diameter of the telescopic part 200 should also be smaller than the diameter of the through hole 911 so that the telescopic part 200 can extend along the convex ring 920.

[0047] The connecting plate 910 is connected to the base 100. Optionally, the base 100 is provided with a third mounting hole 130, and the connecting plate 910 is provided with a third bearing 912, which is interference-fitted with the third mounting hole 130. For example, four third mounting holes 130 are provided on the base 100, and four third bearings 912 are provided at corresponding positions on the connecting plate 910. The interference fit between the third bearings 912 and the third mounting holes 130 prevents the brake assembly 11 from having a gap between the telescopic connecting seat 900 and the base 100 when it is energized for sliding or de-energized for braking, which would cause the telescopic part 200 in the convex ring 920 to have a gap with the through hole 110 and move left and right.

[0048] In other embodiments, the connecting plate 910 may also be bolted to the base 100.

[0049] Furthermore, the brake assembly 11 also includes: an elastic element base 1000, which is connected to the telescopic part connecting seat 900, and an elastic element 300 disposed between the elastic element base 1000 and the limiting cover plate 500. The top of the elastic element base 1000 and the telescopic part connecting seat 900 can be fixed by bolts or welding, and the elastic element 300 is sleeved on the telescopic part 200 located between the elastic element base 1000 and the limiting cover plate 500.

[0050] Please refer to Figure 5 When the brake assembly 11 is de-energized, the electromagnetic force of the magnetic chuck 400 disappears. Due to its own attraction, the magnetic chuck 400 momentarily attracts the magnetic plate 14, causing the brake assembly 11 and the magnetic plate 14 to be attracted and fixed together. The brake assembly 11 cannot slide, thus achieving the braking function of the brake assembly 11. When the brake assembly 11 brakes, the elastic member 300 is in an elastically stretched state. However, the traction force generated by the stretched state of the elastic member 300 is far less than the attraction force between the magnetic chuck 400 and the magnetic plate 14. Therefore, the elastic member 300 cannot rely on its own elastic energy to pull the magnetic chuck 400 upwards, causing the magnetic chuck 400 to detach from the magnetic plate 14.

[0051] Please refer to Figure 6When the brake assembly 11 is energized, the electromagnetic force generated by the magnetic chuck 400 can counteract the permanent magnet force between the magnetic chuck 400 and the magnetic plate 14, releasing the holding force of the brake assembly 11. At this time, the elastic member 300 returns to its original position from the stretched state, and the elastic member 300 pulls the magnetic chuck 400 upward with the telescopic part 200, thereby causing the magnetic chuck 400 to disengage from the magnetic plate 14. The sliding drive assembly 15 drives the sliding plate 13 to slide on the platform base 12, and the brake assembly 11 can slide on the platform base 12 together with the sliding plate 13. During the sliding process of the brake assembly 11, the elastic member 300 drives the magnetic chuck 400 to move upward, moving the magnetic chuck 400 away from the magnetic plate 14 and reducing the friction between the magnetic chuck 400 and the magnetic plate 14.

[0052] The brake assembly 11 of this application can overcome the problems of existing technologies that use guide rail clamps that cannot brake during movement, have strict environmental requirements and high costs during braking. It uses the principle of electromagnetic attraction to achieve braking function. The brake assembly 11 of this application has a more compact structure, greater braking force, no backlash, and ingenious design. At the same time, it is safe and reliable to operate and can achieve braking function without a rotating shaft.

[0053] This application also provides a surgical robot, including Figure 1 The diagram shows a horizontal telescopic arm comprising a sliding platform 1, a base, a lifting device, a rotating device, and a surgical execution end. The lifting device is mounted on the base, and the sliding platform 1 of the horizontal telescopic arm is mounted on the lifting device. The lifting device enables height adjustment during surgical operations and controls the extension and retraction of the sliding platform 1. The rotating device is mounted on the sliding platform 1 of the horizontal telescopic arm, enabling multi-directional and multi-degree-of-freedom adjustments during surgical operations. The surgical execution end is connected to the rotating device.

[0054] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0055] 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 sliding platform with a horizontal telescopic arm, characterized in that, Includes brake components, platform base, sliding plate, and magnetic plate; The brake assembly is mounted on the sliding plate, which can slide on the platform base, and the magnetic plate is mounted on the platform base; The braking assembly achieves braking when it is attracted to the magnetic plate. The braking assembly includes: The base is connected to the sliding platform of the horizontal telescopic arm of the surgical robot, and the base is provided with a through hole; The telescopic part extends through the through hole, and an elastic element is sleeved on one end of the telescopic part that extends out of the through hole; A magnetic suction element is connected to the other end of the telescopic part that extends out of the through hole; a magnetic suction plate that attracts the magnetic suction element is also provided on the sliding platform of the horizontal telescopic arm; and A limiting cover plate is provided on one end of the telescopic part that extends out of the through hole, and is used to restrict the upward movement of the elastic element; When the brake assembly is powered on, it maintains electromagnetic force to counteract the permanent magnet force of the magnetic plate, thereby breaking the attraction between the brake assembly and the magnetic plate and allowing it to slide on the platform base along with the sliding plate. When the brake assembly is de-powered, it generates magnetic force to maintain attraction with the magnetic plate, causing the brake assembly to stop sliding and achieving the braking function.

2. The sliding platform of the horizontal telescopic arm according to claim 1, characterized in that, The brake assembly further includes: a magnetic back plate, wherein the magnetic back plate is provided with a first mounting hole; The telescopic part is provided with a mounting plate on the other end of the through hole. The mounting plate is provided with a first bearing that can pass through the first mounting hole and connect and fix the telescopic part to the back plate of the magnetic suction component.

3. The sliding platform of the horizontal telescopic arm according to claim 2, characterized in that, The magnetic attractor is provided with a second mounting hole, and the back plate of the magnetic attractor is provided with a second bearing that can pass through the second mounting hole and connect and fix the magnetic attractor to the back plate of the magnetic attractor.

4. The sliding platform of the horizontal telescopic arm according to claim 2 or 3, characterized in that, The base is equipped with a limiting component; The magnetic back plate and / or the telescopic part are provided with a limiting groove that accommodates the limiting member and restricts the rotation of the telescopic part.

5. The sliding platform of the horizontal telescopic arm according to claim 1, characterized in that, The brake assembly further includes: a telescopic connecting seat, the telescopic connecting seat including: a connecting plate and a protruding ring disposed on the connecting plate, the connecting plate having a through hole, and the protruding ring extending outward along the through hole; The protruding ring can extend into the through hole, and the telescopic part passes through the protruding ring; The connecting plate is connected to the base.

6. The sliding platform of the horizontal telescopic arm according to claim 5, characterized in that, The base is provided with a third mounting hole, and the connecting plate is provided with a third bearing component, which is interference-fitted with the third mounting hole.

7. The sliding platform of the horizontal telescopic arm according to claim 5 or 6, characterized in that, The brake assembly further includes: an elastic element base connected to the telescopic connecting seat, wherein the elastic element is disposed between the elastic element base and the limiting cover plate.

8. The sliding platform of the horizontal telescopic arm according to claim 1, characterized in that, The sliding platform of the horizontal telescopic arm also includes: a sliding drive assembly; The sliding drive assembly is disposed on the platform base and connected to the sliding plate. The sliding drive assembly drives the sliding plate to slide on the platform base.

9. A surgical robot, characterized in that, Includes the sliding platform, base, lifting device, rotating device, and surgical execution end of the horizontal telescopic arm as described in claim 8; The lifting device is mounted on the base; The sliding platform of the horizontal telescopic arm is mounted on the lifting device; The rotating device is located on the sliding platform of the horizontal telescopic arm; The surgical execution end is connected to the rotating device.

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