A surgical cart and surgical robot

Abstract

The present application relates to the technical field of surgical robots, and discloses a surgical trolley and a surgical robot.The surgical trolley comprises a base, a stand, a mounting rack and a counterweight assembly.The stand comprises a fixing part and a lifting part.The fixing part is fixedly arranged on the base, and the lifting part is movably connected to the fixing part and can move along the vertical direction relative to the fixing part.The lifting part is used for connecting a mechanical arm.The mounting rack is arranged on the base and located at one side of the stand.The mounting rack comprises two support walls arranged opposite in the horizontal direction.The counterweight assembly comprises a core shaft and a balance structure.The balance structure comprises a constant force spring.The constant force spring is rotatably sleeved on the core shaft.The free end of the constant force spring is detachably connected to the lifting part.The two ends of the core shaft are respectively detachably connected to the two support walls to support the counterweight assembly.When the counterweight assembly needs to be maintained due to damage, only the counterweight assembly needs to be disassembled, thereby improving the maintenance efficiency, facilitating the subsequent operation of the surgical robot as soon as possible, and ensuring the safety of the operation.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more particularly to a surgical cart and a surgical robot. Background Technology

[0002] Surgical robots are widely used in the medical field. A surgical robot typically consists of a surgeon's operating end and a patient's operating end. The patient's operating end has a surgical cart at its bottom, and a column is mounted on the surgical cart. The top of the column is connected to the robotic arm and surgical instruments. The column can be driven to rise and fall, thereby causing the robotic arm and surgical instruments to rise or fall.

[0003] In existing technologies, robotic arms and surgical instruments are relatively heavy. When the column is raised and lowered by a drive component, the drive component needs to output significant power, resulting in a large size and high cost for the drive component. Chinese patent CN113453644A discloses a robotic surgical system and its robotic arm trolley, in which a spring component is installed on the column to balance the combined mass of the support and the robotic arm. The spring component is directly installed inside the column. When the spring component is damaged and requires maintenance, in addition to disassembling and assembling the spring component, the column structure also needs to be disassembled and reassembled. The maintenance process is complex and inefficient, preventing the surgical robot from performing subsequent surgical operations as quickly as possible. It also increases the impact on the column structure caused by disassembly and reassembly, affecting surgical safety.

[0004] Therefore, there is an urgent need for an operating table and a surgical robot to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide an operating trolley and a surgical robot. When the counterweight component is damaged and needs maintenance, only the counterweight component needs to be disassembled and reassembled, which improves maintenance efficiency, allows the surgical robot to perform subsequent surgical operations as soon as possible, and ensures surgical safety.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] An operating table cart includes:

[0008] Base;

[0009] The column includes a fixing component and a lifting component. The fixing component is fixedly mounted on the base. The lifting component is movably connected to the fixing component and can move relative to the fixing component in a vertical direction. The lifting component is used to connect a robotic arm.

[0010] The mounting bracket is disposed on the base and located on one side of the column, and the mounting bracket includes two support walls that are arranged opposite each other in the horizontal direction;

[0011] The counterweight assembly includes a spindle and a balancing structure. The balancing structure includes a constant force coil spring, which is rotatably sleeved on the spindle. The free end of the constant force coil spring is detachably connected to the lifting component. The two ends of the spindle are respectively detachably connected to the two support walls to support the counterweight assembly.

[0012] As an optional technical solution for the operating table, mounting grooves are respectively provided on the two support walls, and the two ends of the mandrel are respectively placed in the mounting grooves provided on the two support walls. The ends of the mandrel can be disengaged from the mounting grooves through the openings of the corresponding mounting grooves.

[0013] As an optional technical solution for the operating table, the mounting frame is provided with at least two sets of mounting slots. Each set of mounting slots includes two mounting slots that are opposite each other and are respectively opened on the two support walls. The two ends of the mandrel are respectively placed in the two mounting slots in the same set of mounting slots.

[0014] As an optional technical solution for the operating table, the mounting groove extends through both sides of the support wall in the horizontal direction, and the distance between the two support walls is greater than the length of the balancing structure along the axial direction of the mandrel.

[0015] As an optional technical solution for the operating table, both of the two support walls are provided with elastic elements on the side facing each other, and the end of the balancing structure contacts the elastic elements.

[0016] As an optional technical solution for the operating table cart, the mounting groove is provided on the top surface of the support wall; and / or,

[0017] The mounting groove is provided on the side wall of the support wall, and a limiting groove is recessed on the bottom wall of the mounting groove. The side wall of the limiting groove facing the opening end of the mounting groove is spaced apart from the side wall of the support wall to form a limiting part.

[0018] As an optional technical solution for the operating table cart, the balancing structure includes at least two constant force coil springs, and the at least two constant force coil springs are arranged along the axial direction of the mandrel;

[0019] The operating table also includes a connecting assembly, which includes a connecting plate and a pressure plate. The free ends of at least two constant force coil springs are sandwiched between the connecting plate and the pressure plate, and the connecting plate and the pressure plate are detachably connected. The connecting plate is connected to the lifting component.

[0020] As an optional technical solution for the operating table, the counterweight assembly is provided in at least two sets, and all the free ends of the at least two sets of the counterweight assembly are sandwiched between the connecting plate and the pressure plate.

[0021] As an optional technical solution for the operating table, the lifting component is hollow inside and open at the bottom. The fixing component extends into the lifting component through the opening. An installation component is provided at the top of the lifting component. An avoidance opening is provided through the top of the lifting component.

[0022] The surgical trolley also includes a drive assembly, which includes a drive member for driving the lifting member to move vertically relative to the fixed member. One end of the drive member is positioned above the lifting member, and the other end of the drive member extends into the lifting member through the clearance opening and is installed on the mounting member.

[0023] As an optional technical solution for the operating table, the drive assembly also includes a lead screw, a nut, and a guide rail. The guide rail and the lead screw both extend vertically. The guide rail is connected to the fixing member. The lifting member is slidably connected to the guide rail. The nut is connected to the fixing member. The lead screw is rotatably connected to the lifting member. The drive member is used to drive the lead screw to rotate.

[0024] As an optional technical solution for the operating table cart, the mounting frame includes a frame body and a base, the base being connected to the base, the frame body including two support walls arranged opposite each other in the horizontal direction, the frame body being placed above the base and detachably connected to the base.

[0025] A surgical robot, comprising the surgical cart as described above.

[0026] The beneficial effects of this invention are:

[0027] The surgical cart provided by this invention includes a base, a column, a mounting frame, and a counterweight assembly. The mounting frame is located on one side of the column, allowing the counterweight assembly to be separated from the column and forming an independent module. When the counterweight assembly is damaged and requires maintenance, only the counterweight assembly needs to be disassembled and reassembled, simplifying the maintenance process, improving maintenance efficiency, and reducing maintenance costs. This facilitates the surgical robot to perform subsequent surgical operations as quickly as possible and avoids impacting the column structure, ensuring surgical safety. Moreover, the counterweight assembly, lifting components, and mounting frame are all detachable, making it easy to replace and disassemble the counterweight assembly individually. It also allows for the replacement of counterweight assemblies with different constant force coil springs according to the weight of the robotic arm or surgical instruments, expanding the scope of application and improving the practicality of the surgical cart.

[0028] The surgical robot provided by this invention enables the counterweight components to form independent modules. When the counterweight components are damaged and require maintenance, only the counterweight components need to be disassembled and reassembled, simplifying the maintenance process, improving maintenance efficiency, and reducing maintenance costs. This allows the surgical robot to perform subsequent surgical operations as quickly as possible, avoids impacting the column structure, and ensures surgical safety. Furthermore, it facilitates the replacement of counterweight components with different constant force coil springs according to the weight of the robotic arm or surgical instruments, expanding the scope of application and improving practicality. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the operating table cart provided in Embodiment 1 of the present invention;

[0030] Figure 2 This is a cross-sectional view of a portion of the structure of the operating table provided in Embodiment 1 of the present invention;

[0031] Figure 3 This is a schematic diagram of the mounting bracket provided in Embodiment 1 of the present invention;

[0032] Figure 4 yes Figure 3 Schematic diagram of the structure at point A;

[0033] Figure 5 This is a schematic diagram of the counterweight component provided in Embodiment 1 of the present invention;

[0034] Figure 6 This is a schematic diagram of the lifting component provided in Embodiment 1 of the present invention;

[0035] Figure 7 This is a cross-sectional view of the column provided in Embodiment 1 of the present invention;

[0036] Figure 8 This is a structural schematic diagram of the fastener provided in Embodiment 1 of the present invention;

[0037] Figure 9 yes Figure 8 Schematic diagram of the structure at point B;

[0038] Figure 10 This is a schematic diagram of the mounting bracket provided in Embodiment 2 of the present invention;

[0039] Figure 11 yes Figure 10 A schematic diagram of the structure at point C.

[0040] In the picture:

[0041] 1. Base; 11. Casters;

[0042] 2. Column; 21. Fixing component; 211. Horizontal plate; 2111. Retaining ring; 212. Step groove; 2121. First groove; 2122. Second groove; 2123. Mating surface; 2124. Reference sidewall; 213. Reinforcing rib; 214. Perforation; 22. Lifting component; 221. Mounting component; 222. Clearance opening;

[0043] 3. Mounting bracket; 31. Frame body; 311. Support wall; 3111. Mounting groove; 3112. Limiting groove; 3113. Limiting part; 312. Connecting piece; 313. Partition; 32. Base; 33. Elastic element;

[0044] 4. Counterweight assembly; 41. Spindle; 42. Constant force coil spring; 421. Free end;

[0045] 5. Connecting assembly; 51. Connecting plate; 511. First connecting hole; 52. Pressure plate;

[0046] 6. Drive assembly; 61. Drive component; 62. Lead screw; 63. Nut; 64. Guide rail; 65. Slider; 66. Brake;

[0047] 7. Adapter; 71. Second connecting hole; 8. Trapezoidal block; 81. Inclined surface; 9. Slider connector;

[0048] 10. W-type component; 20. Wire protection component; 30. End connector. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] 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.

[0052] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0053] Example 1

[0054] This embodiment provides an operating table cart. Specifically, as shown... Figures 1-9 As shown, the surgical cart includes a base 1, a column 2, a mounting frame 3, and a counterweight assembly 4. The column 2 includes a fixing member 21 and a lifting member 22. The fixing member 21 is fixedly mounted on the base 1, and the lifting member 22 is movably connected to the fixing member 21 and can move vertically relative to the fixing member 21. The lifting member 22 is used to connect a robotic arm. The mounting frame 3 is mounted on the base 1 and located on one side of the column 2. The mounting frame 3 includes two horizontally facing support walls 311. The counterweight assembly 4 includes a spindle 41 and a balancing structure. The balancing structure includes a constant-force coil spring 42, which is rotatably sleeved on the spindle 41. The free end 421 of the constant-force coil spring 42 is detachably connected to the lifting member 22. The two ends of the spindle 41 are detachably connected to the two support walls 311 respectively to support the counterweight assembly 4. It is understood that the support walls 311 are vertically arranged, and the two support walls 311 are parallel and facing each other.

[0055] The surgical cart provided in this embodiment includes a base 1, a column 2, a mounting frame 3, and a counterweight assembly 4. The mounting frame 3 is located on one side of the column 2, allowing the counterweight assembly 4 to be separated from the column 2, making the counterweight assembly 4 an independent module. When the counterweight assembly 4 is damaged and requires maintenance, only the counterweight assembly 4 needs to be disassembled and reassembled, simplifying the maintenance process, improving maintenance efficiency, reducing maintenance costs, and enabling the surgical robot to perform subsequent surgical operations as quickly as possible. It also avoids affecting the structure of the column 2, ensuring surgical safety. Moreover, the counterweight assembly 4 can be detachably connected to the lifting component 22 and the mounting frame 3, facilitating the individual replacement and disassembly of the counterweight assembly 4. It also allows for the replacement of the counterweight assembly 4 with different constant force coil springs 42 according to the weight of the robotic arm or surgical instruments, expanding the scope of application and improving the practicality of the surgical cart.

[0056] For ease of description, we define a first direction, a second direction, and a third direction that are mutually perpendicular. The first and second directions are horizontal, and the third direction is vertical. Figure 1 In the diagram, the first direction is the X direction, the second direction is the Y direction, and the third direction is the Z direction. The "two horizontally facing support walls 311" described above specifically means that the support walls 311 are perpendicular to the X direction, and the two support walls 311 are arranged along the X direction.

[0057] Preferably, the balancing structure includes at least two constant force coil springs 42, which are arranged along the axial direction of the spindle 41. The spindle 41 and the at least two constant force coil springs 42 are connected together, avoiding the need for each constant force coil spring 42 to have a separate structure for connection with the mounting bracket 3. This simplifies the structure of the counterweight assembly 4, further simplifies the disassembly and maintenance process, and allows the number of constant force coil springs 42 on the spindle 41 to be adjusted according to the weight of the robotic arm or surgical instruments, thus expanding the scope of application and improving the practicality of the surgical cart.

[0058] In this embodiment, up to four constant force coil springs 42 can be installed on the mandrel 41. Each constant force coil spring 42 is movably sleeved on the mandrel 41, so that the constant force coil spring 42 can be detached from the mandrel 41. When the constant force coil spring 42 is damaged, it can be replaced individually, reducing maintenance costs.

[0059] In some embodiments, retaining rings may be provided on both sides of the constant force coil spring 42 along the axial direction, and the retaining rings are engaged with the spindle 41 to achieve axial limiting of the constant force coil spring 42.

[0060] Specifically, the inner diameter of the constant force coil spring 42 is larger than the diameter of the spindle 41, so that the constant force coil spring 42 can be movably sleeved on the spindle 41, and the constant force coil spring 42 can be detached from the spindle 41.

[0061] The operating trolley also includes a connecting assembly 5, which includes a connecting plate 51 and a pressure plate 52. The free ends 421 of at least two constant-force coil springs 42 in the same counterweight assembly 4 are clamped between the connecting plate 51 and the pressure plate 52, and the connecting plate 51 and the pressure plate 52 are detachably connected. The connecting plate 51 is connected to the lifting member 22. This arrangement allows at least two free ends 421 to be connected to the lifting member 22 using the same connecting assembly 5, enabling the overall assembly and disassembly of at least two free ends 421. This simplifies the connection structure between the free ends 421 and the lifting member 22, and avoids the need for separate assembly and disassembly of each free end 421 and the lifting member 22. This simplifies the assembly and disassembly process of the operating trolley, thereby simplifying maintenance, improving maintenance efficiency, and reducing maintenance costs. In this embodiment, the free ends 421 of all four constant-force coil springs 42 in the counterweight assembly 4 are clamped between the connecting plate 51 and the pressure plate 52.

[0062] In this embodiment, the connecting plate 51 and the pressure plate 52 are arranged parallel to each other and perpendicular to the Y direction. Bolts pass through the connecting plate 51, the pressure plate 52, and the free end 421 located between the connecting plate 51 and the pressure plate 52, and are connected to nuts to achieve a detachable connection between the connecting plate 51 and the pressure plate 52. Specifically, the connecting plate 51 has multiple first connecting holes 511, which are spaced apart along the X direction. A connecting member 7 is connected to one side of the lifting member 22. The connecting member 7 and the pressure plate 52 are respectively located on opposite sides of the connecting plate 51 along the Y direction. The connecting member 7 has second connecting holes 71 on its sidewall facing the connecting plate 51, which are spaced apart along the X direction. The multiple first connecting holes 511 and the multiple second connecting holes 71 are arranged opposite each other. Bolts pass through the opposite first connecting holes 511 and second connecting holes 71 in sequence and are connected to nuts to achieve a detachable connection between the connecting plate 51 and the connecting member 7.

[0063] Preferably, the counterweight assembly 4 is provided with at least two sets, and all free ends 421 of the at least two sets of counterweight assemblies 4 are clamped between the connecting plate 51 and the pressure plate 52. This arrangement allows at least two free ends 421 to be connected to the lifting member 22 using the same connecting assembly 5. The connecting assembly 5 enables the overall assembly and disassembly of at least two free ends 421, simplifying the connection structure between the free ends 421 and the lifting member 22. It also avoids the need for each free end 421 to be individually assembled and disassembled with the lifting member 22, simplifying the disassembly and assembly process of the surgical trolley, thereby simplifying the maintenance process, improving maintenance efficiency, and reducing maintenance costs. In this embodiment, the free ends 421 of the four constant force coil springs 42 in the counterweight assembly 4 are all clamped between the connecting plate 51 and the pressure plate 52.

[0064] Preferably, each of the two support walls 311 has a mounting groove 3111. The two ends of the mandrel 41 are respectively placed within the mounting grooves 3111 of the two support walls 311. The ends of the mandrel 41 can be disengaged from the corresponding mounting grooves 3111 through their open ends. This arrangement simplifies the structure for detachable connection between the support walls 311 and the mandrel 41. Furthermore, by allowing the mandrel 41 to be inserted into or removed from the mounting grooves 3111 through its open end, it avoids the need for other structures to disassemble and assemble the counterweight assembly 4, further simplifying the disassembly and assembly process and improving maintenance efficiency.

[0065] In other embodiments, the mandrel 41 and the support wall 311 can be detachably connected by bolts, snap-fit ​​structures or other means, which is not limited here.

[0066] Furthermore, the mounting frame 3 is provided with mounting slot groups, each group including two mounting slots 3111 respectively located opposite each other along the first direction and respectively located on two support walls 311. The two ends of the mandrel 41 are respectively placed in the two mounting slots 3111 in the same mounting slot group. The above arrangement ensures that after the counterweight assembly 4 is installed on the mounting frame 3, the mandrel 41 is horizontally positioned, avoiding the mandrel 41 from tilting or moving relative to the mounting frame 3 due to gravity. This ensures that the counterweight assembly 4 can be stably and reliably connected to the lifting component 22, realizing the function of balancing the gravity of the lifting component 22 and the robotic arm. It also reduces the possibility of the support wall 311 and the constant force coil spring 42 being squeezed and deformed, reducing maintenance costs and ensuring that the counterweight assembly 4 can reliably realize the function of balancing gravity, thus improving the reliability of the surgical trolley during use.

[0067] Preferably, the mounting frame 3 has at least two sets of mounting slots, which increases the number of counterweight components 4 that can be installed on the mounting frame 3. This allows for adjustment of the number of counterweight components 4 according to the weight of the robotic arm or surgical instruments, expands the scope of application, and improves the practicality of the surgical trolley.

[0068] In this embodiment, the mounting frame 3 has six sets of mounting slots, that is, each support wall 311 has six mounting slots 3111, meaning that the mounting frame 3 can install six sets of counterweight components 4. All free ends 421 of the six sets of counterweight components 4 can be clamped in the same connecting component 5.

[0069] Furthermore, each support wall 311 is provided with three sets of branch slots, which are arranged at intervals along the Z direction. Each set of branch slots includes two mounting slots 3111 arranged at intervals along the Y direction, and the three mounting slots 3111 located on the same side of the support wall 311 along the Y direction are arranged at intervals along the Z direction. The constant force coil springs 42 in the two counterweight components 4 located in the same branch slot group extend their free ends 421 toward each other, so that all the free ends 421 on the mounting bracket 3 can be clamped in the same connecting component 5.

[0070] Preferably, a set of branch grooves is formed on the top surface of the support wall 311, that is, two mounting grooves 3111 are formed on the top surface of the support wall 311. At this time, the open end of the mounting groove 3111 is located at the top of the mounting groove 3111. In addition, the groove walls on both sides of the mounting groove 3111 along the Y direction can restrict the position of the mandrel 41, so that the mandrel 41 can only be removed from the mounting groove 3111 through the open end at the top of the mounting groove 3111. This prevents the mandrel 41 from detaching from the mounting frame 3 during the use of the surgical cart, improves the reliability of the surgical cart during use, reduces the possibility of damage caused by the counterweight component 4 falling, and reduces maintenance costs.

[0071] Furthermore, a mounting groove 3111 is provided on the side wall of the support wall 311, extending along the Y direction. A limiting groove 3112 is recessed on the bottom wall of the mounting groove 3111. The side wall of the limiting groove 3112 facing the opening end of the mounting groove 3111 is spaced apart from the side wall of the support wall 311, forming a limiting part 3113. At this time, the opening end of the mounting groove 3111 is located on one side of the mounting groove 3111 along the Y direction. The above arrangement can form a limiting part 3113 for limiting the position of the mandrel 41, so that the mandrel 41 can only be disengaged from the mounting groove 3111 through the opening end of the mounting groove 3111. This prevents the mandrel 41 from detaching from the mounting frame 3 during the use of the surgical cart, improves the reliability of the surgical cart during use, reduces the possibility of damage caused by the counterweight component 4 falling, and reduces maintenance costs.

[0072] In other embodiments, multiple mounting slots 3111 may be provided only on the top surface of the support wall 311; or multiple mounting slots 3111 may be provided only on the side wall of the support wall 311, and there is no limitation on either.

[0073] Specifically, the mounting groove 3111 extends through both sides of the support wall 311 in the first direction, and both ends of the mandrel 41 can extend through the mounting groove 3111 to the opposite sides of the two support walls 311. It is understood that, in order to achieve a reliable connection between the balancing structure and the mandrel 41, the length of the mandrel 41 is greater than the length of the balancing structure. This arrangement avoids the spacing between the support walls 311 being limited by the length of the mandrel 41, which helps to reduce the space occupied by the mounting frame 3 and improves the structural compactness of the operating table.

[0074] In this embodiment, the end of the mandrel 41 extends out of the mounting groove 3111 and is detachably connected to the end connector 30. The end connector 30 is connected to the same end of the two mandrels 41 located in the same branch groove group, which further prevents the mandrel 41 from detaching from the mounting frame 3 during the use of the surgical trolley, improves the reliability of the surgical trolley during use, reduces the possibility of the counterweight component 4 falling and causing damage, and reduces maintenance costs.

[0075] Furthermore, the end connector 30 may or may not be connected to the support wall 311, and this is not limited here.

[0076] In other embodiments, a stop plate (not shown) is detachably connected to the end of the mandrel 41. The diameter of the stop plate is larger than the diameter of the mandrel 41, and the diameter of the stop plate is larger than the inner diameter of the constant force coil spring 42. This prevents the constant force coil spring 42 from detaching from the mandrel 41 during transport of the counterweight assembly 4, improving the convenience of transporting the counterweight assembly 4. After the counterweight assembly 4 is installed on the mounting frame 3, the stop plate is located on the side of the support wall 311 opposite to each other.

[0077] Preferably, the distance between the two support walls 311 is greater than the length of the balancing structure along the spindle 41 axially. When the first connecting hole 511 and the second connecting hole 71 cannot be aligned and connected due to size or installation error, the above arrangement allows the counterweight component 4 to move a certain distance axially on the mounting frame 3, so that the first connecting hole 511 and the second connecting hole 711 are connected accordingly. This facilitates the installation and connection between the connecting component 5 and the lifting component 22, simplifies the installation process, and improves the installation efficiency during maintenance.

[0078] Preferably, the mounting frame 3 includes a frame body 31, which includes a connector 312 and the aforementioned support wall 311. The connector 312 extends along the X direction and connects to the two support walls 311, so that the frame body 31 forms a rectangular frame shape, which makes the structure relatively stable.

[0079] In this embodiment, the support wall 311 is connected to two sets of connectors 312 on both sides along the Y direction, and each set of connectors 312 has three connectors 312 spaced apart along the Z direction. In other embodiments, the number of connectors 312 can be adaptively adjusted according to the structural strength requirements, and is not limited here.

[0080] The frame 31 also includes a partition 313, which is located between two support walls 311 and is parallel to the support walls 311. The partition 313 is connected to two sets of connectors 312 to increase the structural strength of the frame 31. It is understood that, to prevent the partition 313 from obstructing the installation of the mandrel 41, a clearance groove is provided on the partition 313, and the mandrel 41 is placed in the clearance groove. Each set of branch slots corresponds to one clearance groove, and the clearance groove has the same shape as the two mounting slots 3111 in the corresponding branch slot set.

[0081] Preferably, the mounting frame 3 further includes a base 32, which is connected to the base 1. The frame 31 is placed above the base 32 and detachably connected to the base 32. When the base 32 or the frame 31 is damaged, the base 32 or the frame 31 can be replaced separately, further reducing maintenance costs. Moreover, for robotic arms or surgical instruments of different weights, the frame 31 with a constant force coil spring 42 that can provide different elastic forces can be directly replaced, avoiding the disassembly and assembly of the counterweight component 4 and the frame 31, further simplifying the maintenance process and improving maintenance efficiency.

[0082] Furthermore, the base 32 is detachably connected to the base 1 by bolts, so that the mounting bracket 3 can be removed from the base 1 as a whole.

[0083] Specifically, the lifting component 22 is hollow inside and open at the bottom, and the fixing component 21 extends into the lifting component 22 through the opening. Furthermore, the lifting component 22 and the mounting bracket 3 are arranged along the Y direction. Mounting brackets 3 are provided on both sides of the lifting component 22 along the Y direction, and both sides of the lifting component 22 are connected to the counterweight assembly 4, ensuring the uniformity of force on the lifting component 22 and thus improving the stability of the lifting component 22 during the lifting process.

[0084] As a preferred embodiment, a mounting member 221 is provided at the top of the lifting member 22, and a clearance opening 222 is provided through the top of the lifting member 22. The operating table also includes a drive assembly 6, which includes a drive member 61. The drive member 61 is used to drive the lifting member 22 to move vertically relative to the fixed member 21. One end of the drive member 61 is positioned above the lifting member 22, and the other end of the drive member 61 extends into the lifting member 22 through the clearance opening 222 and is installed on the mounting member 221. This arrangement allows the drive member 61 to be positioned at the top of the lifting member 22. Compared to placing the drive member 61 inside the column 2, this facilitates the disassembly, assembly, and maintenance of the drive member 61, simplifying the maintenance process.

[0085] Furthermore, the drive assembly 6 also includes a lead screw 62, a nut 63, and a guide rail 64. Both the guide rail 64 and the lead screw 62 extend vertically. The guide rail 64 is connected to the fixing member 21, the lifting member 22 is slidably connected to the guide rail 64, the nut 63 is connected to the fixing member 21, and the lead screw 62 is rotatably connected to the lifting member 22. The drive member 61 is used to drive the lead screw 62 to rotate. This structural configuration is simple and provides high transmission accuracy, which helps ensure surgical safety. In this embodiment, the drive member 61 is a drive motor, with an output shaft extending from the bottom of the drive motor, and the output shaft is coaxially connected to the top of the lead screw 62.

[0086] As a preferred embodiment, a stepped groove 212 is formed on the outer wall of the fastener 21. The stepped groove 212 includes a first groove portion 2121 and a second groove portion 2122 that are interconnected. The first groove portion 2121 is located on one side of the second groove portion 2122, and both the first groove portion 2121 and the second groove portion 2122 extend vertically. The groove depth of the first groove portion 2121 is less than the groove depth of the second groove portion 2122. The groove sidewall of the first groove portion 2121 away from the second groove portion 2122 is a reference sidewall 2124. The guide rail 64 is placed at the first groove portion 2121, and the sidewall of the guide rail 64 is in vertical contact with the reference sidewall 2124. The sidewall of the second groove 2122 away from the first groove 2121 is a mating surface 2123. The mating surface 2123 is inclined towards the side away from the opening end of the second groove 2122. A trapezoidal block 8 is provided inside the second groove 2122. The guide rail 64 extends out of the first groove 2121 on the side away from the reference sidewall 2124. One end of the trapezoidal block 8 is mated with the sidewall of the guide rail 64, and the other end of the trapezoidal block 8 is provided with an inclined surface 81, which is mated with the mating surface 2123. The trapezoidal block 8 is bolted to the fixing member 21. The thickness of the trapezoidal block 8 is less than the groove depth of the second groove 2122. Multiple trapezoidal blocks 8 are spaced apart in the vertical direction. The above configuration allows the trapezoidal block 8 to gradually press against the guide rail 64 as it is installed from the open end of the second groove 2122 into the second groove 2122, thus abutting the guide rail 64 against the reference sidewall 2124 and ensuring the reliable installation of the guide rail 64. Moreover, for the stepped groove 212, it is only necessary to strictly ensure the flatness of the reference sidewall 2124, which reduces the processing difficulty of the stepped groove 212, simplifies the production process, and reduces production costs. In addition, the multiple trapezoidal blocks 8 also reduce the size of each trapezoidal block 8 and the contact area between the trapezoidal block 8 and the mating surface 2123, which helps to ensure processing accuracy, simplify the production process, and reduce production costs.

[0087] In other embodiments, the guide rail 64 may also be directly fixed to the outer wall of the fastener 21, which is not limited here.

[0088] Specifically, a slider 65 is provided on the inner side of the lifting component 22, and the lifting component 22 is slidably connected to the fixing component 21 through the slider 65.

[0089] Furthermore, a through hole 214 is provided on the side wall of the lifting component 22. One end of the slider connector 9 is placed outside the lifting component 22 and connected to it, while the other end of the slider connector 9 passes through the through hole 214 and is connected to the slider 65. With this arrangement, the position of the slider 65 can be easily determined through the through hole 214 during installation, simplifying the connection process between the slider 65 and the lifting component 22 and improving installation efficiency.

[0090] In other embodiments, the guide rail 64 may also be connected to the lifting member 22, and the guide rail 64 may be slidably connected to the fixing member 21. This is not a limitation.

[0091] Specifically, a horizontal plate 211 is provided on the inner side of the fixing member 21, the nut 63 is fixed on the horizontal plate 211, and the lead screw 62 extends into the fixing member 21 through the top of the fixing member 21 and is threadedly connected to the nut 63.

[0092] Preferably, a brake 66 is coaxially sleeved on the lead screw 62. The brake 66 is located at the bottom of the mounting member 221 and can restrict the rotation of the lead screw 62, preventing the lead screw 62 from rotating accidentally when it does not need to rotate, thus ensuring surgical safety. The brake 66 can enter the interior of the fixing member 21 through the top of the fixing member 21. A retaining ring 2111 protrudes from the top surface of the cross plate 211, and the nut 63 is placed inside the retaining ring 2111. The height of the top surface of the retaining ring 2111 is higher than the height of the top surface of the nut 63. The retaining ring 2111 can abut against the brake 66 to prevent the brake 66 from colliding with the nut 63, thereby reducing the direct impact on the nut 63 and the lead screw 62, reducing the possibility of deformation of the lead screw 62, ensuring transmission accuracy, improving surgical safety, and also reducing the possibility of shortening fatigue life due to impact, thus reducing maintenance costs.

[0093] In this embodiment, the retaining ring 2111, the horizontal plate 211, and the fixing member 21 are integrally formed. In other embodiments, the retaining ring 2111, the horizontal plate 211, and the fixing member 21 may also be welded together, which is not limited here.

[0094] As a preferred embodiment, a W-shaped member 10 is provided between the lifting member 22 and the fixing member 21. The cross-section of the W-shaped member 10 is W-shaped, and the W-shaped member 10 extends vertically. The W-shaped member 10 is connected to the fixing member 21, and the W-shaped member 10 and the lifting member 22 form a wire-passing channel for the wire to pass through. The W-shaped member 10 also protects the wire, preventing damage to the wire due to collisions with other structures, thus reducing maintenance costs.

[0095] Furthermore, a wire protection component 20 is provided on the outside of the lifting component. The wires passing through the wire channel can extend into the wire protection component 20, which further protects the wires and reduces maintenance costs.

[0096] In this embodiment, the conductor protection component 20 is a cable protection drag chain, i.e., a tank chain. In other embodiments, the conductor protection component 20 may have other structures, which are not limited here.

[0097] Preferably, the bottom of the base 1 is provided with a movable wheel 11, which can contact the working ground to realize the movement of the base 1, thereby realizing the overall movement of the surgical trolley.

[0098] Other structures of the base 1 can refer to existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0099] This embodiment also provides a surgical robot. Specifically, it includes a doctor's operating end and a patient's surgical end, the patient's surgical end including the surgical cart as described above.

[0100] The surgical robot provided in this embodiment realizes that the counterweight component 4 is an independent module. When the counterweight component 4 is damaged and needs maintenance, it is only necessary to disassemble and assemble the counterweight component 4, which simplifies the maintenance process, improves maintenance efficiency, reduces maintenance costs, and allows the surgical robot to perform subsequent surgical operations as soon as possible. It also avoids the impact on the structure of the column 2 and ensures surgical safety. Moreover, it is also convenient to replace the counterweight component 4 with different constant force coil springs 42 according to the weight of the robotic arm or surgical instruments, which expands the scope of application and improves practicality.

[0101] Other structures of the doctor's operating end and the patient's surgical end can refer to existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0102] Example 2

[0103] This embodiment provides an operating trolley and a surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, with only some structural differences. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0104] In this embodiment, when the distance between the balancing structure and the two supporting walls 311 is the same, the first connecting hole 511 and the second connecting hole 71 are connected accordingly. Preferably, as shown... Figure 10 and Figure 11 As shown, each of the two support walls 311 has an elastic element 33 on one side facing each other. The end of the balancing structure contacts the elastic element 33, and the elastic force exerted by the elastic element 33 on the balancing structure is the same. Furthermore, the elastic elements 33 on both sides of the balancing structure have the same size. By providing elastic elements 33 on both sides of the balancing structure, automatic alignment of the balancing structure can be achieved, thereby facilitating automatic alignment of the first connecting hole 511 and the second connecting hole 71, simplifying the installation process between the counterweight structure 4 and the adapter 7, and improving installation and maintenance efficiency. In this embodiment, the frame 31 does not include the partition plate 313.

[0105] In this embodiment, the elastic element 33 is a spring, one end of which is connected to the support wall 311, and the other end is in contact with the end face of the constant force coil spring 42 located at the end of the balance structure. In other embodiments, the elastic element 33 may also be a rubber block or a rubber pad, etc., and is not limited here.

[0106] Furthermore, the elastic element 33 is detachably connected to the support wall 311, so that when the elastic element 33 is damaged, it can be replaced separately, further reducing maintenance costs. In this embodiment, the elastic element 33 and the support wall 311 are detachably connected by screws.

[0107] 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. An operating table cart, characterized in that, include: Base (1); The column (2) includes a fixing member (21) and a lifting member (22). The fixing member (21) is fixedly mounted on the base (1). The lifting member (22) is movably connected to the fixing member (21) and can move relative to the fixing member (21) in the vertical direction. The lifting member (22) is used to connect the robotic arm. Mounting bracket (3) is mounted on the base (1) and located on one side of the column (2). The mounting bracket (3) includes two support walls (311) that are arranged opposite each other in the horizontal direction. The counterweight assembly (4) includes a spindle (41) and a balancing structure. The balancing structure includes a constant force coil spring (42), which is rotatably sleeved on the spindle (41). The free end (421) of the constant force coil spring (42) is detachably connected to the lifting member (22). The two ends of the spindle (41) are respectively detachably connected to the two support walls (311) to support the counterweight assembly (4). The balancing structure includes at least two constant force coil springs (42), which are arranged along the axial direction of the spindle (41); the operating trolley also includes a connecting assembly (5), which includes a connecting plate (51) and a pressure plate (52). The free ends (421) of the at least two constant force coil springs (42) are sandwiched between the connecting plate (51) and the pressure plate (52). The connecting plate (51) is connected to the lifting member (22). Bolts pass through the connecting plate (51), the pressure plate (52), and the free ends (421) located between the connecting plate (51) and the pressure plate (52), and are connected to the first nut. The counterweight assembly (4) is provided with at least two sets, and all the free ends (421) of the at least two sets of the counterweight assembly (4) are sandwiched between the connecting plate (51) and the pressure plate (52).

2. The operating table cart according to claim 1, characterized in that, The two support walls (311) are respectively provided with mounting grooves (3111), and the two ends of the mandrel (41) are respectively placed in the mounting grooves (3111) provided in the two support walls (311). The ends of the mandrel (41) can be disengaged from the mounting grooves (3111) through the opening ends of the corresponding mounting grooves (3111).

3. The operating table cart according to claim 2, characterized in that, The mounting bracket (3) has at least two sets of mounting slots. Each set of mounting slots includes two mounting slots (3111) that are opposite each other and are respectively opened on the two support walls (311). The two ends of the spindle (41) are respectively placed in the two mounting slots (3111) in the same set of mounting slots.

4. The operating table cart according to claim 3, characterized in that, The mounting groove (3111) extends through both sides of the support wall (311) in the horizontal direction, and the distance between the two support walls (311) is greater than the length of the balancing structure along the axial direction of the spindle (41).

5. The operating table cart according to claim 4, characterized in that, Both of the two support walls (311) are provided with elastic elements (33) on the side facing each other, and the end of the balancing structure contacts the elastic elements (33).

6. The operating table cart according to claim 2, characterized in that, The mounting groove (3111) is provided on the top surface of the support wall (311); and / or, The mounting groove (3111) is provided on the side wall of the support wall (3111), and a limiting groove (3112) is recessed on the bottom wall of the mounting groove (3111). The limiting groove (3112) is spaced apart from the side wall of the support wall (3111) on the side facing the opening end of the mounting groove (3111) to form a limiting part (3113).

7. The operating table cart according to any one of claims 1-6, characterized in that, The lifting component (22) is hollow inside and open at the bottom. The fixing component (21) extends into the lifting component (22) through the opening. The top of the lifting component (22) is provided with an installation component (221). The top of the lifting component (22) is provided with a clearance opening (222). The surgical trolley also includes a drive assembly (6), which includes a drive member (61). The drive member (61) is used to drive the lifting member (22) to move vertically relative to the fixed member (21). One end of the drive member (61) is positioned above the lifting member (22), and the other end of the drive member (61) extends into the lifting member (22) through the clearance opening (222) and is installed on the mounting member (221).

8. The operating table cart according to claim 7, characterized in that, The drive assembly (6) further includes a lead screw (62), a second nut (63), and a guide rail (64). The guide rail (64) and the lead screw (62) both extend in the vertical direction. The guide rail (64) is connected to the fixing member (21). The lifting member (22) is slidably connected to the guide rail (64). The second nut (63) is connected to the fixing member (21). The lead screw (62) is rotatably connected to the lifting member (22). The drive member (61) is used to drive the lead screw (62) to rotate.

9. The operating table cart according to any one of claims 1-6, characterized in that, The mounting bracket (3) includes a frame (31) and a base (32). The base (32) is connected to the base (1). The frame (31) includes two support walls (311) arranged opposite each other in the horizontal direction. The frame (31) is placed above the base (32) and is detachably connected to the base (32).

10. A surgical robot, characterized in that, Including the surgical cart as described in any one of claims 1-9.

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