A medical robot manipulator platform

Abstract

The present invention provides a medical robot manipulator platform. The medical robot manipulator platform comprises a platform body and a support frame. The platform body comprises a base plate and a shell. The shell is mounted on the base plate and has a semi-enclosed structure, forming an open space toward the proximal end. The support frame is disposed in the open space and fixed to the base plate. The present invention configures the platform shell as a semi-enclosed structure with an open space, and positions the support frame within the open space. This makes the overall structure of the platform more compact and saves operating room space, while ensuring sufficient operating space for the operator. The support frame has a large adjustment space, improving operability and comfort, and reducing surgical risks.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to a medical robot manipulator platform. Background Art

[0002] With the development of minimally invasive surgical techniques and artificial intelligence technologies, robot-assisted minimally invasive surgery has gradually become one of the development trends of minimally invasive surgery. Existing robot-assisted minimally invasive surgery can largely eliminate the limitations of traditional minimally invasive surgical techniques. The doctor controls the movement of the surgical robot arm by operating the manipulator to achieve functions such as remote surgery. The manipulator is usually placed on a manipulator platform, but the current robot remote manipulator platform occupies a large area, is bulky and inconvenient to move, and the operating platform is difficult to adjust. The operating doctor needs to maintain a fixed posture to operate, which can easily cause fatigue to the operating doctor, prolong the operation time and increase the risk of surgery.

[0003] Therefore, it is necessary to design a medical robot manipulator platform to solve the above problems. Summary of the Invention

[0004] An embodiment of the present invention provides a medical robot manipulator platform, which optimizes the structure to make the platform compact and miniaturized, improve adjustability and comfort, increase operational efficiency, reduce operator fatigue, and reduce surgical risks.

[0005] The embodiment of the present invention provides a medical robot manipulator platform,

[0006] It includes a platform body and a supporting frame. The platform body includes a base plate and a shell. The shell cover is arranged on the base plate. The shell is a semi-enclosed structure. The semi-enclosed structure forms an open space in the direction toward the proximal end; the supporting frame is arranged in the open space and fixed on the base plate.

[0007] Optionally, the support frame includes a load-bearing portion and a supporting portion, the load-bearing portion includes interconnected horizontal brackets and at least one control hand stand, and the supporting portion includes an interconnected hand rest pad and a hand rest bracket; the horizontal bracket and the hand rest bracket are movably connected to adjust the distance between the control hand stand and the hand rest pad.

[0008] Optionally, the hand support bracket includes a connecting end, and the horizontal bracket includes a connecting arm; the connecting end is provided with a slot along the length direction, and a first locking bolt is provided in the slot; a lock core is provided in the connecting arm, and the lock core is provided with a locking hole matching the first locking bolt; one of the connecting end and the connecting arm is inserted into the other, and the first locking bolt passes through the slot and is locked with the locking hole to fix the hand support bracket and the horizontal bracket; the first locking bolt loosens the locking hole, and the hand support bracket and the horizontal bracket can move relative to each other.

[0009] Optionally, the horizontal bracket further includes a first arm and a second arm, the first arm and the second arm are symmetrically arranged along the connecting arm and are both connected to the connecting arm, and there are two manipulator hand stands, which are respectively arranged at one end of the first arm and the second arm away from the connecting arm; the manipulator hand stands are movably connected to the horizontal bracket.

[0010] Optionally, a fixing column is provided at one end of the first arm away from the connecting arm, and a locking column is provided at the top of the fixing column; the control hand stand includes a mounting frame and a locking structure that are connected to each other, and the mounting frame is movably connected to the locking column through the locking structure.

[0011] Optionally, the locking structure includes a U-shaped lock and a second locking bolt; the mounting frame is provided with a mounting hole matching the locking column, the U-shaped lock is provided with a center hole matching the locking column, the mounting hole corresponds to the center hole, the locking column passes through the mounting hole and the center hole, and the second locking bolt passes through one end of the U-shaped lock and is connected to the other end of the U-shaped lock; when the second locking bolt is adjusted so that the U-shaped lock locks the locking column, the control hand stand and the horizontal bracket are relatively fixed; when the second locking bolt is adjusted so that the U-shaped lock loosens the locking column, the control hand stand and the horizontal bracket can move relative to each other.

[0012] Optionally, the supporting frame further includes an adjusting portion, one end of which is fixedly connected to the base plate, and the other end of which is connected to the bearing portion, so as to adjust the height and orientation of the bearing portion.

[0013] Optionally, the adjusting part includes a hydraulic gas rod, a tension spring, and a shift rod; the hydraulic gas rod includes a movable gas rod and a fixed outer rod, one end of the movable gas rod is fixedly connected to the bearing part, and the other end is inserted into the fixed outer rod; the movement of the shift rod drives the movable gas rod to move up and down relative to the fixed outer rod; the two ends of the tension spring are respectively connected to the shift rod and the hydraulic gas rod to drive the shift rod to reset after movement.

[0014] Optionally, the movable gas rod is rotatably arranged relative to the fixed outer rod.

[0015] Optionally, the adjustment part also includes a lift, which includes a main support body, a screw rod, a moving block, and a lifting platform; the main support body is fixed to the base plate, the screw rod passes through the main support body and can rotate freely in the main support body, the moving block is sleeved outside the screw rod and cooperates with the screw rod thread, and the rotation of the screw rod drives the interconnected moving block and the lifting platform to move up and down synchronously, and the lifting platform is fixedly connected to the fixed outer rod.

[0016] Optionally, moving wheels are provided at the bottom of the base plate.

[0017] The bottom plate is provided with supporting feet, which are adjustable supporting feet.

[0018] Compared with the prior art, the technical solution of the present invention has beneficial effects.

[0019] For example, the shell of the platform is set as a semi-enclosed structure with an open space, and the supporting frame is set in the open space, so that the overall structure of the platform is smaller and more compact, saving operating room space, while ensuring that the operator has sufficient operating space and the supporting frame has a larger adjustment space.

[0020] For another example, connecting the load-bearing part and the support part in an adjustable manner retains the advantage of the platform's miniaturization, while making it easier for different operators to adjust the platform to a suitable position, thereby improving operating comfort.

[0021] For example, an adjustment part is provided to adjust the height and orientation of the load-bearing part, so that the operator can adjust to a comfortable position according to his body shape and operating habits, relieve fatigue and improve operating efficiency; furthermore, the two-stage height adjustment compresses the size of the supporting frame within the height space, making it more adaptable to open spaces.

[0022] For another example, providing moving wheels facilitates the movement of the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic structural diagram of a medical robot manipulator platform according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the medical robot manipulator platform with the shell removed in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the housing structure in an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of the support skeleton structure in an embodiment of the present invention;

[0027] Figure 52 is a schematic diagram of the connecting end structure of the horizontal bracket in an embodiment of the present invention;

[0028] Figure 6 yes Figure 4 AA section view at point d1;

[0029] Figure 7 This is a schematic diagram of the structure of the connection between the manipulator platform and the horizontal support in an embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram of the hydraulic gas rod connection structure in an embodiment of the present invention;

[0031] Figure 9 yes Figure 8 Enlarged view of point d3 in the middle;

[0032] Figure 10 yes Figure 4 BB cross-sectional view at d2 in the middle;

[0033] Figure 11 It is a structural schematic diagram of another bottom plate in an embodiment of the present invention.

[0034] Description of reference numerals:

[0035] 1. Platform body, 2. Support frame, 3. Display screen;

[0036] 11. Bottom plate, 111. Moving wheel, 1111. Universal wheel, 1112. Fixed wheel, 1113. Brake pedal, 112. Support foot;

[0037] 12. Housing, 121. Open space, 122. Main housing, 123. Back panel, 124. Front housing, 125. Display screen cover;

[0038] 21. Adjustment unit, 211. Elevator, 2111. Lifting platform, 2112. Fixed outer rod, 2113. Support seat, 2114. Main support body, 2115. Screw, 2116. Moving block, 2117. Control handwheel; 212. Hydraulic gas rod, 2121. Movable gas rod, 2122. Top seat, 2123. Drag rod, 2124. Tension spring;

[0039] 22. Bearing portion, 221. Horizontal bracket, 2211. Connecting arm, 2212. Lock core, 2213. Locking hole, 2214. First arm, 2215. Second arm, 2216. Fixing column, 2217. Locking column;

[0040] 23. Support portion, 231. Hand rest pad, 232. Hand rest bracket, 2321. Connecting end, 2322. Notch, 2323. First locking bolt, 2324. First rotating handle;

[0041] 24. Control console frame, 241. Mounting frame, 242. Locking structure, 2421. U-shaped lock, 2422. Center hole, 2423. Second locking bolt, 2424. Second rotating handle. DETAILED DESCRIPTION

[0042] In order to make the objects, features and beneficial effects of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. It will be understood that the specific embodiments described below are only used to explain the present invention and are not intended to limit the present invention. In addition, the same or similar reference numerals may be used in the figures to refer to the same or similar elements in different embodiments, and the descriptions of the same or similar elements in different embodiments and the descriptions of the prior art elements, features, effects, etc. may be omitted. In the description of the present invention, the "proximal end" represents the end close to the operator, and the "distal end" represents the end away from the operator.

[0043] Reference Figures 1 to 11 , an embodiment of the present invention provides a medical robot manipulator platform.

[0044] Specifically, the medical robot manipulator platform includes a platform body 1 and a support frame 2. The platform body 1 is used to carry the support frame 2. The platform body 1 includes a base plate 11 and a shell 12 connected to each other. The shell 12 is covered on the base plate 11 and has a semi-enclosed structure. For example, Figure 1 The shell 12 forms an open space 121 in the direction toward the proximal end, and the support frame 2 is disposed in the open space 121 and fixed to the bottom plate 11;

[0045] The support frame 2 is used to carry the manipulator and support the human body to operate the manipulator. The support frame 2 includes an adjusting portion 21, a carrying portion 22 and a supporting portion 23. The adjusting portion 21 is fixedly connected to the base plate 11, and the carrying portion 22 is movably connected to the adjusting portion 21. The adjusting portion 21 is suitable for adjusting the height and angle of the carrying portion 22; the carrying portion 22 is provided with at least one manipulator stand 24, which is used to place the manipulator. The supporting portion 23 is connected to the proximal end of the carrying portion 22 to support the human body.

[0046] The shell 12 of the platform body 1 is configured as a semi-enclosed structure with an open space 121. The support frame 2 is placed in the open space 121, which saves a lot of space and makes the overall structure of the manipulator platform more compact and compact. At the same time, the support frame 2 can be rotated in the open space 121 and can be highly telescopically adjusted to adapt to the open space 121, which not only accommodates the support frame 2, but also ensures that the operator has sufficient operating space.

[0047] In a specific embodiment, the housing 12 includes a main housing 122, a back panel 123, a front housing 124, and a display cover 125. The main housing 122 is integrally connected to the back panel 123 at its distal end. The front housing 124 is disposed below the open space 121 of the main housing 122 to at least partially cover the adjustment portion 21 fixed to the base plate 11. The display cover 125 is disposed above the open space 121 of the main housing 122 to accommodate the display screen 3. Placing the display screen 3 above the open space 121 of the main housing 122 facilitates direct viewing of the display screen 3 by the operator, eliminating the need for prolonged or frequent head movements.

[0048] In some embodiments, the supporting portion 23 includes a palm rest pad 231 and a palm rest bracket 232, the palm rest bracket 232 is supported on the bottom of the palm rest pad 231; the end of the palm rest bracket 232 away from the palm rest pad 231 is bent to form a connecting end 2321; the bearing portion 22 includes a horizontal bracket 221, the horizontal bracket 221 has a connecting arm 2211, the connecting arm 2211 is detachably connected to the connecting end 2321, and the connection position of the connecting end 2321 and the connecting arm 2211 is adjustable.

[0049] In a specific implementation, the palm rest pad 231 can be designed according to ergonomics, for example, in an arc shape that bends toward the distal end. During actual use, the operator's arm is supported on the palm rest pad 231. The arc-shaped body is more comfortable when operating. The palm rest bracket 232 is Y-shaped and supported in the middle of the palm rest pad 231, and the support is more firm and reliable.

[0050] Placing the support frame 2 in the open space 121 can greatly reduce the overall volume of the manipulator platform. This design is equivalent to moving the support frame 2 to the far end. In order to facilitate the operator's manipulation and adapt to the body shapes of different operators, the relative positions of the support part 23 and the bearing part 22 are adjustable.

[0051] See also Figure 6In some embodiments, the connecting end 2321 is a hollow structure, and a notch 2322 is provided along the length direction of the connecting end 2321. The notch 2322 can be a strip-shaped groove, a long waist-shaped groove, etc., and a first locking bolt 2323 is provided in the notch 2322; the connecting arm 2211 is a hollow structure, and a lock core 2212 is provided in the hollow structure of the connecting arm 2211. The lock core 2212 is provided with a locking hole 2213 matching the first locking bolt 2323, and the connecting end 2321 is inserted into the connecting arm 2211. When the hand rest 2313 is in the middle position, the positions of the locking hole 2213 and the notch 2322 correspond. The first locking bolt 2323 passes through the notch 2322 and connects to the locking hole 2213 of the lock core 2212. By adjusting the depth of the connecting end 2321 inserted into the connecting arm 2211, the locking position of the first locking bolt 2323 in the notch 2322 is changed, that is, the connection position of the connecting end 2321 and the connecting arm 2211 is adjusted. The first locking bolt 2323 locks the connecting end 2321 and the connecting arm 2211 to keep them fixed. In this way, the operator can adjust the relative distance between the hand rest 231 and the control hand stand 24 according to actual needs during use. While maintaining the advantage of the miniaturization of the control hand platform, it also meets the control needs of operators of different body shapes and ensures the stability of the control.

[0052] In some embodiments, the top end of the first locking bolt 2323 is connected to a first rotating handle 2324, and the first locking bolt 2323 can be loosened or locked to the lock core 2212 by rotating the first rotating handle 2324. After the first locking bolt 2323 is loosened, the depth of the connecting end 2321 inserted into the connecting arm 2211 is adjustable. After the first locking bolt 2323 is fully adjusted, the first locking bolt 2323 is tightened to achieve securement.

[0053] Operators typically use both hands for operation, so the control platform 24 can be designed as two, left and right, respectively. In some embodiments, the horizontal support 221 can be T-shaped (as shown in the example), U-shaped, V-shaped, etc., but is not limited to these. The horizontal support 221 includes a first arm 2214 and a second arm 2215, symmetrically arranged along the connecting arm 2211. Two control platforms 24 are provided, one at each end of the first arm 2214 and the other at each end of the second arm 2215, distal from the connecting arm 2211. The control platform 24 is movably connected to the horizontal support 221. It is understood that if the operator uses one hand for operation, a single control platform 24 can be provided. If multiple operators are operating, or if the control platform needs to control three or more instrument arms, the number of control platforms 24 can be adjusted as needed, with the number of arms in the horizontal support 221 corresponding to the number of control platforms 24.

[0054] See also Figure 4 and Figure 7In some embodiments, a fixing column 2216 is provided at one end of the first arm 2214 away from the connecting arm 2211, and a locking column 2217 is provided at the top of the fixing column 2216. The control hand platform 24 includes a mounting frame 241 and a locking structure 242 provided at one end of the mounting frame 241. The mounting frame 241 is connected to the locking column 2217 through the locking structure 242. When the locking structure 242 is not locked, the mounting frame 241 can be rotated to any angle around the locking column 2217. When the locking structure 242 is locked, the mounting frame 241 cannot be rotated.

[0055] See also Figure 7 In some embodiments, the locking structure 242 includes a U-shaped lock 2421 and a second locking bolt 2423. One end of the mounting bracket 241 is provided with a mounting hole that matches the locking column 2217. The U-shaped lock 2421 is provided with a center hole 2422 that matches the locking column 2217. The U-shaped lock 2421 is arranged on the mounting bracket 241 so that the mounting hole and the center hole 2422 are opposite each other. The locking column 2217 passes through both the mounting hole and the center hole 2422. The second locking bolt 2423 passes through one end of the U-shaped lock 2421 and is connected to the other end of the U-shaped lock 2421. By adjusting the second locking bolt 2423, the two ends of the U-shaped lock 2421 are brought closer together to lock the locking column 2217, thereby fixing the mounting bracket 241 and the fixing column 2216.

[0056] In some embodiments, the end of the second locking bolt 2423 is connected to a second rotating handle 2424. Rotating the second rotating handle 2424 allows the U-shaped lock 2421 to tighten or loosen the locking column 2217. When the U-shaped lock 2421 is loosened, the mounting bracket 241 can rotate about the locking column 2217; when the U-shaped lock 2421 is locked, the mounting bracket 241 is fixed relative to the locking column 2217. The relative angle between the control hand stand 24 and the hand rest 231 can be adjusted to suit actual needs during use, allowing the operator to operate in a more comfortable posture, reducing fatigue and ensuring precise control. It is understood that the connection between the second arm 2215 and the control hand stand 24 is similar to that of the first arm 2214.

[0057] See also Figure 8 and Figure 10In a specific implementation, the adjustment part 21 includes a lift 211, which includes a support seat 2113, a main support body 2114, a screw rod 2115, a moving block 2116, a lifting platform 2111 and a fixed outer rod 2112. The support seat 2113 is connected to the main support body 2114 and is fixed to the base plate 11. The screw rod 2115 is arranged through the main support body 2114 and can rotate freely in the main support body 2114. The moving block 2116 is sleeved on the screw rod 2115, and the moving block 2116 is connected to the lifting platform 2111. The rotation of the screw rod 2115 drives the moving block 2116 and the lifting platform 2111 connected thereto to move up and down; a control handwheel 2117 is provided at the top of the screw rod 2115, and the screw rod 2115 is driven to rotate by rotating the control handwheel 2117. A fixed outer rod 2112 is provided on the lifting platform 2111 , and the height of the fixed outer rod 2112 is adjusted by moving the lifting platform 2111 up and down.

[0058] See also Figure 8 and Figure 9 In some embodiments, the adjustment portion 21 further includes a hydraulic gas rod 212, which includes a movable gas rod 2121 and a top seat 2122. The top seat 2122 is disposed on top of the movable gas rod 2121 and is connected to the support portion 22. The movable gas rod 2121 is disposed within the fixed outer rod 2112 and can rotate relative to the fixed outer rod 2112 to drive the support portion 22 to rotate. The movable gas rod 2121 is a retractable gas rod, allowing the top seat 2122 to move up and down relative to the fixed outer rod 2112 to adjust the height of the support portion 22. The movable gas rod 2121 can be implemented using a conventional working principle, such as utilizing a piston and a cylinder, where changes in gas pressure within the cylinder drive the piston to move, thereby achieving lifting and lowering. The active gas rod 2121 is provided with a shift rod 2123 for controlling the lifting and lowering of the active gas rod 2121. A tension spring 2124 is provided between the shift rod 2123 and the active gas rod 2121. The shift rod 2123 is shifted upward or downward to move the active gas rod 2121 upward or downward. The movement of the shift rod 2123 drives the tension spring 2124 to stretch or compress. After the shift rod 2123 is released, the elastic force of the tension spring 2124 restores the deformation and brings the active gas rod 2121 back to its original position, thereby locking the active gas rod 2121 and preventing the active gas rod 2121 from displacement.

[0059] The lift 211 and the hydraulic gas rod 212 can realize two-stage lifting adjustment of the load-bearing part 22. The lifting structure saves more space in height, and the two-stage lifting adjustment can realize coarse adjustment and fine adjustment, so the height of the operating hand platform can be accurately adapted to different operators, improving the operating comfort and reducing fatigue.

[0060] In some embodiments, the bottom of the base plate 11 is provided with at least three movable wheels 111, including universal wheels 1111 and fixed wheels 1112. The fixed wheels 1112 are provided at one end of the distal end and the proximal end of the base plate 11, and the universal wheels 1111 are provided at the other end of the distal end and the proximal end of the base plate 11. Steering during movement is achieved through the universal wheels 1111.

[0061] In some embodiments, a brake pedal 1113 is provided on the universal wheel 1111 to prevent accidental movement in a non-moving state. During implementation, the platform is pushed to a specific position and the brake pedal 1113 is stepped on to lock the universal wheel 1111.

[0062] In some embodiments, base plate 11 is provided with adjustable legs 112, which are threadedly connected to base plate 11. Legs 112 can be rotated to move up and down relative to base plate 11, thereby retracting and lowering them. Before the platform moves, legs 112 are retracted to propel the platform. Once the platform reaches its fixed position, legs 112 are lowered to support the ground, providing support and increasing friction with the ground to prevent the platform from sliding due to accidental loosening of brake pedal 1113.

[0063] To sum up, in the embodiment of the present invention, the shell 12 of the platform is set as a semi-enclosed structure with an open space 121, and the support frame 2 is set in the open space 121. The overall size of the manipulator platform is greatly reduced, saving operating room space while ensuring that the operator has sufficient operating range. The support frame 2 has a large adjustment space and multiple adjustment methods.

[0064] Furthermore, in the embodiment of the present invention, disposing the display screen 3 on the upper portion of the open space 121 of the platform housing 12 facilitates the operator to view the display screen 3 at different angles, thus expanding the operating range.

[0065] Furthermore, in the embodiment of the present invention, an adjustment portion 21 is provided to adjust the height and angle of the carrying portion 22 so that the operator can adjust to a comfortable position according to his or her body shape and operating habits, thereby relieving fatigue and improving operating efficiency.

[0066] Furthermore, in the embodiment of the present invention, moving wheels 111 are provided to facilitate the movement of the platform.

[0067] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of the present disclosure, even when only a single embodiment is described with respect to specific features. The feature examples provided in the present disclosure are intended to be illustrative, not limiting, unless otherwise stated. In specific implementations, the technical features of one or more dependent claims may be combined with the technical features of the independent claims, depending on actual needs and where technically feasible, and the technical features from the corresponding independent claims may be combined in any appropriate manner rather than solely through the specific combinations listed in the claims.

[0068] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the scope defined by the claims.

Claims

1. A medical robot manipulator platform, characterized in that: The platform body comprises a platform body and a supporting frame, wherein the platform body comprises a bottom plate and a shell, wherein the shell cover is arranged on the bottom plate, and the shell is in a semi-enclosed structure, wherein the semi-enclosed structure forms an open space in the direction toward the proximal end; The support frame is arranged in the open space and fixed on the bottom plate; The support frame includes a load-bearing portion and a support portion, the load-bearing portion includes a horizontal bracket and at least one control hand stand connected to each other, and the support portion includes a hand rest pad and a hand rest bracket connected to each other; the horizontal bracket and the hand rest bracket are movably connected to adjust the distance between the control hand stand and the hand rest pad; The hand support bracket includes a connecting end, and the horizontal bracket includes a connecting arm; the connecting end is provided with a notch along the length direction, and a first locking bolt is provided in the notch; a lock core is provided in the connecting arm, and the lock core is provided with a locking hole matching the first locking bolt; one of the connecting end and the connecting arm is inserted into the other, and the first locking bolt passes through the notch and is locked with the locking hole to fix the hand support bracket and the horizontal bracket; when the first locking bolt is loosened in the locking hole, the hand support bracket and the horizontal bracket can move relative to each other; The support frame further includes an adjusting portion, one end of which is fixedly connected to the bottom plate, and the other end of which is connected to the bearing portion to adjust the height and orientation of the bearing portion.

2. The medical robot manipulator platform according to claim 1, characterized in that: The horizontal bracket also includes a first arm and a second arm. The first arm and the second arm are symmetrically arranged along the connecting arm and are both connected to the connecting arm. There are two manipulator hand stands, which are respectively arranged at one end of the first arm and the second arm away from the connecting arm; the manipulator hand stands are movably connected to the horizontal bracket.

3. The medical robot manipulator platform according to claim 2, characterized in that: A fixing column is provided at one end of the first arm away from the connecting arm, and a locking column is provided at the top of the fixing column; the control hand stand includes a mounting frame and a locking structure that are connected to each other, and the mounting frame is movably connected to the locking column through the locking structure.

4. The medical robot manipulator platform according to claim 3, characterized in that: The locking structure includes a U-shaped lock and a second locking bolt; the mounting frame is provided with a mounting hole matching the lock column, and the U-shaped lock is provided with a center hole matching the lock column, the mounting hole corresponds to the center hole, the lock column passes through the mounting hole and the center hole, and the second locking bolt passes through one end of the U-shaped lock and is connected to the other end of the U-shaped lock; when the second locking bolt is adjusted so that the U-shaped lock locks the lock column, the control hand platform and the horizontal bracket are relatively fixed; when the second locking bolt is adjusted so that the U-shaped lock loosens the lock column, the control hand platform and the horizontal bracket can move relative to each other.

5. The medical robot manipulator platform according to claim 1, characterized in that: The adjusting part includes a hydraulic gas rod, a tension spring, and a shift rod; the hydraulic gas rod includes a movable gas rod and a fixed outer rod, one end of the movable gas rod is fixedly connected to the bearing part, and the other end is inserted into the fixed outer rod; the movement of the shift rod drives the movable gas rod to move up and down relative to the fixed outer rod; the two ends of the tension spring are respectively connected to the shift rod and the hydraulic gas rod to drive the shift rod to reset after movement.

6. The medical robot manipulator platform according to claim 5, characterized in that: The movable gas rod is rotatably arranged relative to the fixed outer rod.

7. The medical robot manipulator platform according to claim 5, characterized in that: The adjusting part also includes an elevator, which includes a main support body, a screw rod, a moving block, and a lifting platform; the main support body is fixed to the base plate, the screw rod passes through the main support body and can rotate freely in the main support body, the moving block is sleeved outside the screw rod and cooperates with the screw rod thread, and the rotation of the screw rod drives the interconnected moving block and the lifting platform to move up and down synchronously, and the lifting platform is fixedly connected to the fixed outer rod.

8. The medical robot manipulator platform according to claim 1, wherein: The bottom of the base plate is provided with moving wheels.

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