Suspension mechanism, surgical robot, and its retraction method and extension method

Abstract

The present invention relates to the technical field of surgical robots, and discloses a suspension mechanism, a surgical robot, and a retraction method and an extension method thereof. The suspension mechanism includes a mounting member and at least two sets of suspension assemblies. The at least two sets of suspension assemblies include a first suspension assembly and a second suspension assembly. Each set of suspension assemblies includes a suspension member. The first end of the suspension member is used to connect to the instrument arm, and the second end of the suspension member is rotatably connected to the mounting member around the vertical axis. The height of the second suspension assembly is higher than the height of the suspension member of the first suspension assembly. The second end of the suspension member of the first suspension assembly is located on one side of the second end of the suspension member of the second suspension assembly close to the middle of the mounting member in the left-right direction. The present invention can reduce the volume of the suspension mechanism in the retracted state, reduce the occupied space, facilitate movement, transportation and storage, and at the same time improve the flexibility of the patient's surgical end.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular, to a suspension mechanism, a surgical robot, and a retraction method and an extension method thereof. Background Art

[0002] Surgical robots are widely used in the medical field. A surgical robot includes a patient surgical end and a doctor operation end. The patient surgical end includes a column, a suspension mechanism, and an instrument arm, and a surgical instrument is provided on the instrument arm. During the operation, the doctor controls the movement of the surgical instrument by manipulating an input handle on the doctor operation end to perform a surgical operation on the patient.

[0003] The suspension mechanism includes a mounting member and a connecting arm. Currently, a plurality of instrument arms are usually provided, and a plurality of connecting arms are also provided, and the instrument arms and the connecting arms are connected in one-to-one correspondence. For example, a surgical robot disclosed in Chinese Patent CN217548205U includes an execution end device (i.e., the patient surgical end), and the execution end device is provided with three telescopic arm sub-mechanisms (i.e., connecting arms) and three operating arm sub-mechanisms (i.e., instrument arms), and the telescopic arm sub-mechanisms and the operating arm sub-mechanisms are connected in one-to-one correspondence.

[0004] In the prior art, all the connecting arms are usually set at the same height, resulting in that the connecting arms and the instrument arms can only extend forward, and the occupied space after the operation is large, and there is no overlapping area in the vertical direction, which is not convenient for movement, transportation and storage. At the same time, since the connecting arms are arranged side by side in the horizontal direction, the rotation range of the connecting arms is limited by other nearby connecting arms, affecting the flexibility of the patient surgical end.

[0005] Based on this, there is an urgent need for a suspension mechanism, a surgical robot, and a retraction method and an extension method thereof to solve the above-mentioned problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a suspension mechanism, a surgical robot, and a retraction method and an extension method thereof. The volume of the suspension mechanism in the retracted state is small, reducing the occupied space, being convenient for movement, transportation and storage, and at the same time improving the flexibility of the patient surgical end.

[0007] To achieve this purpose, the present invention adopts the following technical solutions:

[0008] The suspension mechanism includes:

[0009] A mounting member;

[0010] The suspension assembly is arranged in at least two groups along the left - right direction of the mounting member. The at least two groups of suspension assemblies include a first suspension assembly and a second suspension assembly. Each group of suspension assemblies includes a suspension member. The first end of the suspension member is used for connecting with the instrument arm, and the second end of the suspension member is rotatably connected to the mounting member around the vertical axis. The height of the second suspension assembly is higher than that of the suspension member of the first suspension assembly. The second end of the suspension member of the first suspension assembly is located on one side of the second end of the suspension member of the second suspension assembly close to the middle of the mounting member along the left - right direction.

[0011] The suspension mechanism has a working state and a retracted state. When the suspension mechanism is configured to be in the working state, the suspension members are all in the working position where the first end is in front of the second end of itself. When the suspension mechanism is configured to be in the retracted state, the suspension members are all in the retracted position where the first end is behind the second end of itself, and the suspension member of the first suspension assembly is located below the suspension member of the second suspension assembly, and the suspension member of the first suspension assembly and the suspension member of the second suspension assembly are arranged in a staggered and crossed manner.

[0012] As an alternative technical solution of the suspension mechanism, at least two connecting members are movably arranged on the mounting member. At least two suspension members are rotatably connected to at least two connecting members in one - to - one correspondence, and the connecting members can move between the front end and the rear end of the mounting member.

[0013] As an alternative technical solution of the suspension mechanism, a slideway is formed on the mounting member. The connecting member is slidably arranged in the slideway. The extending direction of the slideway is horizontally arranged and inclined to the front - rear direction, and the front end of the slideway is inclined towards the middle of the mounting member along the left - right direction.

[0014] As an alternative technical solution of the suspension mechanism, the suspension assembly further includes a rotating joint. The rotating joint is rotatably connected to the connecting member around the vertical axis, and the second end of the suspension member is connected to the rotating joint.

[0015] The slideway corresponding to the first suspension assembly is formed on the bottom surface of the mounting member, and the slideway corresponding to the second suspension assembly is formed on the mounting side wall on at least one side of the mounting member along the left - right direction.

[0016] As an alternative technical solution of the suspension mechanism, the distance between the two mounting side walls on both sides of the mounting member along the left - right direction increases in the front - to - rear direction, and a connecting position for connecting with a column is arranged at the rear end of the mounting member.

[0017] As an alternative technical solution of the suspension mechanism, the suspension assembly further includes a rotating joint, which includes a first rotating part and a second rotating part. The first rotating part is connected to the mounting member, the second rotating part is connected to the suspension member, the first rotating part is rotatably connected to the second rotating part around a vertical axis, and the first rotating part can move relative to the second rotating part in the vertical direction.

[0018] As an alternative technical solution of the suspension mechanism, the suspension mechanism further includes at least two adapter members. At least two of the adapter members are provided in one-to-one correspondence with at least two of the suspension members. The first end of the suspension member is connected to the adapter member, the adapter member is connected to the instrument arm, and the heights of all the adapter members are the same.

[0019] A surgical robot includes an instrument arm and the suspension mechanism as described above, and the instrument arm is connected to the first end of the suspension member.

[0020] A method for retracting the suspension mechanism, which is applied to the suspension mechanism as described above, includes:

[0021] When the suspension mechanism is in the working state, the suspension member of the second suspension assembly rotates to the retracted position; the suspension member of the first suspension assembly rotates to the retracted position to adjust the suspension mechanism to the retracted state.

[0022] As an alternative technical solution of the method for retracting the suspension mechanism, at least two connecting members are movably provided on the mounting member. The suspension members are connected to the connecting members in one-to-one correspondence, and the connecting members can move between the front end and the rear end of the mounting member;

[0023] Before the suspension member of the first suspension assembly rotates to the retracted position, it further includes: all the connecting members move to the front end of the mounting member.

[0024] As an alternative technical solution of the method for retracting the suspension mechanism, all the connecting members move to the front end of the mounting member, specifically including:

[0025] The connecting member corresponding to the first suspension assembly moves to the front end of the mounting member;

[0026] The connecting member corresponding to the second suspension assembly moves to the front end of the mounting member.

[0027] As an alternative technical solution of the method for retracting the suspension mechanism, four groups of suspension assemblies are provided. The four groups of suspension assemblies include two groups of first suspension assemblies and two groups of second suspension assemblies, and the two groups of first suspension assemblies are located between the two groups of second suspension assemblies;

[0028] Before the connector corresponding to the first suspension assembly moves to the front end of the mounting member, it further includes: rotating the suspension members of at least one group of the first suspension assembly to increase the distance between the first ends of the suspension members of the two groups of the first suspension assembly.

[0029] As an alternative technical solution of the retraction method of the suspension mechanism, before rotating the suspension members of at least one group of the first suspension assembly, it further includes: moving the connector corresponding to the second suspension assembly to the rear end of the mounting member.

[0030] As an alternative technical solution of the retraction method of the suspension mechanism, the suspension members all rotate away from the middle of the mounting member in the left-right direction.

[0031] An extension method of a suspension mechanism, applied to the suspension mechanism as described above, includes:

[0032] When the suspension mechanism is in the retracted state, the suspension members of the first suspension assembly rotate to the working position, and the suspension members of the second suspension assembly rotate to the working position to adjust the suspension mechanism to the working state.

[0033] Advantages of the present invention:

[0034] The suspension mechanism provided by the present invention includes a mounting member and a suspension assembly. When the operation is over, first rotate the suspension member of the second suspension assembly to the retracted position, and then rotate the suspension member of the first suspension assembly to the retracted position, so that the suspension member of the first suspension assembly can rotate from below the second suspension assembly to the retracted position, making the suspension mechanism in the retracted state. The suspension members of the first suspension assembly and the second suspension assembly are arranged in a staggered and crossed manner, realizing partial structural overlap of the first suspension assembly and the second suspension assembly, improving the compactness of the structure of the suspension mechanism, making the volume of the suspension mechanism in the retracted state smaller, reducing the occupied space, and facilitating movement, transportation and storage; moreover, the height of the second suspension assembly is set higher than the height of the suspension member of the first suspension assembly, avoiding being blocked by the second suspension assembly when the suspension member of the first suspension assembly rotates, ensuring that the suspension member of the first suspension assembly has a large rotation range during the operation, improving the practicability and flexibility of the suspension mechanism, and expanding the applicable range of the suspension mechanism; in addition, setting the second suspension assembly and the suspension member of the first suspension assembly at different heights reduces the possibility of interference between the suspension members, improves the reliability of the suspension mechanism during the operation, and is beneficial to improving the safety of the operation.

[0035] The surgical robot provided by the present invention includes the suspension mechanism described in the foregoing text. The volume of the suspension mechanism in the retracted state is small, reducing the volume of the surgical robot when it is idle after the operation, reducing the occupied space, facilitating movement, transportation and storage, expanding the applicable range of the surgical robot, improving the reliability of the surgical robot during the operation, and being beneficial to improving the safety of the operation.

[0036] The retraction method of the suspension mechanism provided by the present invention is applied to the suspension mechanism described in the foregoing text. When the operation ends, first rotate the suspension member of the second suspension assembly to the retracted position, and then rotate the suspension member of the first suspension assembly to the retracted position, so that the suspension member of the first suspension assembly can rotate from below the second suspension assembly to the retracted position, avoiding the second suspension assembly from hindering the rotation of the suspension member of the first suspension assembly, reducing the possibility of interference between the suspension members, reducing the maintenance cost, ensuring that the suspension mechanism can be smoothly adjusted to the retracted state, improving the efficiency of postoperative finishing operations, and reducing the fatigue degree of the operator.

[0037] The extension method of the suspension mechanism provided by the present invention is applied to the suspension mechanism described in the foregoing text. Before the operation starts, first rotate the suspension member of the first suspension assembly to the working position, and then rotate the suspension member of the second suspension assembly to the working position, so that the suspension member of the first suspension assembly can rotate from below the second suspension assembly to the working position, avoiding the second suspension assembly from hindering the rotation of the suspension member of the first suspension assembly, reducing the possibility of interference between the suspension members, reducing the maintenance cost, ensuring that the suspension mechanism can be smoothly adjusted to the working state, improving the efficiency of preoperative preparation operations, and reducing the fatigue degree of the operator. Description of the Drawings

[0038] Figure 1 is a schematic structural diagram of the suspension mechanism at the patient operation end provided in Embodiment 1 of the present invention in the working state;

[0039] Figure 2 is a schematic structural diagram of the suspension mechanism at the patient operation end provided in Embodiment 1 of the present invention in the retracted state;

[0040] Figure 3 is a schematic structural diagram of the suspension mechanism from the first perspective provided in Embodiment 1 of the present invention;

[0041] Figure 4 is a schematic structural diagram of the suspension mechanism from the second perspective provided in Embodiment 1 of the present invention;

[0042] Figure 5 is a bottom view of the suspension mechanism provided in Embodiment 1 of the present invention in the working state;

[0043] Figure 6It is a schematic structural diagram of the suspension mechanism provided in the first embodiment of the present invention in the retracted state;

[0044] Figure 7 It is a bottom view of the suspension mechanism provided in the first embodiment of the present invention in the retracted state;

[0045] Figure 8 It is a side view of the suspension mechanism provided in the first embodiment of the present invention in the retracted state;

[0046] Figure 9 It is a main step flowchart of the retraction method of the suspension mechanism provided in the first embodiment of the present invention;

[0047] Figure 10 It is a detailed step flowchart of the retraction method of the suspension mechanism provided in the first embodiment of the present invention;

[0048] Figure 11 It is a process diagram of the retraction method of the suspension mechanism provided in the first embodiment of the present invention;

[0049] Figure 12 It is a step flowchart of the extension method of the suspension mechanism provided in the first embodiment of the present invention;

[0050] Figure 13 It is a partial structural schematic diagram of the suspension mechanism provided in the third embodiment of the present invention;

[0051] Figure 14 It is a schematic structural diagram of the suspension mechanism provided in the third embodiment of the present invention in the retracted state.

[0052] In the figure:

[0053] 10. Instrument arm; 20. Column; 30. Base; 40. Suspension mechanism; 50. Hospital bed;

[0054] 1. Mounting member; 11. Connecting member; 12. Slideway; 13. Connection position; 14. Mounting side wall; 15. Inclined wall;

[0055] 2. Suspension assembly; 2a. First suspension assembly; 2b. Second suspension assembly; 21. Suspension member; 22. Rotating joint; 221. First rotating part; 222. Second rotating part;

[0056] 3. Adapter; 4. Lifting member. Detailed implementation manners

[0057] To make the technical problems solved by the present invention, the technical solutions adopted, and the achieved technical effects 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 part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0058] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0059] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0060] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and through specific embodiments.

[0061] Embodiment 1

[0062] This embodiment provides a surgical robot, which includes a doctor control end and a patient operation end. The doctor control end includes an input handle, and the patient operation end includes surgical instruments. During the operation, the doctor controls the movement of the surgical instruments by manipulating the input handle to perform surgical operations on the patient.

[0063] As Figures 1 - 2 shown, the patient operation end includes an instrument arm 10, a column 20, a base 30, and a suspension mechanism 40. The column 20 is vertically arranged, the bottom end of the column 20 is connected to the base 30, and the top of the column 20 is connected to the suspension mechanism 40. The suspension mechanism 40 is used to connect with the instrument arm 10, and surgical instruments are arranged on the instrument arm 10. Moving wheels are arranged at the bottom of the base 30 to realize the overall movement of the patient operation end. During the operation, the patient lies on the hospital bed 50.

[0064] Among them, the specific structures of the instrument arm 10, the column 20 and the base 30, as well as other structures at the patient operation end, can all refer to other existing technologies, which are not the focus of protection of this embodiment and will not be elaborated here.

[0065] Specifically, as Figures 1 - 12 shown, the suspension mechanism 40 includes a mounting member 1 and a suspension assembly 2. There are at least two groups of suspension assemblies 2. The at least two groups of suspension assemblies 2 are arranged in the left-right direction. The at least two groups of suspension assemblies 2 include a first suspension assembly 2a and a second suspension assembly 2b. Each group of suspension assemblies 2 includes a suspension member 21. The first end of the suspension member 21 is used to connect to the instrument arm 10. The second end of the suspension member 21 is rotatably connected to the mounting member 1 about the vertical axis. The height of the suspension member 21 of the second suspension assembly 2b is higher than that of the suspension member 21 of the first suspension assembly 2a. The second end of the suspension member 21 of the first suspension assembly 2a is located on one side of the second end of the suspension member 21 of the second suspension assembly 2b close to the middle in the left-right direction.

[0066] The suspension member 21 has a working position and a retracted position. The suspension member 21 is rotatably arranged on the mounting member 1 so that the suspension member 21 can be switched between the working position and the retracted position. When the suspension member 21 is in the working position, the first end of the suspension member 21 is located in front of its second end; when the suspension member 21 is in the retracted position, the first end of the suspension member 21 is located behind its second end.

[0067] The suspension mechanism 40 has a working state and a retracted state. When the suspension mechanism 40 is in the working state, the suspension members 21 are all in the working position, and the first suspension assembly 2a and the second suspension assembly 2b are arranged at intervals in the left-right direction; when the suspension mechanism 40 is in the retracted state, the suspension members 21 are all in the retracted position, and the suspension member 21 of the first suspension assembly 2a is located below the suspension member 21 of the second suspension assembly 2b, and the suspension member 21 of the first suspension assembly 2a and the suspension member 21 of the second suspension assembly 2b are arranged in a staggered and crossed manner.

[0068] It can be understood that before the operation, the suspension mechanism 40 is in the retracted state; when performing preoperative preparations, the suspension member 21 is rotated to the working position, and the suspension mechanism 40 is adjusted to the working state so that the instrument arm 10 is arranged towards the patient; during the operation, the suspension mechanism 40 is always in the working state; after the operation, when performing postoperative sorting, the suspension member 21 is rotated to the retracted position, and the suspension mechanism 40 is adjusted to the retracted state so that the instrument arm 10 is arranged towards the rear side of the mounting member 1.

[0069] The suspension mechanism 40 provided in this embodiment includes a mounting member 1 and a suspension assembly 2. When the operation is completed, first rotate the suspension member 21 of the second suspension assembly 2b to the retracted position, and then rotate the suspension member 21 of the first suspension assembly 2a to the retracted position, so that the suspension member 21 of the first suspension assembly 2a can rotate from below the second suspension assembly 2b to the retracted position, making the suspension mechanism 40 in the retracted state. The suspension members 21 of the first suspension assembly 2a and the second suspension assembly 2b are arranged in a staggered and crossed manner, realizing partial structural overlap of the first suspension assembly 2a and the second suspension assembly 2b, improving the compactness of the structure of the suspension mechanism 40, making the volume of the suspension mechanism 40 in the retracted state smaller, reducing the occupied space, and facilitating movement, transportation and storage. Moreover, the height of the second suspension assembly 2b is set higher than the height of the suspension member 21 of the first suspension assembly 2a, avoiding obstruction by the second suspension assembly 2b when the suspension member 21 of the first suspension assembly 2a rotates, ensuring a large rotation range of the suspension member 21 of the first suspension assembly 2a during the operation, improving the practicability and flexibility of the suspension mechanism, and expanding the applicable range of the suspension mechanism 40. In addition, setting the second suspension assembly 2b and the suspension member 21 of the first suspension assembly 2a at different heights reduces the possibility of mutual interference of the respective suspension members 21, improves the reliability of the suspension mechanism 40 during the operation, and is beneficial to improving the safety of the operation.

[0070] The surgical robot provided in this embodiment includes the suspension mechanism 40 described above. The volume of the suspension mechanism 40 in the retracted state is small, reducing the volume of the surgical robot when it is in the idle state after the operation, reducing the occupied space, facilitating movement, transportation and storage, expanding the applicable range of the surgical robot, improving the reliability of the surgical robot during the operation, and being beneficial to improving the safety of the operation.

[0071] It should be noted that the directional descriptions such as front, back, left, and right mentioned in this embodiment are all referenced based on the normal use state of the suspension mechanism 40. The front-back direction and the left-right direction are both horizontally arranged, and the front-back direction is perpendicular to the left-right direction. The patient is on the front side of the suspension mechanism 40, and the side of the suspension mechanism 40 away from the patient is the back side. During the operation, the position of the suspension assembly 2 is higher than the patient, and the surgical instrument is located above the patient.

[0072] In this embodiment, the suspension member 21 is set as a rod shape and horizontally arranged. The first end and the second end of the suspension member 21 are respectively the two ends of the suspension member 21 along the length direction. In other embodiments, the suspension member 21 can also be inclined to the horizontal plane, which is not limited here.

[0073] It should be noted that during the operation, the suspension member 21 needs to rotate around the vertical axis according to the actual requirements during the operation. As long as the first end of the suspension member 21 is closer to the patient than the second end in the front-rear direction, the suspension member 21 is in the working position. That is to say, the description in the previous text "when the suspension member 21 is in the working position, the first end of the suspension member 21 is located on the front side of its own second end" means that when the suspension member 21 is in the working position, the first end of the suspension member 21 can be located directly in front of or obliquely in front of the second end, and the length direction of the suspension member 21 can be inclined to the front-rear direction of the mounting member 1 or can be arranged along the above-mentioned front-rear direction, without specific limitation. Similarly, as long as the first end of the suspension member 21 is farther from the patient than the second end in the front-rear direction, the suspension member 21 is in the retracted position. The description in the previous text "when the suspension member 21 is in the retracted position, the first end of the suspension member 21 is located on the rear side of its own second end" means that when the suspension member 21 is in the retracted position, the first end of the suspension member 21 can be located directly behind or obliquely behind the second end, and the length direction of the suspension member 21 can be inclined to the front-rear direction of the mounting member 1 or can be arranged along the above-mentioned front-rear direction, without specific limitation.

[0074] In this embodiment, four sets of suspension assemblies 2 are provided, including two sets of first suspension assemblies 2a and two sets of second suspension assemblies 2b. The two sets of first suspension assemblies 2a are located between the two sets of second suspension assemblies 2b. Further, a connection position 13 for connecting to the column 20 is provided in the middle of the mounting member 1 in the left-right direction. One set of first suspension assembly 2a and one set of second suspension assembly 2b are provided on each of the left and right sides of the column 20.

[0075] When the suspension mechanism 40 is in the retracted state, for the first suspension assembly 2a and the second suspension assembly 2b on the same side of the mounting member 1, the suspension member 21 of the first suspension assembly 2a is located below the suspension member 21 of the second suspension assembly 2b. The suspension member 21 of the first suspension assembly 2a and the suspension member 21 of the second suspension assembly 2b are arranged in a staggered and crossed manner. The first end of the suspension member 21 of the first suspension assembly 2a and the column 20 are located on opposite sides of the second suspension assembly 2b. The instrument arm 10 connected to the first suspension assembly 2a and the column 20 are located on both sides of the instrument arm 10 connected to the second suspension assembly 2b.

[0076] In other embodiments, the number of the suspension assemblies 2 can also be adjusted adaptively, which is not limited herein.

[0077] As a preferred solution, at least two connecting members 11 are movably arranged on the mounting member 1. At least two suspension members 21 are rotatably connected to the at least two connecting members 11 in a one-to-one correspondence. The connecting member 11 can move between the front end and the rear end of the mounting member 1. By movably arranging the connecting member 11, the position of the suspension assembly 2 can be adjusted, thereby adjusting the position of the instrument arm 10, achieving the adjustment of the position of the surgical instrument according to the surgical requirements, improving the practicability of the suspension mechanism 40, and expanding the application range of the suspension mechanism 40; in addition, the suspension members 21 are connected to the connecting members 11 in a one-to-one correspondence, and each suspension assembly 2 can also be moved independently, further improving the practicability of the suspension mechanism 40 and further expanding the application range of the suspension mechanism 40; at the same time, when the suspension mechanism 40 is in the retracted state, if the connecting member 11 is at the front end of the mounting member 1, at least part of the suspension assembly 2 coincides with the mounting member 1, further reducing the size of the suspension mechanism 40 in the front-rear direction in the retracted state, that is, reducing the volume of the suspension mechanism 40 in the retracted state, reducing the occupied space, and facilitating movement, transportation and storage.

[0078] In this embodiment, four connecting members 11 are provided, and the four connecting members 11 are correspondingly connected to the four suspension members 21. The connecting member 11 has a block structure.

[0079] Generally, at the beginning of the operation, the distances between all the connecting members 11 and the patient are approximately the same, and the ends of all the surgical instruments are located at the abdomen of the patient. Therefore, the first ends of the suspension members 21 are approximately in the same plane, and this plane is perpendicular to the front-rear direction of the mounting member 1. Moreover, the suspension members 21 are all inclined with respect to the front-rear direction of the mounting member 1. The first ends of the suspension members 21 of the two groups of first suspension assemblies 2a are inclined away from each other, and the angles formed by the suspension members 21 of the two groups of first suspension assemblies 2a and the front-rear direction are approximately the same; the first ends of the suspension members 21 of the two groups of second suspension assemblies 2b are inclined away from each other, and the angles formed by the suspension members 21 of the two groups of second suspension assemblies 2 and the front-rear direction are approximately the same; the angle formed by the suspension member 21 of the first suspension assembly 2a and the front-rear direction is smaller than the angle formed by the suspension member 21 of the second suspension assembly 2 and the front-rear direction.

[0080] In this embodiment, when the suspension mechanism 40 is in the retracted state, the connecting members 11 are all located at the front end of the mounting member 1.

[0081] Specifically, a slideway 12 is formed on the mounting member 1, and the connecting member 11 is slidably arranged in the slideway 12. The provision of the slideway 12 can limit the sliding trajectory of the connecting member 11, preventing the connecting member 11 from having displacements other than the extending direction of the slideway 12, thereby ensuring that the suspension assembly 2 and the instrument arm 10 can only move along the slideway 12. This improves the accuracy of the suspension assembly 2 during movement, reduces the possibility of the suspension assembly 2 and the instrument arm 10 colliding with other structures, enhances the reliability of the suspension mechanism 40 during surgery, and also reduces the maintenance cost. In this embodiment, the front end of the slideway 12 extends to the front end of the mounting member 1, and the rear end of the slideway 12 extends to the rear end of the mounting member 1. Four slideways 12 are provided, and the four slideways 12 are arranged in one-to-one correspondence with the four connecting members 11.

[0082] Generally, at the beginning of the operation, as Figure 3 and Figure 4 shown, the connecting member 11 is located at the foremost end of the corresponding slideway 12. During the operation, as Figure 5 shown, the connecting member 11 is located in the middle of the slideway 12.

[0083] In other embodiments, a slide rail can be used to replace the slideway 12. The slide rail is arranged on the mounting member 1, and the connecting member 11 is slidably engaged with the slide rail. This is not limited herein.

[0084] Furthermore, the extending direction of the slideway 12 is horizontally arranged and inclined with respect to the front-back direction. The front end of the slideway 12 is inclined towards the middle of the mounting member 1 in the left-right direction. When the suspension assembly 2 moves towards the front end of the mounting member 1, that is, towards the direction close to the patient, the suspension assembly 2 also has a movement towards the middle of the mounting member 1 in the left-right direction, reducing the space occupied near the patient and leaving sufficient space near the patient for arranging other treatment devices.

[0085] In this embodiment, the suspension assembly 2 further includes a rotating joint 22. The rotating joint 22 is rotatably connected to the mounting member 1 about a vertical axis, and the rotating joint 22 is connected to the suspension member 21. The rotating joint 22 includes a housing and a rotating shaft. The axis of the rotating shaft is arranged in the vertical direction. The inner rings of two bearings are fixedly sleeved on the rotating shaft, and the housing is fixedly sleeved on the outer rings of the two bearings to achieve the rotational connection between the housing and the rotating shaft. The suspension member 21 is connected to the housing. Structures such as a brake and an encoder are also arranged in the housing. The structure of the rotating joint 22 can refer to the structure of the rotating joint in the prior art. This will not be elaborated herein.

[0086] It can be understood that the description in the previous text "the height of the second suspension assembly 2b is higher than the height of the suspension member 21 of the first suspension assembly 2a" means that the rotating joint 22 of the second suspension assembly 2b is also higher than the height of the suspension member 21 of the first suspension assembly 2a.

[0087] Specifically, the housing of the rotating joint 22 is connected to the suspension member 21, and the top of the rotating shaft of the rotating joint 22 is connected to the bottom surface of the connecting member 11.

[0088] As a preferred solution, the slideway 12 corresponding to the first suspension assembly 2a is opened on the bottom surface of the mounting member 1, and the slideway 12 corresponding to the second suspension assembly 2b is opened on the mounting side wall 14 on at least one side of the mounting member 1 in the left-right direction. With the above arrangement, the height of the slideway 12 corresponding to the first suspension assembly 2a is lower than the height of the slideway 12 corresponding to the second suspension assembly 2b, thereby avoiding achieving the height of the suspension member 21 of the second suspension assembly 2b being higher than that of the first suspension assembly 2a by shortening the axial dimension of the rotating joint 22 corresponding to the second suspension assembly 2b. This ensures that there is sufficient space inside the rotating joint 22 to arrange structures such as bearings, and also enables there to be sufficient space between the two bearings, ensuring stable support for the suspension member 21 and improving the structural stability of the suspension mechanism 40; it also avoids achieving the height of the suspension member 21 of the second suspension assembly 2b being higher than that of the first suspension assembly 2a by increasing the axial dimension of the rotating joint 22 corresponding to the first suspension assembly 2a, avoiding an increase in the height dimension of the suspension mechanism 40, thereby avoiding an increase in the space occupied by the suspension mechanism 40. When the space height of the surgical environment is fixed, it also increases the height difference between the suspension mechanism 40 and the patient, leaving sufficient space for the instrument arm 10 to move, avoiding affecting the movement of the instrument arm 10, and also reducing the possibility of collision between the instrument arm 10 and the patient or other structures due to the instrument arm 10 being too short, improving the safety of the surgery.

[0089] In this embodiment, the shapes, sizes, and structures of all the rotating joints 22 are the same, and all the suspension members 21 are respectively connected to the same position of the corresponding rotating joints 22.

[0090] In other embodiments, all the slideways 12 can also be opened on the bottom surface of the mounting member 1. By setting the rotating joint 22 corresponding to the first suspension assembly 2a and the rotating joint 22 corresponding to the second suspension assembly 2b at different heights, the height of the suspension member 21 of the second suspension assembly 2b can be made higher than that of the first suspension assembly 2a; alternatively, two grooves are opened on the bottom surface of the mounting member 1, and a slideway 12 is respectively arranged in each of the two grooves. The slideway 12 is opened on the groove wall on one side of the groove in the left-right direction, and the extending direction of the groove is the same as the extending direction of the corresponding slideway 12. A connecting member 11 corresponding to the second suspension assembly 2b is arranged in each groove.

[0091] In some other embodiments, the top of the rotation axis of the rotation joint 22 of the first suspension assembly 2a can also be connected to the bottom surface of the connecting member 11, and the rotation axis of the rotation joint 22 of the second suspension assembly 2b is connected to the side wall of the connecting member 11 through an adapter seat, further increasing the height difference between the second suspension assembly 2b and the suspension member 21 of the first suspension assembly 2a, and reducing the possibility of the instrument arm 10 colliding during the rotation of the suspension member 21.

[0092] Specifically, the connection position 13 is arranged at the rear end of the mounting member 1. In this embodiment, the connection position 13 is in a groove shape and is opened on the bottom surface of the mounting member 1. In other embodiments, the connection position 13 can also be opened on the rear end surface of the mounting member 1, which is not limited herein.

[0093] In some embodiments, the column 20 and the base 30 are not provided, and the suspension mechanism 40 can be directly connected to the ceiling of the operating room. At this time, the connection position 13 is located on the top surface of the mounting member 1, which is not limited herein.

[0094] Preferably, as Figures 1 - 7 shown, the distance between the two mounting side walls 14 on both sides of the mounting member 1 in the left-right direction increases in the front-to-rear direction, so that the width dimension of the rear end of the mounting member 1 is larger, which is beneficial to increasing the weight of the rear end of the mounting member 1, reducing the possibility of the column 20 and the mounting member 1 tipping forward, and improving the safety of the operation; at the same time, during the operation, since the instrument arm 10 and the suspension member 21 are both covered with sterile bags and the mounting member 1 is exposed to the air, the mounting member 1 belongs to a bacteria-containing structure, and the width of the front end of the mounting member 1 is smaller, which can also reduce the area of the bacteria-containing structure near the patient and ensure the safety of the operation.

[0095] In this embodiment, the front ends of the two mounting side walls 14 are both inclined towards the middle of the mounting member 1 in the left-right direction. In other embodiments, one of the mounting side walls 14 can also be arranged in the front-rear direction, and the front end of the other mounting side wall 14 is inclined towards the middle of the mounting member 1 in the left-right direction, which is not limited herein.

[0096] It can be understood that the front end of the slideway 12 is inclined towards the middle of the mounting member 1 in the left-right direction, which can also further reduce the width of the front end of the mounting member 1 and further ensure the safety of the operation.

[0097] Furthermore, an inclined wall 15 is connected between the mounting side wall 14 of the mounting member 1 and the rear end surface of the mounting member 1. The rear end of the inclined wall 15 is inclined towards the middle of the mounting member 1 in the left-right direction, avoiding the excessive width of the rear end of the mounting member 1 and also reducing the volume of the suspension mechanism 40, ensuring the convenience of movement, transportation and storage.

[0098] In this embodiment, sliding grooves 12 are formed in both mounting side walls 14 of the mounting member 1. The corresponding mounting side walls 14 and the corresponding sliding grooves 12 extend in the same direction, so that the depth of the sliding grooves 12 formed in the mounting side walls 14 is a constant value, which is convenient for production and processing.

[0099] As a preferred solution, the suspension mechanism 40 further includes at least two adapter members 3. The at least two adapter members 3 are provided in one-to-one correspondence with at least two suspension members 21. The first end of the suspension member 21 is fixedly connected to the side wall of the adapter member 3. The adapter member 3 is connected to the instrument arm 10, and the heights of all the adapter members 3 are the same. With the above arrangement, when starting the operation, it is beneficial to make all the instrument arms 10 at the same height, reducing the control difficulty of the surgical robot. At the same time, it is also convenient to make the heights of the surgical instruments the same by using the instrument arms 10 with the same structure, reducing the design difficulty.

[0100] Specifically, the shapes, structures, and sizes of all the adapter members 3 are the same. The "the heights of all the adapter members 3 are the same" described above means that the top surfaces of all the adapter members 3 are in the same horizontal plane, and the bottom surfaces of all the adapter members 3 are in the same horizontal plane. It can be understood that the suspension members 21 of the first suspension assembly 2a and the suspension members 21 of the second suspension assembly 2b are respectively connected to different positions in the vertical direction of the corresponding adapter members 3 to make the heights of all the adapter members 3 the same.

[0101] Furthermore, a lifting member 4 is provided on the adapter member 3. The lifting member 4 can move relative to the adapter member 3 in the vertical direction, and the instrument arm 10 is connected to the lifting member 4. In this embodiment, the adapter member 3 extends in the vertical direction, and a vertical sliding rail is provided on the side wall of the adapter member 3. The lifting member 4 is a slider, and the slider is slidably arranged on the sliding rail. Compared with setting the lifting member 4 at the bottom of the adapter member 3 and being able to extend into or out of the adapter member 3 in the vertical direction, the above arrangement shortens the height dimension of the overall structure formed by the adapter member 3 and the lifting member 4, thereby reducing the height dimension of the suspension mechanism 40, and thus reducing the space occupied by the suspension mechanism 40. When the space height of the surgical environment is certain, the height difference between the suspension mechanism 40 and the patient is further increased.

[0102] This embodiment also provides a method for retracting the suspension mechanism, which is applied to the suspension mechanism 40 described above and is used to adjust the suspension mechanism 40 in the working state to the retracted state during postoperative arrangement.

[0103] Specifically, as Figure 9 shown, the method for retracting the suspension mechanism includes:

[0104] Step S1, the suspension member 21 of the second suspension assembly 2b rotates to the retracted position;

[0105] Step S2: The suspension member 21 of the first suspension assembly 2a rotates to the retracted position.

[0106] After steps S1 and S2, the suspension mechanism can be adjusted to the retracted state.

[0107] It can be understood that before step S1, the suspension mechanism 40 is in the working state.

[0108] The method for retracting the suspension mechanism provided in this embodiment is applied to the suspension mechanism 40 described above. When the operation is over, first rotate the suspension member 21 of the second suspension assembly 2b to the retracted position, and then rotate the suspension member 21 of the first suspension assembly 2a to the retracted position, so that the suspension member 21 of the first suspension assembly 2a can rotate from below the second suspension assembly 2b to the retracted position, avoiding the second suspension assembly 2b from hindering the rotation of the suspension member 21 of the first suspension assembly 2a, reducing the possibility of interference between the suspension members 21, reducing the maintenance cost, and also ensuring that the suspension mechanism 40 can be smoothly adjusted to the retracted state, improving the efficiency of postoperative finishing operations and reducing the fatigue of the operator.

[0109] As a preferred solution, in all steps of the method for retracting the suspension mechanism, the suspension member 21 rotates towards the middle of the mounting member 1 in the left-right direction away from it, so that the suspension members 21 of the two first suspension assemblies 2a rotate backward in the direction of moving away from each other towards the first end, and the suspension members 21 of the two second suspension assemblies 2b also rotate backward in the direction of moving away from each other towards the first end, avoiding the instrument arms 10 from colliding with each other or even being damaged, which is beneficial to improving the durability of the suspension mechanism 40 and reducing the maintenance cost; at the same time, it also avoids the adapter 3 corresponding to the second suspension assembly 2b from hindering the rotation of the suspension member 21 of the first suspension assembly 2a, further ensuring that the suspension mechanism 40 can be smoothly adjusted to the retracted state, improving the efficiency of postoperative finishing operations and reducing the fatigue of the operator.

[0110] The following combines Figure 10 and Figure 11 to describe in detail the method for retracting the suspension mechanism provided in this embodiment.

[0111] As shown in Figure 10 and Figure 11 , the method for retracting the suspension mechanism includes:

[0112] Step S1: The suspension member 21 of the second suspension assembly 2b rotates to the retracted position.

[0113] Specifically, rotate the suspension member 21 of the second suspension assembly 2b backward until the first end faces the rear side of the mounting member 1, and the instrument arm 10 connected to the second suspension assembly 2b is located on one side of the column 20. The suspension member 21 of the second suspension assembly 2b rotates towards the middle of the mounting member 1 in the left-right direction away from it.

[0114] Preferably, after step S1 and before step S2, the method further includes: step S11, moving all the connectors 11 to the front end of the mounting member 1.

[0115] Specifically, move the connector 11 to the front end of the slideway 12. Among them, each connector 11 can be manually slid, or the connector 11 can be driven to move by a cylinder or other driving member, which is not limited herein.

[0116] It can be understood that since the front end of the slideway 12 is inclined towards the middle of the mounting member 1 in the left - right direction, when the suspension assembly 2 moves towards the front end of the mounting member 1, that is, when moving towards the patient, the suspension assembly 2 also has a movement towards the middle of the mounting member 1 in the left - right direction. If the connector 11 is directly moved forward in the pose of the surgical robot during the operation, the suspension assemblies 2 and the instrument arm 10 will approach each other, increasing the possibility of collision between the instrument arm 10 and the suspension assemblies 2. With the above - mentioned setting, after the suspension member 21 of the second suspension assembly 2b is rotated backward to the retracted position, then all the connectors 11 are moved forward, reducing the possibility of collision between the second suspension assembly 2b and the first suspension assembly 2a, reducing the maintenance cost, and extending the service life of the suspension mechanism 40.

[0117] As a preferred solution, step S11 specifically includes:

[0118] Step S111, moving the connector 11 corresponding to the first suspension assembly 2a to the front end of the mounting member 1.

[0119] Specifically, slide the connector 11 corresponding to the first suspension assembly 2a to the front end of the slideway 12. With the above - mentioned setting, the first suspension assembly 2a is moved forward alone first, avoiding the simultaneous forward movement of the first suspension assembly 2a and the second suspension assembly 2b. If the connector 11 is manually moved, it can avoid increasing the fatigue degree of the operator.

[0120] Before step S111, the method further includes: step S101, rotating the suspension member 21 of at least one group of the first suspension assemblies 2a in a direction away from the middle of the mounting member 1 in the left - right direction to increase the distance between the first ends of the suspension members 21 of the two groups of the first suspension assemblies 2a. The rotation angle is greater than 0.

[0121] Preferably, after step S101, the suspension member 21 of the first suspension assembly 2a remains in the working position.

[0122] Such as Figure 11As shown, after passing through step S101, the suspension mechanism 40 in Figure (c) presents the state shown in Figure (d). In Figure (c), the included angle between the suspension member 21 of the first suspension assembly 2a and the front-rear direction is α. After passing through step S101, in Figure (d), the included angle between the suspension member 21 of the first suspension assembly 2a and the front-rear direction is β, where α < β. Preferably, β is greater than 0 and less than 80°.

[0123] With the above arrangement, before moving the connecting member 11 corresponding to the first suspension assembly 2a forward, the suspension members 21 of the two first suspension assemblies 2a can be made to move away from each other, reducing the possibility of the suspension members 21 of the two first suspension assemblies 2a colliding with each other, which is beneficial to extending the service life of the suspension mechanism 40.

[0124] It can be understood that when performing step S111, the two first suspension assemblies 2a will move closer to each other. Therefore, after step S101, performing step S111, that is, before the two first suspension assemblies 2a move closer to each other, increases the distance between the two first suspension assemblies 2a, avoiding the possibility of the above two suspension members 21 colliding with each other.

[0125] Further, between step S101 and step S1, there is also included: step S10, moving the connecting member 11 corresponding to the second suspension assembly 2b to the rear end of the mounting member 1.

[0126] Specifically, sliding the connecting member 11 corresponding to the second suspension assembly 2b to the rear end of the slideway 12. In step S101, the first ends of the suspension members 21 of the two first suspension assemblies 2a move in a direction away from each other. Therefore, before step S101, performing step S10 further increases the distance between the second suspension assembly 2b and the first suspension assembly 2a, reducing the possibility of the second suspension assembly 2b and the first suspension assembly 2a colliding with each other, which is beneficial to extending the service life of the suspension mechanism 40 and reducing the maintenance cost.

[0127] After step S111, step S11 also includes: step S112, moving the connecting member 11 corresponding to the second suspension assembly 2b to the front end of the mounting member 1.

[0128] Specifically, sliding the connecting member 11 corresponding to the second suspension assembly 2b to the rear end of the slideway 12. With the above arrangement, the second suspension assembly 2b can be moved forward alone, further avoiding increasing the fatigue of the operator.

[0129] Step S2, rotating the suspension member 21 of the first suspension assembly 2a to the retracted position.

[0130] Specifically, rotate the suspension member 21 of the first suspension assembly 2a backward until the first end faces the rear side of the mounting member 1, and the instrument arm 10 connected to the second suspension assembly 2b is located on one side of the column 20. The suspension member 21 of the second suspension assembly 2b rotates toward the middle in the left-right direction away from the mounting member 1.

[0131] In this embodiment, in step S1, step S101, and step S2, the suspension member 21 can be rotated manually or driven by a motor; the connecting member 11 can be moved manually or driven by a driving member such as a cylinder or a linear motor to move the connecting member 11, and no limitation is made here.

[0132] If the suspension member 21 is rotated by a motor, an encoder is provided in the rotating joint 22. The encoder is used to detect the rotation angle of the corresponding suspension member 21, and the start and stop of the motor are controlled according to the value detected by the encoder. Among them, the principle of controlling the start and stop of the motor using the value detected by the encoder can refer to the prior art and will not be elaborated here.

[0133] In Figure 11 Figure (a), the suspension mechanism 40 is in the working state, and in Figure (g), the suspension mechanism 40 is in the retracted state. The suspension mechanism 40 in Figure (a) presents the state of Figure (b) after passing through step S1; the suspension mechanism 40 in Figure (b) presents the state of Figure (c) after passing through step S10; the suspension mechanism 40 in Figure (c) presents the state of Figure (d) after passing through step S101; the suspension mechanism 40 in Figure (d) presents the state of Figure (e) after passing through step S111; the suspension mechanism 40 in Figure (e) presents the state of Figure (f) after passing through step S112; the suspension mechanism 40 in Figure (f) presents the state of Figure (g) after passing through step S2. In Figures (a) to (g), the movement directions of relevant structures are marked with dashed arrows.

[0134] This embodiment also provides a method for extending a suspension mechanism, which is applied to the suspension mechanism 40 described above and is used to adjust the suspension mechanism 40 in the retracted state to the working state during preoperative preparation.

[0135] Specifically, as Figure 12 shown, the method for extending the suspension mechanism includes:

[0136] Step S201: Rotate the suspension member 21 of the first suspension assembly 2a to the working position;

[0137] Step S202: Rotate the suspension member 21 of the second suspension assembly 2b to the working position.

[0138] After passing through step S201 and step S202, the suspension mechanism 40 can be adjusted to the working state.

[0139] It can be understood that before performing step S201, the suspension mechanism 40 is in a retracted state.

[0140] The extension method of the suspension mechanism provided in this embodiment is applied to the suspension mechanism 40 described above. Before starting the operation, first rotate the suspension member 21 of the first suspension assembly 2a to the working position, and then rotate the suspension member 21 of the second suspension assembly 2b to the working position, so that the suspension member 21 of the first suspension assembly 2a can rotate from below the second suspension assembly 2b to the working position, avoiding the second suspension assembly 2b from hindering the rotation of the suspension member 21 of the first suspension assembly 2a, reducing the possibility of interference between the suspension members 21, reducing the maintenance cost, and also ensuring that the suspension mechanism 40 can be smoothly adjusted to the working state, improving the efficiency of preoperative preparation operations and reducing the fatigue of the operator.

[0141] In this embodiment, the suspension member 21 can be rotated manually or driven by a motor, and no limitation is made here.

[0142] Embodiment Two

[0143] This embodiment provides a suspension mechanism, a surgical robot, and its retraction method and extension method. The structure of this embodiment is the same as that of Embodiment One, only the steps of the retraction method are different. This embodiment will not repeat the other structures that are the same as those in Embodiment One.

[0144] Specifically, step S1 further includes: the connecting member 11 corresponding to the second suspension assembly 2b moves to the rear end of the mounting member 1. And step S1 is specifically: while the suspension member 21 of the second suspension assembly 2b rotates to the retracted position, move the connecting member 11 corresponding to the second suspension assembly 2b backward to the rear end of the mounting member 1.

[0145] The above setting can move the connecting member 11 backward while rotating the suspension member 21 of the second suspension assembly 2b backward, improving the operation efficiency of postoperative arrangement and reducing the fatigue of the operator; in addition, when manually rotating the suspension member 21 and pushing the connecting member 11, it is also convenient to apply a backward force to the connecting member 11, improving the operation convenience.

[0146] Embodiment Three

[0147] This embodiment provides a suspension mechanism, a surgical robot, and its retraction method and extension method. The structure of this embodiment is basically the same as that of Embodiment One, only the structure of the rotating joint is different. This embodiment will not repeat the other structures that are the same as those in Embodiment One.

[0148] In this embodiment, as Figure 13 and Figure 14As shown, the rotating joint 22 includes a first rotating part 221 and a second rotating part 222. The first rotating part 221 is connected to the connecting part 11, and the second rotating part 222 is connected to the suspension part 21. The first rotating part 221 is rotatably connected to the second rotating part 222 around a vertical axis, and the first rotating part 221 can move relative to the second rotating part 222 in the vertical direction.

[0149] The rotating joint 22 is arranged as a telescopic structure, which can change the height of the suspension part 21, so that the height of the instrument arm 10 and the surgical instrument can also be adjusted. Further, it is convenient to adjust the height of the surgical instrument according to requirements. The combined setting of the lifting part 4 and the rotating joint 22 expands the height adjustment range of the surgical instrument, expands the applicable range of the surgical robot, and also improves the practicability of the surgical robot.

[0150] In this embodiment, as Figure 14 shown, when the suspension mechanism 40 is in the retracted state, the suspension parts 21 are all in the retracted positions. The suspension part 21 of the first suspension assembly 2a is located on the side closer to the column 20 of the suspension part 21 of the second suspension assembly 2b. The suspension part 21 of the first suspension assembly 2a is substantially parallel to the suspension part 21 of the second suspension assembly 2b.

[0151] It can be understood that in the first embodiment, during the rotation of the suspension part 21 of the first suspension assembly 2a, due to the setting of the adapter 3, the rotation range of the suspension part 21 of the first suspension assembly 21 is restricted. In this embodiment, the rotating joint 22 is arranged as a telescopic structure, so that the height of the suspension part 21 can be changed. The suspension part 21 of the first suspension assembly 2a can descend, and the second suspension assembly 2b can also ascend. When the suspension part 21 of the first suspension assembly 2a rotates below the second suspension assembly 2b, the adapter 3 connected to the first suspension assembly 2a can also pass below the second suspension assembly 2b and rotate past the second suspension assembly 2b, so that the suspension parts 21 of the two first suspension assemblies 2a can rotate between the two second suspension assemblies 2b.

[0152] Therefore, arranging the rotating joint 22 as a telescopic structure also increases the types of relative positions between the first suspension assembly 2a and the second suspension assembly 2b when the suspension mechanism 40 is in the retracted state, facilitating the operator to select any one of the two structures of the suspension mechanism 40 in the retracted state described in the first embodiment and this embodiment according to the actual structure of the instrument arm 10, and expanding the applicable range of the suspension mechanism 40.

[0153] In some embodiments, the first rotating part 221 is the cylinder block of a cylinder. A bearing is sleeved on the piston rod of the cylinder, and the second rotating part 222 is connected to the outer ring of the bearing, so as to achieve the "the first rotating part 221 is rotatably connected to the second rotating part 222 around the vertical axis, and the first rotating part 221 can move relative to the second rotating part 222 in the vertical direction" described above.

[0154] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. Suspension mechanism, characterized in that, Comprising: Mounting member; Suspension assemblies, at least two groups are arranged in the left - right direction of the mounting member. The at least two suspension assemblies include a first suspension assembly and a second suspension assembly. Each suspension assembly includes a suspension member. The first end of the suspension member is used to connect to the instrument arm, and the second end of the suspension member is rotatably connected to the mounting member about a vertical axis. The height of the suspension member of the second suspension assembly is higher than that of the suspension member of the first suspension assembly. The second end of the suspension member of the first suspension assembly is located on the side closer to the middle of the mounting member in the left - right direction of the second end of the suspension member of the second suspension assembly; The suspension mechanism has a working state and a retracted state. When the suspension mechanism is configured to be in the working state, the suspension members are all in the working position where the first end is in front of the second end of itself; when the suspension mechanism is configured to be in the retracted state, the suspension members are all in the retracted position where the first end is behind the second end of itself, and the suspension member of the first suspension assembly is located below the suspension member of the second suspension assembly, and the suspension member of the first suspension assembly and the suspension member of the second suspension assembly are arranged in a staggered and crossed manner; At least two connecting members are movably arranged on the mounting member. At least two suspension members are rotatably connected to at least two connecting members one by one, and the connecting members can move between the front end and the rear end of the mounting member.

2. The suspension mechanism according to claim 1, characterized in that, A slideway is formed on the mounting member. The connecting member is slidably arranged in the slideway. The extending direction of the slideway is horizontally arranged and inclined to the front - rear direction, and the front end of the slideway is inclined towards the middle of the mounting member in the left - right direction.

3. The suspension mechanism according to claim 2, wherein The suspension assembly further includes a rotating joint. The rotating joint is rotatably connected to the connecting member about a vertical axis, and the second end of the suspension member is connected to the rotating joint; The slideway corresponding to the first suspension assembly is formed on the bottom surface of the mounting member, and the slideway corresponding to the second suspension assembly is formed on the mounting side wall on at least one side of the mounting member in the left - right direction.

4. The suspension mechanism according to any one of claims 1-3, characterized in that, The distance between the two mounting side walls on both sides of the mounting member in the left - right direction increases in the front - to - rear direction, and a connecting position for connecting to a column is provided at the rear end of the mounting member.

5. The suspension mechanism according to any one of claims 1-3, characterized in that, The suspension assembly further includes a rotating joint. The rotating joint includes a first rotating part and a second rotating part. The first rotating part is connected to the mounting member, the second rotating part is connected to the suspension member, the first rotating part is rotatably connected to the second rotating part about a vertical axis, and the first rotating part can move relative to the second rotating part in the vertical direction.

6. The suspension mechanism according to any one of claims 1-3, characterized in that, The suspension mechanism further includes at least two adapter members. At least two adapter members are provided corresponding to at least two suspension members one by one. The first end of the suspension member is connected to the adapter member, and the adapter member is connected to the instrument arm; the suspension members of the first suspension assembly and the second suspension assembly are respectively connected to different positions of the corresponding adapter member in the vertical direction so that the heights of all the adapter members are the same.

7. Surgical robot, characterized in that, Comprising an instrument arm and a suspension mechanism as described in any one of claims 1-6, wherein the instrument arm is connected to the first end of the suspension member.

8. A method for retracting a suspension mechanism, applied to the suspension mechanism according to any one of claims 1-6, characterized in that, Comprising: When the suspension mechanism is in the working state, the suspension member of the second suspension assembly rotates to the retracted position; The suspension member of the first suspension assembly rotates to the retracted position to adjust the suspension mechanism to the retracted state.

9. The retraction method of the suspension mechanism according to claim 8, characterized in that, At least two connecting members are movably provided on the mounting member, and the suspension members are respectively connected to the connecting members one by one, and the connecting members can move between the front end and the rear end of the mounting member; Before the suspension member of the first suspension assembly rotates to the retracted position, it further includes: all the connecting members move to the front end of the mounting member.

10. The method for retracting the suspension mechanism according to claim 9, characterized in that, All the connecting members move to the front end of the mounting member, specifically including: The connecting member corresponding to the first suspension assembly moves to the front end of the mounting member; The connecting member corresponding to the second suspension assembly moves to the front end of the mounting member.

11. The method for retracting the suspension mechanism according to claim 10, wherein Four groups of suspension assemblies are provided, and the four groups of suspension assemblies include two groups of first suspension assemblies and two groups of second suspension assemblies, and the two groups of first suspension assemblies are located between the two groups of second suspension assemblies; Before the connecting member corresponding to the first suspension assembly moves to the front end of the mounting member, it further includes: rotating the suspension member of at least one group of the first suspension assemblies to increase the distance between the first ends of the suspension members of the two groups of first suspension assemblies.

12. The method for retracting the suspension mechanism according to claim 11, characterized in that, Before rotating the suspension member of at least one group of the first suspension assemblies, it further includes: the connecting member corresponding to the second suspension assembly moves to the rear end of the mounting member.

13. The method for retracting the suspension mechanism according to any one of claims 8-12, characterized in that, The suspension members all rotate away from the middle of the mounting member in the left-right direction.

14. A method for extending a suspension mechanism, applied to the suspension mechanism according to any one of claims 1-6, characterized in that, Comprising: When the suspension mechanism is in the retracted state, the suspension member of the first suspension assembly rotates to the working position, and the suspension member of the second suspension assembly rotates to the working position to adjust the suspension mechanism to the working state.

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