Parking lock system and method for single-arm surgical robot and single-arm surgical robot

Abstract

The application provides a parking lock system and method of a single-arm surgical robot and the single-arm surgical robot, and relates to the technical field of surgical robots. The parking lock system of the single-arm surgical robot comprises a single-arm surgical robot vehicle body, a light shielding block, a photoelectric switch, a drive controller and an electromagnetic brake which are installed on the single-arm surgical robot vehicle body. The light shielding block is movable relative to the single-arm surgical robot vehicle body and is used for triggering or untriggering the photoelectric switch. The electromagnetic brake is connected with a transmission shaft of the single-arm surgical robot vehicle body through a gear pair. The drive controller is in communication connection with the photoelectric switch and the electromagnetic brake respectively, and is used for making the electromagnetic brake limit the rotation of the transmission shaft through the gear pair according to a triggering signal of the photoelectric switch. Displacement of the single-arm surgical robot in a master-slave state can be avoided, so that the stability of the single-arm surgical robot in a surgical process is improved.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more specifically, to a parking lock system and method for a single-arm surgical robot, and to a single-arm surgical robot. Background Technology

[0002] Single-arm surgical robots are common medical devices used in surgery due to their diverse configurations, compact size, and ease of transport. However, because of their small size and light weight, single-arm robots are easily displaced by external interference during surgery, which can lead to medical accidents. Summary of the Invention

[0003] The problem addressed by this invention is how to improve the stability of a single-arm surgical robot during surgery.

[0004] To address the aforementioned problems, this invention provides a parking lock system for a single-arm surgical robot, comprising a single-arm surgical robot body, and a light-shielding block, a photoelectric switch, a drive controller, and an electromagnetic brake mounted on the single-arm surgical robot body. The drive controller is used for communication with the master-slave system of the single-arm surgical robot. The light-shielding block is movable relative to the single-arm surgical robot body to trigger or de-trigger the photoelectric switch. The electromagnetic brake is connected to the drive shaft of the single-arm surgical robot body via a gear pair. The drive controller is communicatively connected to both the photoelectric switch and the electromagnetic brake, and is used to restrict the rotation of the drive shaft via the gear pair based on the trigger signal of the photoelectric switch.

[0005] Optionally, the parking locking system of the single-arm surgical robot further includes two parallel and equal-length first links and a second link with a length greater than the first links. The two ends of the second link are rotatably connected to one end of each of the two first links. The single-arm surgical robot body is provided with two parallel drive shafts. The other ends of the two first links are keyed to the two drive shafts. The second link and the two first links are used to swing with the rotation of the drive shafts. The photoelectric switch is located between the two drive shafts, and the transmitting end and receiving end of the photoelectric switch are located on both sides of the second link. The light-shielding block is connected to the second link, and the light-shielding block passes between the transmitting end and the receiving end when it swings with the second link.

[0006] Optionally, the parking locking system of the single-arm surgical robot further includes a pedal. The single-arm surgical robot body includes a chassis, on which two parallel drive shafts are provided. One end of the pedal is drivenly connected to one of the two drive shafts, and the other end of the pedal extends to the outside of the chassis in a direction away from the other drive shaft. The pedal is used to drive the drive shaft to rotate so that the light-shielding block moves between the transmitter and receiver.

[0007] Optionally, the chassis is provided with a clearance notch located below the pedal.

[0008] Optionally, the parking locking system of the single-arm surgical robot further includes an unlocking block and an unlocking pedal. The unlocking pedal includes a foot-operated end and an unlocking end. The foot-operated end and the unlocking end are rotatably connected to the chassis. The unlocking block is fixedly connected to one of the two drive shafts. The unlocking pedal is located on the side of the unlocking block away from the other drive shaft, and the unlocking end is located between the foot-operated end and the unlocking block. The unlocking pedal is used to drive the unlocking block and the drive shaft connected to it to rotate, so that the light-shielding block moves away from the transmitter and receiver.

[0009] Optionally, the unlocking block and the pedal are both connected to the same drive shaft.

[0010] Optionally, the electromagnetic brake is connected to one of the two drive shafts via the gear pair, and the pedal is driven to the other drive shaft.

[0011] Optionally, the unlocking pedal is rotatably connected to the chassis via a spring.

[0012] Compared with the prior art, the parking lock system of the single-arm surgical robot of the present invention uses a light-blocking block to block the transmission between the transmitter and receiver of the photoelectric switch, thereby triggering the photoelectric switch. The drive controller can then convert the trigger signal of the photoelectric switch into a control signal for the electromagnetic brake. This allows the electromagnetic brake to limit the rotation of the gear pair through electromagnetic force, which in turn limits the rotation of the drive shaft of the single-arm surgical robot. In this way, as long as the light-blocking block blocks the transmission between the transmitter and receiver of the photoelectric switch, the electromagnetic brake can always limit the rotation of the drive shaft of the single-arm surgical robot through the gear pair. Even if the single-arm surgical robot is subjected to external interference, the drive shaft will not transmit power to the wheels, thereby preventing displacement of the single-arm surgical robot and improving the stability of the single-arm surgical robot during surgery.

[0013] Secondly, the present invention also provides a parking lock method for a single-arm surgical robot, based on the parking lock system for the single-arm surgical robot as described above, the method comprising the following steps:

[0014] When the single-arm surgical robot needs to be parked, the pedal is stepped on to trigger the photoelectric switch. The drive controller controls the electromagnetic brake to be energized according to the trigger signal of the photoelectric switch. The electromagnetic brake locks the drive shaft through a gear pair.

[0015] When it is necessary to release the parking state of the single-arm surgical robot, step on the unlock pedal to deactivate the photoelectric switch. The drive controller then de-energizes the electromagnetic brake to release the gear pair from locking the drive shaft.

[0016] Compared with the prior art, the parking lock method of the single-arm surgical robot of the present invention uses a light-blocking block to block the transmission between the transmitter and receiver of the photoelectric switch, thereby triggering the photoelectric switch. The drive controller can convert the trigger signal of the photoelectric switch into a control signal of the electromagnetic brake, so that the electromagnetic brake can limit the rotation of the gear pair through electromagnetic force, and then limit the rotation of the drive shaft of the single-arm surgical robot body through the gear pair. Then, through the communication connection between the drive controller and the master-slave system of the single-arm surgical robot, the drive controller can drive the electromagnetic brake to unlock the parking system under the action of two trigger signals from the master-slave system and the light-blocking block. In this way, during surgery, the drive controller can drive the electromagnetic brake to park under the dual judgment of the two trigger signals from the master-slave system and the light-blocking block, realizing the communication connection between the parking lock system of the single-arm surgical robot and the master-slave system, thereby preventing false locking during surgery and further improving the stability of parking.

[0017] Thirdly, the present invention also provides a single-arm surgical robot, including the parking lock system of the single-arm surgical robot as described above.

[0018] The advantages of this single-arm surgical robot and its parking lock system compared to existing technologies are the same, and will not be elaborated here. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the electromagnetic brake unlocking mechanism in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the electromagnetic brake in parking mode according to an embodiment of the present invention;

[0021] Figure 3 This is a flowchart of the parking lock method for a single-arm surgical robot in an embodiment of the present invention;

[0022] Figure 4 This is another flowchart of the parking and locking method for the single-arm surgical robot in this embodiment of the invention.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1-Single-arm surgical robot body; 11-Drive shaft; 12-Chassis; 121-Avoidance notch; 2-Light blocking block; 3-Photoelectric switch; 31-Transmitter; 32-Receiver; 4-Drive controller; 5-Electromagnetic brake; 6-Gear pair; 7-First link; 8-Second link; 9-Pedal; 10-Unlocking block; 20-Unlocking pedal; 21-Stepping end; 22-Unlocking end. Detailed Implementation

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0026] In the attached diagram, the Z-axis represents the vertical direction, i.e., up and down. The positive direction of the Z-axis (where the arrow points) indicates up, and the negative direction (opposite to the positive Z-axis) indicates down. The X-axis represents the horizontal direction, with the positive direction (where the arrow points) indicating right and the negative direction (opposite to the positive X-axis) indicating left. The Y-axis represents the front and back direction, with the positive direction (where the arrow points) indicating front and the negative direction (opposite to the positive Y-axis) indicating back. It should be noted that the aforementioned representations of the Z, X, and Y axes are for ease of description and simplification of the invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily intended to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein.

[0028] Combination Figure 1 and Figure 2 As shown, the present invention provides a parking lock system for a single-arm surgical robot, including a single-arm surgical robot body 1, and a light-shielding block 2, a photoelectric switch 3, a drive controller 4, and an electromagnetic brake 5 installed on the single-arm surgical robot body 1. The drive controller 4 is used to communicate with the master-slave system of the single-arm surgical robot. The light-shielding block 2 can move relative to the single-arm surgical robot body 1 to trigger or de-trigger the photoelectric switch 3. The electromagnetic brake 5 is connected to the drive shaft 11 of the single-arm surgical robot body 1 through a gear pair 6. The drive controller 4 is communicated with the photoelectric switch 3 and the electromagnetic brake 5 respectively, and is used to restrict the rotation of the drive shaft 11 by the electromagnetic brake 5 through the gear pair 6 according to the trigger signal of the photoelectric switch 3.

[0029] It should be noted that the drive shaft 11 can be connected to the wheel of the single-arm surgical robot body 1 through a ratchet mechanism. The ratchet mechanism includes a pawl and a ratchet. The shaft end of the drive shaft 11 is fixedly connected to one end of the pawl, and the other end of the pawl engages with the external teeth of the ratchet in the circumferential direction. The ratchet is connected to the wheel for transmission. The external teeth of the ratchet are rectangular or trapezoidal. When the pawl is inserted into the external teeth on the ratchet, the pawl engages with the ratchet, so that the pawl restricts the rotation of the ratchet, thereby restricting the movement of the wheel.

[0030] Specifically, the two ends of the drive shaft 11 are connected to the two wheels via ratchet mechanisms. The light-shielding block 2, photoelectric switch 3, drive controller 4, and electromagnetic brake 5 are respectively mounted on the single-arm surgical robot body 1. The gear pair 6 includes two meshing spur gears. The connecting shaft of the electromagnetic brake 5 is keyed to one spur gear, and the other spur gear is keyed to the drive shaft 11. The electromagnetic brake 5 can be either an energized or de-energized type. Taking an energized electromagnetic brake 5 as an example, when energized, the energized electromagnetic brake locks the connecting shaft using electromagnetic force to restrict its rotation. The energized electromagnetic brake is communicatively connected to the drive controller 4, and the drive controller 4 is communicatively connected to the photoelectric switch 3. When the light-blocking block 2 is positioned between the transmitter 31 and receiver 32 of the photoelectric switch 3, obstructing transmission between them, the photoelectric switch 3 is triggered, transmitting a trigger signal to the drive controller 4. The drive controller 4, based on the trigger signal, energizes the energized electromagnetic brake, thereby limiting the rotation of the connecting shaft. Since the energized electromagnetic brake is connected to the transmission shaft 11 via the gear pair 6, the connecting shaft can limit the rotation of the transmission shaft 11 through the gear pair 6, thus keeping the pawl and ratchet engaged, restricting the movement of the wheels, and thus parking the single-arm surgical robot vehicle 1. To unlock, simply remove the light-blocking block 2 from between the transmitter 31 and receiver 32. Furthermore, the drive controller 4 is connected to the master-slave system of the single-arm surgical robot. Specifically, during surgery, the single-arm surgical robot enters a master-slave system state. The master-slave system sends a trigger signal to the drive controller 4, and the light-blocking block 2 triggers the photoelectric switch 3. The photoelectric switch 3 then sends a trigger signal to the drive controller. Under the dual judgment of these two trigger signals, the drive controller 4 supplies power to the electromagnetic brake 5 to achieve parking lock. To release the lock, the robot exits the master-slave state and then prevents the photoelectric switch 3 from being triggered, thus completing the unlocking process.

[0031] Therefore, in this embodiment, the light-blocking block 2 blocks the transmission between the transmitter 31 and receiver 32 of the photoelectric switch 3, thereby triggering the photoelectric switch 3. The drive controller 4 can convert the trigger signal of the photoelectric switch 3 into a control signal for the electromagnetic brake 5, so that the electromagnetic brake 5 can limit the rotation of the gear pair 6 through electromagnetic force, and then limit the rotation of the drive shaft 11 of the single-arm surgical robot body 1 through the gear pair 6. Then, the drive controller 4 communicates with the master-slave system of the single-arm surgical robot. The drive controller 4 can drive the electromagnetic brake 5 to unlock the parking vehicle under the action of the two trigger signals of the master-slave system and the light-blocking block 2. In this way, during surgery, the drive controller 4 can drive the electromagnetic brake 5 to park under the dual judgment of the two trigger signals of the master-slave system and the light-blocking block 2, realizing the communication connection between the parking lock system of the single-arm surgical robot and the master-slave system, thereby preventing false locking during surgery and further improving the stability of parking.

[0032] Optionally, combined Figure 1 and Figure 2 As shown, the parking locking system of the single-arm surgical robot also includes two parallel and equal-length first links 7, and a second link 8 with a length greater than the first links 7. The two ends of the second link 8 are rotatably connected to one end of each of the two first links 7. The single-arm surgical robot body 1 is provided with two parallel drive shafts 11. The other ends of the two first links 7 are keyed to the two drive shafts 11. The second link 8 and the two first links 7 are used to swing with the rotation of the drive shafts 11. The photoelectric switch 3 is located between the two drive shafts 11, and the transmitting end 31 and the receiving end 32 of the photoelectric switch 3 are located on both sides of the second link 8. The light-shielding block 2 is connected to the second link 8, and the light-shielding block 2 passes between the transmitting end 31 and the receiving end 32 when it swings with the second link 8.

[0033] Specifically, when parking, the two drive shafts 11 rotate synchronously through the first link 7 and the second link 8, causing the pawl on each drive shaft 11 to insert into the outer teeth of the outer ratchet. At the same time, the second link 8 drives the light-blocking block 2 to move between the transmitting end 31 and the receiving end 32. The electromagnetic brake 5 locks the drive shaft 11 through the gear pair 6, restricting the rotation of the drive shaft 11, thereby preventing the pawl from being pulled out of the outer teeth of the outer ratchet, thus realizing the rotation of the photographic paper wheel and completing the parking.

[0034] Thus, by connecting the two ends of a second link 8, which is longer than the two parallel and equal-length first links 7, to one end of each of the two equal-length first links 7, the single-arm surgical robot body 1 is equipped with two parallel drive shafts 11. The other ends of the two equal-length first links 7 are connected to the two drive shafts 11, so that the rotation of one drive shaft 11 can drive the rotation of the other drive shaft 11 through the second link 8 and the two first links 7, thereby achieving synchronous rotation of the two drive shafts 11. This allows the second link 8 to move above the photoelectric switch 3. The light-shielding block 2 is connected to the second link 8 at one end and extends to the space between the transmitter 31 and the receiver 32 at the other end. In this way, when parking is required, the light-shielding block 2 can be moved in or out between the transmitter 31 and the receiver 32 simply by manually rotating any drive shaft 11 or pushing the first link 7, thereby improving the utilization efficiency of the light-shielding block 2.

[0035] Optionally, combined Figure 1 and Figure 2 As shown, the parking lock system of the single-arm surgical robot also includes a pedal 9. The single-arm surgical robot body 1 includes a chassis 12, on which two parallel drive shafts 11 are provided. One end of the pedal 9 is driven to one of the two drive shafts 11, and the other end of the pedal 9 extends to the outside of the chassis 12 in a direction away from the other drive shaft 11. The pedal 9 is used to drive the drive shaft 11 to rotate so that the light-shielding block 2 moves between the transmitter 31 and the receiver 32.

[0036] Specifically, two parallel drive shafts 11 are rotatably mounted on the chassis 12 via bearing seats. The front end of the pedal 9 is fixedly connected to the drive shaft 11 located in the negative direction of the Y-axis and is used to drive the drive shaft 11 to rotate. The other end of the pedal 9 extends horizontally to the outside of the chassis 12 in a direction away from the other drive shaft 11. When the pedal 9 is pressed down, the pedal 9 drives the drive shaft 11 connected to the pedal 9 to rotate. The drive shaft 11 can achieve the rotation of the other drive shaft 11 through the first link 7 and the second link 8, so that the second link 8 moves the light-shielding block 2 to move out between the transmitter end 31 and the receiver end 32. When an upward force is applied to the pedal 9, the second link 8 can also move the light-shielding block 2 out from between the transmitter end 31 and the receiver end 32, thereby realizing the parking unlock.

[0037] Thus, one end of the pedal 9 is driven by one of the two parallel drive shafts 11, and the other end of the pedal 9 extends to the outside of the chassis in a direction away from the other drive shaft 11. The rotation of the pedal 9 can be converted into the rotation of the drive shaft 11 connected to the pedal 9. This allows the drive shaft 11 to rotate through the first link 7 and the second link 8, so that the light-shielding block 2 can be moved between the transmitter 31 and the receiver 32 to achieve parking by moving the second link 8. In this way, simply resetting the pedal 9 can move the light-shielding block 2 out from between the transmitter 31 and the receiver 32 to achieve unlocking, thereby improving the ease of use of the light-shielding block 2 and making it easier for medical staff to operate.

[0038] Optionally, combined Figure 1 and Figure 2 As shown, a clearance notch 121 is provided on the chassis 12, and the clearance notch 121 is located below the pedal 9.

[0039] Specifically, when the pedal 9 is pressed down, its rotation may interfere with or collide with the chassis 12, thus reducing the structural strength of the pedal 9 or the chassis 12. Therefore, by providing a clearance notch 121 on the chassis 12, located below the pedal 9, the clearance notch 121 creates clearance space on the chassis 12, preventing interference between the pedal 9 and the chassis 12, thereby improving the reliability of the pedal 9.

[0040] Optionally, combined Figure 1 and Figure 2 As shown, the parking locking system of the single-arm surgical robot also includes an unlocking block 10 and an unlocking pedal 20. The unlocking pedal 20 includes a step end 21 and an unlocking end 22. The connection between the step end 21 and the unlocking end 22 is rotatably connected to the chassis 12. The unlocking block 10 is fixedly connected to one of the two drive shafts 11. The unlocking pedal 20 is located on the side of the unlocking block 10 away from the other drive shaft 11, and the unlocking end 22 is located between the step end 21 and the unlocking block 10. The unlocking pedal 20 is used to drive the unlocking block 10 and the drive shaft 11 connected to it to rotate, so that the light-shielding block 2 moves away from the transmitter end 31 and the receiver end 32.

[0041] Specifically, the unlocking pedal 20 can be integrally formed from a pedal end 21 and an unlocking end 22. The connection between the pedal end 21 and the unlocking end 22 is rotatably connected to a support seat on the chassis 12 via a pin. A drive shaft 11 located in the negative Y-axis direction serves as the first drive shaft, and another drive shaft 11 serves as the second drive shaft. Both the pedal 9 and the unlocking block 10 are fixedly connected to the first drive shaft. The pedal end 21 is located outside the chassis 12, and the unlocking end 22 is located between the unlocking block 10 and the pedal end 21. When parking, pressing down on the pedal 9 causes the pedal 9 to rotate via the first drive shaft from above the unlocking end 22 toward the unlocking end 22 until it abuts against it. When unlocking, pressing down on the pedal end 21 causes the pedal end 21 to rotate upwards. The unlocking end 22, through the unlocking block 10 and the first drive shaft, causes the pedal 9 to rotate upwards, thus restoring the pedal 9 and unlocking the vehicle.

[0042] When pedal 9 is connected to the second drive shaft and unlocking block 10 is connected to the first drive shaft, when parking, pressing down on pedal 9 causes pedal 9 to rotate from below unlocking end 22 toward unlocking end 22 via the first drive shaft until it abuts against unlocking end 22; when unlocking, pressing down on pedal end 21 causes pedal end 21 to rotate unlocking end 22 downward, and unlocking end 22 causes pedal 9 to rotate upward via unlocking block 10 and the first drive shaft, thereby restoring pedal 9 and unlocking.

[0043] Thus, while parking is achieved through pedal 9, parking can also be unlocked through unlocking pedal 20 and unlocking block 10, thereby improving the ease of use of the parking lock system of the single-arm surgical robot. At the same time, parking and unlocking can be performed independently through unlocking pedal 20 and pedal 9 respectively, thereby improving the efficiency of use.

[0044] Optionally, a first extension plate and a second extension plate may be provided on the locking block 10 and the unlocking end 22 respectively. The first extension plate and the second extension plate are parallel. When the locking block 10 rotates, the first extension plate on the locking block 10 abuts against the second extension plate on the unlocking end 22 to ensure effective contact between the locking block 10 and the unlocking end 22.

[0045] Optionally, combined Figure 1 As shown, the unlocking block 10 and the pedal 9 are both connected to the same drive shaft 11. This allows for unlocking or braking operations to be performed on the same side of the chassis 12, improving the ease of use of the parking lock system of the single-arm surgical robot.

[0046] Optionally, combined Figure 1 As shown, the electromagnetic brake 5 is connected to one of the two drive shafts 11 via a gear pair 6, and the pedal 9 is driven by the other drive shaft 11.

[0047] Specifically, the pedal 9 and the electromagnetic brake 5 are respectively connected to different drive shafts 11. In this way, the electromagnetic brake 5 is connected to one of the two drive shafts 11 through the gear pair 6, and the pedal 9 is driven to the other drive shaft 11. This allows the electromagnetic brake 5 and the pedal 9 to make full use of the installation space on the two drive shafts 11. The spatial layout of the electromagnetic brake 5 and the pedal 9 on the chassis 12 is relatively reasonable, which makes the load on the front and rear ends of the chassis 12 more distributed and ensures the structural strength of the chassis 12.

[0048] Optionally, anti-slip structures are provided on pedal 9 and unlock pedal 20 respectively.

[0049] Specifically, anti-slip structures are provided on the footing ends 21 of pedal 9 and unlocking pedal 20. The anti-slip structures can be rubber pads or multiple parallel convex strips or grooves. When the anti-slip structure is a convex strip or groove, the length direction of the convex strip or groove is perpendicular to the rotation direction of pedal 9 and unlocking pedal 20, so as to increase the roughness between the anti-slip structure and the sole of the shoe. In this way, the anti-slip structures are respectively provided on pedal 9 and unlocking pedal 20, which can realize the friction between pedal 9 and unlocking pedal 20 and the sole of the shoe, thereby ensuring that medical staff can effectively step on pedal 9 and unlocking pedal 20.

[0050] Optionally, the unlock pedal 20 is rotatably connected to the chassis 12 via a spring.

[0051] Specifically, when the foot pedal 21 of the unlocking pedal 20 is pressed down, the foot pedal 21 rotates downward, causing the spring to twist. The spring overcomes the rotation of the foot pedal 21, increasing its elastic force. After unlocking, the foot pedal 21 can return to its original position under the action of the spring's elastic force. In this way, the rotation of the unlocking pedal 20 and the elastic potential energy of the spring are mutually converted, thus facilitating the return of the unlocking pedal 20 after unlocking, for its next use.

[0052] Secondly, combining Figure 3 As shown, another embodiment of the present invention also provides a parking lock method for a single-arm surgical robot. Based on the parking lock system for the single-arm surgical robot described above, the method includes the following steps:

[0053] S100: When it is necessary to park the single-arm surgical robot, step on pedal 9 to trigger photoelectric switch 3. Drive controller 4 controls electromagnetic brake 5 to be energized according to the trigger signal of photoelectric switch 3. Electromagnetic brake 5 locks drive shaft 11 through gear pair 6.

[0054] S200: When it is necessary to release the parking state of the single-arm surgical robot, step on the unlock pedal 20 to release the photoelectric switch 3 from the trigger state, and drive controller 4 controls the electromagnetic brake 5 to de-energize so that the gear pair 6 can release the lock on the drive shaft 11.

[0055] Specifically, when using a single-arm surgical robot, its working state refers to its movement state when not in surgery, its stationary state when in surgery, and its stationary state when not in surgery. When the single-arm surgical robot is in either its movement state or its stationary state, parking is not required.

[0056] When the single-arm surgical robot is in a stopped state during surgery, the pedal 9 is pressed, and the movement position of the light-shielding block 2 is fed back through the visual sensor. This ensures that, driven by the second link 8, the light-shielding block 2 is completely moved between the receiving end 32 and the transmitting end 31 of the photoelectric switch 3, thereby triggering the photoelectric switch 3. When the photoelectric switch 3 is triggered, the drive controller 4 can use the visual sensor to feed back whether the two meshing spur gears of the gear pair 6 can rotate relative to each other. If the two spur gears cannot rotate relative to each other, the drive controller 4 energizes the electromagnetic brake 5 through the power line. The electromagnetic brake 5 completely locks the transmission shaft 11, thereby limiting the rotation of the transmission shaft 11 and ensuring that the pawl and ratchet are fully engaged, thus limiting the rotation of the ratchet and the rotation of the wheel, thereby achieving parking operation. When parking is required, if the photoelectric switch 3 is not triggered after pressing the pedal 9, the rotation angle of the pedal 9 after pressing it needs to be increased to increase the displacement of the light-shielding block 2, so that the light-shielding block 2 moves between the receiving end 32 and the transmitting end 31 until the photoelectric switch 3 is triggered.

[0057] When unlocking from the parked position, pressing the unlock pedal 20 causes the second linkage 8 to move the light-shielding block 2 out of the space between the receiver 32 and the transmitter 31. The drive controller 4 can use a visual sensor to provide feedback on whether the light-shielding block 2 has completely moved out of the space between the receiver 32 and the transmitter 31, ensuring that the photoelectric switch 3 is not triggered. If the photoelectric switch 3 is not triggered, the drive controller 4 de-energizes the electromagnetic brake 5 and can also use a visual sensor to provide feedback on whether the two spur gears of the gear pair 6 can rotate relative to each other. If they can rotate relative to each other, the pawl disengages from the external teeth of the ratchet. If the pawl is completely disengaged, the drive controller 4 completely de-energizes the electromagnetic brake 5, allowing the wheels to be manually pushed to unlock the vehicle. If the photoelectric switch 3 remains triggered after pressing the unlock pedal 20, the rotation angle of the unlock pedal 20 needs to be increased to increase the displacement of the light-shielding block 2, ensuring that the light-shielding block 2 completely moves out of the space between the receiver 32 and the transmitter 31 until the photoelectric switch 3 is no longer triggered.

[0058] Thus, parking and unlocking are achieved by pressing pedal 9 and unlocking pedal 20 respectively, making the parking and unlocking operations relatively independent and non-interfering. When parking the single-arm surgical robot, pressing pedal 9 converts the movement of the light-blocking block 2 into a trigger signal for the photoelectric switch 3. This causes the drive controller 4 to control the electromagnetic brake 5 to be energized according to the trigger signal of the photoelectric switch 3. Under the action of electromagnetic force, the electromagnetic brake 5 locks the drive shaft 11 through the gear pair 6, thus ensuring the effective execution of the locking operation of the electromagnetic brake 5. When unlocking the single-arm surgical robot... When the robot is in the parking state, pressing the unlock pedal 20 can be converted into a release trigger signal of the photoelectric switch 3 through the movement of the light-blocking block 2. This causes the drive controller 4 to de-energize the electromagnetic brake 5, so that the gear pair 6 can release the lock on the transmission shaft 11. This ensures the effective execution of the unlocking and locking operation of the electromagnetic brake 5. In this way, even if the single-arm surgical robot is subjected to external force interference when the unlock pedal 20 is not pressed, the electromagnetic brake 5 can still be energized under the action of the drive controller 4, thereby ensuring the effective locking of the transmission shaft 11 and improving the stability of the single-arm surgical robot when it is parked.

[0059] Furthermore, combined Figure 4 As shown, step S100 also includes: the single-arm robot entering the master-slave system.

[0060] It should be noted that the doctor's console and the patient's surgical platform are two independent mechanical systems. Connecting the doctor's console to the patient's surgical platform, i.e., the robotic arm system, is called a master-slave system. The master-slave state means that the doctor can control the robotic arm through the console.

[0061] Specifically, when the single-arm surgical robot enters the master-slave system state and parks, the master-slave system sends a trigger signal to the drive controller 4. The drive controller 4 determines that it has entered the master-slave system, and the light-blocking block 2 triggers the photoelectric switch 3. The photoelectric switch 3 sends a trigger signal to the drive controller 4, and the drive controller 4 determines that it needs to park. Under the combined effect of the two determinations, the drive controller 4 supplies power to the electromagnetic brake 5 to achieve the parking lock operation. When the single-arm surgical robot enters the master-slave system state and unlocks the parking, it exits the master-slave system and sends a trigger signal to the drive controller 4. The drive controller 4 determines that it has exited the master-slave system, and the light-blocking block 2 does not trigger the photoelectric switch 3. The photoelectric switch 3 sends a trigger signal to the drive controller 4, and the drive controller 4 determines that it needs to unlock the parking. Under the combined effect of the two determinations, the drive controller 4 de-energizes the electromagnetic brake 5 to achieve the parking unlock operation.

[0062] Thus, the drive controller 4 can achieve parking by powering the electromagnetic brake 5 under the dual determination that the single-arm surgical robot enters the master-slave system and the photoelectric switch 3 is triggered. It can also achieve parking unlocking by de-energizing the electromagnetic brake 5 under the dual determination that the single-arm surgical robot exits the master-slave system and the photoelectric switch 3 is not triggered. This allows for parking or unlocking operations in non-master-slave systems. In this way, the electromagnetic brake 5 will lock when both the single-arm surgical robot enters the master-slave system and the light-blocking block 2 meet the conditions, preventing accidental locking during surgery and further improving the parking stability of the single-arm surgical robot in the master-slave system.

[0063] Thirdly, another embodiment of the present invention also provides a single-arm surgical robot, including the parking lock system of the single-arm surgical robot as described above.

[0064] The advantages of this single-arm surgical robot and its parking lock system compared to existing technologies are the same, and will not be elaborated here.

[0065] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A parking lock system for a single-arm surgical robot, characterized in that, The system includes a single-arm surgical robot body (1), and a light-shielding block (2), a photoelectric switch (3), a drive controller (4), and an electromagnetic brake (5) mounted on the single-arm surgical robot body (1). The drive controller (4) is used to communicate with the master-slave system of the single-arm surgical robot. The light-shielding block (2) is movable relative to the single-arm surgical robot body (1) to trigger or de-trigger the photoelectric switch (3). The electromagnetic brake (5) is connected to the drive shaft (11) of the single-arm surgical robot body (1) through a gear pair (6). The drive controller (4) is communicated with the photoelectric switch (3) and the electromagnetic brake (5) respectively, and is used to restrict the rotation of the drive shaft (11) through the gear pair (6) according to the trigger signal of the photoelectric switch (3). The system also includes two parallel and equal-length first connecting rods (7). The single-arm surgical robot body (1) is provided with two parallel drive shafts (11), and the other ends of the two first links (7) are respectively connected to the two drive shafts (11). The second link (8) and the two first links (7) are rotatably connected to one end of the two first links (7). The single-arm surgical robot body (1) is provided with two parallel drive shafts (11). The other ends of the two first links (7) are respectively connected to the two drive shafts (11). The second link (8) and the two first links (7) are used to swing with the rotation of the drive shafts (11). The photoelectric switch (3) is located between the two drive shafts (11), and the transmitting end (31) and receiving end (32) of the photoelectric switch (3) are respectively located on both sides of the second link (8). The light-shielding block (2) is connected to the second link (8), and the light-shielding block (2) passes between the transmitting end (31) and the receiving end (32) when the second link (8) swings.

2. The parking locking system for the single-arm surgical robot according to claim 1, characterized in that, It also includes a pedal (9). The single-arm surgical robot body (1) includes a chassis (12). Two parallel drive shafts (11) are provided on the chassis (12). One end of the pedal (9) is driven to one of the two drive shafts (11). The other end of the pedal (9) extends to the outside of the chassis (12) in a direction away from the other drive shaft (11). The pedal (9) is used to drive the drive shaft (11) to rotate so that the light-shielding block (2) moves between the transmitter (31) and the receiver (32).

3. The parking locking system for the single-arm surgical robot according to claim 2, characterized in that, The chassis (12) is provided with a clearance notch (121), which is located below the pedal (9).

4. The parking locking system for the single-arm surgical robot according to claim 2, characterized in that, It also includes an unlocking block (10) and an unlocking pedal (20). The unlocking pedal (20) includes a foot pedal (21) and an unlocking end (22). The foot pedal (21) and the unlocking end (22) are rotatably connected to the chassis (12). The unlocking block (10) is fixedly connected to one of the two drive shafts (11). The unlocking pedal (20) is located on the side of the unlocking block (10) away from the other drive shaft (11), and the unlocking end (22) is located between the foot pedal (21) and the unlocking block (10). The unlocking pedal (20) is used to drive the unlocking block (10) and the drive shaft (11) connected to it to rotate so that the light-shielding block (2) moves away from the transmitter (31) and the receiver (32).

5. The parking locking system for the single-arm surgical robot according to claim 4, characterized in that, The unlocking block (10) and the pedal (9) are both connected to the same drive shaft (11).

6. The parking locking system for the single-arm surgical robot according to claim 2, characterized in that, The electromagnetic brake (5) is connected to one of the two drive shafts (11) via the gear pair (6), and the pedal (9) is driven to the other drive shaft (11).

7. The parking locking system for the single-arm surgical robot according to claim 4, characterized in that, The unlocking pedal (20) is rotatably connected to the chassis (12) via a spring.

8. A parking lock method for a single-arm surgical robot, characterized in that, The parking locking system of the single-arm surgical robot as described in any one of claims 1-7, the method includes the following steps: When the single-arm surgical robot needs to be parked, step on the pedal (9) to trigger the photoelectric switch (3). The drive controller (4) controls the electromagnetic brake (5) to be energized according to the trigger signal of the photoelectric switch (3). The electromagnetic brake (5) locks the drive shaft (11) through the gear pair (6). When it is necessary to release the parking state of the single-arm surgical robot, step on the unlock pedal (20) to release the trigger state of the photoelectric switch (3), and the drive controller (4) controls the electromagnetic brake (5) to de-energize so that the gear pair (6) releases the lock on the transmission shaft (11).

9. A single-arm surgical robot, characterized in that, The parking lock system for a single-arm surgical robot as described in any one of claims 1-7.

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