Translation mechanism and surgical robot

Abstract

The application relates to a translation mechanism and a surgical robot, comprising a base, a first movable seat, a second movable seat, a driving assembly and a rope assembly; the base is provided with a first connecting position and a second connecting position, and the driving assembly is arranged on the base and connected with the first movable seat; the rope assembly comprises a first guide wheel, a second guide wheel, a first pull rope and a second pull rope; opposite ends of the first pull rope are connected with the first connecting position and the second movable seat respectively, and the first pull rope passes through the first guide wheel; opposite ends of the second pull rope are connected with the second connecting position and the second movable seat respectively, and the second pull rope passes through the second guide wheel; the distance between the first connecting position and the second connecting position is smaller than the length of the two ends of the first movable seat in the moving direction, so that when the driving assembly drives the first movable seat to move in the first direction, the first pull rope can pull the second movable seat to move in the first direction relative to the first movable seat. In this way, the number of power sources can be reduced, and telescopic movement can be realized.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a translation mechanism and surgical robot. Background Technology

[0002] In current surgical robots, robotic arms are typically used for surgical procedures. These arms are mounted on an operating table, with surgical instruments attached to their end caps. The robotic arm controls the instruments to perform surgical operations on the patient's lesions. To ensure the robotic arm has a larger operating space and can retract when not in use to reduce its space occupation, a translation mechanism for extending and retracting the robotic arm is usually added to the base of the operating table. However, current translation mechanisms typically use multiple independently driven motors, resulting in complex structures and difficulties in controlling the extension and retraction, thus affecting the extension control of the robotic arm. Summary of the Invention

[0003] Therefore, it is necessary to address the problem of complex structures caused by the use of multiple motors in current translation mechanisms by providing a translation mechanism and surgical robot that can reciprocate and extend while being relatively simple to control.

[0004] A translation mechanism includes a base, a first movable seat, a second movable seat, a drive assembly, and a rope assembly;

[0005] The base has a first connection position and a second connection position;

[0006] The first movable seat is disposed on the base and is movable relative to the base;

[0007] The second movable seat is disposed on the first movable seat and is movable relative to the first movable seat;

[0008] The drive component is disposed on the base, and the drive component is capable of driving the first movable seat to move;

[0009] The rope assembly includes a first guide wheel, a second guide wheel, a first pull rope, and a second pull rope. Both the first and second guide wheels are located on the first movable seat, and are situated at opposite ends of the first movable seat's direction of movement. The first pull rope passes around the first guide wheel, with one end connected to the second movable seat and the other end connected to the first connecting position. The first pull rope is capable of pulling the second movable seat relative to the first movable seat in a first direction. The second pull rope passes around the second guide wheel, with one end connected to the second movable seat and the other end connected to the second connecting position. The second pull rope is capable of pulling the second movable seat relative to the first movable seat in a second direction, which is opposite to the first direction.

[0010] Wherein, the distance between the first connecting position and the second connecting position is less than the length of the two ends of the first movable seat in the moving direction, so that when the driving component drives the first movable seat to move in the first direction, the first pull rope can pull the second movable seat to move relative to the first movable seat in the first direction; when the driving component drives the first movable seat to move in the second direction, the second pull rope can pull the second movable seat to move relative to the first movable seat in the second direction.

[0011] In one embodiment of this application, the base is provided with a first guide rail, the first guide rail extends along the moving direction of the first movable seat, the first movable seat slides with the first guide rail, and the translation mechanism further includes a guard plate assembly, a pushing assembly and a stopping assembly;

[0012] The guard plate assembly includes a first guard plate and a second guard plate. Both the first guard plate and the second guard plate are movably connected to the first movable seat, so that the first guard plate and the second guard plate can move relative to the first movable seat. The first guard plate and the second guard plate are spaced apart in the moving direction of the first movable seat. The first guard plate and the second guard plate are located above the first guide rail to cover the first guide rail.

[0013] The pushing component is disposed on the first movable seat, the pushing component is located between the first guard plate and the second guard plate, and the pushing component is capable of pushing the first guard plate and the second guard plate to move;

[0014] The stop component is disposed on the base, the stop component is located between the first guard plate and the second guard plate, and the stop component can abut against the first guard plate and the second guard plate to prevent the first guard plate and the second guard plate from moving;

[0015] When the first movable seat moves along the first guide rail, the pushing component can push one of the first guard plate and the second guard plate to move in the same direction as the moving direction of the first movable seat, and the stopping component can prevent the other of the first guard plate and the second guard plate from moving relative to the base.

[0016] In one embodiment of this application, the guard plate assembly further includes a reset member, one end of which is connected to the first guard plate and the other end of which is connected to the second guard plate. The reset member enables the moved first guard plate and second guard plate to be reset.

[0017] In one embodiment of this application, the pushing component includes at least one push block, all of which are disposed on the first movable seat and located between the first guard plate and the second guard plate, and the push blocks slide in cooperation with the first guide rail.

[0018] In one embodiment of this application, the first pull rope has a first intermediate section located between the first guide wheel and the first connecting position, the first intermediate section being located between the first guard plate and the first movable seat; the second pull rope has a second intermediate section located between the second guide wheel and the second connecting position, the second intermediate section being located between the second guard plate and the first movable seat.

[0019] In one embodiment of this application, the stop component includes a first stop block, which is disposed at the first connection position and located between the first guard plate and the second guard plate; the other end of the first pull rope is fixed to the first stop block.

[0020] In one embodiment of this application, the first stop block is provided with a first abutting portion, which is used to abut against the first guard plate;

[0021] The stop assembly further includes a first fixing rod and a first pretensioner. The first fixing rod is movably disposed on the first stop block. The other end of the first pull rope is connected to the first fixing rod. The first pretensioner is connected to at least one of the first fixing rod and the first stop block to pretension the first pull rope.

[0022] The first pull rope has a first intermediate section located between the first guide wheel and the first connecting position, and the height of the first fixing rod relative to the base is greater than the height of the first abutment relative to the base, so that the first intermediate section of the first pull rope is located between the first guard plate and the first movable seat.

[0023] In one embodiment of this application, the guard plate assembly further includes a second guide rail, a first connecting seat, and a second connecting seat; the second guide rail is disposed on the first movable seat and extends along the moving direction of the first movable seat; the first connecting seat is disposed on the first guard plate and connected to the second guide rail, so that the first connecting seat can move along the second guide rail; the second connecting seat is disposed on the second guard plate and connected to the second guide rail, so that the second connecting seat can move along the second guide rail.

[0024] In one embodiment of this application, the driving assembly includes a lead screw, a driving member, and a guide member. The lead screw is rotatably disposed on the base and screwed to the first movable seat. The driving member is disposed on the base and is drively connected to the lead screw. The guide member is disposed on the base and is guidely connected to the first movable seat.

[0025] The translation mechanism further includes a first brake, which is disposed on the base and connected to the lead screw, and is used to brake the lead screw; and / or, the translation mechanism further includes a second brake, which includes an energized demagnetizing component and a magnetic suction component that matches the energized demagnetizing component, one of the energized demagnetizing component and the magnetic suction component being disposed at one end of the first movable seat and the other being disposed at the second movable seat.

[0026] In one embodiment of this application, the drive assembly further includes at least two support seats, the support seats being disposed on the base, and the lead screw being rotatably disposed on the support seats; the first guard plate and / or the second guard plate are provided with relief grooves recessed toward the first movable seat, the relief grooves being used to avoid the support seats.

[0027] A surgical robot includes a base, at least one robotic arm, and at least one translation mechanism as described in any one of claims 1-9, wherein the base of the translation mechanism is disposed on the base, and the robotic arms are respectively disposed on the second movable seats of the translation mechanism.

[0028] By adopting the above technical solution, this application has at least the following technical effects:

[0029] The translation mechanism and surgical robot of this application, since the first pull rope passes around the first guide wheel, and the two ends of the first pull rope are respectively connected to the second movable seat and the first connecting position, while the second pull rope passes around the second guide wheel, and the two ends of the second pull rope are respectively connected to the second movable seat and the second connecting position, the first guide wheel and the second guide wheel are respectively located at opposite ends of the first movable seat in the movement direction, and the distance between the first connecting position and the second connecting position is less than the length of the two ends of the first movable seat in the movement direction, therefore, when the drive assembly drives the first movable seat to move in the first direction, the first guide wheel and the second guide wheel will move synchronously and with the same amplitude along the first movable seat in the first direction. Because the distance between the first connecting position and the second connecting position... The distance between them is less than the length of the two ends of the first movable seat in the direction of movement. Therefore, the movement of the first guide wheel will pull the first pull rope, while the base remains stationary. Thus, the first pull rope, pulled by the first guide wheel, will drive the second movable seat to move along the first direction. Since the second guide wheel is located on the opposite side of the first movable seat in the direction of movement, it does not pull the second pull rope. Because the two ends of the second pull rope are connected to the base and the second connecting position respectively, the second movable seat will pull the second pull rope as it moves along the first direction. At this time, since the second guide wheel also moves synchronously along the first direction, it will not obstruct the movement of the second pull rope, thus serving the purpose of unloading the line. Therefore, the... Compared to traditional multi-stage drive structures that require multiple drive components, this solution achieves the same effect of the second movable seat moving in the same direction by using a rope assembly while a single drive component moves the first movable seat in the first direction. Furthermore, due to the rope drive characteristics of the first guide wheel, second guide wheel, first pull rope, and second pull rope, the second movable seat's movement relative to the base is twice that of the first movable seat relative to the base when the drive component moves the first movable seat, resulting in higher translational efficiency. When the drive component moves the first movable seat in the second direction, the first and second guide wheels move synchronously and with the same amplitude along the second direction. The movement of the second guide wheel will pull the second pull rope, while the base remains stationary. Therefore, the second pull rope, pulled by the second guide wheel, will drive the second movable seat to move along the second direction. Since the first guide wheel is located on the opposite side of the first movable seat in the direction of movement relative to the second guide wheel, the first guide wheel does not pull the first pull rope. Because the two ends of the first pull rope are connected to the base and the second movable seat respectively, the second movable seat will pull the first pull rope as it moves along the second direction. At this time, since the first guide wheel also moves synchronously along the second direction, it will not hinder the movement of the first pull rope, thus playing the role of releasing the line and achieving the effect that the second movable seat moves in the same direction when the first movable seat moves along the second direction.Compared to the method where the first and second movable seats are driven by different drive components, a single drive component is used in conjunction with a rope component that does not require power to achieve drive. Due to the reduction in the number of drive components, the drive control is relatively simpler. At the same time, the second movable seat moves in the same direction as the first movable seat, and the movement range of the second movable seat is twice that of the first movable seat. This allows the translation mechanism to achieve twice the extension and retraction control with a small extension and retraction drive of the drive component, thus improving drive efficiency. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of a translation mechanism installed on an operating table base according to an embodiment of this application.

[0031] Figure 2 for Figure 1 The diagram shows a pleated cover for the translation mechanism.

[0032] Figure 3 for Figure 2 The diagram shown is a schematic representation of the translation mechanism from one angle.

[0033] Figure 4 for Figure 3 The diagram shown is a schematic representation of the translation mechanism from another angle.

[0034] Figure 5 for Figure 3 The diagram shown is an exploded view of the translation mechanism.

[0035] Figure 6 for Figure 3 The diagram shows the translation mechanism moving to its limit position along the first direction.

[0036] Figure 7 for Figure 3 The top view of the translation mechanism shown.

[0037] Figure 8 for Figure 5 The diagram shown is a translation mechanism without the first movable seat.

[0038] Figure 9 for Figure 7 The translation mechanism shown is a cross-sectional view at X1-X1.

[0039] Figure 10 for Figure 7 The right view of the translation mechanism shown.

[0040] Figure 11 for Figure 7 The left view of the translation mechanism shown.

[0041] Figure 12 for Figure 7 The front view of the translation mechanism shown.

[0042] Figure 13 for Figure 7 The translation mechanism shown is a cross-sectional view at Y1-Y1.

[0043] Figure 14 for Figure 13 The diagram shows a magnified view of the translation mechanism at point A.

[0044] Figure 15 for Figure 6 The front view of the translation mechanism shown.

[0045] Figure 16 for Figure 6 The top view of the translation mechanism shown.

[0046] Figure 17 for Figure 16 The translation mechanism shown is a cross-sectional view at X2-X2.

[0047] Figure 18 for Figure 16 The translation mechanism shown is a cross-sectional view at Y2-Y2.

[0048] Figure 19 for Figure 5 The enlarged view of the translation mechanism at point C.

[0049] The components are as follows: 10. Translation mechanism; 110. Base; 111. First guide rail; 120. First movable seat; 130. Second movable seat; 131. Mounting position; 140. Drive assembly; 1141. Drive component; 142. Lead screw; 143. Lead screw nut; 144. Nut connecting block; 145. Transmission component; 1451. First gear; 1452. Second gear; 146. Limiting block; 150. Rope assembly; 151. First guide wheel; 152. Second guide wheel; 153. First pull rope; 154. Second pull rope; 155. Connecting plate; 156. Tensioning component; 157. Third guide rail; 158. Third connecting seat; 160. First brake; 161. Adapter plate; 162. Braking component; 170. Guard plate assembly; 171. First guard plate; E1. First stop position; 172. Second guard plate; E2. Second stop position; 173. Reset component; 174. Second guide rail; 175. First connecting seat; 1751. Guard roller; 1752. Guard mounting seat; 176. Second connecting seat; 180. Push block; 190. Stop assembly; 191. First stop block; 1911. First abutment part; 192. Second stop block; 1921. Second abutment part; 193. First fixing rod; 194. First pre-tightening component; 195. Second fixing rod; 196. Second pre-tightening component; 210. Second brake; 211. Power-on demagnetizing component; 212. Magnetic suction component; 220. Bellows cover; 30. Base. Detailed Implementation

[0050] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0051] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0052] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0054] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact, or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0056] See Figures 1 to 3 This application provides a translation mechanism 10. Figure 1 This is a schematic diagram of a translation mechanism 10 installed on the base 30 of an operating table in a surgical robot, according to an embodiment of this application. Figure 2 In order to be in Figure 1 The diagram shows a bellows cover 220 installed on the translation mechanism 10. Figure 3 for Figure 2 The diagram shows a schematic view of the translation mechanism 10 from one angle. This translation mechanism 10 is used in a surgical robot and is mounted on the base 30 of the operating table. The translation mechanism 10 is used to mount a robotic arm. During surgery, the translation mechanism 10 extends to mount the robotic arm or brings the mounted robotic arm out; after surgery, the robotic arm is removed, and the translation mechanism 10 retracts, or the translation mechanism 10 retracts and brings the mounted robotic arm back, facilitating the storage of the robotic arm on the operating table. Of course, in other embodiments of this application, the translation mechanism 10 can also connect to other components that need to extend.

[0057] This embodiment provides a translation mechanism 10, which can mount the robotic arm of a surgical robot. The extension and retraction of the translation mechanism 10 increases the robotic arm's operating space, meeting the needs of actual surgical operations. Simultaneously, it reduces the number of power sources, simplifying the control method. The specific structure of the translation mechanism 10 according to one embodiment is described below.

[0058] See Figures 1 to 7In one embodiment, the translation mechanism 10 includes a base 110, a first movable seat 120, a second movable seat 130, a drive assembly 140, and a rope assembly 150. The base 110 has a first connecting position and a second connecting position. The first movable seat 120 is disposed on the base 110 and is movable relative to the base 110. The second movable seat 130 is disposed on the first movable seat 120 and is movable relative to the first movable seat 120. The first movable seat 120 is located between the base 110 and the second movable seat 130. A drive assembly 140 is disposed on the base 110 and connected to the first movable seat 120, and the drive assembly 140 is capable of driving the first movable seat 120 to move; a rope assembly 150 includes a first guide wheel 151, a second guide wheel 152, a first pull rope 153, and a second pull rope 154; the first guide wheel 151 and the second guide wheel 152 are both disposed on the first movable seat 120, and the first guide wheel 151 and the second guide wheel 152 are respectively disposed at opposite ends of the first movable seat 120 in the direction of movement; the opposite ends of the first pull rope 153 are respectively connected to the base 110. The first connecting position and the second movable seat 130 are connected, and the first pull rope 153 is wrapped around the first guide wheel 151. The first pull rope 153 can pull the second movable seat 130 to move relative to the first movable seat 120 in a first direction. The two ends of the second pull rope 154 are respectively connected to the second connecting position and the second movable seat 130 of the base 110, and the second pull rope 154 is wrapped around the second guide wheel 152. The second pull rope 154 can pull the second movable seat 130 to move relative to the first movable seat 120 in a second direction, which is opposite to the first direction. Wherein, the distance between the first connecting position and the second connecting position is less than the length of the two ends of the first movable seat 120 in the moving direction, so that when the drive assembly 140 drives the first movable seat 120 to move in the first direction, the first pull rope 153 can pull the second movable seat 130 to move relative to the first movable seat 120 in the first direction; when the drive assembly 140 drives the first movable seat 120 to move in the second direction, the second pull rope 154 can pull the second movable seat 130 to move relative to the first movable seat 120 in the second direction.

[0059] Figure 4 for Figure 3 The schematic diagram shown is a view of the translation mechanism 10 from another angle. Figure 5 for Figure 3 An exploded view of the translation mechanism 10 shown. Figure 6 for Figure 3 The diagram shows the translation mechanism 10 moving to its limit position along the first direction. Figure 7 for Figure 3 The top view of the translation mechanism 10 shown.

[0060] When the drive assembly 140 drives the first movable seat 120 to move along a first direction or a second direction, since the rope assembly 150 passes around the end of the first movable seat 120, and the distance between the first connecting position and the second connecting position is less than the length of the two ends of the first movable seat 120 in the direction of movement, the movement of the first movable seat 120 will act on the rope assembly 150, and the rope assembly 150 will further act on the second movable seat 130, and the second movable seat 130 will move in the same direction as the first movable seat 120. In this embodiment, only one drive assembly 140 is needed, which, together with the rope assembly 150, can drive the two seats, the first movable seat 120 and the second movable seat 130, and achieve the same-direction movement of the two seats, without the need to equip each seat with a separate drive assembly 140, greatly reducing the difficulty of drive control.

[0061] like Figure 5 and Figure 6 As shown, the first movable seat 120 is located between the base 110 and the second movable seat 130. When the first movable seat 120 reciprocates relative to the base 110 under the drive of the drive assembly 140, the second movable seat 130 moves relative to the base 110 with a larger range of motion than the first movable seat 120 under the drive of the rope assembly 150, thereby achieving higher drive efficiency. Optionally, the robotic arm can be fixed to the second movable seat 130 to achieve position adjustment of the robotic arm.

[0062] like Figure 3 As shown, the first direction and the second direction are opposite left and right directions, and the left and right directions are the moving directions of the first movable seat 120 and the second movable seat 130, that is, the first movable seat 120 can move back and forth in the left and right directions. The first direction and the second direction are... Figure 3 and Figure 7 The arrows shown are the reference directions, with the first direction being to the left and the second direction being to the right. The left and right directions (movement directions) of the translation mechanism 10 are its length directions, the height direction of the translation mechanism 10 is its up and down directions, and the width direction of the translation mechanism 10 is its front and back directions. The specific structure of the translation mechanism 10 will be described directly using the directions of up, down, left, and right in the following text.

[0063] The base 110 serves as the bottom carrier plate for the translation mechanism 10, used to fix it to the base 30 of the operating table. By supporting the various components of the translation mechanism 10 with the base 110, the translation mechanism 10 forms a modular structure, facilitating its installation onto the base 30 of the operating table. Optionally, the second movable seat 130 has a mounting position 131 for detachably mounting the robotic arm.

[0064] The first guide wheel 151 and the second guide wheel 152 of the rope assembly 150 are located at opposite ends of the first movable seat 120 in the direction of movement, such as the left and right ends. One end of the first pull rope 153 is located on the left side of the second movable seat 130, and the second pull rope 154 is located on the right side of the second movable seat 130. The first pull rope 153 passes around the first guide wheel 151, and the second pull rope 154 passes around the second guide wheel 152. When the translation mechanism 10 is in its initial position, the second movable seat 130 is approximately located in the middle of the first movable seat 120, and the second movable seat 130, the first movable seat 120, and the base 110 are approximately stacked.

[0065] like Figure 4 and Figure 7 As shown, when the robotic arm mounted on the second movable seat 130 needs to extend from the base 30 of the operating table in the first direction, the drive assembly 140 drives the first movable seat 120 to move in the first direction. At this time, the first guide wheel 151 and the second guide wheel 152 move synchronously with the first movable seat 120. Since the first pull rope 153 is wound around the first guide wheel 151 and connected between the base 110 and the second movable seat 130, and the base 110 does not move, the first guide wheel 151 will pull the first pull rope 153. The pulled first pull rope 153 will then pull the second movable seat 130 to move in the same direction as the first movable seat 120, and the moving distance of the second movable seat 130 relative to the base 110 is equal to the moving distance of the first movable seat 120. The movement distance of the robotic arm on the second movable seat 130 is twice that of the base 110. This achieves the effect of the robotic arm moving twice the amplitude when the drive assembly 140 drives the first movable seat 120 to move one unit distance. During this process, since the two ends of the second pull rope 154 are connected to the base 110 and the second movable seat 130, when the second movable seat 130 moves along the first direction, it pulls the second pull rope 154. At this time, the second guide wheel 152 also moves along the first direction, thus not hindering the second pull rope 154 from being pulled by the second movable seat 130, achieving the effect of releasing the cable. Simultaneously, the first pull rope 153 and the second pull rope 154 together achieve precise control of the position of the second movable seat 130. Similarly, when the robotic arm needs to extend from the base 30 of the operating table along the second direction, the drive assembly 140 drives the first movable seat 120 to move along the second direction, the second pull rope 154 pulls the second movable seat 130 to move along the second direction, and the first pull rope 153 releases the cable. Further details are omitted.

[0066] This application ingeniously utilizes structural design to achieve synchronous movement of the first movable seat 120 and the second movable seat 130 using a single power source, enabling the second movable seat 130 and the first movable seat 120 to move synchronously along the first or second direction, eliminating the need for two power sources. This simplifies the specific structure and control method of the translation mechanism 10, making it easier to operate and control the translation mechanism 10.

[0067] Optionally, the first pull rope 153 and the second pull rope 154 can be steel wire rope or nylon rope, as long as they can pull the second movable seat 130 to move.

[0068] See Figures 3 to 6 Optionally, the rope assembly 150 further includes a mounting base and a rotating shaft. The mounting base is disposed at opposite ends of the first movable seat 120, and the rotating shaft is rotatably disposed on the mounting base. The first guide wheel 151 and the second guide wheel 152 are disposed on the rotating shaft. When the first pull rope 153 is pulled, the first pull rope 153 can drive the first guide wheel 151 and the rotating shaft to rotate relative to the mounting base, thereby reducing the frictional force on the first pull rope 153. When the second pull rope 154 is pulled, the second pull rope 154 can drive the second guide wheel 152 and the rotating shaft to rotate relative to the mounting base, thereby reducing the frictional force on the second pull rope 154.

[0069] See Figures 3 to 6 Optionally, there are at least two sets of both the first pull rope 153 and the second pull rope 154, arranged at intervals along the front-to-back direction to make the movement of the second movable seat 130 smoother and more precise. Correspondingly, the number of first guide wheels 151 is equal to the number of first pull ropes 153, and the number of second guide wheels 152 is equal to the number of second pull ropes 154. This ensures the stability of the movement of the second movable seat 130.

[0070] See Figure 1 and Figure 2 In one embodiment, the translation mechanism 10 further includes a bellows cover 220, which covers the second movable seat 130, the rope assembly 150, and the first movable seat 120, and is fixed to the first movable seat 120. When the first movable seat 120 moves, it can drive the bellows cover 220 to move synchronously. The bellows cover 220 can act as a shield to prevent debris from falling into the translation mechanism 10 and affecting the movement of the drive assembly 140 and the rope assembly 150, ensuring that the translation mechanism 10 can drive the first movable seat 120 and the second movable seat 130 to move normally.

[0071] See Figure 5 , Figures 7 to 9 In one embodiment, the drive assembly 140 includes a drive member 1141, a lead screw 142, and a guide member. The lead screw 142 is rotatably mounted on the base 110 and screwed to the first movable seat 120. The drive member 1141 is mounted on the base 110 and is connected to the lead screw 142 in a transmission manner. The guide member is mounted on the base 110 and is connected to the first movable seat 120 in a guiding manner. Figure 8 for Figure 5 The diagram shown is a translation mechanism 10 without the first movable seat 120. Figure 9 for Figure 7 The translation mechanism 10 shown is a cross-sectional view at X1-X1.

[0072] The driving component 1141 is the power source for the driving assembly 140 and the entire translation mechanism 10. The driving component 1141 is connected to the lead screw 142, which is mounted on the base 110 along the moving direction of the first movable seat 120. The lead screw 142 is threadedly connected to the first movable seat 120, and a guide component is provided in conjunction with the lead screw 142. When the driving component 1141 drives the lead screw 142 to rotate, the guide component causes the rotation of the lead screw 142 to move the first movable seat 120, which is threaded to it, along the axial direction of the lead screw 142.

[0073] Optionally, the drive assembly 140 further includes a lead screw nut 143, which is fixed to the first movable seat 120 and screwed to the lead screw 142. When the drive member 1141 drives the lead screw 142 to rotate in different directions, it achieves the effect of driving the first movable seat 120 to move in different directions.

[0074] Optionally, the lead screw nut 143 can be directly fixed to the first movable seat 120. Alternatively, the lead screw nut 143 can also be indirectly fixed to the first movable seat 120. Optionally, the drive assembly 140 further includes a nut connecting block 144 fixed to the first movable seat 120, and the lead screw nut 143 is connected to the first movable seat 120 via the nut connecting block 144. The nut connecting block 144 serves as a transition, facilitating reliable fixing of the lead screw nut 143 to the first movable seat 120. It is worth noting that the lead screw nut 143 needs to be used in conjunction with a guide member to guide the lead screw nut 143, enabling it to drive the first movable seat 120 in linear motion. How the guide member achieves this guidance will be explained in detail later.

[0075] Optionally, the drive assembly 140 further includes a support portion disposed on the base 110, and the drive member 1141 is fixed to the support portion. The support portion supports the drive member 1141, ensuring that the drive member 1141 is reliably fixed. Optionally, the support portion is a support plate or support block, etc. Optionally, the drive member 1141 is a motor capable of outputting rotational power.

[0076] Optionally, the drive assembly 140 further includes at least two support seats, which are disposed on the base 110, and the lead screw 142 is rotatably disposed on the support seats. The support seats rotatably support the lead screw 142 on the base 110 to ensure smooth rotation of the lead screw 142. Optionally, the drive assembly 140 further includes a first support seat and a second support seat. The first support seat is disposed on the base 110 and is disposed opposite to the support portion. The second support seat is disposed on the support portion. The first support seat and the second support seat rotatably support both ends of the lead screw 142. The second support seat is disposed on the base 110 through the support portion. One end of the lead screw 142 is rotatably mounted on the support portion, and the other end of the lead screw 142 is rotatably mounted on the first support seat. The lead screw 142 and the lead screw nut 143 form the lead screw 142 structure through the first support seat and the second support seat. Optionally, the first support seat and the second support seat are support plates or support blocks, etc.

[0077] See Figure 4 , Figure 8 and Figure 10 Optionally, the drive assembly 140 also includes a transmission component 145, which is connected to the output end of the drive component 1141 and the lead screw 142. Figure 10 for Figure 7 The diagram shows a right view of the translation mechanism 10. When the driving member 1141 is working, it drives the transmission component 145 to move. The movement of the transmission component 145 drives the lead screw 142 to rotate, thus driving the movement of the lead screw nut 143. Optionally, the transmission component 145 includes a first gear 1451 and a second gear 1452. The first gear 1451 is located at the output end of the driving member 1141, and the second gear 1452 is located on the lead screw 142. The first gear 1451 and the second gear 1452 mesh. When the driving member 1141 drives the first gear 1451 to rotate, the first gear 1451 drives the second gear 1452 to rotate through the meshing relationship. The rotation of the second gear 1452 then drives the lead screw 142, which is fixedly connected to it, to rotate. Of course, in other embodiments of this application, the transmission component 145 may also be a bevel gear, a chain drive, or other components capable of motion transmission.

[0078] See Figure 9 and Figure 11 In one embodiment, the translation mechanism 10 further includes a first brake 160, which is disposed on the base 110 and connected to the lead screw 142. The first brake 160 is used to brake the lead screw 142. Figure 11 for Figure 7The left view of the translation mechanism 10 is shown. The first brake 160 can brake or release the lead screw 142 to lock and unlock it. When the first brake 160 brakes the lead screw 142, the lead screw 142 is locked by the first brake 160, the drive member 1141 cannot drive the lead screw 142 to rotate, and thus the entire translation mechanism 10 cannot move. When the first brake 160 releases the lead screw 142, the lead screw 142 is unlocked by the first brake 160, the drive member 1141 can drive the lead screw 142 to rotate, and thus the entire translation mechanism 10 can be driven to move.

[0079] See Figure 9 and Figure 11 In one embodiment, the first brake 160 includes an adapter plate 161 and a braking component 162. The adapter plate 161 is disposed on the base 110, and the braking component 162 is disposed on the adapter plate 161 and on the lead screw 142 of the drive assembly 140. The braking component 162 is used to brake or release the lead screw 142. The braking component 162 is the main component of the first brake 160 that enables braking. The adapter plate 161 is used to install and fix the braking component 162. The braking component 162 is disposed on the adapter plate 161, and the adapter plate 161 is disposed on the base plate to fix the braking component 162 to the base 110. The braking component 162 cooperates with the lead screw 142 to brake or release the lead screw 142. When the braking component 162 brakes the lead screw 142, the drive member 1141 cannot drive the lead screw 142 to rotate. When the braking component 162 releases the brake on the lead screw 142, the drive member 1141 can drive the lead screw 142 to rotate.

[0080] See Figures 3 to 9 In one embodiment, the base 110 is provided with a first guide rail 111, which extends along the moving direction of the first movable seat 120. The first movable seat 120 slides with the first guide rail 111. The translation mechanism 10 also includes a guard plate assembly 170, a pushing assembly, and a stopping assembly 190. The guard plate assembly 170 includes a first guard plate 171 and a second guard plate 172, both of which are movably connected to the first movable seat 120, allowing the first guard plate 171 and the second guard plate 172 to move relative to the first movable seat 120. The first guard plate 171 and the second guard plate 172 are spaced apart in the moving direction of the first movable seat 120, and the first guard plate 171 and the second guard plate 172 are located above the first guide rail 111 and have covered the first guide rail 111.

[0081] A pushing component is disposed on the first movable seat 120, and is located between the first guard plate 171 and the second guard plate 172. The pushing component is capable of pushing the first guard plate 171 and the second guard plate 172 to move. A stopping component 190 is disposed on the base 110, and is located between the first guard plate 171 and the second guard plate 172. The stopping component 190 is capable of abutting against the first guard plate 171 and the second guard plate 172 to prevent the first guard plate 171 and the second guard plate 172 from moving.

[0082] When the first movable seat 120 moves along the first guide rail 111, the pushing component can push one of the first guard plate 171 and the second guard plate 172 to move in the same direction as the first movable seat 120. The stopping component 190 can prevent the other of the first guard plate 171 and the second guard plate 172 from moving relative to the base 110. Because the first movable seat 120 moves, a part of the first guide rail 111 is no longer covered by the first movable seat 120. If a foreign object falls onto the first guide rail 111, it will affect the sliding cooperation between the first movable seat 120 and the base 110 and the normal movement, and may even cause jamming. Therefore, by setting the first guard plate 171 and the second guard plate 172, after the first movable seat 120 moves, one of the first guard plate 171 and the second guard plate 172 moves synchronously with the first movable seat 120, while the other stays, thereby covering the part of the first guide rail 111 that is no longer covered by the first movable seat 120 due to the movement, and realizing the protection of the first guide rail 111.

[0083] When the first movable seat 120 moves along the first direction, the pushing component can push the first guard plate 171 to move in the same direction as the first movable seat 120, and the stop component 190 abuts against the second guard plate 172 so that the second guard plate 172 stops at the second stop position E2, and the first movable seat 120 moves relative to the second guard plate 172; when the first movable seat 120 moves along the second direction, the pushing component can push the second guard plate 172 to move in the same direction as the first movable seat 120, and the stop component 190 abuts against the first guard plate 171 so that the first guard plate 171 stops at the first stop position E1, and the first movable seat 120 moves relative to the first guard plate 171.

[0084] A protective plate assembly 170 is disposed between the base 110 and the first movable seat 120. The protective plate assembly 170 protects the drive assembly 140 to ensure its stable operation. Simultaneously, the base 110 also houses electrical components that are electrically connected to and supply power to the drive element 1141 in the drive assembly 140, thereby controlling the operation of the drive element 1141. The protective cover covers the electrical components, ensuring their performance.

[0085] The protective plate assembly 170 is divided into two parts: a first protective plate 171 and a second protective plate 172. The first protective plate 171 is located on the left side, and the second protective plate 172 is located on the right side, forming a complete protective cover. Both the first protective plate 171 and the second protective plate 172 are movably connected to the first movable seat 120, and the first protective plate 171 and the second protective plate 172 are spaced apart in the direction of movement. Optionally, the first protective plate 171 and the second protective plate 172 are flat to ensure the protective effect.

[0086] A pushing component is disposed on the first movable seat 120 and can move with the first movable seat 120. The pushing component can abut against the first guard plate 171 and the second guard plate 172 to push the first guard plate 171 or the second guard plate 172 to move with the first movable seat 120. A stopping component 190 is disposed on the base 110. The stopping component 190 is a fixed component. When the pushing component pushes one of the first guard plate 171 and the second guard plate 172 to move, the stopping component 190 contacts the other of the first guard plate 171 and the second guard plate 172, causing it to stop at the current position. After stopping, the guard plate protects the area of ​​the first movable seat 120 located on the side of the base 110 that is vacated after the first movable seat 120 moves, preventing objects from falling into the area on the side away from the base 110, which would interfere with the operation of the first movable seat 120, the drive component 140, etc., and affect the normal operation of the translation mechanism and the surgical robot.

[0087] Specifically, the first guard plate 171 has a first stopping position E1, and the second guard plate 172 has a second stopping position E2. The first guard plate 171 and the second guard plate 172 are located on opposite sides of the first movable seat 120 in the moving direction of the first movable seat 120, and when the first guard plate 171 and the second guard plate 172 are projected in a direction perpendicular to the first movable seat 120, they at least partially overlap with the projection of the first movable seat 120. The stop assembly is located between the first guard plate 171 and the second guard plate 172. When the translation mechanism 10 is in the initial state, the first movable seat 120 and the second movable seat 130 are stationary and remain in their initial positions. The first guard plate 171 and the second guard plate 172 are stationary and in their initial positions. At this time, the first guard plate 171 is in the first stopping position E1, and the second guard plate 172 is in the second stopping position E2.

[0088] When the first movable seat 120 moves along the first direction, the first movable seat 120 drives the pushing component on it to move along the first direction, and then the pushing component pushes the first guard plate 171 to move synchronously with the first movable seat 120 along the first direction. At this time, the first guard plate 171 disengages from the first stop position E1, and because the stop component 190 abuts against the second guard plate 172, the second guard plate 172 can be stopped at the second stop position E2. After the first movable seat 120 moves relative to the second guard plate 172, compared with before the movement, the part of the first movable seat 120 corresponding to the second stop position E2 has left the second stop position E2. The second guard plate 172 blocks the area where the second stop position E2 is located after the first movable seat 120 leaves, preventing debris from falling into the area and affecting the normal movement of the first movable seat 120, the driving component 140, etc., such as preventing foreign objects from falling into the area and jamming the driving component 140 and the first movable seat 120, causing them to be unable to extend and retract normally.

[0089] Similarly, when the first movable seat 120 moves along the second direction, the first movable seat 120 can drive the pushing component to move along the second direction, and the pushing component can then push the second guard plate 172 to move along the second direction with the first movable seat 120. At this time, the second guard plate 172 disengages from the second stop position E2, and because the stop component 190 abuts against the first guard plate 171, the first guard plate 171 can be stopped at the first stop position E1. The first movable seat 120 moves relative to the first guard plate 171, and the first guard plate 171 blocks the area where the first stop position E1 is vacated after the first movable seat 120 leaves, preventing debris from falling in. This will not be described in detail.

[0090] See Figure 4 , Figure 5 and Figure 12 In one embodiment, the guard plate assembly 170 further includes a reset member 173, one end of which is connected to the first guard plate 171 and the other end of which is connected to the second guard plate 172. The reset member can reset the first guard plate 171 and the second guard plate 172 after they have been moved. Figure 12 for Figure 7The diagram shows a front view of the translation mechanism 10. A reset member 173 elastically connects the first guard plate 171 and the second guard plate 172, allowing either the first guard plate 171 or the second guard plate 172 to return to its initial position after the first movable seat 120 resets. When the first movable seat 120 pushes the first guard plate 171 or the second guard plate 172 via the pushing assembly, the first guard plate 171 or the second guard plate 172 can overcome the elastic force of the reset member 173, causing the first guard plate 171 to move along a first direction or the second guard plate 172 to move along a second direction. When the first movable seat 120 returns to its original position after moving, the reset member 173 can pull the first guard plate 171 or the second guard plate 172 back to its initial position, maintaining a preset distance between the first guard plate 171 and the second guard plate 172. Optionally, the reset member 173 is a spring.

[0091] See Figure 5 , Figure 6 , Figure 10 and Figure 11 In one embodiment, the first guard plate 171 and the second guard plate 172 have clearance grooves for avoiding the drive assembly 140. The central regions of the first guard plate 171 and the second guard plate 172 are arched upward to form clearance grooves below the first guard plate 171 and the second guard plate 172. The third support portion of the drive assembly 140 is located in the clearance grooves to avoid the lead screw 142.

[0092] In one embodiment, the pushing component includes at least one pusher block 180. All pusher blocks 180 are disposed on the first movable seat 120 and are located between the first guard plate 171 and the second guard plate 172. The base 110 is provided with a first guide rail 111, which extends along the moving direction of the first movable seat 120. The pusher blocks 180 slide in engagement with the first guide rail 111. The pusher blocks 180 and the first guide rail 111 form a sliding engagement structure to guide the movement of the first movable seat 120, ensuring the accuracy of the movement trajectory of the first movable seat 120. This arrangement, on the one hand, achieves smooth and precise movement of the first movable seat 120 relative to the base 110 through sliding engagement; on the other hand, it combines this guiding structure with the pushing component that pushes the first guard plate 171 and the second guard plate 172, making the structure more compact and reducing its complexity. Meanwhile, when the first movable seat 120 is moved by the lead screw 142, the push block 180 can also serve as part of the guide component, providing the guiding function of the guide component and cooperating with the lead screw 142 for driving.

[0093] The first guide rail 111 is disposed on the base 110 along the moving direction of the first movable seat 120 and is located on the side of the lead screw 142. The push block 180 is slidably disposed on the guide rail and connected to the bottom of the first movable seat 120. When the first movable seat 120 moves along the moving direction, the first movable seat 120 can drive the push block 180 to move along the first guide rail 111 to guide the movement of the first movable seat 120 and ensure accurate movement trajectory.

[0094] like Figure 5 As shown, the first pull rope 153 has a first intermediate section located between the first guide wheel 151 and the first connecting position, and the first intermediate section is located between the first guard plate 171 and the first movable seat 120; the second pull rope 154 has a second intermediate section located between the second guide wheel 152 and the second connecting position, and the second intermediate section is located between the second guard plate 172 and the first movable seat 120. This arrangement ensures that when one of the first guard plate 171 and the second guard plate 172 moves with the first movable seat 120 while the other does not move, the stationary guard plate will not interfere with the first pull rope 153 or the second pull rope 154, thereby ensuring the normal operation of the device.

[0095] In one embodiment of this application, the guide member is slidably disposed on at least a portion of the first guide rail 111. Optionally, the guide member is disposed on the push block 180. Optionally, the guide member and the push block 180 are an integral structure. That is, the guide member can be indirectly disposed on the first guide rail 111 or a portion of the first guide rail 111 via the push block 180, or it can be directly disposed on the first guide rail 111 or a portion of the first guide rail 111, so as to guide the movement of the first movable seat 120.

[0096] Optionally, there are two first guide rails 111, symmetrically arranged on both sides of the lead screw 142. Correspondingly, each first guide rail 111 is provided with at least one push block 180, each push block 180 connected to the bottom of the first movable seat 120 and in contact with the first and second protective covers. Thus, the cooperation between the push block 180 and the first guide rail 111 ensures the accurate movement trajectory of the first movable seat 120, and also enables accurate driving of the movement of the first or second protective cover. For example, each first guide rail 111 has two push blocks 180, spaced apart on the first guide rail 111 and simultaneously connected to the first movable seat 120 to ensure the stability of the movement of the first movable seat 120.

[0097] Optionally, the push block 180 is a guide slider, which is slidably disposed on the first guide rail 111 and connected to the first movable seat 120. When the first movable seat 120 moves, it can drive the guide slider to move along the first guide rail 111. In other embodiments of this application, the push block 180 can also be a roller slider structure. The first guide rail 111 has a middle guide groove, and the push block 180 includes a middle roller and a middle mounting seat. The middle roller is rotatably mounted on the middle mounting seat, and the middle mounting seat is movably disposed on the first guide rail 111 and connected to the first movable seat 120. The middle roller is rollably disposed in the middle guide groove of the first guide rail 111. The first movable seat 120 drives the middle roller to slide in the middle guide groove through the middle mounting seat. Of course, the first guide rail 111 and the push block 180 can also be other structural forms that can achieve guiding cooperation.

[0098] See Figure 7 Optionally, the drive assembly 140 further includes a limiting block 146, which is disposed on the base 110 and located at both ends of the base 110. The limiting block 146 is used to limit the movement range of the push block 180. The limiting block 146 is disposed at the left and right ends of the base 110 and corresponds to the push block 180. When the first movable seat 120 drives the push block 180 to move along the first guide rail 111 in a first direction or a second direction to the limit position, the push block 180 can abut against the limiting block 146. The limiting block 146 can limit the movement range of the first guide rail 111 to prevent the push block 180 from overtraveling, and also limit the movement range of the first movable seat 120.

[0099] See Figure 5 , Figure 7 , Figure 13 , Figure 14 and Figure 19 In one embodiment, the stop assembly 190 includes a stop block disposed on the base 110 and located between the first guard plate 171 and the second guard plate 172; one end of the first pull rope 153 is fixed to the stop block to connect with the base 110. Figure 13 for Figure 7 The cross-sectional view of the translation mechanism 10 shown at Y1-Y1 is shown. Figure 14 for Figure 13 The enlarged view of the translation mechanism 10 at point A is shown. Figure 19 for Figure 5 A magnified view of the translation mechanism 10 at point C.

[0100] The stop block is located below the first movable seat 120 and is fixed to the base 110. One end of the first pull rope 153 and the second pull rope 154 are fixed to the stop block. That is, one end of the first pull rope 153 and the second pull rope 154 are fixed to the base 110 through the stop block, so that one end of the first pull rope 153 and the second pull rope 154 is fixed. When the first movable seat 120 moves, since one end of the first pull rope 153 and the second pull rope 154 is fixed through the stop block, when the first movable seat 120 pushes the first pull rope 153 or the second pull rope 154, the first pull rope 153 or the second pull rope 154 can move downwards from the first movable seat 120 through the first guide wheel 151 or the second guide wheel 152, so as to pull the second movable seat 130 relative to the first movable seat 120.

[0101] Optionally, the stop block includes a first stop block 191 and a second stop block 192. The first stop block 191 and the second stop block 192 are disposed on the base 110 and located between the first guard plate 171 and the second guard plate 172. The first stop block 191 is located at the first connecting position, and the second stop block 192 is located at the second connecting position. The other end of the first pull rope 153 is fixed to the first stop block 191, and the other end of the second pull rope 154 is fixed to the second stop block 192. That is, the first pull rope 153 and the second pull rope 154 are respectively fixed to the base 110 by corresponding stop blocks to ensure reliable connection and to correspond to the stop position of the guard plate. When the first movable seat 120 pushes the first guard plate 171 to move through the push block 180, the second stop block 192 can stop the second guard plate 172 so that the second guard plate 172 stops at the second stop position E2. When the first movable seat 120 pushes the second guard plate 172 to move via the push block 180, the first stop block 191 can stop the first guard plate 171 so that the first guard plate 171 stays at the first stop position E1.

[0102] Optionally, there are two first stop blocks 191 and two second stop blocks 192. The two first stop blocks 191 are located on both sides of the lead screw 142, and the two second stop blocks 192 are located on both sides of the lead screw 142. Each first stop block 191 is connected to a first pull rope 153, and each second stop block 192 is connected to a second pull rope 154. It is understood that in this application, the two sets of first pull ropes 153 and the two sets of second pull ropes 154 pull the second movable seat 130 to move. Correspondingly, the two first stop blocks 191 and the two second stop blocks 192 are respectively configured to cooperate with the first pull ropes 153 and the second pull ropes 154 to avoid interference between the two sets of first pull ropes 153 and between the two sets of second pull ropes 154, ensuring the smoothness of the movement of the second movable seat 130. At the same time, it can accurately stop the first guard plate 171 and the second guard plate 172, preventing the first guard plate 171 and the second guard plate 172 from deflecting.

[0103] See Figure 5 , Figure 13 , Figure 14 and Figure 19 In one embodiment, the first stop block 191 has a first abutting portion 1911 for abutting against the first guard plate 171, and the second stop block 192 has a second abutting portion 1921 for abutting against the second guard plate 172. When the first guard plate 171 and the second guard plate 172 are in their initial positions, the first stop block 191 abuts against the first guard plate 171 through the first abutting portion 1911, and the second stop block 192 abuts against the second guard plate 172 through the second abutting portion 1921.

[0104] When the pusher 180 pushes the first guard plate 171 to move in the first direction, the first guard plate 171 disengages from the first abutment portion 1911, and the second abutment portion 1921 abuts against the second guard plate 172, so that the second guard plate 172 stops at the second stop position E2. When the pusher 180 pushes the second guard plate 172 to move in the second direction, the second guard plate 172 disengages from the second abutment portion 1921, and the first abutment portion 1911 abuts against the first guard plate 171, so that the first guard plate 171 stops at the first stop position E1. Optionally, the first abutment portion 1911 and the second abutment portion 1921 are protrusions. Of course, in other embodiments of this application, the first abutment portion 1911 and the second abutment portion 1921 may also be limiting posts or other structural forms that can play a limiting role.

[0105] See Figure 5 , Figure 13 , Figure 14 and Figure 19 In one embodiment, the stop assembly 190 further includes a first fixing rod 193 and a first pretensioner 194. The first fixing rod 193 is movably disposed on the first stop block 191. The first pull rope 153 is connected to the first fixing rod 193. The first pretensioner 194 is connected to at least one of the first fixing rod 193 and the first stop block 191 to pretension the first pull rope 153. The stop assembly 190 further includes a second fixing rod 195 and a second pretensioner 196. The second fixing rod 195 is movably disposed on the second stop block 192. The second pull rope 154 is connected to the second fixing rod 195. The second pretensioner 196 is connected to at least one of the second fixing rod 195 and the second stop block 192 to pretension the second pull rope 154.

[0106] A first fixing rod 193 is movably mounted on a first stop block 191. A first pre-tensioning member 194 is connected to the first fixing rod 193 and / or the first stop block 191. When the first fixing rod 193 is operated, the elastic force of the first pre-tensioning member 194 can be adjusted, thereby adjusting the pre-tension force on the first pull rope 153, so that the first pull rope 153 is in a taut state. A second fixing rod 195 is movably mounted on a second stop block 192. A second pre-tensioning member 196 is connected to the second fixing rod 195 and / or the second stop block 192. When the second fixing rod 195 is operated, the elastic force of the second pre-tensioning member 196 can be adjusted, thereby adjusting the pre-tension force on the second pull rope 154, so that the second pull rope 154 is in a taut state. Optionally, the first pre-tensioning member 194 and the second pre-tensioning member 196 are pre-compression springs.

[0107] See Figure 13 , Figure 14 and Figure 19 In one embodiment, the first pull rope 153 has a first intermediate section located between the first guide wheel 151 and the first connecting position. The height of the first fixing rod 193 relative to the base 110 is greater than the height of the first abutment portion 1911 relative to the base 110, so that the first intermediate section of the first pull rope 153 is located between the first guard plate 171 and the first movable seat 120. That is, in the height direction, the height of the first fixing rod 193 is higher than the height of the first abutment portion 1911, and the height of the second fixing rod 195 is higher than the height of the second abutment portion 1921. Thus, the first abutment portion 1911 can avoid the first pull rope 153 and avoid interference with it, and the second abutment portion 1921 can avoid the second pull rope 154 and avoid interference with it.

[0108] See Figures 3 to 7 In one embodiment, the rope assembly 150 further includes connecting plates 155, which are disposed on both sides of the first movable seat 120 for fixing the first pull rope 153 and the second pull rope 154. The connecting plates 155 are fixed to the side of the first movable seat 120, and the other ends of the first pull rope 153 and the second pull rope 154 are fixed to the connecting plates 155 to ensure the reliability of the connection between the first pull rope 153 and the second pull rope 154 and the second movable seat 130. Optionally, there are two connecting plates 155, which are symmetrically disposed on both sides of the second movable seat 130. The connecting plate 155 on the left side is connected to the first pull rope 153, and the connecting plate 155 on the right side is connected to the second pull rope 154.

[0109] Optionally, the rope assembly 150 further includes a tensioning member 156, which is disposed on the connecting plate 155. The other ends of the first pull rope 153 and the second pull rope 154 are fixed to the tensioning member 156, which is used to tension the first pull rope 153 and the second pull rope 154. One end of the first pull rope 153 is fixed to the first stop block 191, and one end of the second pull rope 154 is fixed to the second stop block 192. The other ends of the first pull rope 153 and the second pull rope 154 are respectively fixed to the tensioning member 156 at corresponding positions. The tensioning member 156 can tension the first pull rope 153 and the second pull rope 154, ensuring that the first pull rope 153 and the second pull rope 154 are in a taut state, thereby ensuring that the first pull rope 153 and the second pull rope 154 can accurately drive the second movable seat 130 to move. Optionally, the tensioning member 156 is a tensioning bolt or a tensioning spring, etc.

[0110] See Figure 4 , Figure 5 and Figure 12 In one embodiment, the guard plate assembly 170 further includes a second guide rail 174, a first connecting seat 175, and a second connecting seat 176; the second guide rail 174 is disposed on the first movable seat 120 and extends along the moving direction of the first movable seat 120; the first connecting seat 175 is disposed on the first guard plate 171 and connected to the second guide rail 174, so that the first connecting seat 175 can move along the second guide rail 174; the second connecting seat 176 is disposed on the second guard plate 172 and connected to the second guide rail 174, so that the second connecting seat 176 can move along the second guide rail 174.

[0111] The first connecting seat 175 and the second connecting seat 176 are slidably disposed on the second guide rail 174. The first connecting seat 175 is also connected to the first guard plate 171, and the second connecting seat 176 is also connected to the second guard plate 172. When the first movable seat 120 drives the push block 180 to move in the first direction, the push block 180 pushes the first guard plate 171 to move, and then the first guard plate 171 drives the first connecting seat 175 to move along the second guide rail 174. When the first movable seat 120 drives the push block 180 to move in the second direction, the push block 180 can push the second guard plate 172 to move, and then the second guard plate 172 drives the second connecting seat 176 to move along the second guide rail 174. In this way, the movement of the first guard plate 171 and the second guard plate 172 can be guided, ensuring accurate movement trajectory.

[0112] Optionally, the reset member 173 connects the first connecting seat 175 and the second connecting seat 176, thereby indirectly connecting the first protective plate 171 and the second protective plate 172 to achieve the reset of the first protective plate 171 and the second protective plate 172. Of course, in other embodiments of this application, the reset member 173 may also be directly connected to the first protective plate 171 and the second protective plate 172.

[0113] Optionally, the first connecting seat 175 and the second connecting seat 176 are guide sliders, which are slidably disposed on the second guide rail 174. When the first guard plate 171 or the second guard plate 172 moves, it can drive the guide slider to move along the second guide rail 174. In other embodiments of this application, the first connecting seat 175 and the second connecting seat 176 may also be in the form of roller sliders. The second guide rail 174 has a guard guide groove. The first connecting seat 175 and the second connecting seat 176 include a guard roller 1751 and a guard mounting seat 1752. The guard roller 1751 is rotatably mounted on the guard mounting seat 1752. The guard mounting seat 1752 is movably disposed on the second guide rail 174 and connects the first guard plate 171 and the second guard plate 172. The guard roller 1751 is rotatably disposed in the guard guide groove of the second guide rail 174. The first guard plate 171 and the second guard plate 172 drive the guard roller 1751 to slide in the guard guide groove via the guard mounting seat 1752. Of course, the second guide rail 174 and the first connecting seat 175 and the second connecting seat 176 can also be other structural forms that can achieve guiding cooperation.

[0114] See Figures 2 to 7 In one embodiment, the translation mechanism 10 further includes a second brake 210, which includes an energized demagnetizing component 211 and a magnetic suction component 212 that matches the energized demagnetizing component 211. One of the energized demagnetizing component 211 and the magnetic suction component 212 is located at one end of the first movable seat 120, and the other is located at the second movable seat 130. When the first pull rope 153 or the second pull rope 154 pulls the second movable seat 130 to its limit position, the energized demagnetizing component 211 and the magnetic suction component 212 are engaged and connected. The energized demagnetizing component 211 and the magnetic suction component 212 are limiting components for the second movable seat 130 to move to its limit position.

[0115] The energized demagnetizing component 211 and the magnetic suction component 212 are disposed on the left and right sides of the first movable seat 120 and the second movable seat 130, respectively, with the energized demagnetizing component 211 and the magnetic suction component 212 positioned opposite each other. When the first pull rope 153 moves the second movable seat 130 to its limit position (i.e., to the left limit position) in the first direction, the magnetic suction component 212 on the left side cooperates with the energized demagnetizing component 211 to limit the movement of the second movable seat 130 in the first direction, preventing the second movable seat 130 from overtraveling in the first direction. Similarly, when the second pull rope 154 moves the second movable seat 130 to its limit position (to the right limit position) in the second direction, the magnetic suction component 212 on the right side cooperates with the energized demagnetizing component 211 to limit the movement of the second movable seat 130 in the second direction, preventing the second movable seat 130 from overtraveling in the second direction.

[0116] Thus, after the second movable seat 130 moves to its limit position along the first or second direction, the energized demagnetizing component 211 cooperates with the magnetic suction component 212 to limit the movement of the second movable seat 130. If the second movable seat 130 needs to be reset, the energized demagnetizing component 211 is de-energized. At this time, the magnetic suction component 212 separates from the energized demagnetizing component 211, and the second movable seat 130 can be reset. Optionally, the energized demagnetizing component 211 is an energized demagnetizing electromagnet or other component capable of being energized and demagnetized. Optionally, the magnetic suction component 212 is a magnetic block or other component capable of being attracted and cooperated with the energized demagnetizing component 211. Exemplarily, the energized demagnetizing component 211 is disposed on the left and right sides of the second movable seat 130, and the magnetic suction component 212 is disposed on the left and right ends of the first movable seat 120. Of course, in other embodiments of this application, the magnetic suction member 212 may also be disposed on the left and right sides of the second movable seat 130, and the energized demagnetizing member 211 may also be disposed on the left and right ends of the first movable seat 120.

[0117] Optionally, the drive assembly 140 also includes a support plate that fixes the magnetic attractor 212 to the second movable seat 130. When the energized demagnetizing member 211 of the second movable seat 130 contacts the magnetic attractor 212 on the left or right side of the first movable seat 120, the second movable seat 130 can be fixed by the magnetic attraction force. At this time, the drive member 1141 stops, and the first brake 160 brakes. When the second movable seat 130 needs to be reset, the energized demagnetizing member 211 is energized to demagnetize, the first brake 160 is energized to release the brake on the lead screw 142, and the drive member 1141 reverses. Alternatively, if the second movable seat 130 stops before moving to the left or right limit position, the drive member 1141 needs to be stopped, and the first brake 160 brakes. When the second movable seat 130 needs to be reset, the first brake 160 is energized to release the brake on the lead screw 142, and the drive member 1141 reverses.

[0118] See Figures 3 to 6 , Figure 9 In one embodiment, the rope assembly 150 further includes a third guide rail 157 and a third connecting seat 158. The third guide rail 157 is disposed on the first movable seat 120, and the third connecting seat 158 ​​is slidably disposed on the third guide rail 157 and connected to the second movable seat 130. The third guide rail 157 is disposed on the upper surface of the second movable seat 130 along the moving direction of the first movable seat 120, and the third connecting seat 158 ​​is movably disposed on the third guide rail 157 and is also connected to the bottom of the second movable seat 130. When the second movable seat 130 moves relative to the first movable seat 120, the second movable seat 130 can drive the third connecting seat 158 ​​to move along the third guide rail 157 to guide the movement of the second movable seat 130 and ensure the accuracy of the movement trajectory of the second movable seat 130.

[0119] Optionally, the third connecting seat 158 ​​is a guide slider, which is slidably disposed on the third guide rail 157 and connected to the second movable seat 130. When the second movable seat 130 moves, it can drive the guide slider to move along the third guide rail 157 relative to the first movable seat 120. In other embodiments of this application, the third connecting seat 158 ​​can also be a roller slider structure. The third guide rail 157 has an upper guide groove, and the third connecting seat 158 ​​includes an upper roller and an upper mounting seat. The upper roller is rotatably mounted on the upper mounting seat, and the upper mounting seat is movably disposed on the third guide rail 157 and connected to the second movable seat 130. The upper roller is rollably disposed in the upper guide groove of the third guide rail 157. The second movable seat 130 drives the upper roller to slide in the upper guide groove through the upper mounting seat. Of course, the third guide rail 157 and the third connecting seat 158 ​​can also be other structural forms that can achieve guiding cooperation.

[0120] For example, there are two third connecting seats 158, which are spaced apart from each other on the third guide rail 157 and simultaneously connected to the second movable seat 130 to ensure the stability of the movement of the second movable seat 130. Of course, in other embodiments of this application, the number of third connecting seats 158 may be one or other numbers. Optionally, there are two sets of third guide rails 157, which are symmetrically arranged in the front-back direction on the first movable seat 120 to connect the first movable seat 120 and the second movable seat 130 on the front and back sides of the second movable seat 130, ensuring the stability of the movement of the second movable seat 130. Of course, in other embodiments of this application, the number of third guide rails 157 may be one set or other numbers.

[0121] See Figure 3 and Figure 4 The second movable seat 130 is located in the middle region of the first movable seat 120, which is located above the base 110. The translation mechanism 10 is in its initial state in the middle position. Figure 6 , Figures 15 to 18 As shown, the first movable seat 120 drives the second movable seat 130 to extend along the first direction. Figure 15 for Figure 6 The front view of the translation mechanism 10 shown is shown. Figure 16 for Figure 6 The top view of the translation mechanism 10 shown. Figure 17 for Figure 16 The cross-sectional view of the translation mechanism 10 shown at X2-X2 is shown. Figure 18 for Figure 16 The translation mechanism 10 shown is a cross-sectional view at Y2-Y2.

[0122] When the translation mechanism 10 is in operation, the first brake is opened to release the brake on the lead screw 142, and the drive component 1141 is started to rotate forward. The drive component 1141 drives the lead screw 142 to rotate through the meshing of the transmission component 145, such as the first gear 1451 and the second gear 1452. The rotation of the lead screw 142 pushes the lead screw nut 143 and the nut connecting block 144 to move the first movable seat 120 along the first direction. The first movable seat 120 drives the push block 180 of the drive assembly 140 to move along the first guide rail 111 along the first direction. When the push block 180 moves along the first direction, it can push the first guard plate 171 on the left side to move along the first direction. At the same time, the second guard plate 172 on the right side is limited by the second stop block (second stop position E2 of the second guard plate 172) and is held in place by the reset component 173, providing protection for the electrical components at the bottom.

[0123] Simultaneously, the first movable seat 120 pushes the first guide wheel to move, which in turn drives the first pull rope to pull the second movable seat 130 relative to the first movable seat 120, achieving synchronous and unidirectional movement of the first movable seat 120 and the second movable seat 130. Then, when the magnetic suction member 212 on the second movable seat 130 contacts the energized demagnetizing member 211, it can fix the second movable seat 130, the drive member 1141 stops rotating, and the first brake engages. Alternatively, if the second movable seat 130 stops before reaching its left limit position, only the drive member 1141 stops rotating, and the first brake engages.

[0124] Subsequently, if the second movable seat 130 is at its left limit position, the demagnetizing element 211 is energized to demagnetize, the first brake is energized to release the braking of the lead screw 142, the driving element 1141 reverses, and the first movable seat 120 moves along the second direction. After moving a certain distance, the demagnetizing element 211 is de-energized. Alternatively, if the second movable seat 130 stops before reaching its left limit position, the first brake is energized to release the braking of the lead screw 142, the driving element 1141 reverses, and the first movable seat 120 moves to the right.

[0125] The first movable seat 120 drives the second movable seat 130 back to its initial position, and the elastic force of the reset member 173 can drive the first guard plate 171 to reset. Similarly, the principle of the translation mechanism 10 moving along the second direction is essentially the same as the principle of moving along the first direction, and will not be described again here.

[0126] The translation mechanism 10 of this application uses a drive assembly 140 to simultaneously drive the movement of the first movable seat 120 and the second movable seat 130, causing the first movable seat 120 and the second movable seat 130 to extend out of the base 110, thereby driving the robotic arm to extend. In this way, the extension length of the robotic arm is not limited by the width of the operating table, increasing the extension length of the robotic arm and thus increasing its working space to meet the needs of actual surgical operations. Simultaneously, using the drive assembly 140 to simultaneously drive the first movable seat 120, the rope assembly 150, and the second movable seat 130 reduces the number of power sources, simplifies the control method, and facilitates the use of the translation mechanism 10.

[0127] The translation mechanism 10 controls the movement of the first movable seat 120 and the second movable seat 130 via a drive element 1141, through a lead screw 142 and a rope drive reset. This simplifies the structural design and control, significantly simplifying the operating system. Even with a relatively short equipment length, the translation mechanism 10 enables long-distance movement of the robotic arm through the cooperation of the first movable seat 120 and the second movable seat 130. The translation mechanism 10 also employs a first guard plate 171 and a second guard plate 172 for equipment protection, with a reset element 173 enabling automatic reset of the first guard plate 171 and the second guard plate 172. Furthermore, when the equipment is powered off, a brake engages the lead screw 142, achieving power-off self-locking and ensuring safety.

[0128] Furthermore, the translation mechanism 10 has a manual function. If the entire machine suddenly loses power, the second movable seat 130 can be manually pushed to achieve overall left and right horizontal movement. Understandably, when the power is off, the first brake locks the lead screw 142, and the energized demagnetizing component 211 locks the second movable seat 130. The translation mechanism 10 is also equipped with a UPS power supply, which provides uninterrupted power to the first brake 160 and the energized demagnetizing component 211. At this time, the locking of the first brake and the energized demagnetizing component 211 is released, and the drive component 1141 is not energized due to the power failure, so there is no output. Therefore, the second movable seat 130 plate can be manually pushed to move and reset, and at the same time, the middle layer plate and the first guard plate 171 or the second guard plate 172 will be reset.

[0129] See Figures 1 to 3 This application also provides a surgical robot, including a base 30, at least one robotic arm, and at least one translation mechanism 10 as described in any of the above embodiments. The base 110 of the translation mechanism 10 is disposed on the base 30, and the robotic arms are correspondingly disposed on the second movable seats 130 of the translation mechanism 10. The extension and retraction of the robotic arms are achieved by extending and retracting the translation mechanism 10.

[0130] For example, there can be multiple robotic arms, and multiple translation mechanisms 10 are also provided and are set one to one with the robotic arms. Multiple translation mechanisms 10 are respectively set on the base 30 of the operating table. Each translation mechanism 10 is equipped with a robotic arm, and a surgical instrument such as an endoscope is installed at the end of each robotic arm to perform corresponding surgical operations.

[0131] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0132] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A translation mechanism, characterized in that, It includes a base, a first movable seat, a second movable seat, a drive assembly, and a rope assembly; The base has a first connection position and a second connection position; The first movable seat is disposed on the base and is movable relative to the base; The second movable seat is disposed on the first movable seat and is movable relative to the first movable seat; The drive component is disposed on the base, and the drive component is capable of driving the first movable seat to move; The rope assembly includes a first guide wheel, a second guide wheel, a first pull rope, and a second pull rope. Both the first and second guide wheels are located on the first movable seat, and are situated at opposite ends of the first movable seat's direction of movement. The first pull rope passes around the first guide wheel, with one end connected to the second movable seat and the other end connected to the first connecting position. The first pull rope is capable of pulling the second movable seat relative to the first movable seat in a first direction. The second pull rope passes around the second guide wheel, with one end connected to the second movable seat and the other end connected to the second connecting position. The second pull rope is capable of pulling the second movable seat relative to the first movable seat in a second direction, which is opposite to the first direction. Wherein, the distance between the first connecting position and the second connecting position is less than the length of the two ends in the moving direction of the first movable seat, so that when the driving component drives the first movable seat to move in the first direction, the first pull rope can pull the second movable seat to move relative to the first movable seat in the first direction; when the driving component drives the first movable seat to move in the second direction, the second pull rope can pull the second movable seat to move relative to the first movable seat in the second direction. The base is provided with a first guide rail, which extends along the moving direction of the first movable seat. The first movable seat slides in cooperation with the first guide rail. The translation mechanism also includes a guard plate assembly, a pushing assembly, and a stopping assembly. The guard plate assembly includes a first guard plate and a second guard plate. Both the first guard plate and the second guard plate are movably connected to the first movable seat, so that the first guard plate and the second guard plate can move relative to the first movable seat. The first guard plate and the second guard plate are spaced apart in the moving direction of the first movable seat. The first guard plate and the second guard plate are located above the first guide rail to cover the first guide rail. The pushing component is disposed on the first movable seat, the pushing component is located between the first guard plate and the second guard plate, and the pushing component is capable of pushing the first guard plate and the second guard plate to move; The stop component is disposed on the base, the stop component is located between the first guard plate and the second guard plate, and the stop component can abut against the first guard plate and the second guard plate to prevent the first guard plate and the second guard plate from moving; When the first movable seat moves along the first guide rail, the pushing component can push one of the first guard plate and the second guard plate to move in the same direction as the moving direction of the first movable seat, and the stopping component can prevent the other of the first guard plate and the second guard plate from moving relative to the base.

2. The translation mechanism according to claim 1, characterized in that, The guard plate assembly also includes a reset member, one end of which is connected to the first guard plate and the other end of which is connected to the second guard plate. The reset member can reset the first guard plate and the second guard plate after they have been moved.

3. The translation mechanism according to claim 1, characterized in that, The pushing assembly includes at least one push block, all of which are disposed on the first movable seat and located between the first guard plate and the second guard plate, and the push blocks slide in cooperation with the first guide rail; and / or The first pull rope has a first intermediate section located between the first guide wheel and the first connecting position, the first intermediate section being located between the first guard plate and the first movable seat; the second pull rope has a second intermediate section located between the second guide wheel and the second connecting position, the second intermediate section being located between the second guard plate and the first movable seat.

4. The translation mechanism according to claim 1, characterized in that, The stop assembly includes a first stop block, which is disposed at the first connection position and located between the first guard plate and the second guard plate; the other end of the first pull rope is fixed to the first stop block.

5. The translation mechanism according to claim 4, characterized in that, The first stop block is provided with a first abutting part, which is used to abut against the first guard plate; The stop assembly further includes a first fixing rod and a first pretensioner. The first fixing rod is movably disposed on the first stop block. The other end of the first pull rope is connected to the first fixing rod. The first pretensioner is connected to at least one of the first fixing rod and the first stop block to pretension the first pull rope. The first pull rope has a first intermediate section located between the first guide wheel and the first connecting position, and the height of the first fixing rod relative to the base is greater than the height of the first abutment relative to the base, so that the first intermediate section of the first pull rope is located between the first guard plate and the first movable seat.

6. The translation mechanism according to claim 1, characterized in that, The guard plate assembly further includes a second guide rail, a first connecting seat, and a second connecting seat; the second guide rail is disposed on the first movable seat and extends along the moving direction of the first movable seat; the first connecting seat is disposed on the first guard plate and connected to the second guide rail, so that the first connecting seat can move along the second guide rail; the second connecting seat is disposed on the second guard plate and connected to the second guide rail, so that the second connecting seat can move along the second guide rail.

7. The translation mechanism according to any one of claims 1-6, characterized in that, The drive assembly includes a lead screw, a drive component, and a guide component. The lead screw is rotatably mounted on the base and is screwed to the first movable seat. The drive component is mounted on the base and is drively connected to the lead screw. The guide component is mounted on the base and is guidely connected to the first movable seat. The translation mechanism further includes a first brake, which is disposed on the base and connected to the lead screw, and is used to brake the lead screw; and / or, the translation mechanism further includes a second brake, which includes an energized demagnetizing component and a magnetic suction component that matches the energized demagnetizing component, one of the energized demagnetizing component and the magnetic suction component being disposed at one end of the first movable seat and the other being disposed at the second movable seat.

8. The translation mechanism according to claim 7, characterized in that, The drive assembly further includes at least two support seats, which are disposed on the base and the lead screw is rotatably disposed on the support seats; the first guard plate and / or the second guard plate are provided with relief grooves recessed toward the first movable seat, the relief grooves being used to avoid the support seats.

9. A surgical robot, characterized in that, It includes a base, at least one robotic arm, and at least one translation mechanism as described in any one of claims 1-8, wherein the base of the translation mechanism is disposed on the base, and the robotic arms are respectively disposed on the second movable seats of the translation mechanism.

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