Floor support device for surgical robot

Abstract

The present invention relates to the field of medical equipment technology, and in particular to a ground support device for a surgical robot, comprising: a plurality of ground support legs, arranged at the bottom of the robot body, the ground support legs comprising a leg outer sleeve and a leg inner sleeve, and an electric push rod arranged between the leg outer sleeve and the leg inner sleeve, a pressure sensor is arranged between the electric push rod and the leg inner sleeve, and the leg inner sleeve is provided with an ultrasonic sensor with a detection direction toward the ground; a control circuit, connected to the electric push rod, the pressure sensor and the ultrasonic sensor, to control the working state of the electric push rod based on the detection signal fed back by the pressure sensor and the ultrasonic sensor. This solution is used to solve the defects of the existing surgical robot's support mechanism being inconvenient to adjust manually, the automatic telescopic structure having poor adaptability to ground conditions, and being unable to detect foreign objects on the ground, so as to realize the rapid and automatic lifting of the surgical robot trolley and adapt to various ground conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a ground support device for a surgical robot. Background Art

[0002] The surgical robot system is a complex that integrates a number of modern high-tech means, integrating cutting-edge technologies such as precision machinery, advanced sensors, artificial intelligence and remote control, significantly improving the accuracy and safety of surgery, and is widely used in multiple clinical fields such as cardiac surgery, neurosurgery, and urology. The surgical robot system provides a stable surgical platform and a highly flexible robotic arm to achieve refined operations in minimally invasive surgery, reduce patient trauma, and accelerate the recovery process.

[0003] However, ensuring the absolute stability of the robotic arm during surgery is a major challenge. Traditional support mechanisms for surgical robots usually use manual or semi-automatic leg telescopic structures to lift the trolley that carries the robotic arm to prevent the tiny movements of the casters from touching the ground and interfering with surgical precision. Manual adjustment is time-consuming and labor-intensive, relies on the operator's experience and judgment, and is difficult to achieve precise height control; while existing automatic telescopic devices improve convenience, they have limited adaptability when facing uneven or special textured ground, which can easily cause equipment instability and affect the smooth progress of surgery. Summary of the invention

[0004] The present invention provides a ground support device for a surgical robot, which is used to solve the defects of the existing surgical robot, such as the inconvenience of manual adjustment of the support mechanism, the poor adaptability of the automatic telescopic structure to ground conditions, and the inability to detect foreign objects on the ground. It can realize the rapid and automatic raising of the surgical robot trolley and adapt to various ground conditions, ensure the stability of the robot arm operation and the surgical positioning accuracy, thereby comprehensively improving the safety and efficiency of the operation.

[0005] The present invention provides a ground support device for a surgical robot, comprising: a plurality of ground support legs, arranged at the bottom of the robot body, the ground support legs comprising a leg outer sleeve and a leg inner sleeve, and an electric push rod arranged between the leg outer sleeve and the leg inner sleeve, a pressure sensor is arranged between the electric push rod and the leg inner sleeve, and the leg inner sleeve is provided with an ultrasonic sensor with a detection direction toward the ground; a control circuit, connected to the electric push rod, the pressure sensor and the ultrasonic sensor, to control the working state of the electric push rod based on the detection signals fed back by the pressure sensor and the ultrasonic sensor.

[0006] According to a ground support device for a surgical robot provided by the present invention, a guide structure is provided between the leg outer sleeve and the leg inner sleeve; the leg inner sleeve is slidably fitted in the leg outer sleeve along the axial direction through the guide structure.

[0007] According to a ground support device for a surgical robot provided by the present invention, the guide structure is an oil-free bushing fixedly arranged on the inner surface of the leg sleeve, and a plurality of small hole structures are distributed in an array on the oil-free bushing. Solid lubricants are arranged in the small hole structures or lubricating oil is stored in the small hole structures; the outer circumferential surface of the leg inner sleeve is slidably matched with the inner circumferential surface of the oil-free bushing.

[0008] According to a ground support device for a surgical robot provided by the present invention, the leg outer sleeve includes a sleeve portion and a top cover portion sealed on the top of the sleeve portion; the electric push rod includes a driving body and a screw rod, the driving body is arranged on the top cover portion, the pressure sensor is installed on the end of the screw rod, and a pressure-bearing part is connected between the pressure sensor and the leg inner sleeve.

[0009] According to a ground support device for a surgical robot provided by the present invention, a brake is provided between the driving body and the screw rod, and the brake holds the screw rod tightly in a power-off state to keep the screw rod in an extended state.

[0010] According to a ground support device for a surgical robot provided by the present invention, the inner sleeve of the support leg is provided with a first accommodating groove facing the top cover part and coaxial with the electric push rod; the pressure sensor, the pressure-bearing part and at least a part of the lead screw are located in the first accommodating groove; when the pressure-bearing part is affected by pressure, the pressure sensor outputs a millivolt-level voltage signal, and the magnitude of the voltage signal is proportional to the magnitude of the pressure applied to the pressure-bearing part.

[0011] According to a ground support device for a surgical robot provided by the present invention, the inner sleeve of the leg is provided with a second receiving groove facing the ground; the ultrasonic sensor is arranged in the second receiving groove; the ultrasonic sensor has a preset distance value, when the inner sleeve of the leg touches the ground, the distance between the probe of the ultrasonic sensor and the ground reaches the preset distance value, and the ultrasonic sensor outputs a touchdown signal.

[0012] According to a ground support device for a surgical robot provided by the present invention, the control circuit includes a DC power conversion module, which is used to convert an externally provided DC24V power supply into DC5V for supplying the ultrasonic sensor and the pressure sensor; the DC power conversion module includes a three-terminal regulator and surrounding filter capacitors.

[0013] According to a ground support device for a surgical robot provided by the present invention, the control circuit includes a logic control module for integrating the signals of the ultrasonic sensor and the pressure sensor; the logic control module includes but is not limited to an AND gate chip and an XOR gate chip; the logic control module is configured to activate a corresponding control signal through multi-level logic judgment to drive an alarm or stop movement response mechanism when all legs touch the ground normally or an abnormal touching situation is detected.

[0014] According to a ground support device for a surgical robot provided by the present invention, a timing delay mechanism and a travel limit detection mechanism are integrated in the control circuit; the control circuit is configured as follows: using specific electronic components to set a tolerance time window for the asynchronism between the ultrasonic sensor and the pressure sensor signals, and monitoring the limit position of the electric push rod through the state of the travel switch, so as to be able to timely identify and take preventive measures when the ground is uneven or foreign objects are involved; the specific electronic components include a combination of resistors and / or capacitors, and the preventive measures include activating an alarm system and / or interrupting the current operation.

[0015] The ground support device for a surgical robot provided by the present invention integrates real-time data from a pressure sensor and an ultrasonic sensor through a control circuit, and automatically adjusts the extension and retraction action of the electric push rod to achieve the purpose of quickly raising the trolley and accurately positioning. Among them, the electric push rod can not only accurately control the extension and retraction of the legs, but also monitor the contact force between the legs and the ground in real time through the built-in pressure sensor, to ensure the proper distribution of the supporting force and avoid overload or instability. The ultrasonic sensor uses ultrasonic detection technology to measure the distance to the ground in real time, and immediately feedbacks the signal when the legs touch the ground or approach the ground, thereby enhancing the device's ability to adapt to complex ground environments. Through integrated design and intelligent control, the present invention provides a flexible and stable support solution for the surgical robot system, ensuring the stability of the robot arm operation and the accuracy of surgical positioning, thereby comprehensively improving the safety and efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic structural diagram of a ground support device for a surgical robot provided by the present invention.

[0018] Figure 2 It is a schematic structural diagram of the ground support legs of the ground support device for a surgical robot provided by the present invention.

[0019] Figure 3 It is a schematic diagram of the cross-sectional structure of the ground support legs.

[0020] Figure 4 It is a schematic diagram of the exploded structure of the ground support legs.

[0021] Figure 5 It is a working flow chart of a floor support device for a surgical robot.

[0022] Figure 6 This is one of the principle diagrams of the control circuit of the ground support device for the surgical robot provided by the present invention.

[0023] Figure 7 This is the second schematic diagram of the control circuit of the ground support device for the surgical robot provided by the present invention.

[0024] Figure 8 This is the third schematic diagram of the control circuit of the ground support device for the surgical robot provided by the present invention.

[0025] Fig. 9 This is the fourth schematic diagram of the control circuit of the ground support device for the surgical robot provided by the present invention.

[0026] Fig.10 This is the fifth schematic diagram of the control circuit of the ground support device for the surgical robot provided by the present invention.

[0027] Fig.11 This is the sixth schematic diagram of the control circuit of the ground support device for the surgical robot provided by the present invention.

[0028] Fig.12 This is the seventh schematic diagram of the control circuit of the ground support device for the surgical robot provided by the present invention.

[0029] Fig.13 This is the eighth schematic diagram of the control circuit of the ground support device for the surgical robot provided by the present invention.

[0030] Fig.14 This is the ninth schematic diagram of the control circuit of the ground support device for the surgical robot provided by the present invention.

[0031] Fig.15 This is the tenth schematic diagram of the control circuit of the ground support device for the surgical robot provided by the present invention.

[0032] Reference numerals:

[0033] 10. Robot body; 20. Ground support leg; 21. Leg outer cover; 22. Leg inner cover; 23. Electric push rod; 24. Pressure sensor; 25. Ultrasonic sensor; 26. Oil-free bushing; 27. Small hole structure; 28. Pressure-bearing part; 31. First receiving groove; 32. Second receiving groove. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0036] The present invention provides an innovative ground support device for surgical robots, which is designed to improve the stability and flexibility of surgical robot systems, especially to ensure the accuracy and safety of robot arm operations when dealing with diverse ground conditions. The device integrates intelligent ground support legs and a control circuit system to achieve rapid, adaptive support and precise positioning of the surgical robot trolley.

[0037] Combine the following Figures 1 to 15 A specific embodiment of the ground support device for a surgical robot according to the present invention is described.

[0038] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the present invention provides a ground support device for a surgical robot, comprising: a plurality of ground support legs 20, arranged at the bottom of the robot body 10, the ground support legs 20 comprising a leg outer sleeve 21 and a leg inner sleeve 22, and an electric push rod 23 arranged between the leg outer sleeve 21 and the leg inner sleeve 22, a pressure sensor 24 is arranged between the electric push rod 23 and the leg inner sleeve 22, and the leg inner sleeve 22 is provided with an ultrasonic sensor 25 with a detection direction facing the ground; a control circuit is connected to the electric push rod 23, the pressure sensor 24 and the ultrasonic sensor 25, so as to control the working state of the electric push rod 23 based on the detection signal fed back by the pressure sensor 24 and the ultrasonic sensor 25. The ground support device for a surgical robot of the present invention not only optimizes the ground contact detection and response mechanism of the ground support legs 20 through the cooperative working mode of the ultrasonic sensor 25 and the force sensor, combined with efficient control logic, but also ensures rapid adaptability and automatic leveling capability in a complex ground environment, providing an unprecedented stable support platform for the surgical robot system, and significantly improving the efficiency and safety of the operation.

[0039] Specifically, the ground support legs 20 of the ground support device for the surgical robot are located at the bottom of the robot body 10. Each leg is composed of an outer leg outer shell 21 and an inner leg inner shell 22. The electric push rod 23 between the two supports height adjustment and is equipped with a pressure sensor 24 and an ultrasonic sensor 25 facing the ground. Not only does it allow the electric push rod 23 to be dynamically adjusted according to the instant feedback of the sensor, but it also ensures the precise control of the ground support force and the real-time monitoring of the ground state. The control circuit, as the intelligent command center of the device, receives dual signals from the ultrasonic sensor 25 and the force sensor. Through precise algorithm analysis, it can accurately determine the ground contact state of each ground support leg 20, including whether it is normal, whether all legs have synchronously touched the ground, or whether there is an abnormal ground contact situation. By introducing the judgment mechanism of the control circuit, the device improves the recognition accuracy of the ground support leg 20 touchdown signal, and even on uneven ground, it can also prompt the robotic arm trolley to automatically achieve horizontal adjustment to ensure the smooth progress of the surgical operation.

[0040] According to a ground support device for a surgical robot provided by the present invention, a guide structure is provided between the leg outer sleeve 21 and the leg inner sleeve 22; the leg inner sleeve 22 is slidably fitted in the leg outer sleeve 21 along the axial direction through the guide structure. Through the guide structure, the telescopic movement of the ground support leg 20 is optimized. Among them, the guide structure not only ensures the smooth operation of the leg during the telescopic process, reduces the movement resistance, but also significantly enhances the rigidity and stability of the overall structure, and effectively prevents foreign impurities such as dust and particles from invading the interior of the leg, reducing the additional friction and wear that may be caused by these foreign objects, thereby extending the service life of the device and maintaining the high efficiency of operation.

[0041] By introducing the guide structure, the ground support device for the surgical robot can maintain excellent performance in the face of repeated telescopic cycles and long-term use, ensuring the consistency and accuracy of each telescopic action, which is crucial to the positioning accuracy and stability of the surgical robot system. In addition, reducing unnecessary friction means that the energy consumption of the electric push rod 23 is reduced, which indirectly improves the efficiency of energy use and reduces the potential failure rate, further proving the dual advantages of the design in practicality and durability. The guide structure can specifically be a ball bearing guide, a slider or rail guide, an oil-free self-lubricating bushing guide and other structural forms. The choice of which guide structure depends on the needs of the specific application, including factors such as load capacity, movement frequency, use environment, cost budget and maintenance convenience. In the surgical robot system, considering the particularity of the medical environment, it is usually preferred to choose a guide structure that is easy to maintain, dustproof, low noise and high reliability.

[0042] Preferably, according to a ground support device for a surgical robot provided by the present invention, the guide structure is an oil-free bushing 26 fixedly arranged on the inner surface of the leg outer shell 21, and a plurality of small hole structures 27 are arranged in an array on the oil-free bushing 26, and a solid lubricant or lubricating oil is stored in the small hole structure 27; the outer peripheral surface of the leg inner sleeve 22 is slidably matched with the inner peripheral surface of the oil-free bushing 26. By adopting the guide structure of the oil-free bushing 26, the ground support device for the surgical robot not only ensures the smoothness of movement, but also effectively improves the reliability and durability of the device. No regular refueling and maintenance are required, which reduces the maintenance workload and potential environmental pollution during use, making the entire system more in line with the high standards of the medical environment and the requirements of long-term stable operation. Among them, the small hole structure 27 is provided with a solid lubricant or lubricating oil is stored, which can ensure that the leg inner sleeve 22 obtains a lasting and uniform lubrication effect when its outer peripheral surface is slidably matched with the inner peripheral surface of the oil-free bushing 26, reduces friction resistance, and avoids the pollution risk caused by conventional oil lubrication.

[0043] According to a ground support device for a surgical robot provided by the present invention, the leg outer sleeve 21 includes a sleeve portion and a top cover portion sealed on the top of the sleeve portion; the electric push rod 23 includes a driving body and a screw rod, the driving body is arranged on the top cover portion, a pressure sensor 24 is installed at the end of the screw rod, and a pressure-bearing member 28 is connected between the pressure sensor 24 and the leg inner sleeve 22. Among them, the sleeve portion serves as the leg body and is used to accommodate the sliding of the leg inner sleeve 22; the top cover portion is located on the top of the sleeve portion to provide a mounting platform for the driving body. The screw rod serves as a transmission element, and one end of the screw rod is equipped with a pressure sensor 24 to monitor the pressure changes of the leg when supporting in real time.

[0044] When the ground support leg 20 contacts the ground or bears weight, the pressure is transmitted to the pressure sensor 24 through the pressure-bearing member 28, and the sensor then converts these mechanical signals into electrical signals and feeds them back to the control circuit. Based on these signals, the control circuit can accurately control the extension and retraction of the electric push rod 23 to maintain or adjust the overall stability of the ground support device for the surgical robot, ensuring the stability and accuracy of the surgical robot system during the operation.

[0045] According to a ground support device for a surgical robot provided by the present invention, a brake is provided between the driving body and the screw rod, and the brake holds the screw rod tightly in the power-off state to keep the screw rod in the extended state. The brake design has a reverse self-locking function, which means that once an unexpected power outage occurs, the brake will automatically start immediately and hold the screw rod tightly, effectively preventing it from accidentally retracting due to gravity or other external forces. Even in an emergency situation where the power supply is suddenly interrupted, the inner sleeve 22 of the leg can maintain its current position, ensuring the stability of the surgical robot system and preventing displacement, avoiding possible interference or risks to the ongoing surgical operation, while also protecting the equipment from damage and ensuring the safety of operating room personnel.

[0046] According to a ground support device for a surgical robot provided by the present invention, the inner sleeve 22 of the leg is provided with a first receiving groove 31 facing the top cover and coaxial with the electric push rod 23; the pressure sensor 24, the pressure-bearing member 28 and at least a part of the screw rod are located in the first receiving groove 31; when the pressure-bearing member 28 is affected by pressure, the pressure sensor 24 outputs a millivolt voltage signal, and the magnitude of the voltage signal is proportional to the magnitude of the pressure on the pressure-bearing member 28. The inner sleeve 22 of the leg is designed with a first receiving groove 31 facing the top cover, and the first receiving groove 31 is coaxial with the electric push rod 23. Such a layout saves space and optimizes the compactness of the internal structure. When the leg is subjected to the action of the ground or other external forces, the pressure is directly transmitted to the pressure sensor 24 through the pressure-bearing member 28. The sensor converts it into a millivolt voltage signal output. The intensity of the voltage signal is proportional to the actual pressure, so that the control circuit can accurately calculate the actual load borne by the ground support leg 20 according to this linear relationship, thereby realizing precise control of the electric push rod 23.

[0047] According to a ground support device for a surgical robot provided by the present invention, the inner sleeve 22 of the leg is provided with a second receiving groove 32 facing the ground; the ultrasonic sensor 25 is provided in the second receiving groove 32; the ultrasonic sensor 25 has a preset distance value, and when the inner sleeve 22 of the leg touches the ground, the distance between the probe of the ultrasonic sensor 25 and the ground reaches the preset distance value, and the ultrasonic sensor 25 outputs a touchdown signal. By placing the ultrasonic sensor 25 in the second receiving groove 32, not only the sensor is protected from interference by external factors, but also the accuracy of its detection direction is ensured. The ultrasonic sensor 25 is pre-set with a certain distance threshold, which is set according to actual application requirements, and is intended to accurately determine whether the leg has successfully touched the ground. When the inner sleeve 22 of the leg descends and finally touches the ground or approaches the preset distance, the sound wave emitted by the probe of the ultrasonic sensor 25 is reflected back by the ground, and the precise distance between the probe and the ground can be determined by measuring the round-trip time. Once the preset touchdown distance value is reached, the sensor immediately sends a touchdown signal, which is then captured and processed by the control circuit for subsequent logical judgment and control decision-making. Through the ultrasonic sensor 25, the ground support device for the surgical robot can quickly and accurately identify the ground contact status of the legs. Whether it is the initial placement or fine-tuning on uneven ground, it can be adjusted to the optimal support position in time to maintain the stability of the surgical robot platform.

[0048] According to a ground support device for a surgical robot provided by the present invention, the control circuit includes a DC power conversion module for converting an externally provided DC24V power supply into DC5V for supplying to the ultrasonic sensor 25 and the pressure sensor 24; the DC power conversion module includes a three-terminal voltage regulator and filter capacitors around it. The core component of the DC power conversion module is a three-terminal voltage regulator, such as the commonly used 7805 model. This type of voltage regulator is widely used in many electronic devices due to its small size, high efficiency, low cost and ease of use. Filter capacitors are arranged around the voltage regulator, such as a combination of electrolytic capacitors and ceramic capacitors, which work together to effectively filter out power fluctuations and noise, and provide pure and stable DC power to the sensor, thereby improving the reliability of the entire system and the detection accuracy of the sensor.

[0049] like Figure 6 As shown in the figure, when the power input terminal is connected to a DC24V power supply, the input terminal of the three-terminal regulator V1 is powered and DC5V is output from the output terminal. The capacitors C1, C2, C3, C4, C5, and C6 in the figure play a filtering role. The model of the three-terminal regulator needs to meet 24V input and 5V output, such as 7805. In the case shown in the figure, the ultrasonic sensors Q1, Q2, Q3, Q4 and the force sensors Q5, Q6, Q7, and Q8 are in working condition.

[0050] According to a ground support device for a surgical robot provided by the present invention, the control circuit includes a logic control module for integrating the signals of the ultrasonic sensor 25 and the pressure sensor 24; the logic control module includes but is not limited to an AND gate chip and an XOR gate chip; the logic control module is configured to activate the corresponding control signal through multi-level logic judgment when all legs touch the ground normally or detect abnormal touching the ground, so as to drive the response mechanism of alarm or stopping movement. The logic control module adopts highly integrated digital logic circuit technology, which not only includes basic AND gate chips (such as 74LS21) for realizing the logic and operation of multiple input signals, but also may use XOR gate chips (such as 74LS86), which are good at identifying the difference of input signals and outputting difference results.

[0051] The logic control module can accurately distinguish whether all the ground support legs 20 are in a normal ground contact state or in an abnormal ground contact state through the designed multi-level logic judgment process. Normal ground contact means that all legs are evenly and firmly supported on the ground, while abnormal ground contact may indicate interference from foreign objects, uneven ground, or failure of a single leg to touch the ground properly. Once these critical states are detected, the control module will immediately activate the corresponding control signal, which may include activating an alarm system to notify the operator to check the ground conditions, or directly instructing to stop the movement of the ground support device for the surgical robot to prevent possible mechanical damage or surgical operation errors. Through the above-mentioned logic control design, not only the intelligence level and safety of the ground support device for the surgical robot are improved, but also it is ensured that the surgical robot can respond quickly and maintain a stable working environment in a complex surgical environment.

[0052] like Figure 7 As shown, chip S1 is a 4-input dual AND gate chip, such as 74LS21. When input terminals A, B, C, and D are all high, output terminal Y outputs a high level. In other cases, output terminal Y outputs a low level. When all four ultrasonic sensors give ground contact signals, Q1-1, Q2-1, Q3-1, and Q4-1 are all high levels. The first group of AND gates of S1 have four high-level signals as input terminals. At this time, the first group of AND gates of S1 outputs a high-level signal S1-1.

[0053] like Figure 8As shown, when the legs touch the ground, the pressure sensor starts to output gradually increasing millivolt voltage signals Q5-1, Q6-1, Q7-1, and Q8-1. Taking Q5-1 as an example, the dual operational amplifier chip OP1, such as LM358, has two operational amplifiers inside. The first amplifier plays a proportional amplification role, Uout1 = Q5-1 (1 + R2 / R1), and the second amplifier plays a comparator role. When the voltage of Uout1 exceeds the threshold voltage Us, Uout2 outputs a high-level signal. When all four legs touch the ground and the force exerted on the four pressure sensors exceeds the threshold, Uout2, Uout4, Uout6, and Uout8 are all high-level signals. The second group of AND gates of chip S1 have all four input terminals that are high-level signals, and the output terminal outputs a high-level signal S1-2.

[0054] Furthermore, if Fig. 9 As shown, the threshold voltage Us can be adjusted by the resistor R9 and the adjustable resistor RP1.

[0055] like Fig.10 As shown, the 2-input AND gate chip S2, such as 74LS08, when the input terminals A and B are both high level, the output terminal Y outputs a high level, otherwise, the output terminal Y outputs a low level. When the input terminal of S2 receives the high level signals S1-1 and S1-2, the output terminal outputs a high level signal to the base of the transistor T1. At this time, the transistor T1 is turned on, and the coil of the relay K1 is powered on. The power-on of the coil of K1 means that all four legs have touched the ground normally.

[0056] According to a ground support device for a surgical robot provided by the present invention, a timing delay mechanism and a travel limit detection mechanism are integrated in the control circuit to further enhance the adaptability and safety of the device in complex environments. The control circuit is preferably configured as follows: using specific electronic components to set the tolerance time window for the asynchronization of the signals of the ultrasonic sensor 25 and the pressure sensor 24, and monitoring the limit position of the electric push rod 23 through the state of the travel switch, so that when the ground is uneven or there is a foreign object involved, it can be identified in time and preventive measures can be taken; the specific electronic components include a combination of resistors and / or capacitors, and the preventive measures include starting the alarm system and / or interrupting the current operation. Combined with the timing delay mechanism and the travel limit detection mechanism, the control circuit can not only intelligently identify and adapt to subtle changes in the ground, but also take preventive measures in time when encountering potential problems, thereby improving the operational safety and reliability of the ground support device for the surgical robot.

[0057] Specifically, the timing delay mechanism sets a time window through precisely configured electronic components, such as a specific combination of resistors and capacitors. This time window is used to tolerate the slight asynchrony that may occur between the ultrasonic sensor 25 and the pressure sensor 24 signals. In real applications, due to the unevenness or slight undulations of the ground, there may be a slight time difference in the sensor's ground contact signal. By setting a reasonable tolerance time window, the system can distinguish between true abnormal ground contact signals and temporary signal asynchrony, avoid misjudgment, and ensure the accuracy of the control response. The travel limit detection mechanism closely monitors the telescopic movement of the electric push rod 23 through the built-in travel switch. Once it reaches its preset limit position, the travel switch will immediately send a signal to the control circuit. This design is crucial to preventing mechanical overload and equipment damage, especially when the ground is abnormal or there are foreign objects blocking it, it can quickly identify and take action, such as starting the alarm system through the signal triggered by the travel switch or directly interrupting the current telescopic operation to protect the surgical robot system and ensure the smooth progress of the operation.

[0058] like Fig.11As shown, the 2-input four-XOR gate chip S3, such as 74LS86, when the input terminals A and B are both high or low, the output terminal Y is low, and when the input terminals A and B are different, the output terminal Y is high. Take one of the four legs as an example, when the supporting leg is not touching the ground, the ultrasonic sensor signal Q1-1 and the pressure sensor signal Uout2 are both low, and the output terminal 1Y is low. When the supporting leg is in a normal contact state, the ultrasonic sensor signal Q1-1 and the pressure sensor signal Uout2 are both high, and the output terminal 1Y is also low. When there is a foreign object between the outrigger and the ground, if the material of the foreign object is relatively soft and the foreign object is within the detection range of the ultrasonic sensor, the ultrasonic sensor will detect the foreign object first and will give a high-level signal Q1-1 first, while the pressure sensor will output a low-level signal Uout2 due to insufficient force, and the output terminal 1Y will output a high level. If the material of the foreign object is relatively hard and is not within the detection range of the ultrasonic sensor, the pressure sensor will first give a high-level signal Oout2, and the ultrasonic sensor will output a low-level signal Q1-1 due to not reaching the preset detection distance, and the output terminal Y1 will output a high level. If the material of the foreign object is relatively hard and is within the detection range of the ultrasonic sensor, it is considered that the ground is uneven, and both the ultrasonic sensor and the force sensor will output high-level signals to achieve the effect of a single outrigger touching the ground normally. When the outrigger touches the ground normally, the high-level signals of the ultrasonic sensor and the pressure sensor cannot be completely synchronized, and the output terminal 1Y will have a short high-level time. Therefore, the next action of the output terminal 1Y should be delayed for a certain period of time. It is considered to be abnormally touching the ground only when the high-level duration of 1Y reaches a certain value. This time is determined by the resistance value of resistor R10 and the capacitance value of capacitor C7. For example, it is considered to be abnormally touching the ground only when the high-level time of output terminal 1Y exceeds 1 second. When a certain outrigger touches the ground abnormally, the base of transistor T2 will have a high-level signal, and transistor T2 will be turned on. At this time, the three-terminal regulator V2 is powered on, the coil of relay K2 is powered, and the buzzer H1 emits an alarm sound. If the outrigger is still a distance away from the ground during the extension or retraction process, and there is no foreign matter on the ground, but the buzzer H1 emits an alarm sound, it means that there is a foreign matter in the installation hole of the ultrasonic sensor, causing the ultrasonic sensor to mistakenly send a touchdown signal. At this time, the outrigger can be retracted and the installation hole of the ultrasonic sensor can be checked. In this circuit, D2, D3, D4, D5, and D6 play a protective role, and capacitors C11 and C12 play a filtering role. The three-terminal voltage regulator needs to meet the input of 5~20V and the output of 5V, such as 7805.

[0059] like Fig.12As shown, the 2-input four-AND gate chip S4, such as 74LS08, when the input terminals A and B are both high, the output terminal Y outputs a high level, and in other cases, the output terminal Y outputs a low level. Since the ground may be uneven, the normal contact time of each leg may be asynchronous. If one leg touches the ground normally first, it should stop and wait for all other legs to touch the ground before moving together. Taking one of the legs as an example, when the ultrasonic sensor and the pressure sensor all give high-level signals, such as Q1-1 and Uout2 are high-level signals, the output terminal 1Y is a high-level signal. At this time, the base of the transistor T3 has a high-level signal, the transistor T3 is turned on, and the coil of the relay K3 is energized. In other words, relays K3, K4, K5, and K6 represent the signals of a single leg touching the ground normally. The diodes D7, D8, D9, and D10 in the figure play a protective role.

[0060] like Fig.13 As shown, the four-input or gate chip S5, such as CD4072, when there is one or more high-level signals in the input terminals A, B, C, and D, the output terminal Y outputs a high level, and if the input terminals are all low-level signals, the output terminal Y outputs a low-level signal. Each floor support leg has an electric push rod inside, and there is a travel switch at the top and bottom of the electric push rod. Its function is that when the push rod touches the travel switch during telescopic movement, it will cut off the power supply of the push rod, which plays a role in limiting the travel of the push rod. The electric push rod used in the floor support device for the surgical robot has a travel switch at the top of its internal top, which adopts a model of a group of normally open contacts and a group of normally closed contacts. The normally closed contacts are used to cut off the power supply of the push rod, and the normally open contacts are KB1, KB2, KB3, and KB4 in the figure. KB1, KB2, KB3, and KB4 represent the travel switches at the top of the electric push rods inside the four floor support legs, respectively. Since the ground may be uneven, one of the four legs may reach the maximum stroke first, at which time the entire extension process of the ground support device for the surgical robot is considered to have ended, and a signal is given. In the figure, when one or more of KB1, KB2, KB3, and KB4 are closed, the input end of the chip S5 will have at least one high-level signal, the output end 1Y will output a high level, the base of the transistor T7 will receive a high-level signal, the transistor T7 will be turned on, and the coil of the relay K7 will be energized. The diode D11 in the figure plays a protective role.

[0061] like Fig.14As shown, when the extension button is pressed, the coil of relay K8 is energized, the normally open contact K8-2 is closed, and the four legs begin to extend. At the same time, the normally closed contact K8-1 is disconnected. At this time, pressing the retract button is ineffective. This is to prevent accidental button pressing. When one of the legs reaches the normal ground contact state first, such as the left front leg, the normally closed contact K3-1 of relay K3 is disconnected, and the left front leg stops moving due to the loss of power supply, while the other legs continue to move without being affected. When all four legs touch the ground normally and stop moving, the coil of relay K1 is energized, the normally open contacts K1-1, K1-2, K1-3, and K1-4 are all closed, and the four legs begin to extend together again. At this time, when one of the legs reaches the maximum extension stroke, the coil of relay K7 is energized, the normally closed contact K7-1 is disconnected, all legs lose power, and the extension process ends. If an abnormal ground contact occurs during the extension process, the coil of relay K2 is energized, the normally closed contact K2-1 is disconnected, all legs stop moving, and a warning sound is issued to remind the user to check the ground environment.

[0062] like Fig.14 As shown in the figure, when the retract button is pressed, the coil of relay K9 is energized, the normally open contact K9-2 is closed, and the four legs begin to retract. At the same time, the normally closed contact K9-1 is disconnected. At this time, pressing the extend button has no effect. This is to prevent accidental button pressing. When all legs reach the lowest point of retraction, the retraction process ends.

[0063] like Fig.15As shown, a 2-input four-NAND gate chip S6, such as CD4011, short-circuit input terminals A and B, and the input and output terminals form a NOT gate logic. When the input terminal is high level, the output terminal is low level, and when the input terminal is low level, the output terminal is high level. When the extension button is pressed, the coil of relay K8 is powered on, and the normally open contact K8-3 is closed. At this time, chip S6 is powered on. Assuming that pins 1 and 2 are low, pins 3 are high, pins 5 and 6 are also high, and pin 4 is low. Capacitor C13 starts to charge through adjustable resistor RP2 and resistor R14. When the potential of C13 is charged to a high level, pins 1 and 2 become high, pins 3 become low, pins 5 and 6 are also low, and pin 4 becomes high. At this time, capacitor C13 starts to discharge through resistor R14 and adjustable resistor RP2. As capacitor C13 discharges, pins 1 and 2 become low again. Repeating this, pin 4 will output a pulsed high-level signal. The pulse frequency is determined by the resistance value of adjustable resistor RP2 and resistor R14 and the capacitance value of capacitor C13. The pulse signal of pin 4 will cause transistor T8 to switch continuously, and indicator LD1 will flash continuously, indicating that the leg is in the process of extending. When one of the legs reaches its maximum stroke, the K7 relay coil is energized, the normally closed contact K7-1 is disconnected, the K8 relay loses power, the normally open contact K8-3 is disconnected, the light strip stops flashing, and at the same time, the normally open contact K7-2 is closed, and the light strip LD1 is always on, indicating that the leg extension process has ended.

[0064] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ground support device for a surgical robot, characterized in that: include: A plurality of ground support legs (20) are arranged at the bottom of the robot body (10), the ground support legs (20) comprising a leg outer sleeve (21) and a leg inner sleeve (22), and an electric push rod (23) arranged between the leg outer sleeve (21) and the leg inner sleeve (22), a pressure sensor (24) is arranged between the electric push rod (23) and the leg inner sleeve (22), and the leg inner sleeve (22) is provided with an ultrasonic sensor (25) with a detection direction facing the ground; A control circuit connected to the electric push rod (23), the pressure sensor (24) and the ultrasonic sensor (25) to control the working state of the electric push rod (23) based on detection signals fed back by the pressure sensor (24) and the ultrasonic sensor (25); The leg inner sleeve (22) is provided with a second receiving groove (32) facing the ground; The ultrasonic sensor (25) is arranged in the second containing groove (32); The ultrasonic sensor (25) has a preset distance value, and when the leg inner sleeve (22) touches the ground, the distance between the probe of the ultrasonic sensor (25) and the ground reaches the preset distance value, and the ultrasonic sensor (25) outputs a ground contact signal; The control circuit comprises a DC power conversion module, which is used to convert an externally provided DC24V power supply into DC5V for supplying the ultrasonic sensor (25) and the pressure sensor (24); The DC power conversion module includes a three-terminal voltage regulator and a filter capacitor around it; The control circuit includes a logic control module for integrating signals from the ultrasonic sensor (25) and the pressure sensor (24); The logic control module includes but is not limited to an AND gate chip and an XOR gate chip; The logic control module is configured to activate corresponding control signals through multi-level logic judgment to drive a response mechanism of alarm or stopping movement when all legs touch the ground normally or detect abnormal touching the ground; The control circuit is integrated with a timing delay mechanism and a travel limit detection mechanism; The control circuit is configured to: use specific electronic components to set a tolerance time window for the asynchronism between the ultrasonic sensor (25) and the pressure sensor (24), and monitor the limit position of the electric push rod (23) through the state of the travel switch, so as to timely identify and take preventive measures when the ground is uneven or foreign objects are involved; The specific electronic component includes a resistor and / or a capacitor combination, and the preventive measure includes activating an alarm system and / or interrupting current operation.

2. The ground support device for a surgical robot according to claim 1, characterized in that: A guide structure is provided between the leg outer sleeve (21) and the leg inner sleeve (22); The support leg inner sleeve (22) is slidably fitted into the support leg outer sleeve (21) along the axial direction via the guide structure.

3. The ground support device for a surgical robot according to claim 2, characterized in that: The guide structure is an oil-free bushing (26) fixedly arranged on the inner surface of the leg outer shell (21), and a plurality of small hole structures (27) are arranged in an array on the oil-free bushing (26), and a solid lubricant is arranged in the small hole structure (27) or lubricating oil is stored; The outer peripheral surface of the leg inner sleeve (22) is slidably matched with the inner peripheral surface of the oil-free bushing (26).

4. The ground support device for a surgical robot according to claim 1, characterized in that: The leg cover (21) comprises a sleeve portion and a top cover portion sealed on the top of the sleeve portion; The electric push rod (23) comprises a driving body and a screw rod, wherein the driving body is arranged on the top cover portion, the pressure sensor (24) is installed at the end of the screw rod, and a pressure-bearing member (28) is connected between the pressure sensor (24) and the support leg inner sleeve (22).

5. The ground support device for a surgical robot according to claim 4, characterized in that: A brake is arranged between the driving body and the screw rod, and the brake holds the screw rod tightly in a power-off state to keep the screw rod in an extended state.

6. The ground support device for a surgical robot according to claim 4, characterized in that: The leg inner sleeve (22) is provided with a first receiving groove (31) facing the top cover portion and coaxial with the electric push rod (23); The pressure sensor (24), the pressure-bearing member (28), and at least a portion of the screw rod are located in the first accommodating groove (31); When the pressure-bearing part (28) is affected by pressure, the pressure sensor (24) outputs a millivolt-level voltage signal, and the magnitude of the voltage signal is proportional to the magnitude of the pressure applied to the pressure-bearing part (28).

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