Suspension surgical robot

Abstract

This application relates to a suspended surgical robot. The suspended surgical robot includes: a suspension motion device; a stroke multiplier mechanism disposed on the suspension motion device; the stroke multiplier mechanism is capable of telescopic movement along a first direction; the first direction is parallel to the extension direction of the stroke multiplier mechanism; and a robot assembly disposed on the stroke multiplier mechanism. In this way, on the one hand, the robot assembly can be suspended from the ceiling of the operating room, which not only avoids the surgical robot occupying floor space in the operating room, improving the space utilization of the operating room, but also reduces the obstruction of the surgeon's view by the surgical robot, providing a better field of vision; on the other hand, the stroke multiplier mechanism not only allows the surgical robot to occupy less space when retracted, but also makes the deployment of the surgical robot faster and more convenient.

Description

Technical Field

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

[0002] Surgical robots have been increasingly used in surgical procedures by doctors in recent years. They organically integrate multiple disciplines such as mechanics, electronics, control, computers, networks and imaging, enabling precise treatment and remote surgery for patients.

[0003] In related technologies, the movement of surgical robots is mainly achieved manually. That is, depending on the type of surgery, a nurse pushes the robot into the appropriate surgical position, then adjusts the posture of the surgical arms, and after the surgery, the nurse moves the robot to the preset placement position. However, this type of surgical robot has the following problems: first, it is relatively cumbersome to use, increasing labor costs; second, it occupies a large space, resulting in low space utilization in the operating room. Summary of the Invention

[0004] Therefore, it is necessary to provide a suspension-type surgical robot to address at least one of the above problems.

[0005] To achieve the above objectives, embodiments of this application provide a suspended surgical robot, which includes:

[0006] Suspension motion device;

[0007] A stroke multiplier mechanism is mounted on the suspension motion device; the stroke multiplier mechanism can extend and retract along a first direction; the first direction is parallel to the extension direction of the stroke multiplier mechanism;

[0008] A robot component is mounted on the stroke multiplier mechanism.

[0009] In one embodiment, the travel multiplier mechanism includes:

[0010] The main body is connected to the suspension motion device; the main body has a first receiving cavity;

[0011] A first telescopic member is slidably disposed within the first receiving cavity along the first direction; the first telescopic member has a second receiving cavity;

[0012] The second telescopic member is slidably disposed within the second receiving cavity along the first direction; the robot assembly is connected to the second telescopic member;

[0013] A first driving component, the main body of which is disposed on the body, and the driving end of which is connected to the first telescopic component;

[0014] A driven component is disposed on the first telescopic member and connected to the second telescopic member; the driven component is used to drive the second telescopic member to extend or retract according to the extension or retraction of the first telescopic member.

[0015] In one embodiment, the first driving member is a rotary driving member;

[0016] The trip multiplication mechanism also includes:

[0017] A transmission assembly, wherein the input end of the transmission assembly is connected to the driving end of the first driving member, and the output end of the transmission assembly is connected to the first telescopic member.

[0018] In one embodiment, the transmission assembly includes:

[0019] The lead screw is connected to the drive end of the first drive component;

[0020] A nut is provided on the first telescopic member and sleeved on the lead screw.

[0021] In one embodiment, the driven component includes:

[0022] The first transmission wheel is mounted on the first telescopic member;

[0023] The second transmission wheel is mounted on the second telescopic member;

[0024] A first transmission belt is fitted onto the first transmission wheel and the second transmission wheel;

[0025] The first connector has one end connected to the main body and the other end connected to the first transmission belt;

[0026] The second connector has one end connected to the first transmission belt and the other end connected to the second telescopic member.

[0027] In one embodiment, a first slide rail is provided inside the first receiving cavity, and a first slider that cooperates with the first slide rail is provided on the first telescopic member.

[0028] And / or, a second slide rail is provided inside the second receiving cavity, and a second slider that cooperates with the second slide rail is provided on the second telescopic member.

[0029] In one embodiment, the suspension motion device includes:

[0030] Skyrail components;

[0031] The overhead crane assembly is slidably mounted on the overhead rail assembly along the second direction; the travel multiplier mechanism is slidably mounted on the overhead crane assembly along the third direction; the first direction, the second direction, and the third direction are perpendicular to each other.

[0032] In one embodiment, the skyrail assembly includes:

[0033] Fixing part;

[0034] A track is provided on the fixed part; the crane assembly is slidably provided on the track along the second direction;

[0035] A braking element is installed on the track.

[0036] In one embodiment, the crane assembly includes:

[0037] The overhead crane is slidably mounted on the overhead track assembly along the second direction;

[0038] A first drive mechanism is disposed on the overhead crane and is used to drive the overhead crane to slide along the second direction.

[0039] In one embodiment, the first drive mechanism includes:

[0040] A second driving component is mounted on the overhead crane; the second driving component is a rotary driving component.

[0041] A first transmission wheel is disposed on the driving end of the second driving member; a second transmission belt is disposed on the track, and the first transmission wheel cooperates with the second transmission belt;

[0042] Two first idler pulleys are disposed on the side of the first drive pulley near the track and are spaced apart along the second direction; the second drive belt is also attached to the two first idler pulleys;

[0043] The distance between the centers of the two first idler wheels is less than the outer diameter of the first drive wheel.

[0044] In one embodiment, the overhead crane includes:

[0045] The guide rail extends along the third direction;

[0046] Two assembly parts are respectively disposed at both ends of the guide rail along the third direction; the first drive mechanism is disposed on the assembly parts.

[0047] In one embodiment, the suspension motion device further includes:

[0048] The second drive mechanism is mounted on the guide rail and connected to the stroke multiplier mechanism;

[0049] The second drive mechanism includes:

[0050] The third driving component is connected to the stroke multiplier mechanism; the third driving component is a rotary driving component.

[0051] The second transmission wheel is disposed on the driving end of the third driving member; a third transmission belt is disposed on the guide rail, and the second transmission wheel cooperates with the third transmission belt;

[0052] Two second idler pulleys are disposed on the side of the second drive pulley near the guide rail and are spaced apart along the third direction; the third drive belt is also attached to the two second idler pulleys;

[0053] The distance between the centers of the two second idler wheels is less than the outer diameter of the second drive wheel.

[0054] The suspended surgical robot provided in this application embodiment features a suspension motion device with a stroke multiplier mechanism mounted on it. The robot components are then mounted on the stroke multiplier mechanism. This design allows the robot components to be suspended from the operating room ceiling, preventing the robot from occupying floor space and improving space utilization. It also reduces obstruction of the surgeon's view, providing a better field of vision. Furthermore, the stroke multiplier mechanism reduces the space required for the robot when retracted and makes its deployment faster and more convenient. Attached Figure Description

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0056] Figure 1 This is a schematic diagram of the structure of a suspension surgical robot provided in one embodiment of this application.

[0057] Figure 2 for Figure 1 The diagram shows the structure of the stroke multiplication mechanism of the suspended surgical robot.

[0058] Figure 3 for Figure 2 The exploded view of the stroke multiplier mechanism shown.

[0059] Figure 4 for Figure 1A partial assembly diagram of the overhead track and crane components of the suspended surgical robot shown.

[0060] Figure 5 for Figure 4 The side view of the skyrail component shown.

[0061] Figure 6 for Figure 4 A partial assembly diagram.

[0062] Figure 7 for Figure 4 A schematic diagram of the assembly of the first drive mechanism of the track and crane assembly shown.

[0063] Figure 8 for Figure 7 Axonometric view.

[0064] Figure 9 for Figure 1 The diagram shows the assembly of the travel multiplier mechanism and the guide rails of the overhead crane assembly for the suspended surgical robot.

[0065] Figure 10 This is a schematic diagram of the structure of another suspended surgical robot provided in an embodiment of this application.

[0066] Figure label:

[0067] 1. Suspended surgical robot; 10. Suspension motion device; 11. Overhead rail assembly; 111. Fixing part; 112. Track; 113. Braking component; 114. Roller steel belt; 115. Second transmission belt; 12. Overhead crane assembly; 121. Overhead crane; 1211. Guide rail; 1212. Assembly part; 1213. Third transmission belt; 122. First drive mechanism; 1221. Second drive component; 1222. First transmission wheel; 1223. First idler wheel; 123. Anti-tipping component; 124. Roller; 13. Second drive mechanism; 131. Third drive component; 132. Second transmission wheel; 13 3. Second idler wheel; 134. Mounting base; 20. Stroke multiplication mechanism; 21. Body; 21a. First receiving cavity; 22. First telescopic component; 22a. Second receiving cavity; 23. Second telescopic component; 24. First driving component; 25. Driven drive assembly; 251. First transmission wheel; 252. Second transmission wheel; 253. First transmission belt; 254. First connecting component; 255. Second connecting component; 26. Transmission assembly; 261. Nut; 262. Lead screw; 271. First slide rail; 272. First slider; 273. Second slide rail; 274. Second slider; 30. Robot assembly. Detailed Implementation

[0068] 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.

[0069] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, 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.

[0070] Furthermore, the terms "first" and "second" are used 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 as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0071] 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 according to the specific circumstances.

[0072] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through 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. "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.

[0073] It should be noted that when 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. When 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. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0074] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, in this specification, the term “and / or” includes any and all combinations of the associated listed items.

[0075] Reference Figure 1 As shown, this application provides a suspended surgical robot 1, which includes a suspension motion device 10, a stroke multiplication mechanism 20, and a robot component 30.

[0076] The stroke multiplier mechanism 20 is mounted on the suspension motion device 10. The stroke multiplier mechanism 20 can extend and retract along a first direction X. The first direction X is parallel to the extension direction of the stroke multiplier mechanism 20. That is, the stroke multiplier mechanism 20 extends and retracts along its own extension direction. The robot component 30 is mounted on the stroke multiplier mechanism 20.

[0077] It is understood that the robot component 30 may include a surgical arm. The suspension motion device 10 is typically mounted on the ceiling of the operating room; therefore, the first direction X in this embodiment is the vertical direction. In another example, referring to… Figure 10 As shown, the first direction X can also be the horizontal direction, that is: the stroke multiplier mechanism 20 extends and retracts in the horizontal direction.

[0078] The suspended surgical robot 1 provided in this application embodiment uses a suspension motion device 10 and a stroke multiplier mechanism 20 on the suspension motion device 10 to mount the robot component 30. This allows the robot component 30 to be suspended from the ceiling of the operating room, avoiding the robot occupying floor space and improving space utilization. Furthermore, compared to floor-mounted surgical robots in related technologies, the suspended surgical robot 1 reduces obstruction of the surgeon's view at the operating table, providing a better field of vision. Additionally, the stroke multiplier mechanism 20 not only reduces the space occupied when the surgical robot is folded up, but also allows for quick and convenient deployment.

[0079] In one embodiment, reference Figure 2 and Figure 3 As shown, the stroke multiplier mechanism 20 includes a body 21, a first telescopic member 22, a second telescopic member 23, a first driving member 24, and a driven component 25.

[0080] Specifically, the main body 21 is connected to the suspension motion device 10. The main body 21 has a first receiving cavity 21a. A first telescopic member 22 is slidably disposed within the first receiving cavity 21a along a first direction X. The first telescopic member 22 has a second receiving cavity 22a. A second telescopic member 23 is slidably disposed within the second receiving cavity 22a along the first direction X. The robot assembly 30 is connected to the second telescopic member 23. The main body of the first driving member 24 is disposed on the main body 21, and the driving end of the first driving member 24 is connected to the first telescopic member 22. A driven drive assembly 25 is disposed on the first telescopic member 22 and connected to the second telescopic member 23. The driven drive assembly 25 is used to drive the second telescopic member 23 to extend and retract according to the extension and retraction of the first telescopic member 22.

[0081] Thus, the working principle of the stroke multiplier mechanism 20 when it is deployed is as follows: the first driving member 24 drives the first telescopic member 22 to slide out of the first receiving cavity 21a, and the driven component 25 simultaneously drives the second telescopic member 23 to slide out of the second receiving cavity 22a. The working principle of the stroke multiplier mechanism 20 when it is retracted is as follows: the first driving member 24 drives the first telescopic member 22 to slide into the first receiving cavity 21a, and the driven component 25 simultaneously drives the second telescopic member 23 to slide into the second receiving cavity 22a.

[0082] It should be noted that the driven component 25 can be a drive element with automatic control function. For example, the driven component 25 can acquire the motion state of the first telescopic member 22 or the first drive element 24 in real time, and control the second telescopic member 23 to extend or retract based on this motion state. It is understood that the driven component 25 can also be a mechanical transmission component, whereby when the first telescopic member 22 moves, the driven component 25 transmits the motion state of the first telescopic member 22 relative to the body 21 to the second telescopic member 23, causing the second telescopic member 23 to extend or retract.

[0083] It should also be noted that the main body 21, the first telescopic member 22, and the second telescopic member 23 can all be cylindrical structures. It is also understood that the stroke multiplication mechanism 20 may further include a third telescopic member, a fourth telescopic member, etc. For example, when the stroke multiplication mechanism 20 includes a third telescopic member, the third telescopic member is slidably disposed in the receiving cavity of the second telescopic member 23 along the first direction X, and the third telescopic member is also provided with a corresponding driven device, which is used to drive the third telescopic member to extend and retract according to the extension and retraction of the second telescopic member 23.

[0084] In one embodiment, the first drive member 24 is a rotary drive member. For example, the first drive member 24 may be a motor.

[0085] Furthermore, the stroke multiplier mechanism 20 also includes a transmission assembly 26, the input end of which is connected to the driving end of the first driving member 24, and the output end of which is connected to the first telescopic member 22.

[0086] Here, the input end of the transmission assembly 26 refers to the power input end of the transmission assembly 26, and the output end of the transmission assembly 26 refers to the power output end of the transmission assembly 26. In this embodiment, the transmission assembly 26 is used to convert the rotational motion of the first driving member 24 into linear motion, thereby facilitating the linear motion of the first telescopic member 22 driven by the first driving member 24.

[0087] In one embodiment, the transmission assembly 26 includes a lead screw 262 and a nut 261, wherein one end of the lead screw 262 is connected to the driving end of the first driving member 24, and the driving end of the first driving member 24 can drive the lead screw 262 to rotate. The nut 261 is disposed on the first telescopic member 22 and sleeved on the lead screw 262.

[0088] In this way, the driving end of the first driving member 24 drives the lead screw 262 to rotate. As the lead screw 262 rotates, the nut 261 moves along the axial direction of the lead screw 262, thereby driving the first telescopic member 22 to make linear motion.

[0089] In one embodiment, reference Figure 3As shown, the driven component 25 includes a first drive wheel 251, a second drive wheel 252, a first drive belt 253, a first connector 254, and a second connector 255.

[0090] The first transmission wheel 251 is mounted on the first telescopic member 22. The second transmission wheel 252 is mounted on the second telescopic member 23. The first transmission belt 253 is sleeved on the first transmission wheel 251 and the second transmission wheel 252. One end of the first connecting member 254 is connected to the body 21, and the other end of the first connecting member 254 is connected to the first transmission belt 253. One end of the second connecting member 255 is connected to the first transmission belt 253, and the other end of the second connecting member 255 is connected to the second telescopic member 23.

[0091] It should be noted that the first transmission wheel 251 is rotatably mounted on the first telescopic member 22, and the second transmission wheel 252 is rotatably mounted on the second telescopic member 23. The first connecting member 254 and the second connecting member 255 are rigid structural components. The first transmission belt 253 can be a transmission belt. The first connecting member 254 is connected to one side of the transmission belt, and the second connecting member 255 is connected to the other side of the transmission belt; that is, the first connecting member 254 and the second connecting member 255 are located on opposite sides of the first transmission wheel 251 (or the second transmission wheel 252).

[0092] By providing a first connector 254 between the main body 21 and the first conveyor belt, and a second connector 255 between the second telescopic member 23 and the first conveyor belt, when the first telescopic member 22 moves, the relative position of the first telescopic member 22 and the main body 21 changes by Δx, which drives the first transmission belt 253 to rotate counterclockwise. Simultaneously, the rotation of the first transmission belt 253 drives the second connector 255 to move, and the second connector 255 drives the second telescopic member 23 to move the same distance Δx, thereby doubling the stroke.

[0093] In one embodiment, reference Figure 2 and Figure 3 As shown, a first slide rail 271 is provided inside the first receiving cavity 21a, and a first slider 272 that cooperates with the first slide rail 271 is provided on the first telescopic member 22. This facilitates the sliding of the first telescopic member 22.

[0094] In one embodiment, a second slide rail 273 is provided inside the second receiving cavity 22a, and a second slider 274 that cooperates with the second slide rail 273 is provided on the second telescopic member 23. This facilitates the sliding of the second telescopic member 23.

[0095] In one embodiment, reference Figure 1 and Figure 4As shown, the suspension motion device 10 includes a ceiling track assembly 11 and a crane assembly 12. The crane assembly 12 is slidably mounted on the ceiling track assembly 11 along the second direction Y. The stroke multiplier mechanism 20 is slidably mounted on the crane assembly 12 along the third direction X. The first direction X, the second direction Y, and the third direction X are all perpendicular to each other.

[0096] Understandably, the overhead rail assembly 11 extends along the second direction Y, and the crane assembly 12 extends along the third direction X. This arrangement allows the robot assembly 30 to move along the first direction X, the second direction Y, and the third direction X, facilitating adjustments to its position by medical personnel.

[0097] In one embodiment, reference Figure 5 As shown, the overhead crane assembly 11 includes a fixing part 111, a track 112, and a braking member 113. The track 112 is disposed on the fixing part 111. The braking member 113 is disposed on the track 112. The overhead crane assembly 12 is slidably disposed on the track 112 along the second direction Y.

[0098] Understandably, the fixing part 111 is used to fix the ceiling rail assembly 11, and specifically, the fixing part 111 can be connected to the ceiling. The braking element 113 is used to brake the crane assembly 12, and the braking element 113 can be a brake steel band.

[0099] In one embodiment, reference Figure 4 As shown, the overhead crane assembly 12 includes an overhead crane 121 and a first drive mechanism 122, wherein the overhead crane 121 is slidably disposed on the overhead rail assembly 11 along the second direction Y. The first drive mechanism 122 is disposed on the overhead crane 121 and is used to drive the overhead crane 121 to slide along the second direction Y.

[0100] In this way, the crane 121 can be driven to move in the second direction Y by the first drive mechanism 122. It can be understood that the stroke multiplier mechanism 20 is set on the crane 121.

[0101] In one embodiment, reference Figure 7 and Figure 8 As shown, the first drive mechanism 122 includes a second drive member 1221, a first transmission wheel 251, and two first idler wheels 1223.

[0102] Among them, the second driving member 1221 is arranged on the overhead crane 121. The second driving member 1221 is a rotary driving member. The first transmission wheel 251 is arranged on the driving end of the second driving member 1221. A second transmission belt 115 is arranged on the track 112, and the first transmission wheel 251 is engaged with the second transmission belt 115. Two first idler wheels 1223 are arranged on one side of the first transmission wheel 251 close to the track 112 and are spaced along the second direction Y. The second transmission belt 115 is also adhered to the two first idler wheels 1223. Further, the distance between the centers of the two first idler wheels 1223 is less than the outer diameter of the first transmission wheel 251.

[0103] Exemplarily, the second transmission belt 115 can be a gear steel belt and is fixedly arranged on the track 112. In this way, the second driving member 1221 drives the first transmission wheel 251 to rotate. Since the second transmission belt 115 does not displace, while the first transmission wheel 251 rotates, it will move relative to the second transmission belt 115, thereby realizing the movement of the overhead crane assembly 12.

[0104] It should be noted that the two first idler wheels 1223 can change the path of the second transmission belt 115, so that the second transmission belt 115 wraps around a part of the outer periphery of the first transmission wheel 251, thereby ensuring a firm engagement between the second transmission belt 115 and the first transmission wheel 251.

[0105] In one embodiment, refer to Figure 1 and Figure 4 As shown, the overhead crane 121 includes a guide rail 1211 and two assembly parts 1212. The guide rail 1211 extends along the third direction X. The two assembly parts 1212 are respectively arranged at both ends of the guide rail 1211 along the third direction X. The first driving mechanism 122 is arranged on the assembly part 1212. In this way, the overhead crane 121 can form a structure similar to a "worker" shape. It can be understood that a laminar fresh air system is usually arranged on the ceiling of the operating room, and the "worker" shape structure can reduce the interference of the overhead crane 121 on the fresh air flow.

[0106] In one embodiment, rollers 124 can also be arranged on the assembly part 1212, and a roller steel belt 114 is arranged on the track 112. When the overhead crane 121 moves, the rollers 124 roll on the roller steel belt 114.

[0107] In one embodiment, an anti-overturning member 123 can also be arranged on the assembly part 1212, and the anti-overturning member 123 can be located directly below the track 112.

[0108] In one embodiment, an electromagnetic component can also be arranged on the assembly part 1212. When braking is required, the electromagnetic component is powered on, the electromagnetic component generates magnetism, and adsorbs with the braking member 113, thereby realizing braking.

[0109] In one embodiment, reference Figure 9 As shown, the suspension motion device 10 also includes a second drive mechanism 13, which is mounted on the guide rail 1211 and connected to the stroke multiplier mechanism 20. The second drive mechanism 13 is used to drive the stroke multiplier mechanism 20 to move along a third direction X.

[0110] The second drive mechanism 13 includes a third drive member 131, a second transmission wheel 252, and two second idler wheels 133. The third drive member 131 is connected to the stroke multiplication mechanism 20. The third drive member 131 is a rotary drive member. The second transmission wheel 252 is disposed on the drive end of the third drive member 131. A third transmission belt 1213 is disposed on the guide rail 1211, and the second transmission wheel 252 cooperates with the third transmission belt 1213. The two second idler wheels 133 are disposed on the side of the second transmission wheel 252 near the guide rail 1211 and are spaced apart along the third direction X. The third transmission belt 1213 is also attached to the two second idler wheels 133. Further, the distance between the centers of the two second idler wheels 133 is smaller than the outer diameter of the second transmission wheel 252.

[0111] For example, the third transmission belt 1213 can be a gear steel belt, and its position is fixed on the guide rail 1211. In this way, the third driving member 131 drives the second transmission wheel 252 to rotate. Since the third transmission belt 1213 does not move, the second transmission wheel 252 will move relative to the third transmission belt 1213 while rotating, thereby realizing the movement of the stroke multiplication mechanism 20.

[0112] In this embodiment, the second drive mechanism 13 further includes a mounting base 134, wherein the third drive member 131, the second transmission wheel 252, the two second idler wheels 133, and the stroke multiplier mechanism 20 are all mounted on the mounting base 134. The second drive mechanism 13 moves simultaneously with the stroke multiplier mechanism 20.

[0113] In the description of this specification, the references to terms such as "some embodiments," "other embodiments," "ideal embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0114] 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 of 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.

[0115] 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 suspended surgical robot, characterized in that, include: Suspension motion device (10); A stroke multiplier mechanism (20) is disposed on the suspension motion device (10); the stroke multiplier mechanism (20) can extend and retract along a first direction; the first direction is parallel to the extension direction of the stroke multiplier mechanism (20); Robot component (30) is disposed on the stroke multiplier mechanism (20); The travel multiplication mechanism (20) includes: The body (21) is connected to the suspension motion device (10); the body (21) has a first receiving cavity (21a); The first telescopic member (22) is slidably disposed in the first receiving cavity (21a) along the first direction; the first telescopic member (22) has a second receiving cavity (22a); The second telescopic member (23) is slidably disposed in the second receiving cavity (22a) along the first direction; the robot assembly (30) is connected to the second telescopic member (23); The first driving member (24) has its main body disposed on the body (21), and its driving end is connected to the first telescopic member (22). A driven component (25) is disposed on the first telescopic member (22) and connected to the second telescopic member (23); the driven component (25) is used to drive the second telescopic member (23) to extend and retract according to the extension and retraction of the first telescopic member (22); the driven component has an automatic control function. The suspension motion device (10) includes: Skyrail assembly (11); The overhead crane assembly (12) is slidably disposed on the overhead rail assembly (11) along the second direction; the stroke multiplier mechanism (20) is slidably disposed on the overhead crane assembly (12) along the third direction; the first direction, the second direction and the third direction are perpendicular to each other; The sky track component (11) includes: Fixing part (111); A track (112) is disposed on the fixed part (111); the crane assembly (12) is slidably disposed on the track (112) along the second direction; Braking element (113) is disposed on the track (112); The overhead crane assembly (12) includes: The overhead crane (121) is slidably mounted on the overhead track assembly (11) along the second direction; A first drive mechanism (122) is disposed on the overhead crane (121) and is used to drive the overhead crane (121) to slide along the second direction; The first drive mechanism (122) includes: A second driving member (1221) is disposed on the overhead crane (121); the second driving member (1221) is a rotary driving member; A first transmission wheel (251) is disposed on the driving end of the second driving member (1221); a second transmission belt (115) is disposed on the track (112), and the first transmission wheel (251) cooperates with the second transmission belt (115); Two first idler pulleys (1223) are disposed on the side of the first drive pulley (251) near the track (112) and are spaced apart along the second direction; the second drive belt (115) is also attached to the two first idler pulleys (1223); The distance between the centers of the two first idler wheels (1223) is less than the outer diameter of the first drive wheel (251).

2. The suspended surgical robot according to claim 1, characterized in that, The first driving member (24) is a rotary driving member; The travel multiplication mechanism (20) also includes: The transmission assembly (26) has its input end connected to the driving end of the first driving member (24) and its output end connected to the first telescopic member (22).

3. The suspended surgical robot according to claim 2, characterized in that, The transmission assembly (26) includes: The lead screw (262) is connected to the drive end of the first drive member (24); Nut (261) is disposed on the first telescopic member (22) and sleeved on the lead screw (262).

4. The suspended surgical robot according to claim 1, characterized in that, The driven component (25) includes: The first transmission wheel (251) is mounted on the first telescopic member (22); The second transmission wheel (252) is mounted on the second telescopic member (23); A first transmission belt (253) is fitted onto the first transmission wheel (251) and the second transmission wheel (252); The first connector (254) is connected at one end to the body (21) and at the other end to the first transmission belt (253); The second connector (255) is connected at one end to the first transmission belt (253) and at the other end to the second telescopic member (23).

5. The suspended surgical robot according to claim 1, characterized in that, The first receiving cavity (21a) is provided with a first slide rail (273), and the first telescopic member (22) is provided with a first slider (272) that cooperates with the first slide rail (273); And / or, a second slide rail is provided in the second receiving cavity (22a), and a second slider (274) is provided on the second telescopic member (23) to cooperate with the second slide rail.

6. The suspended surgical robot according to claim 1, characterized in that, The overhead crane (121) includes: Guide rail (1211) extends along the third direction; Two assembly parts (1212) are respectively disposed at both ends of the guide rail (1211) along the third direction; the first drive mechanism (122) is disposed on the assembly part (1212).

7. The suspended surgical robot according to claim 6, characterized in that, The suspension motion device (10) also includes: The second drive mechanism (13) is disposed on the guide rail (1211) and connected to the stroke multiplier mechanism (20); The second drive mechanism (13) includes: The third driving member (131) is connected to the stroke multiplier mechanism (20); the third driving member (131) is a rotary driving member; The second transmission wheel (252) is disposed on the driving end of the third driving member (131); the guide rail (1211) is provided with a third transmission belt (1213), and the second transmission wheel (252) cooperates with the third transmission belt (1213); Two second idler pulleys (133) are disposed on the side of the second transmission pulley (252) near the guide rail (1211) and are spaced apart along the third direction; the third transmission belt (1213) is also attached to the two second idler pulleys (133); The distance between the centers of the two second idler wheels (133) is less than the outer diameter of the second drive wheel (252).

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