Surgical cart, base and surgical robot

Abstract

The invention discloses a surgical robot, a surgical cart and a base. The base comprises a base assembly, a first driving assembly and a second driving assembly, the rolling wheel assembly comprises a connecting assembly and a rolling wheel rotationally arranged at the first end of the connecting assembly, the second end of the connecting assembly is rotationally connected to the bottom of the base assembly, and the rotating axis, rotating around the base assembly, of the connecting assembly is parallel to the advancing direction of the base; the buffering assembly is arranged between the base assembly and the connecting assembly so as to apply elastic buffering force opposite to the base assembly to the connecting assembly. The idler wheels can rotate around the rotating axis relative to the base assembly along with the connecting assembly in the walking process, the operation cart can absorb impact force from the front direction, the rear direction, the left direction and the right direction, the idler wheels can stably make contact with the walking face all the time, and therefore the self-adaptability of the idler wheels can be achieved when the idler wheels walk in different walking environments; the walking stability and safety of the base are guaranteed, and noise cannot be generated due to dislocation movement of the operation platform.

Description

Technical Field

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

[0002] The minimally invasive surgery system is a complex that integrates a number of modern high-tech means. It has a wide range of uses and is widely used in clinical surgery. Surgeons can operate the machine to perform surgery away from the operating table and without touching the patient. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include a surgical platform on the patient side and a console on the doctor side. The console is used to send control commands to the surgical platform according to the doctor's operation to control the surgical platform. The surgical platform is used to respond to the control commands sent by the console and perform corresponding surgical operations.

[0004] Before and after surgery in the same operating room, or when transferring surgery between different operating rooms, doctors are required to push the surgical platform to the designated position. The surgical platform is usually large and heavy. When doctors frequently push the surgical platform, they need to ensure that the surgical platform does not cause unnecessary freedom of movement due to bumps or tilts during the pushing process, and avoid large bumps to prevent the components of the surgical platform, such as robotic arms and instruments, from colliding or interfering with the surrounding environment, damaging the expensive surgical platform, or causing accidents.

[0005] If the shock-absorbing structure of the cart in the non-medical equipment field is directly used, for example, by setting a suspended chassis shock-absorbing structure composed of springs at the bottom of the operating platform to achieve shock absorption of the operating platform, the operating platform has the freedom to move up and down and front and back. When changing direction or encountering impact, the operating platform will drive the spring to move in the front and back directions. The stability and safety of the movement of the operating platform are still insufficient, and the misaligned movement of the spring will also cause abnormal noise. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a surgical cart, a base and a surgical robot, which can ensure the movement stability and safety of the surgical platform and avoid abnormal noise caused by springs.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0008] A base, used in a surgical cart, comprising:

[0009] Base assembly;

[0010] A roller assembly, comprising a connecting assembly and a roller rotatably disposed at a first end of the connecting assembly, wherein a second end of the connecting assembly is swingably connected to a bottom of the base assembly, and a rotation axis of the connecting assembly rotating around the base assembly is configured to be parallel to a forward direction of the base;

[0011] The buffer component is arranged between the base component and the connecting component to apply an elastic buffer force to the connecting component which is directed away from the base component.

[0012] As one embodiment, the base assembly includes a connecting arm integrally formed therewith and protruding from its bottom, and the second end of the connecting assembly is rotatably connected to the connecting arm; a first gap is formed between the connecting assembly and the bottom surface of the base assembly to allow the connecting assembly to rotate.

[0013] As one embodiment, the base assembly includes:

[0014] substrate;

[0015] A first fixing seat is detachably arranged at the bottom of the substrate, and the first fixing seat includes a main body and the connecting arm, and the connecting arm is arranged on the surface of the main body facing away from the substrate; the second end of the connecting component is rotatably connected to the connecting arm; a first gap is formed between the second end of the connecting component and the bottom surface of the base component to allow the connecting component to swing.

[0016] As one of the implementation modes, the main body is T-shaped, and the connecting arm is arranged on the bottom surface of the main body; a first gap allowing the connecting component to swing is formed between the second end of the connecting component and the bottom surface of the main body.

[0017] As one embodiment, a mounting groove is provided on the bottom surface of the base plate, the mounting groove extends backwards for a certain distance from the side surface of the base plate in a direction parallel to the forward movement of the base, and a step portion is formed at the connection between the body and the connecting arm;

[0018] The base assembly also includes a U-shaped limiting seat with an opening disposed on the bottom surface of the substrate;

[0019] The limit seat is fixed to the bottom surface of the substrate, and the opening is facing the forward direction of the base. The limit seat and the installation groove form an installation groove; the main body of the first fixed seat is inserted into the installation groove from the opening, and the U-shaped limit seat is clamped on the step portion.

[0020] As one embodiment, a mounting groove is provided on the bottom surface of the substrate, and the mounting groove extends backwards for a certain distance from the side surface of the substrate in a direction parallel to the forward direction of the base;

[0021] The base assembly also includes a U-shaped limiting seat with an opening disposed on the bottom surface of the substrate;

[0022] The limit seat is fixed to the bottom surface of the substrate, and the opening is facing the forward direction of the base. The limit seat and the installation groove form an installation groove; the main body of the first fixed seat is inserted into the installation groove from the opening, and the U-shaped limit seat is clamped on the shoulders on both sides of the main body.

[0023] As one embodiment, the base also includes a limit assembly, and the two ends of the limit assembly are respectively arranged on the base assembly and the first end of the connecting assembly to limit the swing amplitude of the first end of the connecting assembly along a direction perpendicular to the base assembly, and the limit assembly limits the swing amplitude of the connecting assembly to be smaller than the swing amplitude of the connecting assembly allowed by the first gap.

[0024] As one embodiment, the limiting assembly includes a connecting portion and a convex portion connected to each other, and the convex portion at least partially protrudes from a side wall of the connecting portion;

[0025] The connecting portion is connected to the base component and the first one of the connecting components, and the protrusion blocks the side of the base component and the second one of the connecting components facing away from the first one, and has a second gap with the side of the base component and the second one of the connecting components facing away from the first one, and the second gap allows the first end of the connecting component to swing away from the base component.

[0026] As one implementation manner, the first gap is 1 to 2 mm; or, the first gap allows the connection component to swing at an angle less than 4°.

[0027] As one of the implementation modes, under the limitation of the second gap, the upper and lower floating range of the roller is no more than 8 mm; or, the second gap allows the connecting component to swing at an angle less than 2°.

[0028] As one embodiment, the connecting portion and the protruding portion are integrally arranged and are L-shaped or T-shaped.

[0029] As one of the embodiments, a first stepped hole is formed on the surface of the second one of the base assembly and the connecting assembly facing away from the first one, and the connecting portion and the protrusion are connected to form an L-shaped or T-shaped limiting structure, and the L-shaped or T-shaped limiting structure can float up and down in the first stepped hole, and the second gap is formed between the protrusion and the shoulder of the first stepped hole.

[0030] As one embodiment, the connecting part and the convex part are separately arranged, and the limiting assembly also includes a first fastener and a second fastener. The first fastener fixes the convex part to the connecting part, and the second fastener fixes the connecting part to the first one of the base assembly and the connecting assembly.

[0031] As one embodiment, the buffer assembly includes a plurality of elastic members, a plurality of first accommodating portions are provided on the bottom surface of the base assembly, a plurality of second accommodating portions are provided on the surface of the connecting assembly facing the base assembly, and both ends of each of the elastic members are at least partially accommodated in the corresponding first accommodating portion and the second accommodating portion.

[0032] As one implementation manner, the plurality of elastic members are arranged at intervals around the periphery of the limiting assembly.

[0033] In one embodiment, the buffer assembly further includes a pressing plate and a third fastener, and a strip groove that simultaneously connects a plurality of the first accommodating portions is formed on a side of the base assembly that faces away from the connecting assembly;

[0034] The pressing plate is embedded in the strip groove and abuts against the elastic member, and the third fastener passes through the pressing plate and fixes it in the strip groove.

[0035] As one of the implementation modes, the buffer assembly further includes a fourth fastener and a fixing column. The fourth fastener is passed through the pressure plate and connected to the fixing column. The elastic member abuts against the fixing column.

[0036] As one embodiment, the connecting component includes a first connecting component and a second connecting component that are detachably connected, the first connecting component is rotationally connected to the roller, the second connecting component is rotationally connected to the connecting arm, and the rotation axis of the roller is perpendicular to the swing axis of the second connecting component.

[0037] As one embodiment, the first connecting assembly includes a first bracket and a second bracket perpendicular to each other, the roller is rotatably connected to the first bracket, and the buffer assembly is carried by the second bracket;

[0038] The second connecting component includes a swing end and a connecting end, the swing end is detachably connected to the second bracket, and the connecting end is rotatably connected to the connecting arm.

[0039] As one embodiment, the base includes two roller assemblies, each of which includes a driving assembly drivingly connected to the roller, and the driving assembly is used to drive the roller to rotate relative to the connecting assembly;

[0040] The rotation axes of the rollers of the two roller assemblies are both perpendicular to the forward direction of the base, and the two roller assemblies are respectively arranged on both sides of the forward direction of the base.

[0041] Another object of the present invention is to provide a surgical cart, comprising any one of the above-mentioned bases and a surgical platform arranged on the base.

[0042] Another object of the present invention is to provide a surgical robot, comprising any one of the above-mentioned surgical carts.

[0043] The base of the present invention is provided with rollers through a connecting assembly below, and a buffer assembly is provided between the connecting assembly and the base assembly to keep the rollers in good contact with the walking surface, and the rollers can rotate with the connecting assembly relative to the base assembly around a rotation axis during walking, and the rotation axis is parallel to the forward direction of the base. No matter the impact force from the front, back, left or right direction to the surgical cart, it can be absorbed by the connecting assembly and the rollers to ensure the safety of the robot during movement, and the rollers can always stably contact the walking surface, so that the rollers can be adaptive when walking in different walking environments. At the same time, the floating range of the rollers is subject to double limit, which further ensures the stability and safety of the base walking, and will not generate noise due to the misalignment of the surgical platform; and the double limit design of the present invention allows the limit assembly to reach fatigue life first, thereby protecting the service life of another limit composed of the second end of the connecting assembly, the connecting arm, and the rotating shaft, so as to reduce the replacement cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1A This is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;

[0045] Figure 1B This is a schematic structural diagram of a surgical cart according to an embodiment of the present invention;

[0046] Figure 2 A schematic structural diagram of a base according to an embodiment of the present invention;

[0047] Figure 3 A schematic structural diagram of another base according to an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of a structural decomposition of a base according to an embodiment of the present invention;

[0049] Figure 5 A schematic diagram showing a matching mode of a roller assembly, a buffer assembly and a limit assembly according to an embodiment of the present invention is shown;

[0050] Figure 6 A schematic diagram of the structural decomposition of the connection portion between a base assembly and a roller assembly according to an embodiment of the present invention is shown;

[0051] Fig. 7A A schematic diagram showing one working state of the roller assembly according to an embodiment of the present invention is shown;

[0052] Figure 7B Another schematic diagram of the working state of the roller assembly according to the embodiment of the present invention is shown;

[0053] Figure 8 A schematic diagram showing the structural decomposition of a base assembly according to an embodiment of the present invention is shown;

[0054] Fig. 9 A schematic diagram showing the structural decomposition of a first connection assembly according to an embodiment of the present invention is shown;

[0055] Fig.10 A schematic diagram showing the structural decomposition of a position limiting assembly according to an embodiment of the present invention is shown;

[0056] Fig.11A A partial cross-sectional view of a base according to an embodiment of the present invention is shown;

[0057] Fig. 11B Shows Fig.11A The enlarged view of point A in the middle;

[0058] Fig.12 A schematic diagram showing an extreme rotation state of a roller assembly according to an embodiment of the present invention is shown;

[0059] Figures 13A to 13C The schematic diagrams of the structures of several different position limiting components according to the embodiments of the present invention are shown;

[0060] Fig.14 Shows Fig. 13C A schematic diagram of the three-dimensional structure of the limiting component;

[0061] Fig.15 A schematic diagram of the structural decomposition of a buffer assembly according to an embodiment of the present invention is shown;

[0062] Fig.16 Another partial cross-sectional view of a base is shown according to an embodiment of the present invention.

[0063] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0064] In the present invention, the terms "disposed", "provided with", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] The orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or position relationship shown in the drawings and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0066] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0067] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0068] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0069] like Figure 1AAs shown, the surgical robot 1000 can be used to perform minimally invasive diagnosis or surgical procedures on a patient lying flat on an operating table. The surgical robot 1000 includes a main operating table 1100 and a slave operating device 1200. The main operating table 1100 is used to send a control command to the slave operating device 1200 according to the doctor's operation to control the slave operating device 1200; the slave operating device 1200 is used to respond to the control command sent by the main operating table 1100 and perform the corresponding surgical operation. The surgical robot 1000 may further include an electronic device cart 1300 electrically connected to the main operating table 1100. The surgeon can view the surgical site through the main operating table 1100 and control the slave operating device 1200 to perform the surgical operation. For example, the slave operating device 1200 inserts at least one removable surgical instrument (not shown) into the human body through a minimally invasive incision on the patient to perform the operation. The image of the surgical site can be obtained by an endoscope (not shown in the figure) such as a stereo endoscope, and the endoscope can be manipulated by the slave operating device 1200 for orientation. It can be understood that in some embodiments, surgical instruments and endoscopes are both referred to as surgical instruments without distinguishing between the two.

[0070] Exemplarily, the main operating console 1100 includes a display and an input control device. The display is used to present an image of the surgical site to the doctor. The doctor can operate the input control device to synchronously manipulate one or more surgical instruments from the operating device 1200.

[0071] Exemplarily, the slave operation device 1200 includes a movable seat and a mechanical arm connected to the seat and carrying a surgical instrument. Figure 1B As shown, a column 1212 , a large arm 1213 and a small arm 1214 are provided on the seat body, and the mechanical arm can be installed on the free end of the small arm 1214 .

[0072] Exemplarily, the electronic equipment cart 1300 may include a processor for processing captured images and storage space for placing medical materials or equipment. The processor may be connected to the endoscope to process the images captured by the endoscope. The processed images can be used to display to the doctor on the surgeon's main operating table 1100, or on another suitable display on the electronic equipment cart 1300 or remotely.

[0073] like Figure 2-3As shown, an embodiment of the present invention further provides a surgical cart, including a base and a surgical platform disposed on the base. The surgical platform may be a device that needs to be moved and is equipped with surgical instruments or medical equipment. For example, the surgical platform may be the above-mentioned main operating table 1100, or the above-mentioned slave operating device 1200, or the surgical cart may also be an electronic equipment cart 1300. By applying the surgical cart of this embodiment to the above-mentioned main operating table 1100, slave operating device 1200 or electronic equipment cart 1300, the movement stability and safety of the corresponding surgical equipment may be improved.

[0074] Combination Figure 2-4 As shown, the base used in the surgical cart provided in this embodiment mainly includes a base assembly 1, a roller assembly 2 and a buffer assembly 3. The base assembly 1 is used to provide a bearing surface of the surgical platform. The roller assembly 2 includes a connecting assembly 21 and a roller 22 rotatably arranged at a first end of the connecting assembly 21. The second end of the connecting assembly 21 is rotatably connected to the bottom of the base assembly 1. The rotation axis of the connecting assembly 21 rotating around the base assembly 1 is configured to be parallel to the forward direction X of the base. The buffer assembly 3 is arranged between the base assembly 1 and the connecting assembly 21 to apply an elastic buffer force to the connecting assembly 21 that is back to the base assembly 1.

[0075] When the surgical platform is mounted and fixed on the base, the surgical platform and the base form a surgical trolley, and the surgical trolley can move on the walking surface through the rollers 22 at the bottom thereof. One end of the connecting component 21 always elastically abuts the roller 22 on the walking surface under the elastic force of the buffer component 3, and the other end of the connecting component 21 can adaptively adjust the deformation of the buffer component 3 according to the flatness of the walking surface during the walking of the surgical trolley, so as to swing with a suitable swing amplitude. When encountering an uneven walking surface, the roller 22 can be timely attached to the ground under the elastic thrust, which can prevent the roller 22 from slipping or hanging in the air, thereby improving the stability of the movement of the surgical platform.

[0076] In addition, since the roller 22 is rotatably arranged on the base assembly 1 through the connecting assembly 21, the roller assembly 2 has only the degree of freedom in the up-and-down direction, and the other degrees of freedom are restricted. The roller assembly 2 can swing up and down relative to the base assembly 1. By setting the rotation axis of the connecting assembly 21 rotating around the base assembly 1 to be parallel to the forward direction X of the base, the impact force acting on the surgical trolley in all directions acts on the connecting assembly 21 of the roller assembly 2 and is absorbed, which can ensure the safety of the surgical trolley in five directions except the up-and-down swinging direction. The existence of the buffer assembly 3 can realize the self-adaptation of the degree of freedom of the up-and-down swinging direction of the surgical trolley roller 22. Therefore, the smooth operation of the surgical trolley is guaranteed; when the surgical trolley is subjected to the impact from the front and rear directions, the roller assembly 22 can be adjusted to the vertical direction. When the surgical cart is subjected to an impact force from the left or right direction (i.e., the force on both sides of the walking direction X), the surgical platform on the side subjected to the impact force is slightly raised, and the connecting component 21 rotates slightly relative to the base component 1, and the deformation of the buffer component 3 at the bottom of the base component 1 changes slightly, thereby offsetting the impact force and eliminating the adverse effect of the impact force on the surgical cart.

[0077] In this way, in this embodiment, a roller is provided on the connecting component under the base, and a buffer component is provided between the connecting component and the base component to ensure that the roller maintains good contact with the walking surface, and the roller can rotate around the rotation axis relative to the base component along with the connecting component during walking, and the rotation axis is parallel to the forward direction of the base. No matter what direction the surgical cart is subjected to impact force, such as front, rear, left or right, it can be absorbed by the connecting component and the roller, and the roller can always stably contact the walking surface, so that the roller can be adaptable when walking in different walking environments, ensuring the stability and safety of the base walking, and no noise will be generated due to the misalignment and movement of the surgical platform.

[0078] Considering that the surgical platform needs to be moved frequently and includes several instruments and equipment, its weight usually reaches hundreds of kilograms or even higher. If medical staff want to move the surgical platform, they need to spend a lot of effort. Figure 1BAs shown, the surgical cart includes an armrest 1215, and an operating unit is provided on the armrest 1215 for operation. The medical staff manipulates the armrest 1215, and the armrest 1215 collects the medical staff's operation instructions, such as receiving force data instructions through the force sensor on the armrest 1215, and the control system sends the corresponding instructions to the roller assembly 2 at the bottom of the patient surgical cart after calculation, so that the roller 22 rotates, thereby moving the surgical platform. Specifically, the roller assembly 2 includes a driving assembly 23 that drives the roller 22, and the driving assembly 23 is used to drive the roller 22 to rotate relative to the connecting assembly 21. In this way, the operator does not need to apply thrust, but only needs to control the driving assembly 23 to work to make the surgical cart move according to the predetermined instructions.

[0079] It is understandable that the operation instruction may also be a touch instruction received by the touch screen on the armrest 1215, or a key instruction received by a key on the armrest 1215, etc.

[0080] In one embodiment, the base includes four wheels, two wheels are provided at the front and rear of the surgical cart. Figure 2-3 For example, the surgical trolley includes two movable wheels 5 with adjustable rolling directions, and two directional wheels with non-adjustable rolling directions, namely rollers 22. The movable wheels 5 are universal wheels, and the two movable wheels 5 are respectively mounted on their respective brackets. The brackets of the two movable wheels 5 can respectively rotate around the rotation axes Z1 and Z2 perpendicular to the base assembly 1, so as to adaptively adjust the travel direction of the surgical trolley as needed. The roller assembly 2 is mounted on the surgical trolley in front of the travel direction, and the roller 22 of the roller assembly 2 is a directional wheel with non-adjustable rolling direction.

[0081] By arranging two roller assemblies 2 on both sides of the forward direction X of the base, each roller 22 is installed on the bottom of the base assembly 1 through different buffer assemblies 3 and connecting assemblies 21, and the rollers 22 on both sides can be adjusted independently according to the environment.

[0082] In the base of the present application, when a depression or a protrusion appears on the walking surface of one side, the roller 22 of the side roller assembly 2 will adaptively adhere to the walking surface under the action of the corresponding buffer assembly 3 and the connecting assembly 21. The roller 22 of each side roller assembly 2 can extend into the depressed part when the surgical cart moves to the depressed part of the walking surface, or retract when it moves to the convex part of the walking surface, so that each roller 22 can always maintain contact with the uneven walking surface. Since the length of the roller 22 extended or retracted has been compensated by the buffer assembly 3, it can avoid the situation where the roller 22 is suspended in the air or the surgical platform is tilted.

[0083] In one embodiment, when two rollers 22 share a connecting assembly 21, the two rollers 22 are respectively connected to the left and right ends of the connecting assembly 21, and the middle part of the connecting assembly 21 is rotatably connected to the bottom of the base assembly 1. If the rollers 22 on both sides encounter a concave surface, the descent of the roller 22 on one side will drive the rise of the roller 22 on the other side, and the rollers 22 on both sides will affect each other, which may cause the rollers 22 to not contact the walking surface well, or the surgical trolley will tilt. Compared with the situation where the base has only one roller assembly 2 or two rollers 22 share a connecting assembly 21, the method of using two rollers 22, each roller 22 connected to a different connecting assembly 21 for independent adjustment is more flexible and responsive, and can improve the tilt of the surgical platform. Therefore, the operation stability of the surgical trolley is better.

[0084] Among them, in order to conveniently control the rotation state of the roller 22 and thus adjust the travel direction of the surgical cart, each roller assembly 2 includes a driving assembly 23 for driving the connected roller 22, and the driving assembly 23 is used to drive the roller 22 to rotate relative to the connecting assembly 21. The rotation axes Y1 and Y2 of the two rollers 22 relative to the connecting assembly 21 are perpendicular to the forward direction X of the base, and the two roller assemblies 2 are respectively arranged on both sides of the forward direction X of the base. The roller assemblies 2 on both sides are driven by their respective driving assemblies 23 to provide the surgical cart with forward, backward and steering functions.

[0085] Since the rollers 22 of the two roller assemblies 2 can be driven independently, the steering function of the surgical cart can be realized by controlling the speeds of the two rollers 22 respectively. When the speeds of the two rollers 22 are consistent, the surgical cart can realize straight-line driving; when the speeds of the two rollers 22 are inconsistent, the surgical cart can realize the steering function, and the surgical cart will turn toward the slower side; when the speeds of the two rollers 22 gradually change from consistent to inconsistent, a continuous transition from straight driving to turning can be realized; when the speeds of the two rollers 22 gradually change from inconsistent to consistent, a continuous transition from turning to straight driving can be realized.

[0086] In a surgical cart that uses two independently driven rollers 22 to control the direction of travel, when the base of the present application is not used, when the surgical cart moves to the concave part of the walking surface, the driving wheels on one side or both sides will be suspended, and the side where the driving wheels are suspended cannot contact the walking surface, resulting in no walking power on that side, and the walking speed of the surgical cart on that side slows down, which will cause the direction of travel of the surgical cart to deviate from the expected direction, affecting the normal use of the surgical cart. For example, when turning is required, if the driving wheel on the outside of the turning radius is suspended, the surgical cart will turn in the opposite direction, and if the driving wheel on the outside of the turning radius is suspended, the turning amplitude will be too large or too small; when it is necessary to travel in a straight line, the suspension of the driving wheel on one side will cause the speed of the two sides of the surgical cart to be inconsistent and turn. When the base of the present application is used, since the rollers 22 on both sides can reliably contact the walking surface, it is more convenient and accurate to control the speed of the rollers 22 on both sides respectively, even if turning on an uneven surface, the reliability of the speed control of the rollers 22 on both sides can be accurately guaranteed, and the surgical cart can be guaranteed to move in the expected direction of travel. In addition, the present application can realize the straight-line walking and steering functions of the surgical cart by independently controlling the speed of the rollers 22 on both sides. Each roller 22 only needs one motor to control it, and no additional steering motor is required. The structure is simpler and the cost is more controllable.

[0087] Figure 3 The figure shows a situation where two roller assemblies 2 are symmetrically arranged on the left and right sides of the forward direction X of the base. When walking on a plane, the rotation axes Y1 and Y2 of the two rollers 22 are collinear. It can be understood that in other embodiments, the two roller assemblies 2 may not be symmetrically arranged on the left and right sides of the forward direction X of the base. For example, the two roller assemblies 2 are spaced a certain distance apart in the forward direction X of the base.

[0088] It is understandable that in other embodiments, the roller assembly 2 may not be installed on the surgical cart in the front in the direction of travel. For example, two movable wheels 5 may be provided in the front and two roller assemblies 2 may be provided in the rear. Alternatively, the surgical cart may be provided with roller assemblies 2 in the front and rear in the direction of travel, so that three or four of the four traveling wheels are rollers 22.

[0089] like Figure 2 As shown, in one embodiment, the base assembly 1 and the connecting arm 1T are integrally formed, the second end of the connecting assembly 21 is rotatably connected to the connecting arm 1T, and a first gap 1G is formed between the connecting assembly 21 and the bottom surface of the base assembly 1 to allow the connecting assembly 21 to swing.

[0090] like Figures 4 to 7BAs shown, in one embodiment, the base assembly 1 has a connecting arm 1T detachably protruding from the bottom thereof, the second end of the connecting assembly 21 is rotatably connected to the connecting arm 1T, and a first gap 1G is formed between the connecting assembly 21 and the bottom surface of the base assembly 1 to allow the connecting assembly 21 to rotate. The existence of the first gap 1G allows the connecting assembly 21 to swing up and down relative to the base assembly 1 around its first rotation axis 21X.

[0091] like Fig. 7A , shows that when the surgical cart is on a horizontal plane, the connecting component 21 swings to a state parallel to the bottom of the base component 1. At this time, the widths of the left and right ends of the first gap 1G are consistent, and the angle between the connecting component 21 and the bottom surface of the base component 1 is 0°; Figure 7B , shows that when the surgical cart is on an uneven plane, the deformation of the buffer component 3 is reduced and elongated, and the connecting component 21 is further pushed away from the base component 1 by the buffer component 3. At this time, the connecting component 21 swings away from the base component 1, the width of the left side of the first gap 1G increases, the width of the right side of the first gap 1G decreases, and the angle between the connecting component 21 and the bottom surface of the base component 1 increases. Exemplarily, the first gap 1G is 1 to 2 mm, for example, 1.5 mm. The end of the connecting component 21 that rotates with the base component 1 is square, and the square end forms the first gap 1G with the bottom surface of the base component 1, so that the rotation angle of the connecting component 21 can be limited to a certain range.

[0092] In one embodiment, the first gap 1G limits the rotation angle of the connection component 21 within a design range of 0 to 4 degrees, so that the connection component 21 has a certain rotation range limit in the up and down directions. The minimum rotation angle is the situation that the first end of the roller 22 provided on the connection component 21 rotates to contact the base component 1, and the maximum rotation angle is the situation that the first end of the connection component 21 rotates to the maximum distance from the base component 1 and the second end of the connection component 21 abuts against the bottom surface of the base component 1. After calculation, the connection component 21 rotates within the design range of 0 to 4 degrees relative to the base component 1, which can ensure that the connection component 21 has a sufficient safety factor in the up and down directions. Since the impact force acting on the surgical trolley in all directions acts on the connection component 21 and is absorbed, the safety of the surgical trolley in the five directions except the up and down swinging direction can also be guaranteed. Therefore, all degrees of freedom of the surgical trolley can ensure sufficient safety.

[0093] In one embodiment, the base assembly 1 adopts a split structure, which can facilitate the replacement and maintenance of parts. For example, the base assembly 1 includes a base plate 11 and a first fixing seat 12, and the first fixing seat 12 is detachably arranged at the bottom of the base plate 11. Figure 57, the first fixing seat 12 includes a body 121 and a connecting arm 1T, and the connecting arm 1T is arranged on the surface of the body 121 facing away from the substrate 11. When the connecting arm 1T needs to be replaced due to wear or damage, the entire base assembly 1 does not need to be replaced, saving maintenance costs.

[0094] The second end of the connecting component 21 is rotatably connected to the connecting arm 1T of the first fixing seat 12 through the first rotating shaft 21X, so that the connecting component 21 can be assembled with the first fixing seat 12 and then installed on the base plate 11. Figure 6 As shown, a plurality of connecting arms 1T may be protrudingly provided at the bottom of the first fixing seat 12, a first rotating shaft hole 121H may be opened on each connecting arm 1T, the second end of the connecting component 21 may be inserted between the corresponding connecting arms 1T, the first rotating shaft 21X may pass through each first rotating shaft hole 121H, and the second end of the connecting component 21 may be rotatably installed between the connecting arms 1T.

[0095] It can be understood that the number of the connecting arm 1T can be one, two, or more than two. Figure 6 What is shown in the figure is a situation where there are three connecting arms 1T, and the three connecting arms 1T are arranged at intervals along the length direction of the body 121, and a space for the connection component 21 to be installed and moved is formed between adjacent connecting arms 1T; the second end of the connection component 21 is provided with a second shaft hole 2122A and a slot 2122B, the second end of the connection component 21 is inserted into the three adjacent connecting arms 1T, and one of the connecting arms 1T is embedded in the middle slot 2122B, and the first shaft 21X is simultaneously penetrated in the first shaft hole 121H and the second shaft hole 2122A, so that the connection component 21 can rotate around the axis of the first shaft 21X. Exemplarily, a shaft sleeve 213 may be further provided between the connecting component 21 and the first rotating shaft 21X. The shaft sleeve 213 is sleeved outside the first rotating shaft 21X and can rotate relative to the first rotating shaft 21X. The second end of the connecting component 21 is sleeved outside the shaft sleeve 213. The first rotating shaft 21X can be fixed to the connecting arm 1T by fasteners or the like without rotating. Therefore, the connecting component 21 does not need to directly contact the first rotating shaft 21X, which reduces the degree of wear of the connecting component 21 and the maintenance cost. In actual use, only the shaft sleeve 213 needs to be replaced.

[0096] It is understood that in other embodiments, see Figure 2 The connecting arm 1T of the base assembly 1 can also be integrally arranged with the substrate 11, that is, the base assembly 1 and the connecting arm 1T are integrally formed, and the second end of the connecting assembly 21 is directly rotatably connected to the connecting arm 1T, which can also realize the rotatable connection between the connecting assembly 21 and the base assembly 1; a first gap 1G is formed between the second end of the connecting assembly 21 and the bottom surface of the base assembly 1 to allow the connecting assembly 21 to swing.

[0097] In one embodiment, Figure 8 As shown, in order to realize the split structure of the base assembly 1, a mounting groove 11C is provided on the bottom surface of the base plate 11, and the mounting groove 11C extends backward from the side surface of the base plate 11 for a certain distance in a direction parallel to the forward direction X of the base. The base assembly 1 also includes a U-shaped limit seat 13 with an opening 130 provided on the bottom surface of the base plate 11. The limit seat 13 is fixed to the bottom surface of the base plate 11, and the opening 130 faces the forward direction X of the base. The limit seat 13 and the mounting groove 11C form a mounting slot, and a step portion 12T is formed at the connection between the body 121 of the first fixed seat 12 and the connecting arm 1T, and the step portion 12T can guide the first fixed seat 12 to slide into the mounting slot. When installing the first fixing seat 12 to the base plate 11, the first fixing seat 12 can be inserted into the installation slot from the side of the base plate 11, and the opening 130 of the limiting seat 13 is clamped on the step portion 12T, so that the first fixing seat 12 is limited in the installation slot 11C and supports it; at this time, the connecting component 21 and the bottom surface of the U-shaped limiting seat 13 form a first gap 1G; when the first fixing seat 12 needs to be removed from the base plate 11, the first fixing seat 12 can be pulled out in the forward direction X of the base, which is convenient for disassembly and assembly. When the two roller assemblies 2 are respectively arranged on the left and right sides of the base, each roller assembly 2 is respectively installed in a different installation slot 11C through a first fixing seat 12, and the two installation slots 11C extend to the front side of the base plate 11.

[0098] In addition, if the roller assembly 2 is locked to the base plate 11 by screws, the installer needs to hold the roller assembly 2 for a long time and align the screw holes on the roller assembly 2 with the screw holes on the base plate 11. Since the roller assembly 2 is heavy and the holes need to be aligned repeatedly before the screws are installed, the installation difficulty is increased and the installation efficiency is low. In contrast, the first fixing seat 12 of this embodiment adopts a side sliding installation method, which is less difficult to install and more efficient and labor-saving.

[0099] It is understandable that if Figure 6 As shown, in one embodiment, the body 121 can be T-shaped, and there is no special requirement for the width of the connecting arm 1T. Specifically: the body 121 of the first fixed seat 12 is T-shaped, and the connecting arm 1T is arranged on the bottom surface of the T-shaped body 121, and the transition portion between the body 121 and the connecting arm 1T forms a convex shoulder; the base assembly 1 also includes a U-shaped limit seat 13 with an opening 130 arranged on the bottom surface of the substrate 11, the limit seat 13 is fixed to the bottom surface of the substrate 11, and the opening 130 faces the forward direction X of the base, the limit seat 13 and the installation groove 11C form an installation groove, the T-shaped body 121 of the first fixed seat 12 is inserted into the installation groove from the opening 130, and the U-shaped limit seat 13 is clamped on the shoulders on both sides of the T-shaped body 121, and the second end of the connecting assembly 21 and the bottom surface of the above-mentioned convex shoulder form a first gap 1G that allows the connecting assembly 21 to swing (see Fig. 7A -B).

[0100] Figures 4-5 , Fig.10 , Fig.11A and Figure 14-16 As shown, in one embodiment, the connecting assembly 21 is a split structure. Specifically, the connecting assembly 21 includes a first connecting assembly 211 and a second connecting assembly 212 that are detachably connected, the first connecting assembly 211 is rotatably connected to the roller 22, and the second connecting assembly 212 is rotatably connected to the first fixing seat 12, and the rotation axis of the roller 22 is perpendicular to the rotation axis of the second connecting assembly 212. In this way, by designing the connecting component 21 as a split structure, when assembling the surgical cart, the first connecting component 211 can be first assembled with the roller 22 to form a module, and the second connecting component 212 can be first assembled with the first fixed seat 12 to form another module. The first connecting component equipped with the roller 22 is then assembled with the second connecting component 212 equipped with the first fixed seat 12 by screws or the like, and finally the first fixed seat 12 connected with the roller component 2 is installed to the base plate 11; alternatively, the first fixed seat 12 equipped with the second connecting component 212 can be first installed to the base plate 11, and then the first connecting component 211 equipped with the roller 22 is assembled with the second connecting component 212 equipped with the first fixed seat 12.

[0101] For example, Fig. 9 As shown, the first connecting component 211 includes a first bracket 2111 and a second bracket 2112 which are perpendicular to each other, the roller 22 is rotatably connected to the first bracket 2111, the bottom of the buffer component 3 is supported by the second bracket 2112, and the top of the buffer component 3 elastically abuts against the base plate 11 of the base component 1, and the driving component 23 can be installed on the first bracket 2111. Figure 6 As shown, the second connecting component 212 includes a swing end 2121 and a connecting end 2122, the connecting end 2122 is rotatably connected to the connecting arm 1T, and the swing end 2121 is detachably connected to the second bracket 2112, for example, connected through a connecting plate, or fixed together by screw locking or the like.

[0102] like Fig. 9In the illustrated embodiment, the first connecting assembly 211 further includes two side plates 2113, each of which is connected to the first bracket 2111 and the second bracket 2112 respectively, so as to support and strengthen the first bracket 2111. At the same time, the two side plates 2113, the first bracket 2111 and the second bracket 2112 enclose a receiving space, and one end of the driving assembly 23 is fixed to the first bracket 2111 and at least partially accommodated therein. For example, the driving assembly 23 includes a motor 231 and a reducer 232, and the reducer 232 is installed on the first bracket 2111 and is located in the receiving space enclosed by the side plates 2113 and the first bracket 2111 and the second bracket 2112. The roller 22 is coaxially connected to the second rotating shaft 22X, and the second rotating shaft 22X is penetrated through the first bracket 2111 and is drivingly connected to the reducer 232. Exemplarily, the second rotating shaft 22X can be coaxially connected to the roller 22 through a flat key, and a bearing can be installed between the second rotating shaft 22X and the first bracket 2111, so that the second rotating shaft 22X can be rotatably supported on the first bracket 2111. The first connecting component 211 can also include a buffer pad 2114 provided on the upper surface of the second bracket 2112, the buffer pad 2114 faces the base assembly 1, and can contact the base assembly 1 when the roller assembly 2 swings toward the base assembly 1 to the extreme position, so as to avoid a hard collision between the first connecting component 211 and the base assembly 1. There is no restriction on the material of the buffer pad 2114, for example, the buffer pad 2114 can be made of a material that can be elastically deformed by extrusion, such as silicone, rubber, etc.

[0103] It is understandable that the first bracket 2111 and the second bracket 2112 can be detachably connected together by fasteners or the like, or can be integrally arranged. The side plate 2113 can be detachably connected to the first bracket 2111 and the second bracket 2112 by fasteners or the like, or can be integrally arranged with the latter.

[0104] like Fig.10 Shown and combined Figure 4 , 5 In one embodiment, the base further includes a limit assembly 4, one end (i.e., the fixed end) of the limit assembly 4 is arranged on one of the base assembly 1 and the first end of the connecting assembly 21, and the other end (i.e., the movable end) of the limit assembly 4 is movably matched with the other of the base assembly 1 and the first end of the connecting assembly 21 to limit the range of rotation of the first end of the connecting assembly 21 back to the base assembly 1, and the range of rotation of the connecting assembly 21 limited by the limit assembly 4 is smaller than the range of rotation of the connecting assembly 21 allowed by the first gap 1G.

[0105] While the first gap 1G is used to limit the rotation angle of the connection component 21 within the design range, this embodiment further uses the movable end of the limit component 4 to further limit the rotation angle of the connection component 21, so that the actual rotation angle of the second end of the connection component 21 is smaller than its design range. No matter what walking surface the base walks on, the rotation angle of the connection component 21 relative to the base component 1 will not reach its design range, which can protect the rotation connection part of the connection component 21 and the base component 1, and further ensure the safety of the base walking. After long-term use, the limit component 4 reaches the fatigue life first, and the replacement cost of the limit component 4 is also lower.

[0106] In one embodiment, there is a second gap 2G between the movable end of the limiting component 4 and the base component 1 or the connecting component 21 matched therewith, and the second gap 2G allows the first connecting component 211 of the connecting component 21 to swing away from the base component 1. Exemplarily, the second gap 2G limits the swing angle of the connecting component 21 to a range of 0 to 2 degrees. When the swing angle of the connecting component 21 is limited to a range of 0 to 2 degrees, under the dual limit of the first gap 1G and the second gap 2G, the maximum range of the roller 22 that can float up and down is not greater than 8 mm.

[0107] Fig.12 The schematic diagram shows the state where the second connecting component 212 of the roller assembly 2 swings back to the base assembly 1 to the extreme position of the design range. At this time, the angle θ between the second connecting component 212 and the bottom surface of the base assembly 1 is 4°, and the roller 22 of the connecting component 21 can float up and down relative to the base assembly 1 up to 16mm; when the limit component 4 is set, the angle θ between the second connecting component 212 and the bottom surface of the base assembly 1 is up to 2°, and the roller 22 can float up and down relative to the base assembly 1 only 8mm. The double limit design achieves the effect that the floating range of the cart roller is not more than 8mm, which has been verified by actual samples and will not float too much. On the basis of setting the buffer component, it further satisfies the requirement that the cart roller can always stably contact the walking surface when walking in different walking environments and reduce the bumping phenomenon of the cart, ensuring the stability and safety of the base walking, and will not generate noise due to the misalignment and movement of the surgical platform.

[0108] like Figures 10-11B In one embodiment, one end of the limiter assembly 4 is disposed on the first connecting assembly 211 of the connecting assembly 21, and the other end cooperates with the base plate 11 of the base assembly 1 to limit the rotation range of the connecting assembly 21 relative to the base plate 11 within a certain range. In order to ensure the safety performance of the limiter assembly 4, there can be multiple limiters 4, and multiple limiters 4 are arranged in an array on the first connecting assembly 211 (such as Figure 5), multiple limit assemblies 4 can respectively cooperate with different parts of the substrate 11 of the base assembly 1, so as to increase the effective area between the limit assemblies 4 and the substrate 11, and enhance the overall force strength of the limit assemblies 4 and the safety performance of the base.

[0109] Specifically, the limiting assembly 4 includes a connected connecting portion 41 and a protrusion 42, wherein the protrusion 42 at least partially protrudes from the side wall of the connecting portion 41; the connecting portion 41 is connected to the connecting assembly 21, and the protrusion 42 blocks the upper surface of the base assembly 1 (i.e., the side facing away from the connecting assembly 21), and has a second gap 2G with the upper surface of the base assembly 1, and the second gap 2G allows the first connecting assembly 211 of the connecting assembly 21 to rotate away from the base assembly 1.

[0110] Figures 10-11B The figure shows a situation where the fixed end of the limit assembly 4 is arranged on the connecting assembly 21, and the movable end of the limit assembly 4 cooperates with the base assembly 1. It can be understood that in other embodiments, the fixed end of the limit assembly 4 can also be arranged on the base assembly 1, and the movable end of the limit assembly 4 cooperates with the connecting assembly 21. In this case, the connecting portion 41 is connected to the base assembly 1, and the convex portion 42 blocks the lower surface of the connecting assembly 21 (i.e., the side facing away from the base assembly 1), and has a second gap 2G with the lower surface of the connecting assembly 21, and the second gap 2G allows the first end of the connecting assembly 21 to rotate away from the base assembly 1.

[0111] In one embodiment, Figures 10-11B A first stepped hole 1H is formed on the upper surface of the substrate 11 of the base assembly 1. The connecting portion 41 and the convex portion 42 are connected to form a T-shaped limiting structure. The T-shaped limiting structure can float up and down in the first stepped hole 1H. A second gap 2G is formed between the convex portion 42 and the shoulder of the first stepped hole 1H.

[0112] Specifically, the connection part 41 and the convex part 42 are separately provided, and the limiting assembly 4 further includes a first fastener T1 and a second fastener T2, wherein the first fastener T1 fixes the convex part 42 to the connection part 41, and the second fastener T2 fixes the connection part 41 to the first one of the base assembly 1 and the connection assembly 21. For example, a first screw hole 41H is provided on the connection part 41, and a second screw hole 42H is provided on the convex part 42, and the first fastener T1 passes through the second screw hole 42H to fix the convex part 42 to the connection part 41, and the second fastener T2 passes through the first screw hole 41H to fix the connection part 41 to the second bracket 2112 of the first connection assembly 211.

[0113] It is understandable that in other embodiments, the connection portion 41 and the convex portion 42 may also be integrally provided, and the connection portion 41 and the convex portion 42 may be L-shaped or T-shaped as a whole. Alternatively, the first stepped hole 1H may also be provided on the bottom surface of the connection component 21, and the T-shaped limiting structure may be fixed on the base plate 11 of the base component 1 and may float up and down in the first stepped hole 1H.

[0114] like Figures 13A to 13C , showing several ways of integrally arranging the connecting portion 41 and the protruding portion 42. Fig.13A , Fig. 13B In the embodiment, the connecting portion 41 and the convex portion 42 are in a T-shape as a whole, wherein: Fig.13A In the embodiment, the connection portion 41 is disposed on the connection assembly 21, the first stepped hole 1H is opened on the upper surface of the substrate 11, and a second gap 2G is formed between the protrusion 42 at the end of the connection portion 41 and the shoulder of the first stepped hole 1H. Fig. 13B In the embodiment, the connection portion 41 is disposed on the bottom surface of the substrate 11, the first stepped hole 1H is opened on the lower surface of the connection component 21, and a second gap 2G is formed between the protrusion 42 at the end of the connection portion 41 and the shoulder of the first stepped hole 1H; Fig. 13C In the figure, the connecting portion 41 and the convex portion 42 are L-shaped as a whole. The connecting portion 41 is fixedly arranged on the side of the substrate 11 and extends to the bottom of the connecting component 21. The convex portion 42 at the end of the connecting portion 41 is bent inward to face the bottom surface of the connecting component 21 and limit it. A second gap 2G is formed between the convex portion 42 at the end of the connecting portion 41 and the bottom surface of the connecting component 21. Therefore, during the rotation of the connecting component 21 relative to the substrate 11, the convex portion 42 can cooperate with the bottom surface of the connecting component 21 to limit the rotation range of the connecting component 21.

[0115] like Fig.14 , and in Fig. 13C Similar to the embodiment shown in FIG. 1 , the connecting portion 41 and the convex portion 42 are L-shaped as a whole, and the connecting portion 41 is fixedly arranged on the side of the substrate 11. Fig. 13C On the basis of the embodiment shown, the protrusion 42 at the end of the connection part 41 cooperates with the second bracket 2112 of the first connection component 211 to limit the floating clearance of the second bracket 2112. In addition, the outer surface of the side plate 2113 may also be provided with a recessed avoidance groove 2113C, which extends to dock with the second bracket 2112. When the limit component 4 is installed, the protrusion 42 is embedded in the avoidance groove 2113C. During the rotation of the connection component 21 relative to the base plate 11, the protrusion 42 can move in the avoidance groove 2113C and hook the edge of the second bracket 2112, thereby limiting the rotation range of the connection component 21.

[0116] like Figure 5 , Figures 15-16As shown, in one embodiment, the buffer component 3 includes a plurality of elastic members 31, a plurality of first accommodating portions 1R are provided on the bottom surface of the base component 1, and a plurality of second accommodating portions 21R are provided on the surface of the connecting component 21 facing the base component 1, and the first accommodating portions 1R are all blind holes, and the two ends of each elastic member 31 are at least partially accommodated in the corresponding first accommodating portion 1R and the second accommodating portion 21R. In the process of the connecting component 21 swinging up and down around the first rotating shaft 21X, the elastic member 31 is compressed between the first connecting component 211 and the base component 1, and the first accommodating portion 1R and the second accommodating portion 21R can provide accommodating space for the elastic member 31, so that the first connecting component 211 and the base component 1 can be close to each other and fit together. In addition, the first accommodating portion 1R and the second accommodating portion 21R can also prevent the elastic member 31 from arching toward the side to a certain extent, and play a role of radial limiting. Exemplarily, the elastic member 31 is a compression spring or rubber.

[0117] In one embodiment, a plurality of elastic members 31 are arranged at intervals on the periphery of the position-limiting assembly 4. For example, a plurality of elastic members 31 are arranged in a row on opposite sides of each position-limiting assembly 4 to surround each position-limiting assembly 4 therein.

[0118] In addition, in order to connect the elastic member 31 to the substrate 11, the buffer assembly 3 also includes a pressing plate 32 and a third fastener 33. The side of the base assembly 1 facing away from the connection assembly 21 is provided with a strip groove 1Q that simultaneously connects multiple first accommodating portions 1R. The pressing plate 32 is embedded in the strip groove 1Q and abuts against the elastic member 31. The third fastener 33 is passed through the pressing plate 32 and fixes it in the strip groove 1Q. Exemplarily, two pressing plates 32 are respectively arranged on opposite sides of the limiting assembly 4. Each pressing plate 32 can simultaneously press multiple elastic members 31. The pressing plate 32 is embedded in the strip groove 1Q, and its upper surface can be kept flush with the substrate 11 to avoid affecting the appearance of the substrate 11.

[0119] In one embodiment, the buffer assembly 3 further includes a fourth fastener 34 and a fixing column 35. The fourth fastener 34 is inserted through the pressure plate 32 and connected to the fixing column 35. The elastic member 31 abuts against the fixing column 35. In this way, the fixing column 35 can limit the axial and radial directions of the elastic member 31. For example, Fig.15 As shown, the pressing plate 32 is provided with a plurality of first countersunk holes 32A and a plurality of second countersunk holes 32B, the fourth fastener 34 is inserted into the first countersunk hole 32A and connected to the fixing column 35, and the nut of the fourth fastener 34 is embedded in the first countersunk hole 32A; the third fastener 33 is inserted into the second countersunk hole 32B, and the pressing plate 32 is pressed and fixed in the strip groove 1Q, and the nut of the third fastener 33 is embedded in the second countersunk hole 32B. In other embodiments, the elastic member 31 can be further fixed to the fixing column 35.

[0120] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A base for a surgical trolley. It is characterized in that The base comprises: Base assembly; A roller assembly, comprising a connecting assembly and a roller rotatably disposed at a first end of the connecting assembly, wherein a second end of the connecting assembly is swingably connected to a bottom of the base assembly, and a swing axis of the connecting assembly swinging around the base assembly is configured to be parallel to a forward direction of the base; The buffer component is arranged between the base component and the connecting component to apply an elastic buffer force to the connecting component which is directed away from the base component.

2. The base according to claim 1, It is characterized in that The base assembly includes a connecting arm integrally formed therewith and protruding from its bottom, and the second end of the connecting assembly is rotatably connected to the connecting arm; a first gap is formed between the second end of the connecting assembly and the bottom surface of the base assembly to allow the connecting assembly to swing.

3. The base according to claim 1, It is characterized in that The base assembly comprises: substrate; A first fixing seat is detachably arranged at the bottom of the substrate, and the first fixing seat includes a main body and a connecting arm, and the connecting arm is arranged on the surface of the main body facing away from the substrate; the second end of the connecting component is rotatably connected to the connecting arm; a first gap is formed between the second end of the connecting component and the bottom surface of the base component to allow the connecting component to swing.

4. The base according to claim 3, It is characterized in that The main body is T-shaped, and the connecting arm is arranged on the bottom surface of the main body; a first gap is formed between the second end of the connecting component and the bottom surface of the main body to allow the connecting component to swing.

5. The base according to claim 3, It is characterized in that The bottom surface of the base plate is provided with a mounting groove, the mounting groove extends backwards from the side surface of the base plate in a direction parallel to the forward movement of the base for a certain distance, and a step portion is formed at the connection between the body and the connecting arm; The base assembly also includes a U-shaped limiting seat with an opening disposed on the bottom surface of the substrate; The limit seat is fixed to the bottom surface of the substrate, and the opening is facing the forward direction of the base. The limit seat and the installation groove form an installation groove; the main body of the first fixed seat is inserted into the installation groove from the opening, and the U-shaped limit seat is clamped on the step portion.

6. The base according to claim 4, It is characterized in that The bottom surface of the base plate is provided with a mounting groove, and the mounting groove extends backwards for a certain distance from the side surface of the base plate in a direction parallel to the forward movement of the base; The base assembly also includes a U-shaped limiting seat with an opening disposed on the bottom surface of the substrate; The limit seat is fixed to the bottom surface of the substrate, and the opening is facing the forward direction of the base. The limit seat and the installation groove form an installation groove; the main body of the first fixed seat is inserted into the installation groove from the opening, and the U-shaped limit seat is clamped on the shoulders on both sides of the main body.

7. The base according to any one of claims 2 to 6, It is characterized in that It also includes a limit assembly, the two ends of which are respectively arranged on the base assembly and the first end of the connecting assembly to limit the swing amplitude of the first end of the connecting assembly along a direction perpendicular to the base assembly, and the limit assembly limits the swing amplitude of the connecting assembly to be smaller than the swing amplitude of the connecting assembly allowed by the first gap.

8. The base according to claim 7, It is characterized in that The limiting assembly comprises a connecting portion and a convex portion connected to each other, wherein the convex portion at least partially protrudes from a side wall of the connecting portion; The connecting portion is connected to the base component and the first one of the connecting components, and the protrusion blocks the side of the base component and the second one of the connecting components facing away from the first one, and has a second gap with the side of the base component and the second one of the connecting components facing away from the first one, and the second gap allows the first end of the connecting component to swing away from the base component.

9. The base according to claim 8, It is characterized in that The first gap is 1-2 mm; or, the first gap allows the connection assembly to swing at an angle less than 4°.

10. The base according to claim 9, It is characterized in that Under the limitation of the second gap, the upper and lower floating range of the roller is no more than 8 mm; or, the second gap allows the connecting component to swing at an angle less than 2°.

11. The base according to claim 8, It is characterized in that The connecting portion and the convex portion are integrally arranged and are L-shaped or T-shaped.

12. The base according to claim 8, It is characterized in that A first stepped hole is provided on the surface of the second one of the base component and the connecting component facing away from the first one, and the connecting portion and the protrusion are connected to form an L-shaped or T-shaped limiting structure, and the L-shaped or T-shaped limiting structure can float up and down in the first stepped hole, and the second gap is formed between the protrusion and the shoulder of the first stepped hole.

13. The base according to claim 12, It is characterized in that The connecting portion and the convex portion are separately arranged, and the limiting assembly further includes a first fastener and a second fastener, the first fastener fixes the convex portion to the connecting portion, and the second fastener fixes the connecting portion to the first one of the base assembly and the connecting assembly.

14. The base according to claim 7, It is characterized in that The buffer assembly includes a plurality of elastic members, a plurality of first accommodating portions are provided on the bottom surface of the base assembly, a plurality of second accommodating portions are provided on the surface of the connecting assembly facing the base assembly, and both ends of each of the elastic members are at least partially accommodated in the corresponding first accommodating portion and the second accommodating portion.

15. The base according to claim 14, It is characterized in that The plurality of elastic members are arranged at intervals on the periphery of the limiting assembly.

16. The base according to claim 14, It is characterized in that The buffer assembly further comprises a pressing plate and a third fastener, and a strip groove which simultaneously connects a plurality of the first accommodating portions is formed on a side of the base assembly which faces away from the connecting assembly; The pressing plate is embedded in the strip groove and abuts against the elastic member, and the third fastener passes through the pressing plate and fixes it in the strip groove.

17. The base according to claim 16, It is characterized in that The buffer assembly further includes a fourth fastener and a fixing column. The fourth fastener is inserted through the pressure plate and connected to the fixing column. The elastic member abuts against the fixing column.

18. The base according to claim 2 or 3, It is characterized in that The connecting assembly includes a first connecting assembly and a second connecting assembly that are detachably connected, the first connecting assembly is rotationally connected to the roller, the second connecting assembly is rotationally connected to the connecting arm, and the rotation axis of the roller is perpendicular to the swing axis of the second connecting assembly.

19. The base according to claim 18, It is characterized in that The first connecting assembly includes a first bracket and a second bracket that are perpendicular to each other, the roller is rotatably connected to the first bracket, and the buffer assembly is carried by the second bracket; The second connecting component includes a swing end and a connecting end, the swing end is detachably connected to the second bracket, and the connecting end is rotatably connected to the connecting arm.

20. The base according to any one of claims 1 to 6, It is characterized in that It comprises two roller assemblies, each of which comprises a driving assembly drivingly connected to the roller, and the driving assembly is used to drive the roller to rotate relative to the connecting assembly; The rotation axes of the rollers of the two roller assemblies are both perpendicular to the forward direction of the base, and the two roller assemblies are respectively arranged on both sides of the forward direction of the base.

21. A surgical trolley, It is characterized in that It comprises the base according to any one of claims 1 to 20 and a surgical platform arranged on the base.

22. A surgical robot, It is characterized in that Including the surgical cart described in claim 21.

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