Surgical robot transfer system

Abstract

The invention discloses a surgical robot transfer system, belongs to the technical field of medical instruments, and aims to solve the problem that an existing surgical robot is inconvenient to move. The surgical robot transfer system comprises an operating bed clamping device (1), a surgical robot (2) and a transfer trolley (3), the operating bed clamping device (1) can be fixed to an operating bed (4), and the transfer trolley (3) is arranged on the operating bed clamping device (1). The operating bed clamping device (1) comprises an adapter interface (122), the transfer trolley (3) comprises a storage interface (31), the surgical robot (2) comprises a transfer platform (21), and when the adapter interface (122) and the storage interface (31) are in butt joint, the surgical robot can move back and forth between the operating bed clamping device and the transfer trolley through the transfer platform. The operation robot can safely and rapidly move between the operation bed and the transfer trolley.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a surgical robot transport system. Background Art

[0002] During interventional surgery or other surgeries, when a surgical robot is used, the surgical robot is often required to be fixed to the operating table so that the end effector of the surgical robot can move with the operating table when the operating table moves. After the operation, the surgical robot needs to be removed from the operating table for storage. Since the surgical robot is heavy, it is very inconvenient to move and load and unload it, and it is easy to be damaged by bumps, drops, etc. Summary of the invention

[0003] In order to solve the problem of the inconvenience of moving the surgical robot mentioned above, the present invention provides a surgical robot transfer system, in which the operating table clamping device includes a transfer interface, the transfer trolley includes a storage interface, and the surgical robot includes a transfer platform. When the transfer interface and the storage interface are docked, the surgical robot can move back and forth between the operating table clamping device and the transfer trolley through the transfer platform, thereby realizing the safe and rapid movement of the surgical robot between the operating table and the transfer trolley.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A surgical robot transfer system comprises an operating table clamping device, a surgical robot and a transfer trolley. The operating table clamping device can be fixed on the operating table, the operating table clamping device comprises a transfer interface, the transfer trolley comprises a storage interface, and the surgical robot comprises a transfer platform. When the transfer interface and the storage interface are docked, the surgical robot can move from the storage interface to the transfer interface via the transfer platform, or the surgical robot can also move from the transfer interface to the storage interface via the transfer platform.

[0006] The beneficial effects of the present invention are as follows: the operating table clamping device in the surgical robot transfer system contains a transfer interface, the transfer trolley contains a storage interface, and the surgical robot contains a transfer platform. When the transfer interface and the storage interface are docked, the surgical robot can move back and forth between the operating table clamping device and the transfer trolley through the transfer platform, thereby realizing safe and rapid movement of the surgical robot between the operating table and the transfer trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0008] Figure 1It is a schematic diagram of the working status of the surgical robot transfer system of the present invention.

[0009] Figure 2 It is a top-down stereoscopic schematic diagram of the exterior of the transfer platform.

[0010] Figure 3 It is a schematic diagram of the main view inside the transfer platform.

[0011] Figure 4 It is a three-dimensional schematic diagram of the interior of the transfer platform when viewed from above.

[0012] Figure 5 is a schematic diagram of the interface locking mechanism.

[0013] Figure 6 This is a schematic diagram of the explosion of the transfer platform.

[0014] Figure 7 It is a front view schematic diagram of the operating table clamping device.

[0015] Figure 8 It is a top-down stereoscopic schematic diagram of the operating table clamping device.

[0016] Fig. 9 It is a bottom-up stereoscopic schematic diagram of the clamping device of the operating table.

[0017] Fig.10 It is an exploded schematic diagram of the clamping device of the operating table.

[0018] Fig.11 It is an exploded diagram of the left guide rail matching mechanism.

[0019] Fig.12 This is an exploded view of the connecting beams.

[0020] Fig.13 It is an exploded diagram of the right guide rail matching mechanism.

[0021] Fig.14 is a schematic diagram of the first view of the guide rail locking mechanism.

[0022] Fig.15 is a schematic diagram of the second perspective of the guide rail locking mechanism.

[0023] Fig.16 An exploded view of the rail locking mechanism.

[0024] Fig.17 It is a simplified structural diagram of the guide rail locking mechanism.

[0025] Fig.18 It is a schematic diagram of the use status of the operating table clamping device.

[0026] Fig.19This is a schematic diagram of the surgical robot on the transfer cart.

[0027] Fig. 20 It is a schematic diagram of the transfer trolley.

[0028] Description of reference numerals:

[0029] 1. Operating table clamping device; 2. Surgical robot; 3. Transfer trolley; 4. Operating table;

[0030] 11. Left guide rail matching mechanism; 12. Connecting crossbeam; 13. Right guide rail matching mechanism; 14. Bed board matching groove; 15. Guide rail locking mechanism;

[0031] 21. Transfer platform; 22. Robotic arm; 23. Surgical operation terminal;

[0032] 31. Storage interface; 32. Traveling vehicle body;

[0033] 41. Bed board; 42. Guide rail;

[0034] 111, left housing; 112, second left adjustment through hole; 113, left roller; 114, left bearing; 115, bearing lifting assembly;

[0035] 121. Width adjustment mechanism; 122. Transfer interface;

[0036] 131. right mounting seat; 132. right lifting mechanism;

[0037] 151, locking housing; 152, pushing plate; 153, upper clamping block; 154, lower clamping block; 155, guide rail mounting groove; 156, clamping handle; 157, clamping shaft; 158, right roller; 159, spring plunger;

[0038] 211, fixed plate; 212, side plate; 213, interface accommodating cavity; 214, optical axis slider; 215, interface locking mechanism; 216, outer shell;

[0039] 311, second bearing plate; 312, second docking optical axis;

[0040] 1111, nut installation cavity; 1112, second left adjustment through hole;

[0041] 1151, second left adjusting screw; 1152, left lead screw; 1153, left nut;

[0042] 1211, fixed frame; 1212, movable rod; 1213, transverse screw; 1214, upper nut; 1215, first left adjustment through hole; 1216, first left adjustment screw; 1217, front frame rod; 1218, left frame rod; 1219, rear frame rod;

[0043] 1221, First bearing plate; 1222, First docking optical axis; 1223, Bearing wheel; 1224, First optical axis seat; 1225, Level gauge;

[0044] 1311, Front column; 1312, Upper beam; 1313, Rear column; 1314, Right through hole;

[0045] 1321, Right adjusting screw; 1322, Right lead screw; 1323, Right nut;

[0046] 1511, Pressing through hole;

[0047] 1561, Circular section; 1562, Strip section;

[0048] 1591, Pin; 1592, Spring;

[0049] 2141, Slide groove;

[0050] 2151, Locking handle; 2152, Clamping lead screw; 2153, Upper clamping block; 2154, Lower clamping block; 2155, Slide rail;

[0051] 2161, Front side plate; 2162, Upper side plate; 2163, Rear side plate; 2164, Manipulator mounting through hole. Detailed implementation manner

[0052] It should be noted that, without conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0053] For the convenience of understanding and description, absolute position relationships are adopted in the following description of the present invention. Without special explanation, the orientation word "upper" represents Figure 7 the upper side direction in Figure 7 the lower side direction in Figure 7 the left side direction in Figure 7 the right side direction in Figure 7 the front represents the direction perpendicular to Figure 7 the paper surface and pointing to the inner side of the paper surface, and the orientation word "rear" represents the direction perpendicular to

[0054] such as Figure 1 , Figure 2 , Fig.18 , Fig.19 and Fig. 20 As shown, a surgical robot transfer system according to an embodiment of the present invention comprises an operating table clamping device 1, a surgical robot 2 and a transfer trolley 3. The operating table clamping device 1 can be fixed on an operating table 4. The operating table clamping device 1 comprises a transfer interface 122. The transfer trolley 3 comprises a storage interface 31. The surgical robot 2 comprises a transfer platform 21. When the transfer interface 122 and the storage interface 31 are docked, the surgical robot 2 can move from the storage interface 31 to the transfer interface 122 through the transfer platform 21. Alternatively, the surgical robot 2 can also move from the transfer interface 122 to the storage interface 31 through the transfer platform 21. Thus, the surgical robot 2 can be safely and quickly moved between the operating table clamping device 1 and the transfer trolley 3 on the operating table 4.

[0055] like Figure 3 to Figure 4 As shown, the cross-section of the transfer platform 21 is roughly an inverted concave structure, and the transfer platform 21 contains a fixed plate 211, which is in a horizontal state. The front and rear ends of the fixed plate 211 are fixedly connected to the side plates 212 by screws. The side plates 212 are upright long strip structures, and the side plates 212 extend in the left and right directions. The fixed plate 211 and the side plates 212 form an interface accommodating chamber 213, and the interface accommodating chamber 213 is located below the fixed plate 211. The left end, the lower end and the right end of the interface accommodating chamber 213 are all in an open state. The interface accommodating chamber 213 can accommodate the adapter interface 122 or the storage interface 31.

[0056] like Figures 1 to 3 , Figure 8 As shown, the structure of the adapter interface 122 is basically the same as that of the storage interface 31. The adapter interface 122 can be implemented in a variety of ways. For example, the adapter interface 122 can use a slide plate, a slide rail or a slide bar. In this embodiment, the adapter interface 122 includes a first bearing plate 1221, and a first docking optical axis 1222 is provided in front and rear of the first bearing plate 1221. The first docking optical axis 1222 extends in the left-right direction. The storage interface 31 includes a second bearing plate 311, and a second docking optical axis 312 is provided in front and rear of the second bearing plate 311.

[0057] like Figures 3 to 5 As shown, the inner sides of the two side panels 212 are connected to an optical axis slider 214, the cross-section of the optical axis slider 214 is roughly C-shaped, and the optical axis slider 214 contains a slide groove 2141. The first docking optical axis 1222 or the second docking optical axis 312 can be matched and inserted into the slide groove 2141, and the first docking optical axis 1222 or the second docking optical axis 312 can be slidably connected to the optical axis slider 214.

[0058] like Figures 5 and 6As shown, the transfer platform 21 also includes an interface locking mechanism 215. When the surgical robot 2 is located on the adapter interface 122, the interface locking mechanism 215 can lock the transfer platform 21 and the adapter interface 122, that is, the transfer platform 21 and the adapter interface 122 cannot move or rotate relative to each other; when the surgical robot 2 is located on the storage interface 31, the interface locking mechanism 215 can lock the transfer platform 21 and the storage interface 31, that is, the transfer platform 21 and the storage interface 31 cannot move or rotate relative to each other.

[0059] The interface locking mechanism 215 contains a locking handle 2151, a clamping screw 2152, an upper clamping block 2153 and a lower clamping block 2154 which are connected in sequence from top to bottom. The clamping screw 2152 is in an upright state. The clamping screw 2152 passes through the fixed plate 211. The clamping screw 2152 and the fixed plate 211 can be connected by a bearing. The locking handle 2151 and the clamping screw 2152 can rotate around the axis of the clamping screw 2152.

[0060] like Figures 3 to 6 As shown, when the first docking optical axis 1222 is located between the upper clamping block 2153 and the lower clamping block 2154 and the locking handle 2151 is rotated, the distance between the upper clamping block 2153 and the lower clamping block 2154 can be reduced, and the upper clamping block 2153 and the lower clamping block 2154 can clamp and fix the first docking optical axis 1222; when the second docking optical axis 312 is located between the upper clamping block 2153 and the lower clamping block 2154 and the locking handle 2151 is rotated, the distance between the upper clamping block 2153 and the lower clamping block 2154 can be reduced, and the upper clamping block 2153 and the lower clamping block 2154 can clamp and fix the second docking optical axis 312.

[0061] The locking handle 2151 is located above the fixed plate 211, and the upper clamping block 2153 and the lower clamping block 2154 are both located below the fixed plate 211. The upper clamping block 2153 and the lower clamping block 2154 are both connected to the side plate 212 through the slide rail 2155. The upper clamping block 2153 and the lower clamping block 2154 are spaced apart from each other. The upper clamping block 2153 and the lower clamping block 2154 both contain internal threads. The upper clamping block 2153 and the lower clamping block 2154 are both threadedly connected to the clamping screw 2152, and the rotation direction of the internal thread of the upper clamping block 2153 is opposite to that of the internal thread of the lower clamping block 2154.

[0062] like Figures 1 to 8As shown, the two interface locking mechanisms 215 are located at the front and rear sides of the fixed plate 211, and the two interface locking mechanisms 215 correspond to the two first docking optical axes 1222 one by one, or the two interface locking mechanisms 215 correspond to the two second docking optical axes 312 one by one. In order to keep the interface locking mechanism 215 in a locked state, the internal thread of the upper clamping block 2153 and the internal thread of the lower clamping block 2154 can be selected as self-locking threads, or the two locking handles 2151 can be connected and fixed by a rope loop.

[0063] like Figure 1 to Figure 2 As shown, the transfer platform 21 also includes an outer shell 216, the cross section of which is generally an inverted concave structure, and the outer shell 216 is located outside the fixed plate 211 and the side plate 212. The outer shell 216 includes a front side plate 2161, an upper side plate 2162, and a rear side plate 2163 connected in sequence from front to back, and a mechanical arm mounting through hole 2164 is provided in the upper side plate 2162. The mechanical arm 22 described below passes through the mechanical arm mounting through hole 2164 and is connected and fixed to the fixed plate 211, and the locking handle 2151 is located above the upper side plate 2162.

[0064] The surgical robot 2 also includes a surgical operation terminal 23 and a mechanical arm 22. The surgical operation terminal 23, the mechanical arm 22 and the transfer platform 21 are connected in sequence. The surgical operation terminal 23 can be an existing interventional surgical robot operation terminal. The mechanical arm 22 can adjust the position of the surgical operation terminal 23 in three-dimensional space.

[0065] like Figures 7 to 10 , Fig.18 As shown, the operating bed clamping device 1 includes a left guide rail matching mechanism 11, a connecting beam 12 and a right guide rail matching mechanism 13 which are connected in sequence from left to right. The left guide rail matching mechanism 11, the connecting beam 12 and the right guide rail matching mechanism 13 form a bed board matching groove 14. The left guide rail matching mechanism 11 and / or the right guide rail matching mechanism 13 include a guide rail locking mechanism 15. The bed board 41 of the operating bed 4 can be installed in the bed board matching groove 14. The operating bed clamping device 1 can move forward and backward along the guide rails 42 on the left and right sides of the bed board 41. The guide rail locking mechanism 15 can lock the operating bed clamping device 1 and the guide rails 42 of the operating bed 4. The adapter interface 122 is located at the left end or right end of the connecting beam 12.

[0066] The left guide rail matching mechanism 11 can be connected and matched with the guide rail 42 on the left side of the bed board 41, and the right guide rail matching mechanism 13 can be connected and matched with the guide rail 42 on the right side of the bed board 41. The left guide rail matching mechanism 11 includes a guide rail locking mechanism 15, or the right guide rail matching mechanism 13 includes a guide rail locking mechanism 15, or both the left guide rail matching mechanism 11 and the right guide rail matching mechanism 13 include a guide rail locking mechanism 15. After the guide rail locking mechanism 15 locks the guide rails 42 of the operating bed clamping device 1 and the operating bed 4, the operating bed clamping device 1 and the operating bed 4 are connected and fixed as one body, and the operating bed clamping device 1 and the operating bed 4 cannot move relative to each other.

[0067] For example, Figures 10 to 13 As shown, the right guide rail matching mechanism 13 includes a guide rail locking mechanism 15, which can not only lock the operating bed clamping device 1 and the guide rail 42 of the operating bed 4, but also connect and match with the guide rail 42 on the right side of the bed plate 41. The right guide rail matching mechanism 13 also includes a right mounting seat 131, and the guide rail locking mechanism 15 is connected to the right mounting seat 131 through a right lifting mechanism 132, and the right lifting mechanism 132 can make the guide rail locking mechanism 15 move up and down relative to the right mounting seat 131.

[0068] like Figures 14 to 17 As shown, the guide rail locking mechanism 15 includes a locking shell 151, and a push plate 152, an upper pressing block 153, a lower pressing block 154 and a right roller 158 are arranged in the locking shell 151. The upper pressing block 153, the push plate 152 and the lower pressing block 154 are connected in sequence to form a guide rail installation groove 155. The guide rail 42 on the right side of the bed plate 41 can be matched and inserted into the guide rail installation groove 155. A pressing handle 156 is arranged outside the locking shell 151. The pressing handle 156 includes circular rollers connected in sequence. Segment 1561 and bar segment 1562, the clamping handle 156 is connected to the locking shell 151 through the clamping shaft 157. When the bar segment 1562 rotates downward from a horizontal state to an upright state, the circular segment 1561 can push the push plate 152 to move away from the clamping shaft 157, and the push plate 152 can make the upper clamping block 153 move downward and the lower clamping block 154 move upward. The upper clamping block 153 and the lower clamping block 154 can clamp and fix the guide rail 42 of the operating bed 4.

[0069] Specifically, the clamping handle 156 is located outside the right side of the locking shell 151, and the clamping handle 156 contains a circular segment 1561 and a bar segment 1562 connected in sequence. The axis of the circular segment 1561 and the axis of the clamping shaft 157 both extend in the front-to-back direction. The clamping shaft 157 passes through the circular segment 1561. The clamping handle 156 can rotate around the clamping shaft 157, and the axis of the clamping shaft 157 deviates from the axis of the circular segment 1561, that is, the circular segment 1561 is an eccentric wheel structure. A pressing through hole 1511 is provided on the locking shell 151, and the position of the pressing through hole 1511 corresponds to the position of the circular segment 1561. The outer peripheral surface of the circular segment 1561 can pass through the pressing through hole 1511 of the locking shell 151 and abut against the thrust plate 152. The upper clamping block 153 is matched and connected with the upper part of the thrust plate 152, and the lower clamping block 154 is matched and connected with the lower part of the thrust plate 152. The contact surfaces of the thrust plate 152 and the upper clamping block 153 and the lower clamping block 154 are all inclined surfaces.

[0070] like Figures 14 to 17 As shown, when the bar segment 1562 rotates downward from the horizontal state to the upright state, the circular segment 1561 can push the push plate 152 to move away from the clamping shaft 157, and the push plate 152 can make the upper clamping block 153 move downward and the lower clamping block 154 move upward, that is, the distance between the upper clamping block 153 and the lower clamping block 154 becomes smaller, so that the upper clamping block 153 and the lower clamping block 154 can clamp and fix the guide rail 42 of the operating bed 4. At this time, the guide rail locking mechanism 15 is in a locked state, and the guide rail locking mechanism 15 locks the operating bed clamping device 1 and the guide rail 42 of the operating bed 4. When unlocking is required, when the bar segment 1562 is rotated upward from the upright state to the horizontal state, the upper clamping block 153 and the lower clamping block 154 cannot clamp and fix the guide rail 42 of the operating bed 4, and the guide rail locking mechanism 15 is in an unlocked state.

[0071] The clamping handle 156 is also connected to a spring plunger 159, which contains a pin 1591 and a spring 1592. The pin 1591 can move axially, and the spring 1592 can reset the pin 1591. The spring plunger 159 can lock the clamping handle 156 and the locking housing 151. The lower end of the locking housing 151 is provided with a plug-in hole for the pin 1591 to be plugged in. When the bar segment 1562 is rotated downward from a horizontal state to an upright state, the pin 1591 is inserted into the plug-in hole at the lower end of the locking housing 151, and the clamping handle 156 can no longer rotate, so that the guide rail locking mechanism 15 can maintain a locked state.

[0072] When the guide rail locking mechanism 15 needs to be unlocked, the pin 1591 is first pulled out from the plug hole of the locking housing 151, and the clamping handle 156 of the guide rail locking mechanism 15 can be rotated. The guide rail locking mechanism 15 can be implemented by rotating the clamping handle 156 as described above, or the guide rail locking mechanism 15 can be implemented by a locking bolt. For example, a locking bolt can be provided on the locking housing 151, and the locking bolt is threadedly connected to the locking housing 151. When the locking bolt is tightened, the tail end of the locking bolt can abut against the guide rail 42, and the guide rail locking mechanism 15 can lock the operating bed clamping device 1 and the guide rail 42 of the operating bed 4. Loosening the locking bolt can release the lock.

[0073] like Fig.13 As shown, the right mounting seat 131 includes a front column 1311, an upper beam 1312 and a rear column 1313 which are connected in sequence from front to back, a right through hole 1314 is provided on the upper beam 1312, and the axis of the right through hole 1314 extends in the up-down direction, and the right lifting mechanism 132 includes a right adjusting screw 1321, a right lead screw 1322 and a right nut 1323 which are connected in sequence from top to bottom, the right lead screw 1322 is in an upright state, the upper end of the right lead screw 1322 is located in the right through hole 1314, the right nut 1323 is connected and fixed to the guide rail locking mechanism 15, and the guide rail locking mechanism 15 and the right mounting seat 131 are also connected by a slide rail, and in the process of screwing the right adjusting screw 1321, the guide rail locking mechanism 15 moves up and down relative to the right mounting seat 131.

[0074] like Fig.10 and Fig.12 As shown, the connecting crossbeam 12 includes a width adjustment mechanism 121, which can adjust the distance between the left guide rail matching mechanism 11 and the right guide rail matching mechanism 13, and the adapter interface 122 is located on the left or right side of the width adjustment mechanism 121. For example, the adapter interface 122 is located on the right side of the width adjustment mechanism 121, and the adapter interface 122 is connected to the width adjustment mechanism 121 up and down. The left end of the width adjustment mechanism 121 is connected to the left guide rail matching mechanism 11 by bolts, the width adjustment mechanism 121 and the adapter interface 122 are connected by bolts, and the adapter interface 122 is connected to the right mounting seat 131 by bolts.

[0075] The width adjustment mechanism 121 includes a fixed frame 1211, a movable rod 1212, a transverse screw 1213 and an upper nut 1214. A first left adjustment through hole 1215 is provided at the left end of the fixed frame 1211. The fixed frame 1211, the movable rod 1212 and the transverse screw 1213 all extend in the left-right direction. The transverse screw 1213, the upper nut 1214 and the movable rod 1212 are connected in sequence. The left side of the transverse screw 1213 passes through the first left adjustment through hole 1215. The left end of the transverse screw 1213 is coaxially connected with a first left adjustment screw 1216. During the process of screwing the first left adjustment screw 1216, the movable rod 1212 can move left and right, and the size of the width adjustment mechanism 121 along the left-right direction can be adjusted.

[0076] like Fig.12 As shown, the fixed frame 1211 includes a front frame rod 1217, a left frame rod 1218 and a rear frame rod 1219 which are sequentially connected from front to back, the front frame rod 1217 and the rear frame rod 1219 are both extended in the left-right direction, the front frame rod 1217 and the rear frame rod 1219 are arranged at intervals in front and back, the movable rod 1212 is located between the front frame rod 1217 and the rear frame rod 1219, and the first left adjustment through hole 1215 is located in the left frame rod 1218. The movable rod 1212 and the fixed frame 1211 are also connected by a slide rail. The left frame rod 1218 is connected to the left guide rail matching mechanism 11 by bolts.

[0077] A bearing wheel 1223 is connected to the bottom of the first bearing plate 1221, and the bearing wheel 1223 is used to carry the operating table clamping device 1 and the surgical robot 2. The two first docking optical axes 1222 extend in the left-right direction. The first bearing plate 1221 and the right end of the movable rod 1212 are connected in an up-and-down manner by bolts. The axis of the bearing wheel 1223 extends in the left-and-right direction, and the bearing wheel 1223 can abut against the upper surface of the bed board 41 of the operating bed 4.

[0078] like Fig.12 As shown, the first bearing plate 1221 is roughly a rectangular plate, the first bearing plate 1221 is parallel to the horizontal plane, the two first docking optical axes 1222 are connected to the first bearing plate 1221 through the first optical axis seat 1224, along the left and right direction, the length of the first docking optical axis 1222 is greater than the length of the first bearing plate 1221, and the first docking optical axis 1222 and the first bearing plate 1221 are basically located at the same height. A mounting groove is set in the first bearing plate 1221, and a level 1225 is installed in the mounting groove. The level 1225 can use an existing bubble level.

[0079] like Fig.11As shown, the left guide rail matching mechanism 11 includes a left housing 111, which is an upright plate-like structure. A left roller 113 and a left bearing 114 are arranged on the right side of the left housing 111. The outer peripheral surface of the left roller 113 can contact the outer side surface of the guide rail 42, and the outer peripheral surface of the left bearing 114 can contact the lower end surface of the guide rail 42. A second left adjustment through hole 1112 is arranged on the upper part of the left housing 111. The axis of the second left adjustment through hole 1112 extends in the left-right direction, and the left end of the transverse lead screw 1213 is located in the second left adjustment through hole 1112.

[0080] The left guide rail matching mechanism 11 also includes a bearing lifting assembly 115, which includes a second left adjusting screw 1151, a left lead screw 1152 and a left nut 1153 connected in sequence from top to bottom. The left lead screw 1152 is in an upright state, and a nut mounting cavity 1111 is provided at the lower portion of the left housing 111. The nut mounting cavity 1111 is connected to the second left adjusting through hole 1112, and the axis of the second left adjusting through hole 1112 extends in the up and down directions. The left nut 1153 is located in the nut mounting cavity 1111, and the left nut 1153 and the left housing 111 are connected by a slide rail. The left bearing 114 is connected to the left nut 1153 through a rotating shaft, and the upper portion of the left lead screw 1152 is located in the second left adjusting through hole 1112. During the process of screwing the second left adjusting screw 1151, the left nut 1153 can move up and down.

[0081] The transfer trolley 3 also includes a traveling body 32, and the storage interface 31 is located at the upper end of the traveling body 32. The traveling body 32 can move and rotate. The traveling body 32 can include an interface lifting mechanism, which can lift the storage interface 31, thereby ensuring that the storage interface 31 and the transfer interface 122 are at the same height.

[0082] The surgical robot transfer system further includes an operating bed 4, and the operating bed clamping device 1 is installed on the operating bed 4. When the adapter interface 122 and the storage interface 31 are docked, the axes of the two first docking optical axes 1222 and the axes of the two second docking optical axes 312 coincide with each other, and the ends of the two first docking optical axes 1222 and the ends of the two second docking optical axes 312 contact with each other.

[0083] The working process of the surgical robot transfer system is introduced below.

[0084] like Figure 1 , Figure 3 , Figures 7 to 9 , Fig.12As shown, the operating bed clamping device 1 is installed on the operating bed 4, that is, the bed plate 41 is located in the bed plate matching groove 14. By screwing the second left adjusting screw 1151, the left nut 1153 can move up and down, and the left roller 113 and the left bearing 114 can match and fit with the guide rail 42 on the left side of the operating bed 4. By screwing the first left adjusting screw 1216, the size of the width adjustment mechanism 121 in the left and right directions can be adjusted, and the distance between the left guide rail matching mechanism 11 and the right guide rail matching mechanism 13 can be adjusted. By screwing the right adjusting screw 1321, the guide rail locking mechanism 15 moves up and down relatively, and the right roller 158 can match and fit with the guide rail 42 on the right side of the operating bed 4. Guide rails 42 are provided on both the left and right sides of the bed plate 41, and the guide rails 42 on the left and right sides are mirror images of each other.

[0085] First, the guide rail locking mechanism 15 is in the unlocked state, and the operating bed clamping device 1 is moved forward and backward along the guide rail 42 of the operating bed 4 to the desired position. The bar segment 1562 of the clamping handle 156 is rotated downward from the horizontal state to the upright state, and the upper clamping block 153 and the lower clamping block 154 clamp and fix the guide rail 42 of the operating bed 4. The pin 1591 of the spring plunger 159 is inserted into the plug hole at the lower end of the locking shell 151, and the clamping handle 156 can no longer be rotated. The guide rail locking mechanism 15 remains in the locked state, and the operating bed clamping device 1 and the operating bed 4 are connected and fixed as a whole. The operating bed clamping device 1 and the operating bed 4 cannot move relative to each other (the reverse operation can release the lock of the guide rail locking mechanism 15).

[0086] The adapter interface 122 is located on the right side of the operating bed clamping device 1. The surgical robot 2 is installed on the storage interface 31 of the transfer trolley 3 through the transfer platform 21. The transfer trolley 3 loaded with the surgical robot 2 moves to the side of the adapter interface 122. The transfer trolley 3 accurately adjusts its position so that the adapter interface 122 and the storage interface 31 are docked, that is, the axes of the two first docking optical axes 1222 and the axes of the two second docking optical axes 312 coincide one by one, and the right ends of the two first docking optical axes 1222 and the left ends of the two second docking optical axes 312 are in one-to-one contact.

[0087] The surgical robot 2 is pushed onto the transfer interface 122, and the surgical robot 2 moves from the storage interface 31 to the transfer interface 122 via the transfer platform 21, and the locking handle 2151 is rotated, and the interface locking mechanism 215 locks the transfer platform 21 and the transfer interface 122, and the surgical operation can be performed. The transfer trolley 3 can leave empty.

[0088] After the operation is over, the transfer trolley 3 moves back to the adapter interface 122, and the transfer trolley 3 accurately adjusts the position so that the adapter interface 122 and the storage interface 31 are docked, and the locking handle 2151 is rotated to unlock the transfer platform 21 and the transfer interface 122. The surgical robot 2 is pushed onto the storage interface 31, and the surgical robot 2 moves from the transfer interface 122 to the storage interface 31 through the transfer platform 21. The locking handle 2151 is rotated, and the interface locking mechanism 215 locks the transfer platform 21 and the storage interface 31, and the transfer trolley 3 takes the surgical robot 2 away.

[0089] The above is only a specific embodiment of the present invention, and cannot be used to limit the scope of the invention. Therefore, the replacement of equivalent components, or equivalent changes and modifications made according to the protection scope of the present invention should still fall within the scope of the present invention. In addition, the technical features in the present invention can be freely combined with each other, with technical features and technical solutions, and with technical solutions.

Claims

1. A surgical robot transport system, characterized in that: The surgical robot transfer system comprises an operating table clamping device (1), a surgical robot (2) and a transfer trolley (3); the operating table clamping device (1) can be fixed on an operating table (4); the operating table clamping device (1) comprises a transfer interface (122); the transfer trolley (3) comprises a storage interface (31); and the surgical robot (2) comprises a transfer platform (21); when the transfer interface (122) and the storage interface (31) are docked, the surgical robot (2) can move from the storage interface (31) to the transfer interface (122) via the transfer platform (21); or, the surgical robot (2) can also move from the transfer interface (122) to the storage interface (31) via the transfer platform (21).

2. The surgical robot transport system according to claim 1, characterized in that: The transfer platform (21) comprises a fixed flat plate (211), the front end and the rear end of the fixed flat plate (211) are fixedly connected to side upright plates (212), the fixed flat plate (211) and the side upright plates (212) enclose an interface accommodating chamber (213), the interface accommodating chamber (213) is located below the fixed flat plate (211), the left end, the lower end and the right end of the interface accommodating chamber (213) are all in an open state, and the interface accommodating chamber (213) can accommodate a transfer interface (122) or a storage interface (31).

3. The surgical robot transport system according to claim 2, characterized in that: The transfer interface (122) comprises a first bearing plate (1221), and a first docking optical axis (1222) is arranged at the front and rear of the first bearing plate (1221), and the first docking optical axis (1222) extends in the left-right direction; the storage interface (31) comprises a second bearing plate (311), and a second docking optical axis (312) is arranged at the front and rear of the second bearing plate (311); the inner side surfaces of the two side vertical plates (212) are connected to an optical axis slider (214), and the optical axis slider (214) comprises a slide groove (2141), and the first docking optical axis (1222) or the second docking optical axis (312) can be plugged into the slide groove (2141) in a matching manner.

4. The surgical robot transport system according to claim 2, characterized in that: The transfer platform (21) also includes an interface locking mechanism (215). When the surgical robot (2) is located on the transfer interface (122), the interface locking mechanism (215) can lock the transfer platform (21) and the transfer interface (122); when the surgical robot (2) is located on the storage interface (31), the interface locking mechanism (215) can lock the transfer platform (21) and the storage interface (31).

5. The surgical robot transport system according to claim 4, characterized in that: The interface locking mechanism (215) comprises a locking handle (2151), a clamping screw (2152), an upper clamping block (2153) and a lower clamping block (2154) which are connected in sequence from top to bottom. The clamping screw (2152) is in an upright state. The clamping screw (2152) passes through the fixed plate (211). When the first docking optical axis (1222) is located between the upper clamping block (2153) and the lower clamping block (2154) and rotates When the locking handle (2151) is moved, the upper clamping block (2153) and the lower clamping block (2154) can clamp and fix the first docking optical axis (1222); when the second docking optical axis (312) is located between the upper clamping block (2153) and the lower clamping block (2154) and the locking handle (2151) is rotated, the upper clamping block (2153) and the lower clamping block (2154) can clamp and fix the second docking optical axis (312).

6. The surgical robot transport system according to claim 5, characterized in that: The locking handle (2151) is located above the fixed plate (211), and the upper clamping block (2153) and the lower clamping block (2154) are both located below the fixed plate (211). The upper clamping block (2153) and the lower clamping block (2154) are both connected to the side plate (212) through the slide rail (2155). The upper clamping block (2153) and the lower clamping block (2154) are arranged at intervals up and down. The upper clamping block (2153) and the lower clamping block (2154) both contain internal threads. The upper clamping block (2153) and the lower clamping block (2154) are both threadedly connected to the clamping screw (2152), and the internal threads of the upper clamping block (2153) and the lower clamping block (2154) have opposite rotation directions.

7. The surgical robot transport system according to claim 2, characterized in that: The transfer platform (21) further comprises an outer shell (216), which is located outside the fixed flat plate (211) and the side stand (212). The outer shell (216) comprises a front side plate (2161), an upper side plate (2162) and a rear side plate (2163) which are sequentially connected from front to back, and a mechanical arm mounting through hole (2164) is provided in the upper side plate (2162).

8. The surgical robot transport system according to claim 1, characterized in that: The surgical robot (2) further comprises a surgical operation terminal (23) and a mechanical arm (22); the surgical operation terminal (23), the mechanical arm (22) and the transfer platform (21) are connected in sequence; the surgical operation terminal (23) is an interventional surgical robot operation terminal.

9. The surgical robot transport system according to claim 1, characterized in that: The operating bed clamping device (1) comprises a left guide rail matching mechanism (11), a connecting crossbeam (12) and a right guide rail matching mechanism (13) which are connected in sequence from left to right; the left guide rail matching mechanism (11), the connecting crossbeam (12) and the right guide rail matching mechanism (13) enclose a bed board matching groove (14); the left guide rail matching mechanism (11) and / or the right guide rail matching mechanism (13) comprise a guide rail locking mechanism (15); the bed board (41) of the operating bed (4) can be installed in the bed board matching groove (14); the operating bed clamping device (1) can move forward and backward along the guide rails (42) on the left and right sides of the bed board (41); the guide rail locking mechanism (15) can lock the operating bed clamping device (1) and the guide rails (42) of the operating bed (4); and the adapter interface (122) is located at the left end or the right end of the connecting crossbeam (12).

10. The surgical robot transport system according to claim 3, characterized in that: The transfer trolley (3) further comprises a traveling body (32), the storage interface (31) is located at the upper end of the traveling body (32), the traveling body (32) is movable and rotatable, and the storage interface (31) and the transfer interface (122) are located at the same height; When the adapter interface (122) and the storage interface (31) are docked, the axes of the two first docking optical axes (1222) and the axes of the two second docking optical axes (312) coincide with each other in a one-to-one correspondence, and the ends of the two first docking optical axes (1222) and the ends of the two second docking optical axes (312) contact each other in a one-to-one correspondence.

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