Sliding table mechanism and surgical robot

Abstract

The invention relates to a sliding table mechanism and a surgical robot. The sliding table mechanism comprises a first support, a driving unit, a second support, a transmission unit and a mounting table. When the second support stretches out relative to the first support, due to the fact that the second section is connected with the first support, the second section is close to the second support and retracts, the first section stretches out, and then the installation table is driven to stretch out. Therefore, the displacement of the mounting table is the sum of the displacement of the second support and the displacement of the first section. Thus, under the same moving stroke, when the mounting table completely retracts relative to the first support, the overall size of the sliding table mechanism can be reduced by one time, namely, the occupied space of the sliding table mechanism is greatly reduced. When the surgical instruments are installed on the installation table, the space around the installation portion is wider, no redundant parts are used for shielding, the convenience of installation of the surgical instruments is improved, and the risk that the surgical instruments are polluted in the surgical process is reduced to a great extent.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a slide mechanism and a surgical robot. Background Art

[0002] With the development and progress of science and technology, laparoscopic surgical robots are being used more and more widely in surgical treatment.

[0003] The laparoscopic surgical robot consists of a doctor's console, a patient surgical platform, an imaging trolley, etc. The instrument slide is one of the important components of the patient surgical platform. Its main function is to install surgical instruments, provide power for surgical instruments, and transmit the movement of the surgical arm to achieve the linear freedom of movement of surgical instruments.

[0004] In the related art, there are potential safety hazards in the use of the sliding table mechanism. Summary of the invention

[0005] Based on this, it is necessary to provide a sliding platform mechanism to address the problem of potential safety hazards in the use of existing sliding platform mechanisms.

[0006] A slide mechanism is applied to a surgical robot, and the slide mechanism comprises:

[0007] First support;

[0008] A driving unit connected to the first support;

[0009] A second support, connected to the output end of the driving unit;

[0010] The driving unit is used to drive the second support to move relative to the first support along a first direction, wherein the first direction includes an extension direction and a retraction direction;

[0011] The second support is provided with a mounting platform and a braking unit, and the braking unit is connected to the mounting platform and is used to limit the movement of the mounting platform along the extending direction.

[0012] In one embodiment, the slide mechanism further comprises a transmission unit, the first support is provided with a fixing member, the transmission unit is fixedly connected to the fixing member and the mounting platform, so that the transmission unit is divided into a first section and a second section of transmission connection;

[0013] The driving unit is used to drive the second support to move along a first direction relative to the first support, so that the first section and the second section move in opposite directions.

[0014] In one embodiment, the transmission unit includes a transmission belt and two transmission wheels spaced apart along a first direction, the transmission belt is wound around the two transmission wheels and is in transmission connection with the transmission wheels;

[0015] The first section and the second section are arranged on the transmission belt at intervals along a second direction, and the first direction, the second direction and the axial direction of the transmission wheel are perpendicular to each other.

[0016] In one embodiment, the second support is provided with a braking groove;

[0017] The braking unit includes a braking member connected to the mounting platform, and the braking member can be close to the braking groove and engaged with the braking groove to limit the movement of the mounting platform relative to the second support.

[0018] In one embodiment, the brake member has a first straight surface and a first inclined surface; the brake groove has a second straight surface and a second inclined surface;

[0019] When the mounting platform moves along the retracting direction, the braking member can withdraw from the braking groove and move along the retracting direction through the sliding cooperation between the first inclined surface and the second inclined surface;

[0020] When the braking member moves until the first straight surface abuts against the second straight surface, the second straight surface can limit the movement of the mounting platform along the extending direction.

[0021] In one of the embodiments, the brake unit further comprises an electromagnetic member, and the brake member is connected to the electromagnetic member;

[0022] When the electromagnetic member is in the first state, the electromagnetic member drives the braking member to move away from the braking groove so as to be out of the braking groove;

[0023] When the electromagnetic member is in the second state, the braking member can be moved closer to the braking groove to be engaged with the braking groove.

[0024] In one embodiment, the brake unit further comprises an elastic member, and the electromagnetic member is connected to the elastic member; when the electromagnetic member is in an energized state, the electromagnetic member drives the brake member to move away from the brake groove, and the elastic member is in a deformed state;

[0025] When the electromagnetic component is in a power-off state, the elastic component drives the braking component to move closer to the braking groove.

[0026] In one embodiment, the slide mechanism further comprises a first guide unit connected to the first support, and the second support is slidably connected to the first guide unit;

[0027] The slide mechanism further comprises a second guide unit connected to the second support, and the mounting platform is slidably connected to the second guide unit.

[0028] In one embodiment, the first guide unit includes a first slider and a first guide rail slidably connected to the first slider, the first slider is fixedly connected to the first support; the first guide rail is fixedly connected to the second support;

[0029] The second guide unit includes a second guide rail and a second slider slidably connected to the second guide rail, the second guide rail is fixedly connected to the second support, and the mounting platform is fixedly connected to the second slider.

[0030] In one embodiment, the first support is configured with a first mounting groove, and the first slider is connected to a first groove wall of the first mounting groove; the first support is also configured with a second mounting groove, and the second mounting groove is recessed relative to the first mounting groove; the slide mechanism further includes a first pressing member, and the first pressing member is connected to the groove wall of the second mounting groove and abuts against the first slider; and / or

[0031] The slide mechanism further includes a second pressing member, the second pressing member is connected between the first guide rail and the second guide rail, and the second pressing member abuts against the second support; and / or

[0032] The mounting platform is structured with a third mounting groove, and the slide mechanism further includes a third pressing member, which is connected to the groove wall of the third mounting groove and abuts against the second sliding block.

[0033] A surgical robot comprises the sliding platform mechanism as described above.

[0034] The above-mentioned slide mechanism is connected to the actuator through the mounting platform to realize the reciprocating motion of the actuator. When the driving unit drives the second support to move linearly relative to the first support, for example, to move forward, the mounting platform connected to the second support will move forward synchronously with the second support. During use, when an unexpected situation or failure occurs that affects the movement accuracy of the mounting platform, the braking unit is activated, and the braking unit can limit the movement of the mounting platform in the extension direction, preventing the mounting platform and the actuator connected to the mounting platform from continuing to extend and causing harm to the human body, reducing safety hazards, and improving reliability of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A three-dimensional diagram of a slide mechanism provided in accordance with an embodiment of the present application.

[0036] Figure 2 for Figure 1 A cross-sectional view of the slide mechanism shown.

[0037] Figure 3 for Figure 2 Schematic diagram of the mounting table in the slide mechanism shown fully extended

[0038] Figure 4 for Figure 2 Schematic diagram of the slide mechanism shown with the mounting table fully retracted.

[0039] Figure 5 for Figure 1 Schematic diagram of the brake unit in the slide mechanism shown.

[0040] Figure 6 for Figure 5 A partial three-dimensional view of the brake member and brake groove of the brake unit in the slide mechanism shown.

[0041] Figure 7 for Figure 1 A partial stereoscopic view of the slide mechanism shown in another perspective.

[0042] Figure 8 for Figure 7 A three-dimensional view of the first support in the slide mechanism shown.

[0043] Fig. 9 for Figure 7 A three-dimensional view of the mounting table in the slide mechanism shown.

[0044] Reference numerals: 10, slide mechanism; 100, first support; 110, fixing member; 120, first mounting groove; 130, second mounting groove; 200, driving unit; 210, driving rod; 220, driving block; 300, second support; 310, braking groove; 311, second straight surface; 312, second inclined surface; 410, transmission wheel; 420, transmission belt; 421, first section; 422, second section; 510, mounting platform; 511 , third mounting groove; 600, braking unit; 610, braking member; 611, first straight surface; 612, first inclined surface; 620, electromagnetic member; 630, elastic member; 640, connecting seat; 710, first guide unit; 711, first slider; 712, first guide rail; 720, second guide unit; 721, second slider; 722, second guide rail; 810, first clamping member; 820, second clamping member; 830, third clamping member. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0046] In the description of the present application, it should be understood that if 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. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0047] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0048] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0049] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0050] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0051] See also Figures 1 to 4 As shown, a slide mechanism 10 for a surgical robot provided in an embodiment of the present application includes a first support 100, a driving unit 200 connected to the first support 100, and a second support 300 connected to the output end of the driving unit 200. The driving unit 200 drives the second support 300 to move linearly along a first direction relative to the first support 100, wherein the first direction includes an extension direction and a retraction direction, the extension direction is a direction toward the human body, and the second support 300 is connected to the output end of the driving unit 200. Figure 2 The viewing angle in the horizontal direction is to the right; the retraction direction is the direction away from the human body. Figure 2 The second support 300 is provided with a mounting platform 510 and a brake unit 600, and the brake unit 600 is connected to the mounting platform 510 to limit the movement of the mounting platform 510 along the extension direction. When the brake unit 600 is not activated, that is, in a non-working state, the brake unit 600 moves with the mounting platform 510. When the brake unit is activated, that is, in a working state, the brake unit 600 is connected to the second support 300 to limit the movement of the mounting platform 510 along the extension direction.

[0052] Thus, during use, when an unexpected situation or a fault occurs that affects the movement accuracy of the mounting platform 510, the brake unit 600 is activated, and the brake unit 600 is connected to the second support 300 to limit the movement of the mounting platform 510 in the extension direction, to prevent the mounting platform 510 and the actuator connected to the mounting platform 510 from continuing to extend and causing harm to the human body, thereby reducing safety hazards and improving reliability of use. By providing the brake unit 600, emergency braking can be performed when an unexpected situation occurs, to prevent the actuator connected to the mounting platform 510 from continuing to move and causing safety hazards.

[0053] like Figures 1 to 4 As shown, in one embodiment, the slide mechanism further includes a transmission unit, the first support 100 is provided with a fixing member 110, and the transmission unit is fixedly connected to the fixing member 110 and the mounting platform 510, so that the transmission unit is divided into a first section 421 and a second section 422 that are transmission-connected, and the movement directions of the first section 421 and the second section 422 are opposite; the first section 421 is connected to the mounting platform 510, and the second section 422 is connected to the first support 100. The driving unit 200 is used to drive the second support 300 to move relative to the first support 100 in the first direction, so as to drive the second section 422 to move in the opposite direction of the first direction through the first support 100, so that the first section 421 drives the mounting platform 510 to move in the first direction.

[0054] Specifically, Figure 2 As shown, when the driving unit 200 drives the second support 300 to move linearly relative to the first support 100, for example, to move rightward and extend, the transmission unit and the mounting platform 510 connected to the second support 300 will move rightward synchronously with the second support 300. The second support 300 moves rightward relative to the first support 100, that is, the first support 100 moves leftward relative to the second support 300. Since the second section 422 is connected to the first support 100, that is, the second section 422 moves leftward relative to the second support 300, and the first section 421 is transmission-connected to the second section 422, the first section 421 and the mounting platform 510 connected to the first section 421 move rightward relative to the second support 300.

[0055] That is to say, when the second support 300 moves to the right, the mounting platform 510 also moves to the right relative to the second support 300, and the displacement of the mounting platform 510 is the sum of the displacement of the second support 300 and the displacement of the first section 421, that is, the displacement of the mounting platform 510 is twice the output end of the drive unit 200, so the displacement of the mounting platform 510 relative to the first support 100, that is, the moving stroke is amplified. In this way, under the same moving stroke, when the mounting platform 510 is fully retracted relative to the first support 100, the overall size of the slide mechanism 10 can be reduced by half, that is, the occupied space of the slide mechanism 10 is greatly reduced. Taking the actuator as a surgical instrument as an example, when the surgical instrument is installed on the mounting platform 510, the surrounding space of the installation part is more open, without unnecessary parts blocking, which increases the convenience of installing the surgical instrument and greatly reduces the risk of surgical instruments being contaminated during surgery.

[0056] like Figures 2 to 4 As shown, in a specific embodiment, the transmission unit includes an annular transmission belt 420 and two transmission wheels 410 spaced apart along a first direction, the transmission belt 420 is wound around the two transmission wheels 410 and is in transmission connection with the transmission wheels 410; the first section 421 and the second section 422 are spaced apart along a second direction on the transmission belt 420, and the first direction, the second direction and the axial direction of the transmission wheels are perpendicular to each other. When the first direction is the extension direction of the second support 300, the opposite direction of the first direction is the retraction direction. For example, Figure 2 In the perspective shown, the extending direction is the horizontal rightward direction, the retracting direction is the horizontal leftward direction, the axial direction of the transmission wheel is the direction perpendicular to the paper surface, and the second direction is the vertical direction, that is, the up and down direction.

[0057] Specifically, when the driving unit 200 drives the second support 300 to move rightward relative to the first support 100, since the second section 422 of the transmission belt 420 is connected to the first support 100, that is, the second section 422 of the transmission belt 420 moves leftward relative to the second support 300, and the transmission belt 420 is wrapped around the two transmission wheels 410 and is transmission-connected to the transmission wheels 410, the first section 421 of the transmission belt 420 and the mounting platform 510 connected to the first section 421 move rightward relative to the second support 300. In other words, the displacement of the mounting platform 510 is the sum of the displacement of the second support 300 and the displacement of the transmission belt 420, that is, the displacement of the mounting platform 510 is twice that of the output end of the driving unit 200, and therefore, the displacement of the mounting platform 510 relative to the first support 100, that is, the moving stroke, is amplified. In this way, under the same movement stroke, when the mounting platform is fully retracted relative to the first support, the overall size of the slide mechanism can be halved, that is, the space occupied by the slide mechanism is greatly reduced.

[0058] In other embodiments, the transmission unit includes a gear and a first rack and a second rack distributed at both radial ends of the gear and meshing with the gear, the first rack and the second rack forming the above-mentioned first section and second section, that is, the first rack is connected to the mounting platform, and the second rack is connected to the first support. When the driving unit drives the second support to move forward relative to the first support, that is, the first support moves reversely relative to the second support, since the second rack is connected to the first support, that is, the second rack moves reversely relative to the second support, since the second rack is meshed with one side of the gear and the second rack is meshed with the other side of the gear, the first rack and the mounting platform connected to the first rack move forward relative to the second support. In other words, while the second support moves forward, the mounting platform also moves forward relative to the second support, and the displacement of the mounting platform is the sum of the displacement of the second support and the displacement of the first section, that is, the displacement of the mounting platform is twice that of the output end of the driving unit, and therefore, the displacement of the mounting platform relative to the first support, that is, the moving stroke, is amplified. In this way, under the same movement stroke, when the mounting platform is fully retracted relative to the first support, the overall size of the slide mechanism can be halved, that is, the space occupied by the slide mechanism is greatly reduced.

[0059] like Figures 2 to 4 As shown, in one embodiment, the transmission unit includes the transmission wheel 410 and the transmission belt 420 of the above embodiment, the slide mechanism 10 includes the fixing member 110, and the second section 422 of the transmission belt 420 is connected to the first support 100 through the fixing member 110. Figure 4 As shown, when the mounting platform 510 is in the retracted position, the mounting platform 510 and the fixing member 110 are respectively located at the two ends of the first support 100. In this way, when the second support 300 moves rightward relative to the first support 100, the fixing member 110 connected to the first support 100 will gradually approach the second support 300, that is, the second section 422 connected to the fixing member 110 gradually approaches the second support 300, that is, the second section 422 moves leftward under the action of the fixing member 110, so that the first section 421 of the transmission belt 420 moves rightward, thereby driving the mounting platform 510 to move rightward, thereby realizing the extension of the actuator installed on the mounting platform 510. Specifically, the fixing member 110 can be an L-shaped plate, a horizontal section of which is connected to the first support 100, and a vertical section is connected to the second section 422 of the transmission belt 420, so as to adapt to the distance between the first support 100 and the transmission belt 420, reduce the possibility of the transmission belt 420 being pulled, and ensure the reliability of the transmission connection between the transmission belt 420 and the transmission wheel 410.

[0060] Specifically, when the transmission belt is severely deformed or broken, the braking unit will be activated, that is, the braking unit is connected to the second support, thereby limiting the movement of the mounting platform in the extension direction, so that the mounting platform is fixed relative to the second support, avoiding safety hazards caused by continued movement of the actuator connected to the mounting platform.

[0061] In a specific embodiment, the transmission belt can be a belt or a metal ring belt, or a steel wire rope, etc., which realizes power transmission through friction transmission with the transmission wheel. In other embodiments, the transmission belt can also be in a chain shape, that is, the transmission belt has a plurality of first tooth grooves, and the transmission wheel has a second tooth groove meshing with the first tooth grooves, and power transmission is realized through meshing transmission.

[0062] More specifically, Figure 4 As shown, the driving unit 200 may be a screw structure, including a driving member, a driving rod 210 and a driving block 220 screwed to the driving rod 210, and the second support 300 is connected to the driving block 220. This structure enables the second support 300 to move relative to the first support 100. In other embodiments, the driving unit may also be other linear modules, such as a cylinder.

[0063] In a specific embodiment, a first encoder is provided on the mounting platform, and correspondingly, a first data ruler is installed on the second support, so that the actual position of the mounting platform can be obtained by the first encoder in cooperation with the first data ruler. A second encoder is connected to the driving member of the driving unit, and the theoretical position of the mounting platform can be obtained by the second encoder. When the difference between the actual position and the theoretical position of the mounting platform is too large, it means that the transmission belt may have a more serious deformation or breakage. At this time, the braking unit will be activated, that is, the braking unit is connected to the second support, so that the mounting platform is fixed relative to the second support, avoiding the safety hazard caused by the continued movement of the actuator connected to the mounting platform.

[0064] like Figure 1 and Figure 6 As shown, in one embodiment, the second support 300 is provided with a brake groove 310; the brake unit 600 includes a brake member 610 connected to the mounting platform 510, and the brake member 610 can be close to the brake groove 310 and engaged with the brake groove 310 to limit the movement of the mounting platform 510 relative to the second support 300. It can be understood that the brake member 610 can also be withdrawn from the brake groove 310 to release the brake.

[0065] like Figure 5 and Figure 6 As shown in one embodiment, the brake member 610 has a first straight surface 611 and a first inclined surface 612; the brake groove 310 has a second straight surface 311 and a second inclined surface 312. When the mounting platform 510 moves in the retracting direction, the brake member 610 can slide out of the brake groove 310 along the second inclined surface 312 through the sliding cooperation between the first inclined surface 612 and the second inclined surface 312. Figure 6When the brake member 610 moves to the point where the first straight surface 611 abuts against the second straight surface 311, the second straight surface 311 can limit the movement of the brake member 610 and the mounting platform 510 in the extension direction. Figure 6 In the embodiment, movement in the extension direction is left movement. With this arrangement, when the mounting platform 510 is braked, it cannot be further extended, but can be retracted. Taking the actuator as a surgical instrument as an example, with this arrangement, when the brake unit 600 is activated, the surgical instrument cannot move toward the human body to avoid causing harm to the human body. However, the surgical instrument can move in a direction away from the human body to retract the surgical instrument.

[0066] The shape of the brake groove 310 can be matched with the shape of the brake part of the brake member 610, that is, when the brake member 610 is engaged with the brake groove 310, the brake part having the first inclined surface 612 and the first straight surface 611 is just completely engaged. Of course, the size of the brake groove 310 can also be slightly larger, that is, when the brake member 610 is engaged with the brake groove 310, the first straight surface 611 of the brake member 610 can be in contact with the second straight surface 311, and the first inclined surface 612 and the second inclined surface 312 have a small gap. Or the first inclined surface 612 is in full contact with the second inclined surface 312, and the first straight surface 611 and the second straight surface 311 have a small gap, etc. In other embodiments, the first inclined surface may not be provided, that is, both contact surfaces of the brake member are straight surfaces, so that when in the braking state, the mounting platform can neither extend nor retract, and the brake can be unlocked until the brake member exits the brake groove.

[0067] like Figure 5 and Figure 6 As shown, in one embodiment, the brake unit 600 further includes an electromagnetic member 620, and the brake member 610 is connected to the electromagnetic member 620; when the electromagnetic member 620 is in a first state, for example, when a forward current is passed through the electromagnetic member 620, the electromagnetic member 620 generates a magnetic force to drive the brake member 610 away from the brake groove 310 to disengage from the brake groove 310. When the electromagnetic member 620 is in a second state, for example, when a reverse current is passed through the electromagnetic member 620, the brake member 610 can move closer to the brake groove 310 to be clamped in the brake groove 310. Specifically, the electromagnetic member 620 can be an electromagnet.

[0068] like Figure 5 and Figure 6As shown, in one embodiment, the brake unit 600 further includes an elastic member 630, and the electromagnetic member 620 is connected to the elastic member 630. Specifically, when the electromagnetic member 620 is in a powered state, the electromagnetic member 620 generates a magnetic force to drive the brake member 610 away from the brake groove 310, and during this process, the elastic member 630 is in a compressed deformation state. When the electromagnetic member 620 is in a powered-off state, the brake member 610 is driven to move closer to the brake groove 310 under the elastic force of the elastic member 630 to achieve braking. The elastic member can specifically be a spring, etc. In other embodiments, the elastic member may not be provided, and the brake member is extended or retracted by passing a forward current or a reverse current through the electromagnetic member.

[0069] Understandably, if Figure 5 and Figure 6 As shown, the brake unit 600 may further include a connecting seat 640 and an adapter, the electromagnetic member 620 is connected to the connecting seat 640 , the brake member 610 is connected to the electromagnetic member 620 via the adapter, and the connecting seat 640 is connected to the mounting platform 510 .

[0070] like Figure 1 , Figure 2 and Figure 7 As shown, in one embodiment, the slide mechanism 10 also includes a first guide unit 710 connected to the first support 100, and the second support 300 is slidably connected to the first guide unit 710. Specifically, the first guide unit 710 includes a first slider 711 and a first guide rail 712 slidably connected to the first slider 711, the first slider 711 is fixedly connected to the first support 100; the first guide rail 712 is fixedly connected to the second support 300. By providing the first guide unit 710, the movement of the second support 300 relative to the first support 100 is guided and controlled to ensure its movement reliability. In other embodiments, the first guide unit can also be a combination of a guide shaft and a guide cylinder, that is, the guide cylinder is connected to the second support, and the guide shaft is connected to the first support.

[0071] like Figure 1 , Figure 2 and Figure 7 As shown, in another embodiment, the slide mechanism 10 also includes a second guide unit 720 connected to the second support 300, and the mounting platform 510 is slidably connected to the second guide unit 720. Specifically, the second guide unit 720 includes a second guide rail 722 and a second slider 721 slidably connected to the second guide rail 722, the second guide rail 722 is fixedly connected to the second support 300, and the mounting platform 510 is fixedly connected to the second slider 721. By setting the second guide unit 720, the movement of the mounting platform 510 relative to the second support 300 is guided and controlled, the accuracy of its movement is improved, and the movement reliability of the actuator is ensured. Among them, the first guide rail 712 and the second guide rail 722 are respectively connected to the two sides of the second support 300.

[0072] like Figure 7 and Figure 8 As shown, in one embodiment, the first support 100 is configured with a first mounting groove 120, and the first slider 711 is connected to the first groove wall of the first mounting groove 120. By providing the first mounting groove 120, the first slider 711 is placed in the first mounting groove 120, and the connection reliability between the first slider 711 and the first support 100 is improved. Among them, the groove wall of the first mounting groove 120 can be provided with a fastening hole, and fasteners such as screws are passed through the first slider 711 and the groove wall of the first mounting groove 120, so as to improve the connection reliability between the first slider 711 and the first support 100 and reduce the possibility of the first slider 711 slipping.

[0073] like Figure 7 and Figure 8 As shown, further, the first support 100 is also constructed with a second mounting groove 130, and the second mounting groove 130 is recessed relative to the first mounting groove 120; the slide mechanism 10 also includes a first clamping member 810, and the first clamping member 810 is connected to the groove wall of the second mounting groove 130 and abuts against the first slider 711. In other words, the first mounting groove 120 and the second mounting groove 130 form a step groove, so that after the first slider 711 and the first clamping member 810 are installed in the corresponding mounting grooves, the first clamping member 810 can be pressed on the first support 100 and abut against the first slider 711, thereby improving the connection reliability and rigidity between the first slider 711 and the first support 100, so as to eliminate the slippage caused by excessive force between the first slider 711 and the first support 100. The first clamping member can specifically be a pressure block, etc.

[0074] like Figure 7 and Figure 8 As shown, in one embodiment, the slide mechanism 10 further includes a second pressing member 820, which is connected between the first guide rail 712 and the second guide rail 722, and the second pressing member 820 abuts against the second support 300. Through this arrangement, the first guide rail 712 and the second guide rail 722 are both pressed against the mounting surface of the second support 300, thereby eliminating the slippage between the first guide rail 712 and the second support 300 due to excessive force, and eliminating the slippage between the second guide rail 722 and the second support 300 due to excessive force, and at the same time, the rigidity of the slide mechanism 10 can be improved.

[0075] like Figure 7 and Fig. 9As shown, in one embodiment, the mounting platform 510 is configured with a third mounting groove 511, and the slide mechanism 10 further includes a third pressing member 830, which is connected to the groove wall of the third mounting groove 511 and abuts against the second slider 721. In this way, the connection reliability between the mounting platform 510 and the second slider 721 can be improved, the possibility of the two sliding due to excessive force can be reduced, and the use stability of the slide mechanism 10 can be improved.

[0076] Furthermore, an embodiment of the present application also provides a surgical robot, comprising the above-mentioned slide mechanism 10 and a surgical instrument detachably connected to the slide mechanism 10. When installing the surgical instrument on the mounting table, since the slide mechanism occupies less space, the space around the installation site is more open, and there is no extra parts to block it, which increases the convenience of installing the surgical instrument and greatly reduces the risk of surgical instruments being contaminated during surgery. After the installation is completed, the linear movement of the surgical instrument can be achieved through the slide mechanism to meet actual usage requirements. Among them, the surgical robot can be a laparoscopic surgical robot, etc.

[0077] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A sliding table mechanism, applied to a surgical robot, characterized in that: The slide mechanism comprises: A first support (100); A driving unit (200) connected to the first support (100); A second support (300) connected to an output end of the driving unit (200); The driving unit (200) is used to drive the second support (300) to move relative to the first support (100) along a first direction, wherein the first direction includes an extension direction and a retraction direction; The second support (300) is provided with a mounting platform (510) and a braking unit (600); the braking unit (600) is connected to the mounting platform (510) and is used to limit the movement of the mounting platform (510) along the extending direction.

2. The slide mechanism according to claim 1, characterized in that: The slide mechanism further comprises a transmission unit, the first support (100) is provided with a fixing member (110), and the transmission unit is fixedly connected to the fixing member (110) and the mounting platform (510), so that the transmission unit is divided into a first section (421) and a second section (422) of transmission connection; The driving unit (200) is used to drive the second support (300) to move in a first direction relative to the first support (100), so that the first section (421) and the second section (422) move in opposite directions.

3. The slide mechanism according to claim 2, characterized in that: The transmission unit comprises a transmission belt (420) and two transmission wheels (410) spaced apart along a first direction, wherein the transmission belt (420) is wound around the two transmission wheels (410) and is transmission-connected to the transmission wheels (410); The first section (421) and the second section (422) are arranged on the transmission belt (420) at intervals along a second direction, and the first direction, the second direction and the axial direction of the transmission wheel (410) are perpendicular to each other.

4. The slide mechanism according to claim 1, characterized in that: The second support (300) is provided with a braking groove (310); the braking unit (600) comprises a braking member (610) connected to the mounting platform (510); the braking member (610) can approach the braking groove (310) and be engaged with the braking groove (310) to limit the movement of the mounting platform (510) relative to the second support (300).

5. The slide mechanism according to claim 4, characterized in that: The braking member (610) has a first straight surface (611) and a first inclined surface (612); the braking groove (310) has a second straight surface (311) and a second inclined surface (312); When the mounting platform moves along the retracting direction, the braking member (610) can withdraw from the braking groove (310) through the sliding cooperation between the first inclined surface (612) and the second inclined surface (312); When the braking member (610) moves to the point where the first straight surface (611) abuts against the second straight surface (311), the second straight surface (311) can limit the movement of the mounting platform (510) along the extending direction.

6. The slide mechanism according to claim 4, characterized in that: The braking unit (600) further comprises an electromagnetic component (620), and the braking component (610) is connected to the electromagnetic component (620); When the electromagnetic component (620) is in the first state, the electromagnetic component (620) drives the braking component (610) to move away from the braking groove (310) so as to be out of the braking groove (310); When the electromagnetic component (620) is in the second state, the braking component (610) can be moved closer to the braking groove (310) to be engaged with the braking groove (310).

7. The slide mechanism according to claim 6, characterized in that: The braking unit (600) further comprises an elastic member (630), and the electromagnetic member (620) is connected to the elastic member (630); when the electromagnetic member (620) is in an energized state, the electromagnetic member (620) drives the braking member (610) to move away from the braking groove (310), and the elastic member (630) is in a deformed state; When the electromagnetic component (620) is in a power-off state, the elastic component (630) drives the braking component (610) to move closer to the braking groove (310).

8. The slide mechanism according to claim 1, characterized in that: The slide mechanism further comprises a first guide unit (710) connected to the first support (100), and the second support (300) is slidably connected to the first guide unit (710); The sliding platform mechanism further comprises a second guide unit (720) connected to the second support (300), and the mounting platform (510) is slidably connected to the second guide unit (720).

9. The slide mechanism according to claim 8, characterized in that: The first guide unit (710) comprises a first slider (711) and a first guide rail (712) slidably connected to the first slider (711), the first slider (711) being fixedly connected to the first support (100); the first guide rail (712) being fixedly connected to the second support (300); The second guide unit (720) comprises a second guide rail (722) and a second slider (721) slidably connected to the second guide rail (722); the second guide rail (722) is fixedly connected to the second support (300); and the mounting platform (510) is fixedly connected to the second slider (721).

10. The slide mechanism according to claim 9, characterized in that: The first support (100) is configured with a first mounting groove (120), and the first sliding block (711) is connected to a first groove wall of the first mounting groove (120); the first support (100) is also configured with a second mounting groove (130), and the second mounting groove (130) is recessed relative to the first mounting groove (120); the slide mechanism further comprises a first pressing member (810), and the first pressing member (810) is connected to the groove wall of the second mounting groove (130) and abuts against the first sliding block (711); and / or The slide mechanism further includes a second pressing member (820), the second pressing member (820) being connected between the first guide rail (712) and the second guide rail (722), and the second pressing member (820) being in contact with the second support (300); and / or The mounting platform (510) is configured with a third mounting groove (511), and the slide mechanism further comprises a third pressing member (830), wherein the third pressing member (830) is connected to the groove wall of the third mounting groove (511) and abuts against the second sliding block (721).

11. A surgical robot, characterized in that: It comprises a slide mechanism as described in any one of claims 1 to 10.

Images