Slide mechanism and surgical robot

Abstract

This application relates to a sliding table mechanism and a surgical robot. The sliding table mechanism includes a first support, a drive unit, a second support, a transmission unit, and a mounting platform. When the second support extends relative to the first support, since the second segment is connected to the first support, the second segment retracts relative to the second support, causing the first segment to extend, which in turn drives the mounting platform to extend. Therefore, the displacement of the mounting platform is the sum of the displacement of the second support and the displacement of the first segment. Thus, with the same travel distance, when the mounting platform is fully retracted relative to the first support, the overall size of the sliding table mechanism can be reduced by half, meaning the space occupied by the sliding table mechanism is significantly reduced. When surgical instruments are mounted on the mounting platform, the surrounding space of the mounting area is more open, without unnecessary parts obstructing the view, increasing the convenience of mounting surgical instruments and greatly reducing the risk of contamination of surgical instruments during surgery.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to sliding mechanisms and surgical robots. Background Technology

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

[0003] A laparoscopic surgical robot consists of a surgeon's console, a patient operating platform, and an imaging trolley. The instrument slide is an important component of the patient operating platform; its main functions are to mount surgical instruments, provide power to the instruments, and transmit the movement of the surgical arm, enabling the instruments to move linearly.

[0004] In related technologies, the sliding table mechanism poses safety hazards during use. Summary of the Invention

[0005] Therefore, it is necessary to provide a new type of slide mechanism to address the safety hazards that exist in the use of existing slide mechanisms.

[0006] A sliding table mechanism for use in a surgical robot, the sliding table mechanism comprising:

[0007] First support;

[0008] The drive unit is connected to the first support;

[0009] The second support is connected to the output end of the drive unit;

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

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

[0012] In one embodiment, the slide mechanism further includes a transmission unit, the first support is provided with a fixing member, and the transmission unit is fixedly connected to the fixing member and the mounting platform, such that the transmission unit is divided into a first segment and a second segment for transmission connection.

[0013] The driving unit is used to drive the second support to move relative to the first support in a first direction, so that the first segment and the second segment 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 being wound around the two transmission wheels and being connected to the transmission wheels in a transmission manner;

[0015] The first segment and the second segment are spaced apart on the transmission belt along the second direction, and the first direction, the second direction and the axis 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 element connected to the mounting platform. The braking element is capable of approaching and engaging with the braking groove to restrict 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 retraction direction, the braking element can exit the braking groove and move along the retraction direction through the sliding engagement of the first inclined surface and the second inclined surface;

[0020] When the braking component moves to the point where the first straight surface abuts against the second straight surface, the second straight surface can restrict the movement of the mounting platform along the extension direction.

[0021] In one embodiment, the braking unit further includes an electromagnetic component, and the braking component is connected to the electromagnetic component;

[0022] When the electromagnetic component is in the first state, the electromagnetic component drives the braking component away from the braking groove to disengage from the braking groove.

[0023] When the electromagnetic component is in the second state, the braking component can approach the braking groove to engage with it.

[0024] In one embodiment, the braking unit further includes an elastic element, and the electromagnetic element is connected to the elastic element; when the electromagnetic element is energized, the electromagnetic element drives the braking element away from the braking groove, and the elastic element is in a deformed state.

[0025] When the electromagnetic component is de-energized, the elastic component drives the braking component to move closer to the braking groove.

[0026] In one embodiment, the slide mechanism further includes 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 includes 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 being fixedly connected to the first support; the first guide rail being 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 has a first mounting groove, and the first slider is connected to a first groove wall of the first mounting groove; the first support also has a second mounting groove, which is recessed relative to the first mounting groove; the slide mechanism further includes a first clamping member, which 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 clamping member, which is connected between the first guide rail and the second guide rail, and abuts against the second support; and / or

[0032] The mounting platform has a third mounting groove, and the slide mechanism further includes a third clamping member, which is connected to the groove wall of the third mounting groove and abuts against the second slider.

[0033] A surgical robot including the slide mechanism described above.

[0034] The aforementioned sliding table mechanism connects to the actuator via a mounting platform to achieve the reciprocating motion of the actuator. When the drive unit drives the second support to move linearly relative to the first support, for example, in a forward direction, the mounting platform connected to the second support will move synchronously in the forward direction with the second support. During use, if an unexpected situation or malfunction affects the accuracy of the mounting platform's movement, the braking unit is activated. The braking unit can limit the movement of the mounting platform along the extension direction, preventing the mounting platform and the actuator connected to it from continuing to extend and causing injury to the user, reducing safety hazards and improving reliability. Attached Figure Description

[0035] Figure 1 This is a perspective view of a slide mechanism provided in an embodiment of this application.

[0036] Figure 2 for Figure 1 The slide mechanism shown is a cross-sectional view.

[0037] Figure 3 for Figure 2 The schematic diagram shown depicts the mounting platform of the slide mechanism fully extended.

[0038] Figure 4 for Figure 2 The diagram shows the mounting platform of the slide mechanism fully retracted.

[0039] Figure 5 for Figure 1 A schematic diagram of the braking unit in the slide mechanism shown.

[0040] Figure 6 for Figure 5 A partial perspective view of the braking components and braking groove of the braking unit in the slide mechanism shown.

[0041] Figure 7 for Figure 1 A partial 3D view of the slide mechanism from another perspective.

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

[0043] Figure 9 for Figure 7 A perspective view of the mounting platform in the slide mechanism shown.

[0044] Reference numerals: 10, Slide mechanism; 100, First support; 110, Fixing component; 120, First mounting slot; 130, Second mounting slot; 200, Drive unit; 210, Drive rod; 220, Drive block; 300, Second support; 310, Brake groove; 311, Second straight surface; 312, Second inclined surface; 410, Transmission wheel; 420, Transmission belt; 421, First section; 422, Second section; 510, Mounting platform; 511 600. Third mounting slot; 610. Braking unit; 611. Braking component; 612. First straight surface; 620. First inclined surface; 630. Electromagnetic component; 640. Elastic component; 710. Connecting seat; 711. First guide unit; 712. First slider; 720. Second guide rail; 721. Second slider; 722. Second guide rail; 810. First clamping component; 820. Second clamping component; 830. Third clamping component. Detailed Implementation

[0045] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0046] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0047] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0049] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, 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 possible implementation.

[0051] See Figures 1 to 4 As shown, an embodiment of this application provides a sliding mechanism 10 for a surgical robot, including a first support 100, a drive unit 200 connected to the first support 100, and a second support 300 connected to the output end of the drive unit 200. The drive unit 200 drives the second support 300 to move linearly relative to the first support 100 along a first direction, wherein the first direction includes an extension direction and a retraction direction, and the extension direction is the direction toward the human body. Figure 2 The perspective in the image is horizontal to the right; the direction of retraction is the direction away from the human body. Figure 2 From the perspective of [the viewpoint], this is the horizontal leftward direction. The second support 300 is equipped 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 restrict the movement of the mounting platform 510 in the extension direction. When the braking unit 600 is not activated (i.e., in a non-working state), the braking unit 600 moves along with the mounting platform 510. When the braking unit is activated (i.e., in a working state), the braking unit 600 is connected to the second support 300 to restrict the movement of the mounting platform 510 in the extension direction.

[0052] Thus, during use, if an unexpected situation or malfunction affects the accuracy of the movement of the mounting platform 510, the braking unit 600 is activated. The braking unit 600 is connected to the second support 300 to restrict the movement of the mounting platform 510 in the extension direction, preventing the mounting platform 510 and the actuator connected to it from continuing to extend and causing injury to the user, reducing safety hazards and improving reliability. By setting up the braking unit 600, emergency braking can be achieved in the event of an unexpected situation, preventing 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. A fixing member 110 is provided on the first support 100. The transmission unit is fixedly connected to the fixing member 110 and the mounting platform 510, such that the transmission unit is divided into a first segment 421 and a second segment 422 connected by transmission, and the movement directions of the first segment 421 and the second segment 422 are opposite. The first segment 421 is connected to the mounting platform 510, and the second segment 422 is connected to the first support 100. The drive unit 200 is used to drive the second support 300 to move relative to the first support 100 along a first direction, so that the first support 100 drives the second segment 422 to move in the opposite direction of the first direction, thereby causing the first segment 421 to drive the mounting platform 510 to move along the first direction.

[0054] Specifically, such as Figure 2 As shown, when the drive unit 200 drives the second support 300 to move linearly relative to the first support 100, for example, to extend to the right, the transmission unit and mounting platform 510 connected to the second support 300 will move synchronously to the right along with the second support 300. The movement of the second support 300 to the right relative to the first support 100 is also the movement of the first support 100 to the left relative to the second support 300. Since the second segment 422 is connected to the first support 100, that is, the second segment 422 moves to the left relative to the second support 300, and the first segment 421 is drivenly connected to the second segment 422, the first segment 421 and the mounting platform 510 connected to the first segment 421 move to the right relative to the second support 300.

[0055] In other words, while the second support 300 moves to the right, the mounting platform 510 also moves to the right relative to the second support 300. The displacement of the mounting platform 510 is the sum of the displacement of the second support 300 and the displacement of the first segment 421. That is, the displacement of the mounting platform 510 is twice that of the output end of the drive unit 200. Therefore, the displacement of the mounting platform 510 relative to the first support 100, i.e., the travel distance, is amplified. Thus, with the same travel distance, 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, meaning the space occupied by the slide mechanism 10 is significantly reduced. Taking surgical instruments as an example, when installing surgical instruments on the mounting platform 510, the surrounding space of the installation area is more open, without unnecessary parts obstructing the view, increasing the convenience of installing surgical instruments and greatly reducing the risk of contamination of surgical instruments 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 drivingly connected to them. A first segment 421 and a second segment 422 are spaced apart on the transmission belt 420 along a second direction, and the first direction, the second direction, and the axial direction of the transmission wheels are perpendicular to each other. Wherein, when the first direction is the extension direction of the second support 300, the opposite direction is the retraction direction. For example, in... Figure 2 In the perspective shown, the extending direction is horizontal to the right, the retracting direction is horizontal to the left, the axis of the transmission wheel is perpendicular to the plane of the paper, and the second direction is vertical, i.e., up and down.

[0057] Specifically, when the drive unit 200 drives the second support 300 to move to the right relative to the first support 100, since the second segment 422 of the transmission belt 420 is connected to the first support 100, that is, the second segment 422 of the transmission belt 420 moves to the left relative to the second support 300, and the transmission belt 420 is wrapped around the two transmission wheels 410 and is connected to the transmission wheels 410, the first segment 421 of the transmission belt 420 and the mounting platform 510 connected to the first segment 421 move to the right 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 drive unit 200. Therefore, the displacement of the mounting platform 510 relative to the first support 100, that is, the travel distance, is amplified. Thus, with the same travel distance, when the mounting platform is fully retracted relative to the first support, the overall size of the slide mechanism can be reduced by half, meaning the space occupied by the slide mechanism is significantly 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 form the aforementioned first segment and second segment, respectively. Specifically, the first rack is connected to the mounting platform, and the second rack is connected to the first support. When the drive unit drives the second support to move forward relative to the first support (i.e., the first support moves in the opposite direction relative to the second support), since the second rack is connected to the first support and also moves in the opposite direction relative to the second support, and since the second rack meshes with one side of the gear and 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. The displacement of the mounting platform is the sum of the displacement of the second support and the displacement of the first segment. That is, the displacement of the mounting platform is twice that of the output end of the drive unit. Therefore, the displacement of the mounting platform relative to the first support, i.e., the travel distance, is amplified. Thus, with the same travel distance, when the mounting platform is fully retracted relative to the first support, the overall size of the slide mechanism can be reduced by half, meaning the space occupied by the slide mechanism is significantly reduced.

[0059] like Figures 2 to 4 As shown, in one embodiment, the transmission unit includes the transmission wheel 410 and transmission belt 420 of the aforementioned embodiment, and the slide mechanism 10 includes a fixing member 110. The second section 422 of the transmission belt 420 is connected to the first support 100 via the fixing member 110. Wherein, as... Figure 4 As shown, when the mounting platform 510 is in the retracted position, the mounting platform 510 and the fixing member 110 are located at opposite ends of the first support 100. Thus, when the second support 300 moves to the right relative to the first support 100, the fixing member 110 connected to the first support 100 gradually moves closer to the second support 300. That is, the second segment 422 connected to the fixing member 110 gradually moves closer to the second support 300. Under the action of the fixing member 110, the second segment 422 moves to the left, causing the first segment 421 of the transmission belt 420 to move to the right, thereby driving the mounting platform 510 to move to the right, thus realizing the extension of the actuator mounted on the mounting platform 510. Specifically, the fastener 110 can be an L-shaped plate, with its horizontal section connected to the first support 100 and its vertical section connected to the second section 422 of the transmission belt 420, thereby adapting to the distance between the first support 100 and the transmission belt 420, reducing the possibility of the transmission belt 420 being pulled, and ensuring the reliability of the transmission connection between the transmission belt 420 and the transmission wheel 410.

[0060] Specifically, when the transmission belt undergoes severe deformation or breakage, the braking unit is activated. The braking unit connects to the second support, thereby restricting the movement of the mounting platform in the extension direction. This fixes the mounting platform relative to the second support, preventing safety hazards caused by the continued movement of the actuator connected to the mounting platform.

[0061] In one specific embodiment, the transmission belt can be a leather belt, a metal ring belt, or a steel wire rope, etc., and power is transmitted through friction with the transmission wheel. In other embodiments, the transmission belt can also be chain-shaped, that is, the transmission belt has multiple first tooth grooves, and the transmission wheel has second tooth grooves that mesh with the first tooth grooves, and power is transmitted through meshing.

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

[0063] In one specific embodiment, a first encoder is installed on the mounting platform, and correspondingly, a first data ruler is installed on the second support. Thus, the actual position of the mounting platform can be determined by the first encoder and the first data ruler. A second encoder is connected to the drive component of the drive unit, and the theoretical position of the mounting platform can be determined by the second encoder. When the difference between the actual and theoretical positions of the mounting platform is too large, it indicates that the transmission belt may have suffered severe deformation or breakage. At this time, the braking unit is activated, connecting to the second support to fix the mounting platform relative to it, preventing the actuator connected to the mounting platform from continuing to move and causing safety hazards.

[0064] like Figure 1 and Figure 6 As shown, in one embodiment, the second support 300 is provided with a brake groove 310; the braking unit 600 includes a brake member 610 connected to the mounting platform 510, the brake member 610 being able to approach and engage with the brake groove 310 to restrict the movement of the mounting platform 510 relative to the second support 300. Understandably, the brake member 610 can also be disengaged 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 retraction direction, the brake member 610, through the sliding engagement of the first inclined surface 612 and the second inclined surface 312, can exit the brake groove 310 along the second inclined surface 312. Figure 6In the middle, moving in the retraction direction is called rightward movement. When 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 restrict the movement of the brake member 610 and the mounting platform 510 in the extension direction. Figure 6 In this configuration, moving along the extension direction is called leftward movement. This design prevents the mounting platform 510 from extending further when braked, but allows it to retract. Taking a surgical instrument as an example, this design prevents the surgical instrument from moving towards the human body when the braking unit 600 is activated, thus avoiding harm. However, the surgical instrument can move away from the human body to retract.

[0066] The shape of the brake groove 310 can be adapted to the shape of the braking part of the brake member 610, that is, when the brake member 610 is engaged in the brake groove 310, the braking part with the first inclined surface 612 and the first straight surface 611 is 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 in the brake groove 310, the first straight surface 611 and the second straight surface 311 of the brake member 610 may be in contact, and the first inclined surface 612 and the second inclined surface 312 may have a small gap. Alternatively, the first inclined surface 612 and the second inclined surface 312 may be in complete contact, and the first straight surface 611 and the second straight surface 311 may 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. In this way, when in the braking state, the mounting platform can neither extend nor retract until the brake member is removed from the brake groove, and the brake can only be unlocked.

[0067] like Figure 5 and Figure 6 As shown, in one embodiment, the braking unit 600 further includes an electromagnetic element 620, and a braking element 610 is connected to the electromagnetic element 620. When the electromagnetic element 620 is in a first state, for example, when a positive current is applied to the electromagnetic element 620, the electromagnetic element 620 generates a magnetic force to drive the braking element 610 away from the braking groove 310, so as to disengage from the braking groove 310. When the electromagnetic element 620 is in a second state, for example, when a reverse current is applied to the electromagnetic element 620, the braking element 610 can move closer to the braking groove 310 to engage with the braking groove 310. Specifically, the electromagnetic element 620 can be an electromagnet.

[0068] like Figure 5 and Figure 6As shown, in one embodiment, the braking unit 600 further includes an elastic element 630, and an electromagnetic element 620 is connected to the elastic element 630. Specifically, when the electromagnetic element 620 is energized, it generates a magnetic force to drive the braking element 610 away from the braking groove 310. During this process, the elastic element 630 is in a compressed and deformed state. When the electromagnetic element 620 is de-energized, the elastic force of the elastic element 630 drives the braking element 610 closer to the braking groove 310 to achieve braking. The elastic element can be a spring or the like. In other embodiments, the elastic element may not be provided, and the braking element may be extended or retracted by passing a forward or reverse current to the electromagnetic element.

[0069] Understandably, such as Figure 5 and Figure 6 As shown, the braking unit 600 may also include a connecting base 640 and an adapter. The electromagnetic component 620 is connected to the connecting base 640, and the braking component 610 is connected to the electromagnetic component 620 through the adapter. The connecting base 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 further 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 setting the first guide unit 710, the movement of the second support 300 relative to the first support 100 is guided and controlled, ensuring 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 further 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, improving the accuracy of its movement and ensuring the reliability of the actuator's movement. The first guide rail 712 and the second guide rail 722 are respectively connected to both 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 within the first mounting groove 120, thereby improving the connection reliability between the first slider 711 and the first support 100. The groove wall of the first mounting groove 120 may be provided with fastening holes, allowing fasteners such as screws to pass through the first slider 711 and the groove wall of the first mounting groove 120, further improving the connection reliability between the first slider 711 and the first support 100 and reducing the possibility of the first slider 711 slipping.

[0073] like Figure 7 and Figure 8 As shown, the first support 100 further includes a second mounting groove 130, which is recessed relative to the first mounting groove 120. The slide mechanism 10 also includes a first clamping member 810, which 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 stepped groove, allowing the first slider 711 and the first clamping member 810 to be clamped onto the first support 100 and simultaneously abut against the first slider 711 after the first slider 711 and the first clamping member 810 are installed in their respective mounting grooves. This improves the reliability and rigidity of the connection between the first slider 711 and the first support 100, eliminating slippage between the first slider 711 and the first support 100 caused by excessive force. 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 clamping member 820, which is connected between the first guide rail 712 and the second guide rail 722, and abuts against the second support 300. This arrangement presses both the first guide rail 712 and the second guide rail 722 firmly onto the mounting surface of the second support 300, thereby eliminating slippage between the first guide rail 712 and the second support 300 caused by excessive force, and also eliminating slippage between the second guide rail 722 and the second support 300 caused by excessive force. Simultaneously, it also improves the rigidity of the slide mechanism 10.

[0075] like Figure 7 and Figure 9As shown, in one embodiment, the mounting platform 510 is constructed with a third mounting groove 511, and the slide mechanism 10 further includes a third clamping member 830. The third clamping member 830 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 slippage due to excessive force can be reduced, and the stability of the slide mechanism 10 in use can be improved.

[0076] Furthermore, one embodiment of this application also provides a surgical robot, including the aforementioned sliding table mechanism 10 and surgical instruments detachably connected to the sliding table mechanism 10. When installing surgical instruments on the mounting table, because the sliding table mechanism occupies less space, the surrounding space of the mounting location is more open, without unnecessary parts obstructing the view, increasing the convenience of installing surgical instruments and greatly reducing the risk of contamination of surgical instruments during surgery. After installation, the sliding table mechanism enables linear movement of the surgical instruments, meeting practical usage requirements. This surgical robot can be an laparoscopic surgical robot, etc.

[0077] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A sliding table mechanism applied to a surgical robot, characterized in that, The slide mechanism includes: First support (100); A drive unit (200) is connected to the first support (100); The second support (300) is connected to the output end of the drive 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, the first direction including 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 restrict the movement of the mounting platform (510) along the extension direction. The second support (300) is provided with a brake groove (310); the braking unit (600) includes a brake member (610) connected to the mounting platform (510), the brake member (610) being able to approach the brake groove (310) and engage with the brake groove (310) to restrict the movement of the mounting platform (510) relative to the second support (300); The brake element (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 moves along the retraction direction, the brake (610) can exit the brake groove (310) through the sliding engagement of the first inclined surface (612) and the second inclined surface (312); When the brake (610) moves to the point where the first straight surface (611) abuts against the second straight surface (311), the second straight surface (311) can restrict the movement of the mounting platform (510) along the extension direction.

2. The slide mechanism according to claim 1, characterized in that, The slide mechanism also includes a transmission unit. The first support (100) is provided with a fixing member (110). 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) for transmission connection. The drive unit (200) is used to drive the second support (300) to move relative to the first support (100) in a first direction, so that the first segment (421) and the second segment (422) move in opposite directions.

3. The slide mechanism according to claim 2, characterized in that, The transmission unit includes a 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 connected to the transmission wheels (410) in a transmission connection. The first segment (421) and the second segment (422) are spaced apart on the transmission belt (420) along the second direction, and the first direction, the second direction and the axis of the transmission wheel (410) are perpendicular to each other.

4. The slide mechanism according to claim 1, characterized in that, The braking unit (600) further includes 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) away from the braking groove (310) to disengage from the braking groove (310). When the electromagnetic component (620) is in the second state, the braking component (610) can move closer to the braking groove (310) to engage with the braking groove (310).

5. The slide mechanism according to claim 4, characterized in that, The braking unit (600) further includes an elastic element (630), and the electromagnetic element (620) is connected to the elastic element (630); when the electromagnetic element (620) is energized, the electromagnetic element (620) drives the braking element (610) away from the braking groove (310), and the elastic element (630) is in a deformed state. When the electromagnetic component (620) is de-energized, the elastic component (630) drives the braking component (610) to move closer to the braking groove (310).

6. The slide mechanism according to claim 1, characterized in that, The slide mechanism further 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); The slide mechanism further 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).

7. The slide mechanism according to claim 6, characterized in that, 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). 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).

8. The slide mechanism according to claim 7, characterized in that, 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); the first support (100) is also configured with a second mounting groove (130), the second mounting groove (130) being recessed relative to the first mounting groove (120); the slide mechanism further includes a first clamping member (810), the first clamping member (810) being connected to the groove wall of the second mounting groove (130) and abutting against the first slider (711); and / or The slide mechanism further includes a second clamping member (820), which is connected between the first guide rail (712) and the second guide rail (722), and the second clamping member (820) abuts against the second support (300); and / or The mounting platform (510) is configured with a third mounting groove (511), and the slide mechanism further includes a third clamping member (830), which is connected to the groove wall of the third mounting groove (511) and abuts against the second slider (721).

9. A surgical robot, characterized in that, Includes the slide mechanism as described in any one of claims 1 to 8.

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