Manipulator for surgical operation

Abstract

The invention discloses a surgical manipulator, and relates to the technical field of medical instruments, the surgical manipulator comprises a mounting circular chassis, a lifting side frame is arranged on one side of the top of the mounting circular chassis, a translation cross frame is arranged on the top of the lifting side frame, and a connecting circular frame is arranged at the end of the bottom surface of the translation cross frame; the movable adjusting base is supported in an auxiliary mode through the supporting springs at the bottoms of the supporting floating columns and the pressure intensity of transmission oil in the supporting bottom box, and therefore when the supporting bottom box shakes along with the working environment, the movable adjusting base can be supported by the supporting springs at the bottoms of the supporting floating columns and the pressure intensity of transmission oil in the supporting bottom box; according to the surgical manipulator, the components at the top of the movable adjusting seat can be kept stable, so that the influence of vibration in a working environment on surgical manipulator equipment is effectively reduced, the manipulator can be stably and smoothly used, the use safety and convenience of the surgical manipulator are improved, and the development and progress of a remote surgical technology are favorably promoted.

Description

Technical Field

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

[0002] The surgical robot is a new type of medical device that integrates many disciplines. It is an important development direction for the informatization, program control, and intelligence of medical devices. It has broad application prospects in clinical minimally invasive surgery, battlefield rescue, earthquake and tsunami relief, etc. The surgical manipulator is the main component of the surgical robot. For this reason, a Chinese patent discloses a high-degree-of-freedom manipulator for vascular surgery, with the application number 202210000791.2. The patent can drive the support frame to rotate through motor 4, and then drive the surgical actuator on the splint to rotate, which greatly improves the degree of freedom and reduces the restrictions on the use of the surgical actuator. However, due to the lack of corresponding auxiliary balancing structures, surgical robots are currently unable to dynamically adjust according to the environment during use. With the development of remote surgery technology, robots are easily affected by the external environment and experience slight shaking when used in a vibrating environment, which reduces the effectiveness of the robot. Summary of the invention

[0003] The present invention provides a surgical robot that can effectively solve the problem raised in the above-mentioned background technology that the current surgical robot lacks a corresponding auxiliary balancing structure during use, which makes the robot unable to dynamically adjust according to the environment during use; and with the development of remote surgery technology, the robot is easily affected by the external environment when used in a vibrating environment and shakes slightly, thereby reducing the use effect of the robot.

[0004] To achieve the above object, the present invention provides the following technical solution: a surgical manipulator, comprising a mounting circular chassis, a lifting side frame is arranged on one side of the top of the mounting circular chassis, a translational horizontal frame is arranged on the top of the lifting side frame, a connecting circular frame is arranged at the bottom end of the translational horizontal frame, and a manipulator body is evenly and equidistantly arranged on the side of the connecting circular frame along the circumferential direction; A combined counterweight balance adjustment mechanism is provided on the top of the mounting circular chassis, and the combined counterweight balance adjustment mechanism is used to flexibly support the bottom of the manipulator assembly and adjust the center of gravity position of the manipulator according to the use environment of the manipulator, so that the manipulator can maintain its posture continuously during use; The combined counterweight balance adjustment mechanism includes a supporting bottom box; A supporting bottom box is installed on the top surface of the mounting circular bottom plate, a buffer rubber ring is bonded to the top surface of the supporting bottom box, a movable adjustment seat is placed on the top of the buffer rubber ring, and a limited circular groove is provided on the bottom surface of the movable adjustment seat; A supporting cantilever is connected to the top of one side of the supporting bottom box, and an arc guide rail is fixedly installed on the edge of the top surface of the movable adjustment seat; A supporting floating column is inserted through the top of the inner side of the supporting bottom box, a supporting spring is connected to the inner side of the supporting floating column, a liquid supply outer tube is connected to the back side of the supporting bottom box, and a liquid supply square box is fixedly connected to the top of the end of the liquid supply outer tube.

[0005] According to the above technical solution, the top surface of the buffer rubber ring is tightly slidably fitted with the edge of the bottom surface of the movable adjustment seat, and the top end of the supporting cantilever is fixedly connected with the bottom surface of the lifting side frame.

[0006] According to the above technical solution, the outer side of the support floating column is tightly slidably fitted with the side wall of the support bottom box, and the top surface of the support floating column is tightly slidably fitted with the inner wall of the limiting circular groove, and the bottom end of the support spring is fixedly connected to the inner bottom of the support bottom box.

[0007] According to the above technical solution, a floating isolation plate is slidably clamped in the middle of the inner side of the liquid supply box, a connecting column is evenly and evenly fixedly installed on the top surface of the floating isolation plate, a driving counterweight block is clamped at the outer side of the connecting column corresponding to the top position of the floating isolation plate, a guide inner frame is fixedly clamped at the inner side of the liquid supply box corresponding to the top position of the floating isolation plate, a sealing cover is clamped inside the top of the liquid supply box, and a protective isolation frame is fixedly installed at one side of the supporting bottom box corresponding to the side position of the liquid supply box; A transposition arc block is slidably sleeved on the outer side of the top of the circular arc guide rail, a counterweight rotating rod is fixedly connected to the middle part of one side of the transposition arc block, a telescopic transposition rod is fixedly installed on the middle part of the inner side of the top of the counterweight rotating rod, a counterweight bottom block is fixedly connected to the end of the telescopic transposition rod corresponding to the top position of the counterweight rotating rod, and a counterweight flat block is fixedly clamped on the top of the counterweight bottom block; A transposition motor is embedded and installed inside one side of the top of the movable adjustment seat, and the transposition motor is powered by an external power supply. A driving circular wheel is sleeved on the top of the output shaft of the transposition motor. Guide circular wheels are rotatably installed at the positions on both sides of the top of the movable adjustment seat corresponding to the driving circular wheel. The outside of the driving circular wheel and the guide circular wheel are tightly covered with a driving cable, and telescopic rollers are evenly and evenly fixedly connected to the counterweight rotary rod and the middle of the bottom surface of the supporting cantilever.

[0008] According to the above technical solution, transmission oil is contained inside the supporting bottom box and the liquid supply box, the outer side of the floating isolation plate is tightly slidably fitted with the inner wall of the liquid supply box, and the outer side of the driving counterweight block is tightly fitted with the inner wall of the guide inner frame.

[0009] According to the above technical solution, the inner side of the transposition arc block and the outer side of the circular arc guide rail are tightly slidably fitted, supporting thin rails are fixedly connected at the positions on both sides of the top surface of the counterweight rotating rod corresponding to the bottom surface of the counterweight bottom block, and the end of the driving cable is fixedly connected to the two ends of the transposition arc block.

[0010] According to the above technical solution, an outer auxiliary circulation vacuum protection mechanism is provided on the top of the translational horizontal frame, and the outer auxiliary circulation vacuum protection mechanism is used to cover and protect the outer side of the manipulator body and actively circulate and clean the outer side of the manipulator body; The outer auxiliary circulation vacuum protection mechanism includes a circulation top box; A circulation top box is fixedly installed in the middle of the top surface of the translational horizontal frame, a circulation fan is embedded in the middle of one end of the circulation top box, the circulation fan is powered by an external power supply, an air guide pipe is fixedly connected to the middle of the output end of the circulation fan corresponding to the top position of the circular frame, an air distribution ring is fixedly connected to the end of the air guide pipe corresponding to the top position of the circular frame, and the outer side of the air distribution ring is evenly and evenly fixed with air distribution tubes along the circumferential direction; The end of the gas distribution tube is fixedly connected to an air guide top ring at a position corresponding to the top of the outer side of the manipulator body, and the bottom side of the gas guide top ring is fixedly connected to an air guide inner tube at a position corresponding to the outer side of the manipulator body. The end of the gas guide inner tube is fixedly connected to an air guide tail ring at a position corresponding to the bottom of the outer side of the manipulator body. The outer side of the manipulator body is covered with a plastic covering cover, and elastic rubber rings are bonded to the top and bottom of the plastic covering cover. An installation inner frame is embedded and installed at one end of the circulation top box near the circulation fan, and electric heating pipes are evenly installed inside the installation inner frame at equal intervals, and the electric heating pipes are powered by an external power supply; An air guide inner box is embedded in the middle of one end of the circulation top box, an isolation inner net is embedded in one end of the air guide inner box, and sealing side plates are fixedly installed on the top and bottom surfaces of the end of the air guide inner box; The middle part of the top of the air guide inner box and the four corners of the inner bottom are fixedly connected with mounting oblique columns, the top end of the mounting oblique columns is fixedly installed with a connecting arc plate, the bottom end of the connecting arc plate is glued with a telescopic rubber stick, and the bottom surfaces of multiple telescopic rubber sticks are commonly fixedly connected with a sealing air plate.

[0011] According to the above technical solution, the bottom surface of the air distribution ring is tightly fitted with the top surface of the connecting circular frame, the air distribution tubes and the air guide inner tubes are arranged along the outside of the manipulator body, and the outsides of the air guide top ring and the air guide tail ring are provided with air guide slots equidistantly along the circumferential direction.

[0012] According to the above technical solution, the elastic rubber ring is tightly fitted to the outer side of the robot body after shrinkage, and the length of the plastic covering cover is greater than the extended length of the robot body.

[0013] According to the above technical solution, the ends of the air guide inner box and the isolation inner net are interconnected with the external cavity of the circulation top box, and the sealing air plate fits with the top and bottom of the air guide inner box.

[0014] Compared with the prior art, the present invention has the following beneficial effects: the present invention has a scientific and reasonable structure and is safe and convenient to use: 1. A combined counterweight balance adjustment mechanism is provided. Through the mutual cooperation between the components inside the combined counterweight balance adjustment mechanism, the use and installation process of the manipulator is optimized. Through the split structural design between the support bottom box and the movable adjustment seat, and through the support spring at the bottom of the support floating column and the pressure of the transmission oil inside the support bottom box, the movable adjustment seat is auxiliary supported, so that when the support bottom box shakes with the working environment, the components on the top of the movable adjustment seat can be kept stable, thereby effectively reducing the impact of vibration in the working environment on the surgical manipulator equipment, thereby effectively improving the safety and convenience of the use of the surgical manipulator, and helping to promote the development and progress of remote surgery technology; At the same time, through the splicing structural design of the components inside the liquid supply box and the transposition arc block, the manipulator equipment can be assembled in a split manner during the installation process at the workplace. At the same time, since the supporting bottom box and the liquid supply box are driven by the transmission fluid, the transportation weight of the manipulator is lighter, thereby improving the transportation convenience of the manipulator. At the same time, the modular assembly structural design makes the installation and transportation process of the manipulator faster and more convenient, further improving the use effect of the manipulator. At the same time, the center of gravity position of each component on the movable adjustment seat can be adjusted by replacing the components connected to the arc block and the counterweight rotary rod, so that the movable adjustment seat can be kept more stable during use, effectively preventing the equipment from tilting due to the change of the center of gravity during the shape change of the manipulator body, and further improving the installation stability and accuracy of the manipulator equipment.

[0015] 2. An outer auxiliary circulation vacuum protection mechanism is set up. Through the mutual cooperation between the components inside the outer auxiliary circulation vacuum protection mechanism, the protection and cleaning process of the manipulator is optimized. Through the mutual cooperation between the circulating fan, the air guide top ring and the air guide tail ring, the manipulator body is tightly covered and protected by the plastic cover, thereby effectively preventing the splashing blood generated during the operation from adhering to the outside of the manipulator body, and effectively preventing the small components inside the manipulator body from falling and causing damage to the patient. At the same time, the plastic cover is adsorbed to the outside of the manipulator body, which can also effectively prevent the plastic cover from slipping during the movement of the manipulator body, thereby effectively improving the use safety and cleaning convenience of the manipulator equipment; At the same time, through the cooperation between the electric heating tubes inside the circulating top box and the sealing gas plate, the airflow inside the circulating top box can flow in both directions, and the plastic covering cover can be adsorbed and fixed during the flow of the airflow. At the same time, the airflow can be heated by the electric heating tubes to circulate and clean the outside of the manipulator body through the hot air flow, and the circulating top box can be sealed by the sealing gas plate, ensuring that the circulating top box can remain sealed during idleness.

[0016] To sum up, the transportation, installation and use of the manipulator equipment are optimized through the mutual cooperation between the combined counterweight balance adjustment mechanism and the external auxiliary circulation vacuum protection mechanism. The splicing structural design makes the installation and transportation process of the manipulator faster and more convenient, ensuring that the manipulator can remain stable during use, further improving the stability and smoothness of the manipulator's use, and through the mutual cooperation between the circulating top box and the plastic covering cover, the outside of the manipulator can be protected, further improving the cleanliness and convenience of cleaning during the use of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0018] In the attached picture: Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of the installation of the movable adjustment seat of the present invention; Figure 3 It is a schematic diagram of the structure of the support floating column installation of the present invention; Figure 4 It is a structural schematic diagram of the combined counterweight balance adjustment mechanism of the present invention; Figure 5 It is a structural schematic diagram of the installation of the counterweight flat block of the present invention; Figure 6 It is a schematic diagram of the structure of the installation of the limiting circular groove of the present invention; Figure 7 It is a structural schematic diagram of the installation of the driving counterweight block of the present invention; Figure 8 It is a structural schematic diagram of the installation of the circulating top box of the present invention; Fig. 9 It is a structural schematic diagram of the outer auxiliary circulation vacuum protection mechanism of the present invention; Fig.10 It is a structural schematic diagram of the installation of the circulating fan of the present invention; Numbers in the figure: 1. Install the round chassis; 2. Lift the side frame; 3. Transverse frame; 4. Connect the round frame; 5. Manipulator body; 6. Combined counterweight balance adjustment mechanism; 601. Support bottom box; 602. Buffer rubber ring; 603. Movable adjustment seat; 604. Limiting circular groove; 605. Support cantilever; 606. Circular arc guide rail; 607. Support floating column; 608. Support spring; 609. Liquid supply outer tube; 610. Liquid supply square box; 611. Floating isolation plate; 612. Connecting column; 613. Drive counterweight block; 614. Guide inner frame; 615. Sealing cover; 616. Protective isolation frame; 617. Transposition arc block; 618. Counterweight rotary rod; 619. Telescopic transposition rod; 620. Counterweight bottom block; 621. Counterweight flat block; 622. Transposition motor; 623. Drive round wheel; 624. Guide round wheel; 625. Drive cable; 626. Telescopic roller; 7. External auxiliary circulation vacuum protection mechanism; 701. Circulation top box; 702. Circulation fan; 703. Air guide main pipe; 704. Air distribution ring; 705. Air distribution capillary; 706. Air guide top ring; 707. Air guide inner capillary; 708. Air guide tail ring; 709. Plastic covering cover; 710. Elastic rubber ring; 711. Install inner frame; 712. Electric heating tube; 713. Air guide inner box; 714. Isolation inner net; 715. Sealing side panel; 716. Install inclined column; 717. Connect arc plate; 718. Telescopic rubber stick; 719. Sealing air plate. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0020] Example: Figure 1-10 As shown, the present invention provides a technical solution, a surgical robot, comprising a mounting circular chassis 1, a lifting side frame 2 is arranged on one side of the top of the mounting circular chassis 1, a translational horizontal frame 3 is arranged on the top of the lifting side frame 2, a connecting circular frame 4 is arranged on the bottom end of the translational horizontal frame 3, and a robot body 5 is evenly and equidistantly arranged on the side of the connecting circular frame 4 along the circumferential direction; A combined counterweight balance adjustment mechanism 6 is arranged on the top of the mounting circular chassis 1, and the combined counterweight balance adjustment mechanism 6 is used to flexibly support the bottom of the manipulator assembly and adjust the center of gravity position according to the use environment of the manipulator, so that the manipulator can maintain its posture continuously during use; The combined counterweight balance adjustment mechanism 6 includes a supporting bottom box 601, a buffer rubber ring 602, a movable adjustment seat 603, a limiting circular groove 604, a supporting cantilever 605, an arc guide rail 606, a supporting floating column 607, a supporting spring 608, a liquid supply outer tube 609, a liquid supply square box 610, a floating isolation plate 611, a connecting column 612, a driving counterweight block 613, a guide inner frame 614, a sealing cover 615, a protective isolation frame 616, a transposition arc block 617, a counterweight rotating rod 618, a telescopic transposition rod 619, a counterweight bottom block 620, a counterweight flat block 621, a transposition motor 622, a driving round wheel 623, a guide round wheel 624, a driving cable 625 and a telescopic roller 626; A supporting bottom box 601 is fixedly installed in the middle of the top surface of the mounting circular chassis 1, a buffer rubber ring 602 is bonded to the edge of the top surface of the supporting bottom box 601, a movable adjustment seat 603 is placed on the top of the buffer rubber ring 602, and limited circular grooves 604 are evenly and equidistantly provided on the bottom surface of the movable adjustment seat 603, a supporting cantilever 605 is fixedly connected to the top of one side of the supporting bottom box 601 corresponding to the bottom position of the lifting side frame 2, an arc guide rail 606 is fixedly installed on the edge of the top surface of the movable adjustment seat 603, the top surface of the buffer rubber ring 602 and the edge of the bottom surface of the movable adjustment seat 603 are tightly slidably fitted, and the top end of the supporting cantilever 605 is fixedly connected to the bottom surface of the lifting side frame 2; A support floating column 607 is slidably inserted at the bottom position of the limiting circular groove 604 corresponding to the inner top of the support bottom box 601, a support spring 608 is fixedly connected to the middle of the inner top of the support floating column 607, a liquid supply outer tube 609 is fixedly connected to the middle of the back of the support bottom box 601, and a liquid supply square box 610 is fixedly connected to the top of the end of the liquid supply outer tube 609. The outer side of the support floating column 607 is tightly slidably fitted with the side wall of the support bottom box 601, and the top surface of the support floating column 607 is tightly slidably fitted with the inner wall of the limiting circular groove 604, and the bottom end of the support spring 608 is fixedly connected to the inner bottom of the support bottom box 601; A floating isolation plate 611 is slidably clamped in the middle of the inner side of the liquid supply box 610, and a connecting column 612 is evenly and evenly fixedly installed on the top surface of the floating isolation plate 611. A driving counterweight block 613 is clamped at the outer side of the connecting column 612 corresponding to the top position of the floating isolation plate 611. A guide inner frame 614 is fixedly clamped at the inner side of the liquid supply box 610 corresponding to the top position of the floating isolation plate 611. Transmission oil is contained in the supporting bottom box 601 and the liquid supply box 610. The outer side of the floating isolation plate 611 is tightly slidably fitted with the inner wall of the liquid supply box 610, and the outer side of the driving counterweight block 613 is tightly fitted with the inner wall of the guide inner frame 614. A sealing cover 615 is clamped inside the top of the liquid supply box 610, and a protective isolation frame 616 is fixedly installed on one side of the supporting bottom box 601 at a position corresponding to the side of the liquid supply box 610; A transposition arc block 617 is slidably sleeved on the outer side of the top of the circular arc guide rail 606, a counterweight rotating rod 618 is fixedly connected to the middle of one side of the transposition arc block 617, a telescopic transposition rod 619 is fixedly installed on the middle of the inner side of the top of the counterweight rotating rod 618, a counterweight bottom block 620 is fixedly connected to the end of the telescopic transposition rod 619 corresponding to the top position of the counterweight rotating rod 618, and a counterweight flat block 621 is fixedly clamped on the top of the counterweight bottom block 620; A transposition motor 622 is embedded and installed inside one side of the top of the movable adjustment seat 603, and the transposition motor 622 is powered by an external power supply. A driving round wheel 623 is sleeved on the top of the output shaft of the transposition motor 622. Guide round wheels 624 are rotatably installed at the positions on both sides of the driving round wheel 623 on the top of the movable adjustment seat 603. The outside of the driving round wheel 623 and the guide round wheel 624 are tightly covered with a driving cable 625. The counterweight rotating rod 618 and the middle of the bottom surface of the supporting cantilever 605 are evenly and evenly fixed with telescopic rollers 626. The inner side of the transposition arc block 617 and the outer side of the arc guide rail 606 are tightly slidably fitted. Support thin rails are fixedly connected at the positions on the bottom surface of the counterweight bottom block 620 corresponding to the top surface of the counterweight rotating rod 618. The ends of the driving cable 625 are connected to the two ends of the transposition arc block 617. The combined counterweight balance adjustment mechanism 6 is fixedly connected, and the mutual cooperation between the components inside the combined counterweight balance adjustment mechanism 6 optimizes the use and installation process of the manipulator. The split structural design between the support bottom box 601 and the movable adjustment seat 603, and the support spring 608 at the bottom of the support floating column 607 and the pressure of the transmission oil inside the support bottom box 601 are used to auxiliary support the movable adjustment seat 603, so that when the support bottom box 601 shakes with the working environment, the components on the top of the movable adjustment seat 603 can be kept stable, thereby effectively reducing the impact of vibration in the working environment on the surgical manipulator equipment, so that the manipulator can be used stably and smoothly, thereby effectively improving the safety and convenience of the use of the surgical manipulator, and helping to promote the development and progress of remote surgery technology; At the same time, through the splicing structural design of the components inside the liquid supply box 610 and the transposition arc block 617, the manipulator equipment can be assembled in a split manner during the installation process at the workplace. At the same time, since the support bottom box 601 and the liquid supply box 610 are driven by the transmission fluid, the transportation weight of the manipulator is lighter, thereby improving the transportation convenience of the manipulator. At the same time, the modular assembly structural design makes the installation and transportation process of the manipulator faster and more convenient, further improving the use effect of the manipulator. At the same time, the center of gravity position of each component on the movable adjustment seat 603 can be adjusted by replacing the components connected to the arc block 617 and the counterweight rotating rod 618, so that the movable adjustment seat 603 can be kept more stable during use, effectively preventing the device from tilting due to the change of the center of gravity during the shape transformation of the manipulator body 5, and further improving the installation stability and accuracy of the manipulator device; An outer auxiliary circulation vacuum protection mechanism 7 is provided on the top of the translational horizontal frame 3, and the outer auxiliary circulation vacuum protection mechanism 7 is used to cover and protect the outer side of the manipulator body 5, and to actively circulate and clean the outer side of the manipulator body 5; The outer auxiliary circulation vacuum protection mechanism 7 includes a circulation top box 701, a circulation fan 702, an air guide main pipe 703, an air distribution ring 704, an air distribution thin tube 705, an air guide top ring 706, an air guide inner thin tube 707, an air guide tail ring 708, a plastic covering cover 709, an elastic rubber ring 710, an installation inner frame 711, an electric heating tube 712, an air guide inner box 713, an isolation inner net 714, a sealing side plate 715, an installation inclined column 716, a connecting arc plate 717, a telescopic glue stick 718 and a sealing air plate 719; A circulation top box 701 is fixedly installed in the middle of the top surface of the translational horizontal frame 3, and a circulation fan 702 is embedded in the middle of one end of the circulation top box 701. The circulation fan 702 is powered by an external power supply. An air guide pipe 703 is fixedly connected to the middle of the output end of the circulation fan 702 corresponding to the top position of the circular frame 4. An air distribution ring 704 is fixedly connected to the end of the air guide pipe 703 corresponding to the top position of the circular frame 4. The outer side of the air distribution ring 704 is evenly and evenly fixed with air distribution tubes 705 along the circumferential direction. The end of the gas distribution capillary 705 is fixedly connected to a gas guide top ring 706 at a position corresponding to the top of the outer side of the manipulator body 5, and a gas guide inner capillary 707 is fixedly connected to a position corresponding to the outer side of the manipulator body 5 on one side of the bottom of the gas distribution capillary 705. The end of the gas guide inner capillary 707 is fixedly connected to a gas guide tail ring 708 at a position corresponding to the bottom of the outer side of the manipulator body 5. The bottom surface of the gas distribution ring 704 is tightly fitted with the top surface of the connecting circular frame 4. The gas distribution capillary 705 and the gas guide inner capillary 707 are arranged along the outer side of the manipulator body 5, and the outer sides of the gas guide top ring 706 and the gas guide tail ring 708 are equidistantly provided with gas guide slots along the circumferential direction. The outer side of the robot body 5 is covered with a plastic cover 709, and elastic rubber rings 710 are bonded to the top and bottom of the plastic cover 709. After the elastic rubber ring 710 shrinks, it fits tightly with the outer side of the robot body 5. The length of the plastic cover 709 is greater than the extended length of the robot body 5. An inner frame 711 is embedded and installed at one end of the circulation top box 701 near the circulation fan 702, and electric heating pipes 712 are evenly installed in the inner frame 711 at equal intervals. The electric heating pipes 712 are powered by an external power supply. An air guide inner box 713 is embedded in the middle of one end of the circulation top box 701, an isolation inner net 714 is embedded in one end of the air guide inner box 713, and a sealing side plate 715 is fixedly installed on the top and bottom surfaces of the end of the air guide inner box 713; The middle part of the top and the four corners of the inner bottom of the air guide inner box 713 are fixedly connected with mounting oblique columns 716, the top end of the mounting oblique columns 716 is fixedly installed with a connecting arc plate 717, the bottom end of the connecting arc plate 717 is bonded with a telescopic glue stick 718, and the bottom surfaces of multiple telescopic glue sticks 718 are commonly fixedly connected with a sealing gas plate 719, the ends of the air guide inner box 713 and the isolation inner net 714 are interconnected with the external cavity of the circulating top box 701, the sealing gas plate 719 fits with the top and bottom of the air guide inner box 713, and the mutual cooperation between the internal components of the external auxiliary circulating vacuum protection mechanism 7 optimizes the protection and cleaning of the manipulator. During the operation, the circulation fan 702, the air guide top ring 706 and the air guide tail ring 708 cooperate with each other, and the manipulator body 5 is tightly covered and protected by the plastic cover 709, thereby effectively preventing the splashing blood generated during the operation from adhering to the outside of the manipulator body 5, and effectively preventing the small components inside the manipulator body 5 from falling and causing damage to the patient. At the same time, the plastic cover 709 is adsorbed to the outside of the manipulator body 5, and the plastic cover 709 can also be effectively prevented from slipping during the movement of the manipulator body 5, thereby effectively improving the safety of the use of the manipulator equipment and the convenience of cleaning; At the same time, through the cooperation between the electric heating tube 712 inside the circulation top box 701 and the sealing gas plate 719, the airflow inside the circulation top box 701 can flow in both directions, and the plastic covering cover 709 can be adsorbed and fixed during the flow of the airflow. At the same time, the airflow can also be heated by the electric heating tube 712 to circulate and clean the outside of the manipulator body 5 through the hot air flow, and the circulation top box 701 can be sealed by the sealing gas plate 719, ensuring that the circulation top box 701 can remain sealed during idleness.

[0021] Working principle and use process of the present invention: In the actual application process of the present invention, when using the manipulator to perform surgery, it is necessary to first install the manipulator to a suitable position by installing the circular chassis 1, and adjust the space connecting the circular frame 4 by lifting the side frame 2 and translating the horizontal frame 3, and then perform the surgery through the manipulator body 5; In the process of installing the manipulator device, the buffer rubber ring 602 on the top of the support bottom box 601 is used to assist in supporting and limiting the movable adjustment seat 603, and then the movable adjustment seat 603 is limited by the cooperation between the limiting circular groove 604 and the supporting floating column 607, and the bottom of the supporting floating column 607 is supported by the supporting spring 608 to provide auxiliary supporting force for the bottom of the movable adjustment seat 603; When the movable adjustment seat 603 needs to be in a suspended state, the liquid supply box 610 is connected to the inner cavity of the support bottom box 601 through the liquid supply outer tube 609, and then the appropriate number of driving counterweight blocks 613 are selected according to the weight of each component on the movable adjustment seat 603, and the driving counterweight blocks 613 are spliced ​​to the top of the floating isolation plate 611 through the connecting column 612, and the transmission fluid at the bottom of the liquid supply box 610 is pumped into the inside of the support bottom box 601 through the weight of the floating isolation plate 611 and the driving counterweight blocks 613, and as the pressure inside the support bottom box 601 increases, the supporting floating column 607 is driven to rise, and then as the supporting floating column 607 rises, the movable adjustment seat 603 and the components thereon are driven to rise as a whole, and the supporting cantilever 605 and the bottom of the counterweight rotating rod 618 are auxiliary supported by the telescopic roller 626; When the mounting circular chassis 1 at the bottom of the manipulator is affected by the environment and shakes, the mounting circular chassis 1 will vibrate and shake, and during the shaking of the mounting circular chassis 1 and the supporting bottom box 601, the movable adjustment seat 603 is kept balanced by the extension and contraction of the supporting floating column 607, so that the movable adjustment seat 603 and the components thereon can remain continuously stable; When the center of gravity of the movable adjustment seat 603 needs to be adjusted, the transposition motor 622 on the top of the movable adjustment seat 603 drives the driving circular wheel 623 to rotate, and cooperates with the guide circular wheel 624 to drive the driving cable 625 to move during the rotation of the driving circular wheel 623, and drives the transposition arc block 617 to move during the movement of the driving cable 625, and guides the transposition arc block 617 during the movement through the circular arc guide rail 606, so that the transposition arc block 617 will not deviate during the movement, and synchronously drives the counterweight rotating rod 618 and the components thereon to rotate during the rotation of the transposition arc block 617; During the rotation of the counterweight rotating rod 618, the counterweight bottom block 620 and the counterweight flat block 621 are driven to slide along the top surface of the counterweight rotating rod 618 by the telescopic shifting rod 619, and then the center of gravity of the movable adjustment seat 603 is adjusted by the rotation and movement of the counterweight flat block 621 to ensure that the movable adjustment seat 603 maintains balance during use, and the side of the liquid supply box 610 is protected by the protective isolation frame 616 to prevent the liquid supply box 610 from being damaged by collision; During the use of the manipulator, the outside of the manipulator body 5 needs to be protected and cleaned. When the outside of the manipulator body 5 needs to be covered and protected, the plastic covering cover 709 is covered to the outside of the manipulator body 5 through the elastic rubber ring 710, and then the air inside the air guide main pipe 703 is sucked through the circulating fan 702, and then the air inside the air distribution tube 705 is sucked through the air distribution ring 704, and the air inside the air guide top ring 706 and the air guide tail ring 708 are sucked in cooperation with the air guide inner tube 707, so that a partial vacuum is formed inside the plastic covering cover 709, and the plastic covering cover 709 can be covered to the outside of the manipulator body 5, and the outside of the manipulator body 5 is protected by the plastic covering cover 709; When auxiliary cleaning of the outside of the manipulator body 5 is required, the air inside the circulation top box 701 can be continuously heated by installing the inner frame 711 and the electric heating tube 712, and then the hot air flow inside the circulation top box 701 is introduced into the air guide main pipe 703 through the circulation fan 702, and the hot air flow is introduced into the plastic covering cover 709 through the air guide top ring 706 and the air guide tail ring 708, and then the hot air flow is sterilized at high temperature on the outside of the manipulator body 5 to improve the cleanliness of the outside of the manipulator body 5; In the process of airflow flowing along the inside of the circulation top box 701, when it is necessary to suck the airflow outside the circulation top box 701, the airflow entering the air guide inner box 713 from the outside can be intercepted by the isolation inner net 714, and the negative pressure generated by the circulation fan 702 inside the circulation top box 701 makes the sealing air plate 719 located at the top of the air guide inner box 713 rise upward under the action of the external pressure to overcome the pressure of the telescopic rubber stick 718, so that the external airflow can enter the circulation top box 701; And when it is necessary to discharge the airflow inside the circulating top box 701, pressure is generated inside the circulating top box 701 through the circulating fan 702, so that the high-pressure airflow inside the circulating top box 701 can drive the sealing air plate 719 located at the bottom of the air guide inner box 713 to overcome the elastic force of the telescopic rubber stick 718 and rise, and then the high-pressure airflow inside the circulating top box 701 enters the air guide inner box 713 and is discharged through the isolation inner net 714, so as to realize the air intake and exhaust process of the airflow inside the circulating top box 701.

[0022] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A surgical robot, comprising a mounting circular base plate (1), characterized in that: A lifting side frame (2) is arranged on one side of the top of the mounting circular chassis (1), a translational cross frame (3) is arranged on the top of the lifting side frame (2), a connecting circular frame (4) is arranged at the bottom end of the translational cross frame (3), and a manipulator body (5) is evenly and equidistantly arranged on the side of the connecting circular frame (4) along the circumferential direction; A combined counterweight balance adjustment mechanism (6) is arranged on the top of the mounting circular chassis (1), and the combined counterweight balance adjustment mechanism (6) is used to flexibly support the bottom of the manipulator assembly and adjust the center of gravity position of the manipulator according to the use environment of the manipulator, so that the manipulator can maintain its posture continuously during use; The combined counterweight balance adjustment mechanism (6) comprises a supporting bottom box (601); A supporting bottom box (601) is installed on the top surface of the mounting circular bottom plate (1), a buffer rubber ring (602) is bonded to the top surface of the supporting bottom box (601), a movable adjustment seat (603) is placed on the top of the buffer rubber ring (602), and a limited position circular groove (604) is provided on the bottom surface of the movable adjustment seat (603); A supporting cantilever (605) is connected to the top of one side of the supporting bottom box (601), and an arc guide rail (606) is fixedly mounted on the edge of the top surface of the movable adjustment seat (603); A supporting floating column (607) is inserted into the top of the inner side of the supporting bottom box (601), and a supporting spring (608) is connected to the inner side of the supporting floating column (607). The back side of the supporting bottom box (601) is connected to a liquid supply outer tube (609), and the top of the end of the liquid supply outer tube (609) is fixedly connected to a liquid supply square box (610).

2. A surgical manipulator according to claim 1, characterized in that: The top surface of the buffer rubber ring (602) and the bottom edge of the movable adjustment seat (603) are tightly slidably fitted, and the top end of the support cantilever (605) and the bottom surface of the lifting side frame (2) are fixedly connected.

3. A surgical manipulator according to claim 1, characterized in that: The outer side of the support floating column (607) is tightly slidably fitted with the side wall of the support bottom box (601), and the top surface of the support floating column (607) is tightly slidably fitted with the inner wall of the limiting circular groove (604), and the bottom end of the support spring (608) is fixedly connected to the inner bottom of the support bottom box (601).

4. A surgical manipulator according to claim 1, characterized in that: A floating isolation plate (611) is slidably clamped at the middle of the inner side of the liquid supply box (610); a connecting column (612) is evenly and evenly fixedly installed on the top surface of the floating isolation plate (611); a driving counterweight (613) is clamped at the outer side of the connecting column (612) at a position corresponding to the top of the floating isolation plate (611); a guide inner frame (614) is fixedly clamped at a position corresponding to the top of the floating isolation plate (611) on the inner side of the liquid supply box (610); a sealing cover (615) is clamped inside the top of the liquid supply box (610); and a protective isolation frame (616) is fixedly installed at a position corresponding to the side of the liquid supply box (610) on one side of the supporting bottom box (601); A transposition arc block (617) is slidably sleeved on the outer side of the top of the circular arc guide rail (606); a counterweight rotating rod (618) is fixedly connected to the middle of one side of the transposition arc block (617); a telescopic transposition rod (619) is fixedly installed on the middle of the inner side of the top of the counterweight rotating rod (618); a counterweight bottom block (620) is fixedly connected to the end of the telescopic transposition rod (619) corresponding to the top position of the counterweight rotating rod (618); a counterweight flat block (621) is fixedly clamped on the top of the counterweight bottom block (620); A transposition motor (622) is embedded and installed inside one side of the top of the movable adjustment seat (603), and the transposition motor (622) is powered by an external power supply. A driving round wheel (623) is sleeved on the top of the output shaft of the transposition motor (622). Guide round wheels (624) are rotatably installed at positions on both sides of the top of the movable adjustment seat (603) corresponding to the driving round wheel (623). The outside of the driving round wheel (623) and the guide round wheel (624) are tightly covered with a driving cable (625). The counterweight rotating rod (618) and the middle of the bottom surface of the supporting cantilever (605) are evenly and evenly fixedly connected with telescopic rollers (626).

5. A surgical manipulator according to claim 4, characterized in that: Transmission oil is contained inside the supporting bottom box (601) and the liquid supply box (610), the outer side of the floating isolation plate (611) is tightly slidably fitted with the inner wall of the liquid supply box (610), and the outer side of the driving counterweight block (613) is tightly fitted with the inner wall of the guide inner frame (614).

6. A surgical manipulator according to claim 4, characterized in that: The inner side of the transposition arc block (617) and the outer side of the circular arc guide rail (606) are tightly slidably fitted, and supporting thin rails are fixedly connected at positions on both sides of the top surface of the counterweight rotating rod (618) corresponding to the bottom surface of the counterweight bottom block (620), and the end of the driving cable (625) is fixedly connected to the two ends of the transposition arc block (617).

7. A surgical manipulator according to claim 1, characterized in that: An outer auxiliary circulation vacuum protection mechanism (7) is arranged on the top of the translational horizontal frame (3), and the outer auxiliary circulation vacuum protection mechanism (7) is used to cover and protect the outer side of the manipulator body (5) and to actively circulate and clean the outer side of the manipulator body (5); The outer auxiliary circulation vacuum protection mechanism (7) comprises a circulation top box (701); A circulation top box (701) is fixedly installed in the middle of the top surface of the translational horizontal frame (3), a circulation fan (702) is embedded in the middle of one end of the circulation top box (701), the circulation fan (702) is powered by an external power supply, an air guide pipe (703) is fixedly connected to the middle of the output end of the circulation fan (702) corresponding to the top position of the circular frame (4), an air distribution ring (704) is fixedly connected to the end of the air guide pipe (703) corresponding to the top surface position of the circular frame (4), and air distribution thin tubes (705) are fixedly connected to the outside of the air distribution ring (704) at equal intervals and uniformly along the circumferential direction; The end of the gas distribution tube (705) is fixedly connected to a gas guide top ring (706) at a position corresponding to the top of the outer side of the manipulator body (5); the bottom side of the gas guide top ring (706) is fixedly connected to a gas guide inner tube (707) at a position corresponding to the outer side of the manipulator body (5); the end of the gas guide inner tube (707) is fixedly connected to a gas guide tail ring (708) at a position corresponding to the bottom of the outer side of the manipulator body (5); the outer side of the manipulator body (5) is covered with a plastic covering cover (709); and elastic rubber rings (710) are bonded to the top and bottom of the plastic covering cover (709); An installation inner frame (711) is embedded and installed at one end of the circulation top box (701) close to the circulation fan (702), and electric heating pipes (712) are evenly installed at equal intervals inside the installation inner frame (711), and the electric heating pipes (712) are powered by an external power supply; An air guide inner box (713) is embedded and installed in the middle of one end of the circulation top box (701), an isolation inner net (714) is embedded and installed at one end of the air guide inner box (713), and sealing side plates (715) are fixedly installed on the top and bottom surfaces of the end of the air guide inner box (713); The middle of the top end and the four corners of the inner bottom of the air guide inner box (713) are fixedly connected to mounting oblique columns (716); a connecting arc plate (717) is fixedly installed on the top end of the mounting oblique columns (716); a telescopic rubber stick (718) is bonded to the bottom end of the connecting arc plate (717); and a sealing gas plate (719) is fixedly connected to the bottom surfaces of a plurality of the telescopic rubber sticks (718).

8. A surgical manipulator according to claim 7, characterized in that: The bottom surface of the gas distribution ring (704) is tightly fitted with the top surface of the connecting circular frame (4); the gas distribution tube (705) and the gas guide inner tube (707) are arranged along the outside of the manipulator body (5); and the outsides of the gas guide top ring (706) and the gas guide tail ring (708) are provided with gas guide slots equidistantly along the circumferential direction.

9. A surgical manipulator according to claim 7, characterized in that: The elastic rubber ring (710) is tightly fitted to the outer side of the robot body (5) after shrinkage, and the length of the plastic covering cover (709) is greater than the extended length of the robot body (5).

10. A surgical manipulator according to claim 7, characterized in that: The ends of the air guide inner box (713) and the isolation inner net (714) are both in communication with the external cavity of the circulation top box (701), and the sealing air plate (719) fits with the top and bottom of the air guide inner box (713).

Images