A surgical robot

Abstract

The present invention discloses a surgical manipulator, which relates to the field of medical device technology, including a mounting circular chassis, a lifting side frame is provided on one side of the top of the mounting circular chassis, a translation cross frame is provided on the top of the lifting side frame, a connecting circular frame is provided on the end of the bottom surface of the translation cross frame, and a manipulator body is evenly and equidistantly installed on the side surface of the connecting circular frame along the circumferential direction. The present invention provides auxiliary support to the movable adjustment seat by supporting the support spring at the bottom of the floating column and the pressure of the transmission oil inside the supporting bottom box, so that when the supporting bottom box shakes with the working environment, the components on the top of the movable adjustment seat can remain 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, improving the safety and convenience of using the surgical manipulator, and helping to promote the development and progress of remote surgery technology.

Description

Technical Field

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

[0002] A surgical robot is a new type of medical device that integrates multiple disciplines. It is an important development direction for the current informatization, programmability, and intelligence of medical devices. It has broad application prospects in clinical minimally invasive surgery, battlefield rescue, earthquake and tsunami disaster relief, etc. Among them, the surgical manipulator is the main component of the surgical robot. To this end, a Chinese patent discloses a high-degree-of-freedom manipulator for vascular surgery, application number 202210000791.2. This patent uses a fourth motor to drive the support frame to rotate, which in turn drives the surgical actuator on the splint to rotate, greatly improving the degree of freedom and reducing the restrictions on the use of the surgical actuator.

[0003] However, due to the lack of corresponding auxiliary balancing structure, 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 when used in a vibrating environment and may experience slight shaking, which in turn reduces the effectiveness of the robot. Summary of the Invention

[0004] 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, resulting in the robot being unable to dynamically adjust according to the environment during use. With the development of remote surgery technology, the robot is easily affected by the external environment when used in a vibrating environment and may shake slightly, thereby reducing the use effect of the robot.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a surgical manipulator, comprising a mounting circular base, a lifting side frame provided on one side of the top of the mounting circular base, a translational horizontal frame provided on the top of the lifting side frame, a connecting circular frame provided on the bottom end of the translational horizontal frame, and a manipulator body provided on the side of the connecting circular frame at equal intervals along the circumferential direction;

[0006] A combined counterweight balance adjustment mechanism is provided on the top of the mounting circular chassis. The combined counterweight balance adjustment mechanism 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;

[0007] The combined counterweight balance adjustment mechanism includes a supporting bottom box;

[0008] A supporting bottom box is installed on the top surface of the mounting circular chassis, 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;

[0009] 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;

[0010] A supporting floating column is inserted into the top 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 end of the liquid supply outer tube.

[0011] According to the above technical solution, the top surface of the buffer rubber ring and the edge of the bottom surface of the movable adjustment seat are tightly slidably fitted, and the top end of the supporting cantilever and the bottom surface of the lifting side frame are fixedly connected.

[0012] According to the above technical solution, the outer side of the support floating column and the side wall of the support bottom box are tightly slidably fitted, and the top surface of the support floating column and the inner wall of the limiting circular groove are tightly slidably fitted, and the bottom end of the support spring is fixedly connected to the inner bottom of the support bottom box.

[0013] According to the above technical solution, a floating isolation plate is slidably connected to the middle part of the inner side of the liquid supply box, and connecting columns are evenly and evenly fixed on the top surface of the floating isolation plate. A driving counterweight block is connected to the outer side of the connecting column at a position corresponding to the top of the floating isolation plate. A guide inner frame is fixedly connected to the inner side of the liquid supply box at a position corresponding to the top of the floating isolation plate. A sealing cover is connected to the top of the liquid supply box. A protective isolation frame is fixedly installed on one side of the supporting bottom box at a position corresponding to the side of the liquid supply box.

[0014] A transposition arc block is slidably sleeved on the outer side of the top of the circular arc guide rail, a counterweight rotary rod is fixedly connected to the middle of one side of the transposition arc block, a telescopic transposition rod is fixedly installed on the middle of the inner side of the top of the counterweight rotary rod, a counterweight bottom block is fixedly connected to the end of the telescopic transposition rod corresponding to the top position of the counterweight rotary rod, and a counterweight flat block is fixedly clamped on the top of the counterweight bottom block;

[0015] A transposition motor is embedded in 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 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 the counterweight rotary rod and the middle of the bottom surface of the supporting cantilever are evenly and fixedly connected with telescopic rollers at equal distances.

[0016] 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.

[0017] 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, and 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 drive cable is fixedly connected to the two ends of the transposition arc block.

[0018] 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;

[0019] The outer auxiliary circulation vacuum protection mechanism includes a circulation top box;

[0020] A circulation top box is fixedly installed in the middle of the top surface of the translational horizontal frame, and 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 position of the top of the circular frame. An air distribution ring is fixedly connected to the end of the air guide pipe corresponding to the position of the top surface of the circular frame. The outer side of the air distribution ring is evenly and evenly fixed with air distribution tubes along the circumferential direction.

[0021] The end of the gas distribution tube is fixedly connected to an air guide top ring at a position corresponding to the top position 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 position 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 ends of the plastic covering cover.

[0022] An inner frame is embedded in one end of the circulation top box near the circulation fan, and electric heating tubes are evenly installed inside the inner frame at equal intervals. The electric heating tubes are powered by an external power supply.

[0023] 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 panels are fixedly installed on the top and bottom surfaces of the end of the air guide inner box;

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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:

[0029] 1. A combined counterweight balance adjustment mechanism is provided. The mutual cooperation between the various components within the combined counterweight balance adjustment mechanism optimizes the use and installation process of the manipulator. Through the split structural design between the support base box and the movable adjustment seat, the movable adjustment seat is auxiliary supported by the support spring at the bottom of the support floating column and the pressure of the transmission oil inside the support base box. As a result, when the support base box shakes with the working environment, the various components on the top of the movable adjustment seat can remain 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 surgical manipulator and helping to promote the development and progress of remote surgery technology.

[0030] At the same time, the splicing structure design of the components inside the liquid supply box and the transposition arc block allows the manipulator equipment to be assembled in a split manner during installation at the workplace. At the same time, since the support base box and the liquid supply box are driven by 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 structure design makes the installation and transportation process of the manipulator faster and more convenient, further improving the use effect of the manipulator.

[0031] 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 center of gravity from changing during the shape transformation of the manipulator body and causing the equipment to tilt, further improving the installation stability and accuracy of the manipulator equipment.

[0032] 2. An external auxiliary circulation vacuum protection mechanism is set up. Through the mutual cooperation between the internal components of the external 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 injury 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 safety of the use of the manipulator equipment and the convenience of cleaning;

[0033] At the same time, through the mutual cooperation between the electric heating tubes and the sealing gas plate inside the circulating top box, 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 tube 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.

[0034] To sum up, the transportation, installation and use process of the manipulator equipment are optimized through the mutual cooperation between the combined counterweight balance adjustment mechanism and the internal components of the outer 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 circulation 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

[0035] 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.

[0036] In the attached figure:

[0037] Figure 1 It is a structural schematic diagram of the present invention;

[0038] Figure 2 This is a structural diagram of the installation of the movable adjustment seat of the present invention;

[0039] Figure 3 This is a structural diagram of the installation of the supporting floating column of the present invention;

[0040] Figure 4 It is a structural schematic diagram of the combined counterweight balance adjustment mechanism of the present invention;

[0041] Figure 5 This is a schematic structural diagram of the installation of the counterweight flat block of the present invention;

[0042] Figure 6 This is a schematic diagram of the structure of the installation of the limiting circular groove of the present invention;

[0043] Figure 7 This is a schematic structural diagram of the installation of the drive counterweight block of the present invention;

[0044] Figure 8 This is a schematic structural diagram of the installation of the circulating top box of the present invention;

[0045] Figure 9 It is a structural schematic diagram of the outer auxiliary circulation vacuum protection mechanism of the present invention;

[0046] Figure 10 This is a schematic structural diagram of the installation of the circulating fan of the present invention;

[0047] Numbers in the figure: 1. Install the circular chassis; 2. Lift the side frame; 3. Transverse frame; 4. Connect the circular frame; 5. Manipulator body;

[0048] 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. Arc guide rail; 607. Support floating column; 608. Support spring; 609. Liquid supply outer tube; 610. Liquid supply 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;

[0049] 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 tube; 706. Air guide top ring; 707. Air guide inner tube; 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 gas plate. DETAILED DESCRIPTION

[0050] The preferred embodiments of the present invention are described below with reference to 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.

[0051] Example: Figure 1-10 As shown, the present invention provides a technical solution, a surgical manipulator, comprising a mounting circular chassis 1, a lifting side frame 2 is provided on one side of the top of the mounting circular chassis 1, a translational horizontal frame 3 is provided on the top of the lifting side frame 2, a connecting circular frame 4 is provided on the bottom end of the translational horizontal frame 3, and a manipulator body 5 is evenly and equidistantly installed on the side of the connecting circular frame 4 along the circumferential direction;

[0052] A combined counterweight balance adjustment mechanism 6 is provided on the top of the mounting circular chassis 1. 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 during use;

[0053] The combined counterweight balance adjustment mechanism 6 includes a support bottom box 601, a buffer rubber ring 602, a movable adjustment seat 603, a limiting circular groove 604, a support cantilever 605, an arc guide rail 606, a support floating column 607, a support spring 608, a liquid supply outer tube 609, a liquid supply 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 circular wheel 623, a guide circular wheel 624, a driving cable 625, and a telescopic roller 626.

[0054] A supporting bottom box 601 is fixedly installed in the middle of the top surface of the circular chassis 1, and 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, and 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;

[0055] A supporting floating column 607 is slidably inserted at the bottom position of the limiting circular groove 604 corresponding to the top of the inner side of the supporting bottom box 601, and a supporting spring 608 is fixedly connected to the middle of the inner top of the supporting floating column 607. A liquid supply outer tube 609 is fixedly connected to the middle of the back side of the supporting 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 supporting floating column 607 is tightly slidably fitted against the side wall of the supporting bottom box 601, and the top surface of the supporting floating column 607 is tightly slidably fitted against the inner wall of the limiting circular groove 604. The bottom end of the supporting spring 608 is fixedly connected to the bottom of the inner side of the supporting bottom box 601.

[0056] A floating isolation plate 611 is slidably connected to the middle of the inner side of the liquid supply box 610. Connecting columns 612 are evenly and evenly fixedly installed on the top surface of the floating isolation plate 611. A driving counterweight 613 is connected to 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 connected to the inner side of the liquid supply box 610 at a position corresponding to the top of the floating isolation plate 611. Transmission oil is contained in both 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 613 is tightly fitted with the inner wall of the guide inner frame 614.

[0057] 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;

[0058] A transposition arc block 617 is slidably sleeved on the outer side of the top of the arc guide rail 606, and 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. The end of the telescopic transposition rod 619 is fixedly connected to the counterweight bottom block 620 at the position corresponding to the top of the counterweight rotating rod 618. A counterweight flat block 621 is fixedly clamped on the top of the counterweight bottom block 620.

[0059] A transposition motor 622 is embedded in 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 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 support cantilever 605 are evenly and evenly fixed with telescopic rollers 626. The inner side of the transposition arc block 617 is tightly slidably fitted with the outer side of the arc guide rail 606. The two sides of the top surface of the counterweight rotating rod 618 are fixedly connected with supporting fine rails corresponding to the bottom surface of the counterweight bottom block 620. The end of the driving cable 625 is connected to the two ends of the transposition arc block 617. The movable adjustment seat 603 is supported by a support spring 608 at the bottom of the floating column 607 and the pressure of the transmission oil inside the support bottom box 601, thereby auxiliary support for the movable adjustment seat 603 is provided. When the support bottom box 601 shakes with the working environment, the components on the top of the movable adjustment seat 603 can remain stable, thereby effectively reducing the impact of vibration in the working environment on the surgical manipulator equipment, allowing the manipulator to be used stably and smoothly, thereby effectively improving the safety and convenience of using the surgical manipulator, and helping to promote the development and progress of remote surgery technology.

[0060] At the same time, the splicing structural design of the components inside the liquid supply box 610 and the transposition arc block 617 allows the manipulator equipment to be assembled in a split manner during installation at the workplace. At the same time, since the support base box 601 and the liquid supply box 610 are driven by transmission fluid, the transportation weight of the manipulator is relatively light, 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.

[0061] At the same time, the center of gravity 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 rotary rod 618, so that the movable adjustment seat 603 can be kept more stable during use, effectively preventing the center of gravity from changing during the shape transformation of the manipulator body 5 and causing the device to tilt, further improving the installation stability and accuracy of the manipulator device;

[0062] An outer auxiliary circulation vacuum protection mechanism 7 is provided on the top of the translation horizontal frame 3. 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.

[0063] 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 tube 705, an air guide top ring 706, an air guide inner 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 pipe 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;

[0064] 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. The middle of the output end of the circulation fan 702 is fixedly connected to an air guide pipe 703 corresponding to the position of the top of the circular frame 4. The end of the air guide pipe 703 is fixedly connected to an air distribution ring 704 corresponding to the position of the top surface 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.

[0065] The end of the gas distribution tube 705 is fixedly connected to the top position of the outer side of the manipulator main body 5 with a gas guide top ring 706, and the bottom side of the gas guide top ring 706 is fixedly connected to the outer side of the manipulator main body 5 with a gas guide inner tube 707. The end of the gas guide inner tube 707 is fixedly connected to the bottom position of the outer side of the manipulator main body 5 with a gas guide tail ring 708. 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 both arranged along the outer side of the manipulator main body 5. 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.

[0066] The outer side of the manipulator body 5 is covered with a plastic cover 709. Elastic rubber rings 710 are bonded to the top and bottom of the plastic cover 709. After the elastic rubber rings 710 shrink, they fit tightly against the outer side of the manipulator body 5. The length of the plastic cover 709 is greater than the extended length of the manipulator body 5.

[0067] An inner frame 711 is embedded in one end of the circulation top box 701 near the circulation fan 702. Electric heating pipes 712 are evenly installed inside the inner frame 711 at equal intervals. The electric heating pipes 712 are powered by an external power supply.

[0068] 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 sealing side plates 715 are fixedly installed on the top and bottom surfaces of the air guide inner box 713;

[0069] The middle 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, and 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 glued with a telescopic glue stick 718, and the bottom surfaces of multiple telescopic glue sticks 718 are fixedly connected with a sealing air 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, and the sealing air plate 719 fits with the top and bottom of the air guide inner box 713. 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 plastic cover 709 tightly covers and protects the manipulator body 5, thereby effectively preventing the blood splashing 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, which can also effectively prevent the plastic cover 709 from slipping during the movement of the manipulator body 5, thereby effectively improving the safety of the manipulator device and the convenience of cleaning.

[0070] At the same time, through the mutual cooperation between the electric heating tube 712 and the sealing gas plate 719 inside the circulation top box 701, 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.

[0071] Working principle and usage process of the present invention: In actual application 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;

[0072] During the installation of the manipulator device, the buffer rubber ring 602 on the top of the support base box 601 is used to assist in supporting and limiting the movable adjustment seat 603. Then, the movable adjustment seat 603 is limited by the cooperation between the limiting circular groove 604 and the supporting floating column 607. 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.

[0073] When the movable adjustment seat 603 needs to be in a suspended state, the liquid supply box 610 and the inner cavity of the support bottom box 601 are connected to each other through the liquid supply outer tube 609, and then a suitable 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 interior of the support bottom box 601 through the weight of the floating isolation plate 611 and the driving counterweight blocks 613, and as the internal pressure of 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;

[0074] When the mounting circular base 1 at the bottom of the manipulator is affected by the environment and shakes, the mounting circular base 1 will vibrate and shake. During the shaking process of the mounting circular base 1 and the supporting bottom box 601, the supporting floating column 607 is used to extend and retract to keep the movable adjustment seat 603 balanced, thereby ensuring that the movable adjustment seat 603 and the components thereon can remain continuously stable.

[0075] 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. In the process of the movement of the driving cable 625, the transposition arc block 617 is driven to move, and the circular arc guide rail 606 guides the transposition arc block 617 during the movement so that the transposition arc block 617 will not deviate during the movement. In the process of the rotation of the transposition arc block 617, the counterweight rotating rod 618 and the components thereon are synchronously driven to rotate.

[0076] During the rotation of the counterweight rotating rod 618, the telescopic shifting rod 619 drives the counterweight bottom block 620 and the counterweight flat block 621 to slide along the top surface of the counterweight rotating rod 618. The rotation and movement of the counterweight flat block 621 adjusts the center of gravity of the movable adjustment seat 603 to ensure that the movable adjustment seat 603 remains balanced during use. The protective isolation frame 616 protects the sides of the liquid supply box 610 to prevent the liquid supply box 610 from being damaged by collision.

[0077] 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 by 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 conjunction 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;

[0078] 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 pipe 712, and then the hot air flow inside the circulation top box 701 is introduced into the inside of the air guide main pipe 703 through the circulation fan 702, and the hot air flow is introduced into the inside of the plastic covering cover 709 through the air guide top ring 706 and the air guide tail ring 708. Then, the hot air flow is used to sterilize the outside of the manipulator body 5 at high temperature to improve the cleanliness of the outside of the manipulator body 5;

[0079] When the airflow flows 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 causes the sealing air plate 719 located on the top of the air guide inner box 713 to rise upward under the action of the external pressure to overcome the pressure of the telescopic rubber rod 718, so that the external airflow can enter the interior of the circulation top box 701;

[0080] And when it is necessary to discharge the airflow inside the circulating top box 701, the circulating fan 702 generates pressure inside the circulating top box 701, 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, thereby allowing the high-pressure airflow inside the circulating top box 701 to enter the air guide inner box 713 and be 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.

[0081] Finally, it should be noted that the above description is merely a preferred embodiment 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 will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A surgical manipulator comprising a mounting circular chassis (1), characterized in that: A lifting side frame (2) is provided on one side of the top of the mounting circular chassis (1), a translational horizontal frame (3) is provided on the top of the lifting side frame (2), a connecting circular frame (4) is provided at the bottom end of the translational horizontal frame (3), and a manipulator body (5) is evenly and equidistantly installed on the side of the connecting circular frame (4) along the circumferential direction; A combined counterweight balance adjustment mechanism (6) is provided 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 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 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), an arc guide rail (606) is fixedly installed on the edge of the top surface of the movable adjustment seat (603), and the top end of the supporting cantilever (605) is fixedly connected to the bottom surface of the lifting side frame (2); 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 end of the liquid supply outer tube (609) is fixedly connected to a liquid supply square box (610). The bottom end of the supporting spring (608) is fixedly connected to the bottom of the inner side of the supporting bottom box (601). The outer side of the supporting floating column (607) is tightly slidably fitted with the side wall of the supporting bottom box (601), and the top surface of the supporting floating column (607) is tightly slidably fitted with the inner wall of the limiting circular groove (604); 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).

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.

3. A surgical manipulator according to claim 1, characterized in that: A floating isolation plate (611) is slidably engaged with the middle portion of the inner side of the liquid supply box (610), a connecting column (612) is evenly and evenly fixedly mounted on the top surface of the floating isolation plate (611), a driving counterweight (613) is engaged with 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 engaged with the inner side of the liquid supply box (610) at a position corresponding to the top of the floating isolation plate (611), a sealing cover (615) is engaged with the inner top of the liquid supply box (610), and a protective isolation frame (616) is fixedly mounted on one side of the supporting bottom box (601) at a position corresponding to the side of the liquid supply box (610); 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). The outer side of the floating isolation plate (611) is tightly slidably fitted to the inner wall of the liquid supply box (610), and the end of the driving cable (625) is fixedly connected to the two ends of the transposition arc block (617).

4. A surgical manipulator according to claim 3, characterized in that: Transmission oil is contained inside the supporting bottom box (601) and the liquid supply box (610), and the outer side of the driving counterweight (613) is tightly fitted to the inner wall of the guide inner frame (614).

5. A surgical manipulator according to claim 3, 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).

6. A surgical manipulator according to claim 1, characterized in that: An outer auxiliary circulation vacuum protection mechanism (7) is provided on the top of the translation 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 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 fixedly connected with air distribution tubes (705) at equal intervals 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), and a gas guide inner tube (707) is fixedly connected to a side of the bottom of the gas distribution tube (705) 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 inner mounting frame (711) is embedded and mounted at one end of the circulation top box (701) close to the circulation fan (702), and electric heating pipes (712) are evenly and equidistantly mounted inside the inner mounting frame (711), and 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 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 portion of the top and the four corners of the inner bottom of the air guide inner box (713) are fixedly connected to mounting oblique columns (716), the top end of the mounting oblique columns (716) is fixedly mounted with a connecting arc plate (717), the bottom end of the connecting arc plate (717) is bonded with a telescopic rubber stick (718), and the bottom surfaces of the plurality of telescopic rubber sticks (718) are fixedly connected to a sealing air plate (719).

7. A surgical manipulator according to claim 6, 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 both provided with gas guide slots equidistantly along the circumferential direction.

8. The surgical manipulator according to claim 6, characterized in that: After shrinking, the elastic rubber ring (710) is tightly fitted to the outer side of the manipulator body (5), and the length of the plastic covering cover (709) is greater than the extended length of the manipulator body (5).

9. The surgical manipulator according to claim 6, 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 in with the top and bottom of the air guide inner box (713).

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