Supporting device and surgical robot

Abstract

The invention belongs to the technical field of medical instruments, and provides a supporting device and a surgical robot, the surgical robot comprises the supporting device, the supporting device comprises a base, a sliding block, a telescopic mechanism, a supporting rod and an auxiliary rod, and the sliding block is slidably connected to the base in the first direction; the telescopic mechanism comprises an outer rod with a first end and a second end, an inner rod movably connected with the outer rod in a sleeving mode and a transmission assembly in transmission connection with the inner rod, the first end is rotationally connected with the sliding block, and the two ends of the supporting rod are rotationally connected with the base and the outer rod correspondingly, so that when the sliding block moves in the first direction or the second direction opposite to the first direction, the supporting rod can rotate; the auxiliary rod can drive the outer rod to be unfolded or folded relative to the base, and the two ends of the auxiliary rod are rotationally connected with the base and the transmission assembly correspondingly so as to drive the inner rod to stretch out of the second end when the outer rod is unfolded and drive the inner rod to retract from the second end when the outer rod is folded. The telescopic mechanism can be in the folded state and the shortened state at the same time, and storage and transportation are convenient.

Description

Technical Field

[0001] The present application belongs to the technical field of medical devices, and more specifically, to a support device and a surgical robot. Background Art

[0002] A surgical robot is an automated device that can mimic the surgical movements of a surgeon and can provide precise, stable and flexible operations during surgery. Surgical robots generally need to be equipped with positioning detection equipment to obtain the target position and the position of surgical instruments to ensure the smooth progress of the operation. For example, in a stereotactic surgical robot for neurosurgery, during surgery, the patient is fixed on the operating table by a head frame, and the support arm extends from the surgical cart and is supported on the head frame. The position of the patient's head, head frame, and support arm remains stationary and unchanged. The optical tracking device (Optical Tracking System, referred to as OTS) obtains the three-dimensional coordinates of specific markers. Before the operation, several markers will be pasted on the patient's head to form a marker array, and then computed tomography (CT) will be performed. During the operation, after the patient is fixed, the head frame and the end of the robotic arm used to connect the surgical instruments will also be installed with a marker array. OTS obtains the coordinates of these markers, converts the patient and the end of the robotic arm to the OTS's own coordinate system, and matches it with the patient's CT image file. After that, the doctor specifies any position on the CT image, and the robotic arm can transport the surgical instrument to the position specified by the doctor. After installing the marker point array on the surgical instrument, OTS can know the position of the surgical instrument and can also synchronously display the position of the surgical instrument in real time on the CT image.

[0003] At present, the positioning detection equipment is generally fixed on the table by a supporting device, so that the detection range of the positioning detection equipment is related to the supporting length of the supporting device. Within the preset range, the longer the supporting length of the supporting device, the wider the detection range. However, when the supporting length is long, it takes up a large space and is not convenient for transportation. For example, OTS is generally directly installed on the cart table through a connecting rod to form an integrated cart, which is easy to push. Within a certain range, the longer the connecting rod, the better the OTS field of view. The better the OTS field of view, the more conducive to surgical accuracy. However, the OTS connecting rod is long, which is not conducive to the surgical cart entering and exiting the door, such as the operating room door, elevator door, etc., and will also increase the transportation cost of the surgical cart. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a supporting device and a surgical robot to solve the technical problems in the prior art that the supporting device for supporting positioning detection equipment has an excessively long supporting length, occupies a large space, and is inconvenient to transport.

[0005] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide a supporting device, including: a base, a slider, a telescopic mechanism, a support rod and an auxiliary rod, the slider being slidably connected to the base along a first direction; the telescopic mechanism including an outer rod having a first end and a second end, an inner rod movably sleeved with the outer rod, and a transmission assembly transmission-connected to the inner rod, the first end being rotatably connected to the slider, the two ends of the support rod being rotatably connected to the base and the outer rod respectively, so that when the slider moves along the first direction or a second direction opposite to the first direction, the outer rod can be driven to expand or fold relative to the base, the two ends of the auxiliary rod are respectively rotatably connected to the base and the transmission assembly, so that when the outer rod is expanded, the inner rod can be driven to extend from the second end, and when the outer rod is folded, the inner rod can be driven to retract from the second end.

[0006] The beneficial effect of the support device provided by the present application is that, compared with the prior art, the end of the inner rod of the support device of the present application away from the base is used to connect the positioning detection equipment, and when the slider moves along the first direction or the second direction, the outer rod is driven to unfold or fold relative to the base, and when the outer rod is unfolded, the inner rod is driven to extend from the second end to extend the telescopic mechanism, and when the outer rod is folded, the inner rod is driven to retract from the second end to shorten the telescopic mechanism. In this way, the telescopic mechanism is in an unfolded state and an extended state at the same time. At this time, the positioning detection equipment can perform positioning detection with a better field of view, which is beneficial to improving the surgical accuracy. The telescopic mechanism is in a folded state and a shortened state at the same time, which effectively reduces the space occupied by the support device and facilitates storage and transportation.

[0007] Optionally, the supporting device further includes a driving member, wherein the driving member is connected to the base and to the slider, and is used to drive the slider to move along the first direction or the second direction.

[0008] Optionally, the driving member includes a threaded rod extending along the first direction, the threaded rod passes through the slider and is threadably connected to the slider.

[0009] Optionally, the driving member further includes a crank connected to one end of the threaded rod.

[0010] Optionally, a guide groove extending along the first direction is formed on the base, the sliding block is slidably disposed in the guide groove, and the threaded rod is penetrated through the guide groove along the first direction.

[0011] Optionally, the transmission assembly includes a transmission rod rotatably connected to the outer rod and a movable block sleeved on the transmission rod, the transmission rod is transmission-connected to the inner rod, and one end of the auxiliary rod is rotatably connected to the movable block, so that when the auxiliary rod drives the movable block to move along the axial direction of the transmission rod, the movable block can drive the transmission rod to rotate around its own axis, and then drive the inner rod to perform telescopic movement through the transmission rod.

[0012] Optionally, the outer rod is provided with a first active cavity for the inner rod to pass through and a first avoidance channel for the auxiliary rod to pass through, the inner rod is provided with a second active cavity for the transmission rod to pass through and a second avoidance channel for the auxiliary rod to pass through, the movable block can move in the second active cavity, and the second avoidance channel is connected with the first avoidance channel and the second active cavity.

[0013] Optionally, the transmission rod is a ball screw, and the movable block is a ball nut adapted to the ball screw.

[0014] Optionally, the transmission assembly also includes a first bevel gear sleeved on the transmission rod, a second bevel gear meshing with the first bevel gear, a cylindrical gear coaxially connected to the second bevel gear, and a rack meshing with the cylindrical gear, wherein the rack is connected to the inner rod.

[0015] The present application also provides a surgical robot, comprising a trolley, a positioning detection device and a supporting device as described in any one of the above items, wherein the base of the supporting device is fixed on the trolley, and the positioning detection device is connected to the inner rod of the supporting device.

[0016] The beneficial effect of the surgical robot provided by the present application is that compared with the prior art, the surgical robot of the present application adopts the above-mentioned supporting device, and the end of the inner rod of the supporting device away from the base is used to connect the positioning detection equipment, and when the slider moves along the first direction or the second direction, it drives the outer rod to perform an unfolding action or a folding action relative to the base, and when the outer rod is unfolded, it drives the inner rod to extend the outer rod from the second end, so that the telescopic mechanism is extended, and when the outer rod is folded, it drives the inner rod to retract from the second end, so that the telescopic mechanism is shortened. In this way, the telescopic mechanism is in an unfolded state and an extended state at the same time. At this time, the positioning detection equipment can perform positioning detection with a better field of view, which is beneficial to improving the surgical accuracy. The telescopic mechanism is in a shortened state and a folded state at the same time, which effectively reduces the space occupied by the supporting device and facilitates storage and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 Schematic diagram of the three-dimensional structure of the surgical robot provided in the embodiment of the present application Figure 1 , wherein the telescopic mechanism is in an extended state;

[0019] Figure 2 Schematic diagram of the three-dimensional structure of the surgical robot provided in the embodiment of the present application Figure 2 , wherein the telescopic mechanism is in a folded state;

[0020] Figure 3 Schematic diagram of the three-dimensional structure of the support device provided in the embodiment of the present application Figure 1 , wherein the telescopic mechanism is in an extended state;

[0021] Figure 4 Schematic diagram of the three-dimensional structure of the support device provided in the embodiment of the present application Figure 2 , wherein the telescopic mechanism is in a folded state;

[0022] Figure 5 A schematic diagram of the three-dimensional structure of a slider provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of a vertical cross-sectional structure of a support device provided in an embodiment of the present application, wherein the telescopic mechanism is in a folded state;

[0024] Figure 7 A schematic diagram of the three-dimensional structure of a transmission assembly provided in an embodiment of the present application;

[0025] Figure 8 A schematic diagram of the three-dimensional structure of the outer rod provided in an embodiment of the present application;

[0026] Fig. 9 This is a schematic diagram of the three-dimensional structure of the inner rod provided in an embodiment of the present application.

[0027] Among them, the reference numerals in the figure are:

[0028] 10. base; 11. guide groove; 12. limit stopper; 20. slider; 21. groove; 22. threaded hole; 30. telescopic mechanism; 31. outer rod; 311. first end; 312. second end; 313. protrusion; 314. first movable cavity; 315. first avoidance channel; 32. inner rod; 321. second movable cavity; 322. second avoidance channel; 323. make way channel; 33. transmission assembly; 331. transmission rod; 332. movable block; 333. first bevel gear; 334. second bevel gear; 335. cylindrical gear; 336. rack; 40. support rod; 50. auxiliary rod; 60. driving member; 61. threaded rod; 62. crank; F1. first direction; F2. second direction; 100. support device; 200. positioning detection equipment; 300. cart; 400. robotic arm. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0031] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0033] Please also read Figures 1 to 9Now, the supporting device provided in the embodiment of the present application is described. The supporting device is mainly used on a surgical robot to support the positioning detection device 200. Of course, it can also be used on other devices.

[0034] The supporting device comprises: a base 10, a slider 20, a telescopic mechanism 30, a support rod 40 and an auxiliary rod 50, wherein the slider 20 is slidably connected to the base 10 along a first direction F1; the telescopic mechanism 30 comprises an outer rod 31 having a first end 311 and a second end 312, an inner rod 32 movably sleeved with the outer rod 31, and a transmission assembly 33 transmission-connected with the inner rod 32, wherein the first end 311 is rotationally connected to the slider 20, and the two ends of the support rod 40 are rotationally connected to the base 10 and the outer rod 31 respectively, so that when the slider 20 moves along the first direction F1 or a second direction F2 opposite to the first direction F1, the outer rod 31 can be driven to be unfolded or folded relative to the base 10, and the two ends of the auxiliary rod 50 are rotationally connected to the base 10 and the transmission assembly 33 respectively, so that when the outer rod 31 is unfolded, the inner rod 32 is driven to extend from the second end 312, and when the outer rod 31 is folded, the inner rod 32 is driven to retract from the second end 312.

[0035] For ease of understanding, in the embodiment of the present application, the first direction F1 may be a direction extending from one end of the base 10 to the other end opposite to the base 10, and the second direction F2 is parallel to and opposite to the first direction F1. The first direction F1 may be a straight line direction parallel to the horizontal plane, or a straight line direction inclined relative to the horizontal plane. Specifically in the present embodiment, the first direction F1 is a direction in which the base 10 extends from left to right, and the second direction F2 is a direction in which the base 10 extends from right to left.

[0036] The base 10 is used to be fixed on a table, for example, the base 10 can be fixed on the table of the surgical robot's cart 300, so as to fix the entire support device 100 on the surgical robot's cart 300, so that the entire support device 100 can move with the cart 300, such as Figure 1 and Figure 2 .

[0037] Optionally, the base 10 is in a strip shape with a length extending along the first direction F1 , such as a rectangular column shape, etc., which can reduce the space occupied by the base 10 .

[0038] See also Figure 3 and Figure 4 The slider 20 is slidably connected to the base 10 along the first direction F1, so that the slider 20 can move relative to the base 10 along the first direction F1 or the second direction F2.

[0039] Optionally, one end of the support rod 40 is rotatably connected to the base 10, and the other end of the support rod 40 is rotatably connected to the middle of the outer rod 31 or a position close to the middle. When the slider 20 drives the first end 311 of the outer rod 31 to move along the first direction F1, the outer rod 31 as a whole cannot move along the first direction F1 with the slider 20 due to the restriction of the support rod 40, so that the outer rod 31 rotates counterclockwise around the slider 20, so that the outer rod 31 gradually unfolds relative to the base 10. Similarly, when the slider 20 drives the first end 311 of the outer rod 31 to move along the second direction F2, the outer rod 31 rotates clockwise around the slider 20, so that the outer rod 31 gradually folds relative to the base 10.

[0040] One end of the inner rod 32 away from the base 10 is used to connect to the positioning detection device 200. For example, for a stereotactic surgical robot for neurosurgery, the positioning detection device 200 may be an optical tracking device or a laser tracking device.

[0041] The length direction of the inner rod 32 is consistent with the length direction of the outer rod 31, and because the inner rod 32 and the outer rod 31 are movably connected, when the inner rod 32 extends from the second end 312, the overall length of the telescopic mechanism 30 is extended, and when the inner rod 32 retracts from the second end 312, the overall length of the telescopic mechanism 30 is shortened.

[0042] It should be noted that, when the outer rod 31 is unfolded, driving the inner rod 32 to extend from the second end 312 may refer to gradually driving the inner rod 32 to extend from the second end 312 during the unfolding process of the outer rod 31 relative to the base 10, so that the telescopic mechanism 30 gradually extends, or it may refer to instantaneously driving the inner rod 32 to extend from the second end 312 when the outer rod 31 is unfolded to a preset position, for example, when the outer rod 31 is fully unfolded. Similarly, when the outer rod 31 is folded, driving the inner rod 32 to retract from the second end 312 may refer to gradually driving the inner rod 32 to retract from the second end 312 during the folding process of the outer rod 31 relative to the base 10, so that the telescopic mechanism 30 gradually shortens, or it may refer to instantaneously driving the inner rod 32 to retract from the second end 312 when the outer rod 31 is folded to a preset position, for example, when the outer rod 31 is out of a fully unfolded state.

[0043] Compared with the prior art, the support device 100 provided by the present application is characterized in that the end of the inner rod 32 of the support device 100 of the present application away from the base 10 is used to connect the positioning detection device 200, and when the slider 20 moves along the first direction F1 or the second direction F2, the outer rod 31 is driven to unfold or fold relative to the base 10, and when the outer rod 31 is unfolded, the inner rod 32 is driven to extend from the second end 312 of the outer rod 31, so that the telescopic mechanism 30 is extended, and when the outer rod 31 is folded, the inner rod 32 is driven to retract from the second end 312, so that the telescopic mechanism 30 is shortened. In this way, the telescopic mechanism 30 is in an unfolded state and an extended state at the same time. At this time, the positioning detection device 200 can perform positioning detection with a better field of view, which is beneficial to improving the surgical accuracy. The telescopic mechanism 30 is in a shortened state and a folded state at the same time, which effectively reduces the space occupied by the support device 100 and facilitates storage and transportation, for example, it is convenient for the surgical robot to easily enter and exit the operating room, elevator door, etc.

[0044] In some embodiments of this application, please refer to Figure 4 and Figure 5 The first end 311 is rotatably connected to the slider 20 via an axis. Optionally, the slider 20 is provided with a groove 21, and the first end 311 is provided with a protrusion 313, which is inserted into the groove 21, and then the axis is passed through the slider 20 and the protrusion 313, so that the protrusion 313 is rotatably connected to the slider 20.

[0045] In some embodiments of this application, please refer to Figure 3 and Figure 4 The supporting device 100 further includes a driving member 60, which is connected to the base 10 and the slider 20, and is used to drive the slider 20 to move along the first direction F1 or the second direction F2. In this way, the slider 20 is driven by the driving member 60 to move along the first direction F1 or the second direction F2, which is convenient for operation.

[0046] In some embodiments of the present application, the driving member 60 includes a threaded rod 61 extending along the first direction F1 , and the threaded rod 61 passes through the slider 20 and is threadedly connected to the slider 20 .

[0047] Specifically, the slider 20 is provided with a threaded hole 22. Figure 5 The threaded rod 61 is passed through the threaded hole 22 and is threadedly connected with the threaded hole 22, so that when the threaded rod 61 rotates, it can drive the slider 20 to move along the first direction F1 or the second direction F2.

[0048] The above technical solution, by threading the threaded rod 61 and the slider 20 together, and by rotating the threaded rod 61 to drive the slider 20 to move in the first direction F1 or the second direction F2, is conducive to achieving the purpose of saving effort, and can only convert the rotational movement of the threaded rod 61 into the linear movement of the slider 20, and cannot convert the linear movement of the slider 20 into the rotational movement of the threaded rod 61, and can only perform unidirectional movement. In this way, when the threaded rod 61 is not rotated, it is impossible to push the slider 20 to move in the first direction F1 or the second direction F2 to achieve a self-locking function, so that the telescopic mechanism 30 can be stably in the preset expansion state, effectively ensuring the reliability of the positioning detection equipment 200.

[0049] Of course, in some embodiments, a brake structure may be provided on the threaded rod 61 so that the threaded rod 61 can rotate only when the brake structure is in an unlocked state.

[0050] In some embodiments of this application, please refer to Figure 3 The base 10 is provided with a limit stopper 12, which is used to limit the degree of expansion of the outer rod 31. For example, when the slider 20 moves along the first direction F1, when the slider 20 abuts against the limit stopper 12, the outer rod 31 is just in a vertical state, that is, the length direction of the outer rod 31 is perpendicular to the first direction F1. It can be understood that when the slider 20 moves along the first direction F1 to drive the outer rod 31 to gradually expand, when the outer rod 31 is in a vertical state, the slider 20 is limited by the limit stopper 12 to continue to move along the first direction F1, so that the outer rod 31 can be more accurately expanded to the vertical state.

[0051] In some embodiments of the present application, the driving member 60 further includes a crank handle 62 connected to one end of the threaded rod 61 .

[0052] By connecting the crank handle 62 to one end of the threaded rod 61, the user can hold the crank handle 62 and turn the crank handle 62 to drive the threaded rod 61 to rotate, which is conducive to improving the convenience of operation. The threaded rod 61 can be rotated by operating the crank handle 62, which has a simple structure, low cost, light weight, small size, and small space occupation.

[0053] Of course, in some other embodiments, the driving member 60 further includes a rotary driver connected to one end of the threaded rod 61, and the rotary driver automatically drives the threaded rod 61 to rotate instead of the crank 62, which has a high degree of automation and is more labor-saving. Optionally, the rotary driver can be, but is not limited to, a motor, a rotary cylinder, etc.

[0054] It should be noted that when a rotary drive is used to drive the threaded rod 61 to rotate, limit switches can be set at opposite ends of the base 10 to control the unfolding and folding positions of the outer rod 31. For example, the rotary drive is a motor, one limit switch is set on the limit stopper 12, and the other limit switch is set on the left end of the base 10. The motor rotates clockwise to move the slider 20 to the right to drive the outer rod 31 to gradually unfold, that is, the outer rod 31 slowly stands up, and when the slider 20 triggers the limit switch on the limit stopper 12, the motor stops rotating. Similarly, the motor rotates counterclockwise to move the slider 20 to the left to drive the outer rod 31 to gradually fold, that is, the outer rod 31 slowly falls down, and when the slider 20 triggers the limit switch on the left end of the base 10, the motor stops rotating. At this time, the outer rod 31 is in a completely fallen state, that is, the outer rod 31 is in a completely folded state.

[0055] In some embodiments of the present application, a guide groove 11 extending along the first direction F1 is formed on the base 10, the slider 20 is slidably disposed in the guide groove 11, and the threaded rod 61 passes through the guide groove 11 along the first direction F1.

[0056] In the above technical solution, the slider 20 is slidably arranged in the guide groove 11, so that the slider 20 moves in the guide groove 11 along the first direction F1 or the second direction F2, effectively ensuring the stability of the movement of the slider 20, and the threaded rod 61 is penetrated in the guide groove 11 along the first direction F1, which is equivalent to at least part of the slider 20 and the threaded rod 61 being arranged in the base 10, making the structure more compact and effectively reducing the overall volume of the supporting device 100.

[0057] There are two support rods 40 , and the two support rods 40 are respectively located on two opposite sides of the outer rod 31 .

[0058] Specifically, the two support rods 40 are symmetrically arranged about the central axis of the outer rod 31 , one end of the support rod 40 is rotatably connected to one end of the base 10 , and the other end of the support rod 40 is rotatably connected to the outer side surface of the outer rod 31 .

[0059] The above technical solution, by providing two support rods 40 to assist the outer rod 31 in unfolding and folding movements, effectively ensures the stability of the movement of the outer rod 31.

[0060] In some embodiments of this application, please refer to Figure 6 and Figure 7The transmission assembly 33 includes a transmission rod 331 rotatably connected to the outer rod 31 and a movable block 332 sleeved on the transmission rod 331. The transmission rod 331 is transmission-connected to the inner rod 32. One end of the auxiliary rod 50 is rotatably connected to the movable block 332, so that when the auxiliary rod 50 drives the movable block 332 to move along the axial direction of the transmission rod 331, the movable block 332 can drive the transmission rod 331 to rotate around its own axis, and then drive the inner rod 32 to perform telescopic movement through the transmission rod 331.

[0061] Specifically, one end of the transmission rod 331 is coaxially rotatably connected to the first end 311 via a bearing, so that the transmission rod 331 can rotate around its own axis. Among them, one end of the transmission rod 331 is coaxially rotatably connected to the first end 311 via a bearing means that the transmission rod 331, the bearing and the outer rod 31 are coaxially arranged, and one end of the transmission rod 331 is connected to the first end 311 of the outer rod 331 via a bearing, so that the transmission rod 331 can rotate around its own axis relative to the outer rod 31.

[0062] The length direction of the transmission rod 331 is consistent with the length direction of the outer rod 31. Since one end of the auxiliary rod 50 is rotatably connected to the base 10, and the other end of the auxiliary rod 50 is rotatably connected to the movable block 332, when the outer rod 31 rotates around the slider 20, the auxiliary rod 50 is driven to rotate around the fulcrum where the auxiliary rod 50 is rotatably connected to the base 10. When the auxiliary rod 50 rotates, the movable block 332 is driven to move along the axial direction of the transmission rod 331. When the movable block 332 moves along the axial direction of the transmission rod 331, the transmission rod 331 is driven to rotate around its own axis. When the transmission rod 331 rotates, the inner rod 32 is driven to extend or shorten relative to the outer rod 31.

[0063] In some embodiments of this application, please refer to Figure 6 and Figure 8 The outer rod 31 is provided with a first movable cavity 314 for the inner rod 32 to pass through and a first avoidance channel 315 for the auxiliary rod 50 to pass through.

[0064] See also Figure 6 and Fig. 9 The inner rod 32 is provided with a second active cavity 321 for the transmission rod 331 to pass through and a second avoidance channel 322 for the auxiliary rod 50 to pass through. The movable block 332 can move in the second active cavity 321, and the second avoidance channel 322 is connected with the first avoidance channel 315 and the second active cavity 321.

[0065] The length of the first movable cavity 314 extends along the length direction of the outer rod 31, and the first movable cavity 314 penetrates the second end 312, so that the inner rod 32 can enter and exit the movable cavity by passing through the second end 312. The length of the second movable cavity 321 extends along the length direction of the inner rod 32, and the second movable cavity 321 penetrates the end of the inner rod 32 close to the first end 311, and is connected with the first movable cavity 314. The transmission rod 331 is located in the second movable cavity 321, and one end of the transmission rod 331 passes through the end of the inner rod 32 close to the first end 311 and is coaxially rotatably connected with the first end 311, and the movable block 332 can move between the first movable cavity 314 and the second movable cavity 321 along the axial direction of the transmission rod 331. The transmission assembly 33 is arranged in the second movable cavity 321. One end of the auxiliary rod 50 extends into the second movable cavity 321 by passing through the first avoidance channel 315 and the second avoidance channel 322, and is connected with the movable block 332. By arranging the transmission assembly 33 inside the inner rod 32 , the structure is made more compact and the volume of the telescopic mechanism 30 is reduced.

[0066] Optionally, the number of auxiliary rods 50 is two, and the two auxiliary rods 50 are arranged at relative intervals. The number of the first avoidance channels 315 and the second avoidance channels 322 is also two. The two first avoidance channels 315 are arranged at relative intervals, and the two second avoidance channels 322 are arranged at relative intervals, and the two second avoidance channels 322 are respectively connected to the two first avoidance channels 315 in a one-to-one correspondence, and one end of the two auxiliary rods 50 respectively passes through the corresponding first avoidance channels 315 and the second avoidance channels 322 and are rotatably connected to the opposite sides of the movable block 332.

[0067] In some embodiments of the present application, the transmission rod 331 is a ball screw, and the movable block 332 is a ball nut adapted to the ball screw.

[0068] The ball nut and the ball screw can cooperate to convert the linear motion of the movable block 332 into the rotational motion of the transmission rod 331 , which has a simple structure and low production cost.

[0069] In some embodiments of this application, please refer to Figure 6 and Figure 7 The transmission assembly 33 also includes a first bevel gear 333 sleeved on the transmission rod 331, a second bevel gear 334 meshing with the first bevel gear 333, a cylindrical gear 335 coaxially connected to the second bevel gear 334, and a rack 336 meshing with the cylindrical gear 335, and the rack 336 is connected to the inner rod 32.

[0070] Specifically, the first bevel gear 333, the second bevel gear 334, the cylindrical gear 335 and the rack 336 are all arranged in the second movable cavity 321, and the first bevel gear 333 is arranged at one end of the transmission rod 331 close to the second end 312, and is coaxially arranged with the transmission rod 331, the axial direction of the second bevel gear 334 is arranged perpendicular to the axial direction of the first bevel gear 333, when the transmission rod 331 rotates, it drives the first bevel gear 333 to rotate synchronously, the first bevel gear 333 drives the second bevel gear 334 to rotate, the second bevel gear 334 drives the cylindrical gear 335 to rotate, the cylindrical gear 335 drives the rack 336 to move along the axial direction of the transmission rod 331, the rack 336 is connected to the cavity wall of the second movable cavity 321, and the rack 336 drives the inner rod 32 to telescopic movement relative to the outer rod 31.

[0071] Optionally, the cylindrical gear 335 is rotatably connected to the cavity wall of the first active cavity 314 via a rotating shaft, and a clearance channel 323 for the rotating shaft to pass through is provided on the inner rod 32, and the clearance channel 323 extends along the axial direction of the inner rod 32, such as Figure 3 .

[0072] It should be noted that, in some embodiments, the transmission rod 331 can also be threadedly connected with the inner rod 32, and the transmission rod 331 is rotated to drive the inner rod 32 to move along the axial direction of the transmission rod 331, so that the inner rod 32 performs telescopic movement relative to the outer rod 31. Optionally, the transmission rod 331 includes a first connecting section and a second connecting section, and the movable block 332 is movably sleeved on the first connecting section and is transmission-coordinated with the first connecting section, so that when the first connecting section moves along the axial direction of the transmission rod 331, the movable block 332 can drive the first connecting section to rotate, that is, the transmission rod 331 rotates, the second connecting section is provided with an external thread, the inner rod 32 is a hollow structure, the inner wall of the inner rod 32 is provided with an internal thread, the inner rod 32 is sleeved on the second connecting section, and the internal thread of the inner rod 32 is threadedly connected with the external thread of the second connecting section, so that when the transmission rod 331 rotates, the second connecting section drives the inner rod 32 to move along the axial direction of the transmission rod 331, that is, the inner rod 32 performs telescopic movement relative to the outer rod 31.

[0073] In other embodiments, the cooperation between the first bevel gear 333 and the second bevel gear 334 can also be replaced by a worm gear. Optionally, the transmission rod 331 has a worm gear section, the worm gear section cooperates with the worm gear, the worm gear is coaxially connected with the cylindrical gear 335, the cylindrical gear 335 is meshed with the rack 336, the rack 336 is connected with the inner rod 32, when the transmission rod 331 rotates, the worm gear section drives the worm gear to rotate, and the cylindrical gear 335 drives the rack 336 to move along the axial direction of the transmission rod 331 when it rotates synchronously with the worm gear, and the rack 336 drives the inner rod 32 to telescopically move relative to the outer rod 31.

[0074] The specific working principle of the supporting device 100 provided in the embodiment of the present application is exemplarily described as follows:

[0075] See also Figure 3 and Figure 7 When the crank 62 is turned clockwise, the crank 62 drives the slider 20 to move in the first direction F1 through the threaded rod 61, that is, the slider 20 moves to the right, and the outer rod 31 is driven to gradually expand relative to the base 10 under the cooperation of the slider 20 and the support rod 40, that is, the outer rod 31 slowly stands up. In the process of the outer rod 31 slowly standing up, the auxiliary rod 50 drives the movable block 332 to move along the axial direction of the transmission rod 331 toward the slider 20, that is, the movable block 332 moves downward, and the movable block 332 drives the transmission rod 33 The transmission rod 331 rotates counterclockwise, and the transmission rod 331 drives the rack 336 to move in the direction away from the slider 20 along the axial direction of the transmission rod 331 through the first bevel gear 333, the second bevel gear 334 and the cylindrical gear 335, that is, the rack 336 moves upward. Since the rack 336 is fixedly connected to the inner rod 32, when the rack 336 moves upward, it drives the inner rod 32 to gradually extend from the second end 312, so that the telescopic mechanism 30 is extended. When the outer rod 31 is unfolded to a vertical state, the telescopic mechanism 30 is extended to the longest state.

[0076] See also Figure 4 , Figure 6 and Figure 7 , Similarly, when the crank handle 62 is rotated counterclockwise, the crank handle 62 drives the slider 20 to move in the second direction F2 through the threaded rod 61, that is, the slider 20 moves to the left, and the outer rod 31 is gradually folded relative to the base 10 under the cooperation of the slider 20 and the support rod 40, that is, the outer rod 31 slowly falls down. During the slow falling of the outer rod 31, the movable block 332 is driven by the auxiliary rod 50 to move in the direction away from the slider 20 along the axial direction of the transmission rod 331, that is, the movable block 332 moves upward, and the movable block 332 drives the transmission rod 331 to rotate clockwise, and the transmission rod 331 drives the rack 336 to move in the direction close to the slider 20 along the axial direction of the transmission rod 331 through the first bevel gear 333, the second bevel gear 334 and the cylindrical gear 335, that is, the rack 336 moves downward, and the rack 336 drives the inner rod 32 to gradually retract from the second end 312, so that the telescopic mechanism 30 is shortened, and when the outer rod 31 is folded to a horizontal state, the telescopic mechanism 30 is shortened to the shortest state.

[0077] See also Figure 1 and Figure 2The present application also provides a surgical robot, comprising a cart 300, a positioning detection device 200 and a supporting device 100 as described in any of the above embodiments, wherein the base 10 of the supporting device 100 is fixed on the cart 300, and the positioning detection device 200 is connected to the inner rod 32 of the supporting device 100. The surgical robot also includes a robotic arm 400, which is used to connect medical instruments, and the robotic arm 400 can transport the surgical instruments to a preset position according to the detection result of the positioning detection device 200.

[0078] The surgical robot provided in the present application adopts the above-mentioned supporting device 100. The end of the inner rod 32 of the supporting device 100 away from the base 10 is used to connect the positioning detection device 200. When the slider 20 moves along the first direction F1 or the second direction F2, the outer rod 31 is driven to unfold or fold relative to the base 10, and when the outer rod 31 is unfolded, the inner rod 32 is driven to extend from the second end 312 of the outer rod 31, so that the telescopic mechanism 30 is extended. When the outer rod 31 is folded, the inner rod 32 is driven to retract from the second end 312, so that the telescopic mechanism 30 is shortened. In this way, the telescopic mechanism 30 is in an unfolded state and an extended state at the same time. At this time, the positioning detection device 200 can perform positioning detection with a better field of view, which is beneficial to improving the surgical accuracy. The telescopic mechanism 30 is in a shortened state when it is folded, which effectively reduces the space occupied by the supporting device 100 and facilitates storage and transportation. For example, it is convenient for the surgical robot to easily enter and exit the operating room, elevator door, etc.

[0079] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A supporting device (100), It is characterized in that include: A base (10), a slider (20), a telescopic mechanism (30), a support rod (40) and an auxiliary rod (50), wherein the slider (20) is slidably connected to the base (10) along a first direction (F1); the telescopic mechanism (30) comprises an outer rod (31) having a first end (311) and a second end (312), an inner rod (32) movably sleeved with the outer rod (31), and a transmission assembly (33) transmission-connected to the inner rod (32); the first end (311) is rotationally connected to the slider (20); the two ends of the support rod (40) are respectively connected to the base (10) and the second end (312); The outer rod (31) is rotatably connected so as to drive the outer rod (31) to expand or fold relative to the base (10) when the slider (20) moves along a first direction (F1) or a second direction (F2) opposite to the first direction (F1); the two ends of the auxiliary rod (50) are respectively rotatably connected to the base (10) and the transmission assembly (33) so as to drive the inner rod (32) to extend from the second end (312) when the outer rod (31) is expanded, and to drive the inner rod (32) to retract from the second end (312) when the outer rod (31) is folded.

2. The support device (100) according to claim 1, Features: It also includes a driving member (60), which is connected to the base (10) and to the slider (20) and is used to drive the slider (20) to move along the first direction (F1) or the second direction (F2).

3. The support device (100) according to claim 2, Features: The driving member (60) comprises a threaded rod (61) extending along a first direction (F1); the threaded rod (61) penetrates the slider (20) and is threadably connected to the slider (20).

4. The supporting device (100) according to claim 3, Features: The driving member (60) further comprises a crank handle (62) connected to one end of the threaded rod (61).

5. The supporting device (100) according to claim 3, Features: The base (10) is provided with a guide groove (11) extending along the first direction (F1), the slider (20) is slidably arranged in the guide groove (11), and the threaded rod (61) is inserted into the guide groove (11) along the first direction (F1).

6. The supporting device (100) according to any one of claims 1 to 5, Features: The transmission assembly (33) comprises a transmission rod (331) rotatably connected to the outer rod (31) and a movable block (332) sleeved on the transmission rod (331); the transmission rod (331) is transmission-connected to the inner rod (32); one end of the auxiliary rod (50) is rotatably connected to the movable block (332), so that when the auxiliary rod (50) drives the movable block (332) to move along the axial direction of the transmission rod (331), the movable block (332) can drive the transmission rod (331) to rotate around its own axis, thereby driving the inner rod (32) to perform telescopic movement through the transmission rod (331).

7. The supporting device (100) according to claim 6, Features: The outer rod (31) is provided with a first movable cavity (314) for the inner rod (32) to pass through and a first avoidance channel (315) for the auxiliary rod (50) to pass through, the inner rod (32) is provided with a second movable cavity (321) for the transmission rod (331) to pass through and a second avoidance channel (322) for the auxiliary rod (50) to pass through, the movable block (332) is movable in the second movable cavity (321), and the second avoidance channel (322) is connected with the first avoidance channel (315) and the second movable cavity (321).

8. The supporting device (100) according to claim 6, Features: The transmission rod (331) is a ball screw, and the movable block (332) is a ball nut matched with the ball screw.

9. The supporting device (100) according to claim 6, Features: The transmission assembly (33) further comprises a first bevel gear (333) sleeved on the transmission rod (331), a second bevel gear (334) meshing with the first bevel gear (333), a cylindrical gear (335) coaxially connected to the second bevel gear (334), and a rack (336) meshing with the cylindrical gear (335), wherein the rack (336) is connected to the inner rod (32).

10. A surgical robot, It is characterized in that It comprises a trolley (300), a positioning detection device (200) and a supporting device (100) as described in any one of claims 1 to 9, wherein the base (10) of the supporting device (100) is fixed on the trolley (300), and the positioning detection device (200) is connected to an inner rod (32) of the supporting device (100).

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