Support mechanism, operating device and surgical robot

Abstract

The invention discloses a stent mechanism, an operating device and a surgical robot. The support mechanism comprises a fixing part, a supporting part, a connecting rod assembly, a push rod assembly and a locking piece. The fixing part is provided with a mounting part, and the mounting part is provided with a kidney-shaped hole. The supporting part is used for supporting the displayer and is spaced from the fixing part. The connecting rod assembly is pivotally connected between the fixing part and the supporting part. A limiting column is arranged at the end, close to the fixing part, of the push rod assembly and extends into the kidney-shaped hole, and the end, away from the fixing part, of the push rod assembly is pivotally connected with the connecting rod assembly. The locking piece is used for being detachably connected with the fixing part and the connecting rod assembly so that the fixing part and the connecting rod assembly can be locked. The support mechanism can be switched between a working state and a transportation state. When the support mechanism is in a working state, the locking piece is separated from the fixing part and the connecting rod assembly, and the limiting column abuts against the end, away from the supporting part, of the kidney-shaped hole. When the support mechanism is in a transportation state, the locking piece is connected to the fixing part and the connecting rod assembly, and the limiting column is located between the two ends of the kidney-shaped hole.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to a stent mechanism, an operating device, and a surgical robot. Background Art

[0002] It is known that a stereoscopic display limiting device usually uses a linear push rod to drive a four-bar linkage device for driving. The weight of the display itself is relatively heavy. During transportation, due to bumps, the display itself will shake. The shaking force is about 3-10 times the gravity. And this gravity is transferred to the push rod, which easily causes internal failure of the push rod. Therefore, a limiting device is needed to limit the display to prevent shaking.

[0003] However, the existing limiting methods, such as using a bracket to lift and fix to prevent shaking, easily cause damage to the display housing, and the push rod is still prone to failure first; for another example, using a rigid limit such as a screw to clamp the four-bar linkage device, all the shaking generated by the display during transportation is borne by the rigid limit block, which easily causes deformation of the fixing screw and the disassembly and assembly process is cumbersome.

[0004] Therefore, a stent mechanism, an operating device, and a surgical robot are needed to at least partially solve the above problems. Summary of the Invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further detailed in the Detailed Description section. The Summary of the Invention section of the present application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0006] To at least partially solve the above problems, a first aspect of the present application provides a stent mechanism, including:

[0007] A fixing part, the fixing part is provided with an installation part, and the installation part is provided with an oblong hole;

[0008] A supporting part, the supporting part is used for supporting the display, and the supporting part is spaced apart from the fixing part;

[0009] A link assembly, the link assembly is pivotally connected between the fixing part and the supporting part;

[0010] A push rod assembly, a limiting post is provided at an end of the push rod assembly close to the fixing part, the limiting post extends into the oblong hole, and an end of the push rod assembly far from the fixing part is pivotally connected to the link assembly; and

[0011] A locking member, which is used to detachably connect with the fixed part and the link assembly, so as to be able to lock the fixed part and the link assembly;

[0012] Wherein, the bracket mechanism can be switched between a working state and a transportation state.

[0013] When the bracket mechanism is in the working state, the locking member disengages from the fixed part and the link assembly, and the limiting post abuts against the end of the waist-shaped hole far from the supporting part. When the bracket mechanism is in the transportation state, the locking member is connected to the fixed part and the link assembly, and the limiting post is located between the two ends of the waist-shaped hole.

[0014] According to the bracket mechanism of the present application, when the link assembly is locked, the hinge point of the push rod assembly is suspended relative to the mounting part, preventing the mounting part from bearing force during transportation, and effectively preventing the damage and failure of the push rod assembly during transportation.

[0015] Optionally, the link assembly is provided with a first limiting part, the fixed part is provided with a second limiting part, and the position of the second limiting part corresponds to the position of the first limiting part. The locking member is used to detachably connect with the first limiting part and the second limiting part.

[0016] According to the present application, by using the cooperation relationship between the locking member and the limiting part, the locking and unlocking operations of the link assembly can be conveniently carried out.

[0017] Optionally, the first limiting part includes a first limiting hole, the second limiting part includes a second limiting hole, and the locking member includes a locking post, and the locking post is used to extend through the first limiting hole and the second limiting hole.

[0018] According to the present application, through the plug-in assembly method of the locking post, it is convenient for quick disassembly and assembly, and further improves the convenience.

[0019] Optionally, when the bracket mechanism is in the working state and the push rod assembly shrinks to the minimum length, the centers of the first limiting hole and the second limiting hole are arranged in a staggered manner, and the first limiting hole and the second limiting hole partially overlap.

[0020] According to the present application, it can ensure that the locking post can be inserted into the two limiting holes.

[0021] Optionally, the first limiting hole can rotate around the first pivot center following the link assembly, wherein the distance from the center of the first limiting hole to the first pivot center is equal to the distance from the center of the second limiting hole to the first pivot center.

[0022] According to the above settings, the locking post can force the link assembly to pivot and displace, so that the two limiting holes can be forced to be concentric, further improving the installation convenience.

[0023] Optionally, when the bracket mechanism is in the working state and the push rod assembly is contracted to the minimum length, the center of the second limiting hole is higher than the center of the first limiting hole.

[0024] According to the above settings, when the locking post is inserted into the second limiting hole, it is beneficial to use the fixing part as a fulcrum to pry the link assembly to displace forcibly.

[0025] Optionally, the radial dimension of one end of the locking post is larger than the radial dimension of the other end of the locking post.

[0026] According to the above settings, it is beneficial to ensure that one end of the locking post can be inserted.

[0027] Optionally, the locking post includes:

[0028] An insertion section;

[0029] A locking section, the radial dimension of the locking section is larger than the radial dimension of the insertion section;

[0030] A transition section, the transition section is connected between the insertion section and the locking section, and the outer peripheral surface of the transition section is configured as an inclined surface.

[0031] According to the above settings, the inclined surface transition makes the displacement of the locking post to force the link assembly smoother.

[0032] Optionally, a flexible sleeve is arranged in the first limiting hole, and the locking post can extend through the flexible sleeve.

[0033] According to the above settings, the flexible sleeve can buffer the vibration during transportation and provide a margin for the machining of the limiting hole.

[0034] Optionally, a first rigid sleeve is arranged in the flexible sleeve, and a second rigid sleeve is arranged in the second limiting hole.

[0035] According to the above settings, the durability of the limiting part and the locking post can be improved.

[0036] Optionally, the link assembly includes:

[0037] A first link, the first link is pivotally connected between the support part and the fixing part, the push rod assembly is pivotally connected to the first link, and the first limiting part is arranged on the first link; and

[0038] The second link, which is pivotally connected between the support portion and the fixed portion, and the position of the second link is higher than that of the first link.

[0039] A second aspect of the present application provides an operating device, which includes:

[0040] A support;

[0041] The bracket mechanism described in the first aspect above, and the fixed portion of the bracket mechanism is connected to the support; and

[0042] A display, which is arranged on the support portion of the bracket mechanism.

[0043] A third aspect of the present application provides a surgical robot, which includes the bracket mechanism described in the first aspect above, or includes the operating device described in the second aspect above.

[0044] The surgical robot according to the present application can achieve technical effects similar to those of the bracket mechanism described in the first aspect above or the operating device described in the second aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The following drawings of the present application are used as a part of the present application to understand the present application. The embodiments of the present application and their descriptions are shown in the drawings to explain the principles of the present application.

[0046] In the drawings:

[0047] Figure 1 It is a schematic diagram of the bracket mechanism in the working state according to an embodiment of the present application;

[0048] Figure 2 It is a partial schematic diagram of the operating device in the working state according to an embodiment of the present application;

[0049] Figure 3 It is a schematic diagram of the bracket mechanism in the transportation state according to an embodiment of the present application;

[0050] Figure 4 It is a partial schematic diagram of the operating device in the transportation state according to an embodiment of the present application;

[0051] Figure 5 It is an exploded schematic diagram of the bracket mechanism according to an embodiment of the present application;

[0052] Figure 6 It is a cross-sectional schematic diagram of the bracket mechanism in the working state according to an embodiment of the present application;

[0053] Figure 7Schematic diagram of the locking column of the bracket mechanism according to an embodiment of the present application;

[0054] Figure 8 Cross-sectional schematic diagram of the bracket mechanism installing the locking column according to an embodiment of the present application;

[0055] Figure 9 Cross-sectional schematic diagram of the bracket mechanism in the transportation state after installing the locking column according to an embodiment of the present application;

[0056] Figure 10 Overall schematic diagram of the doctor console according to an embodiment of the present application; and

[0057] Figure 11 Overall schematic diagram of the surgical robot according to an embodiment of the present application. Specific embodiments

[0058] In the following description, numerous specific details are given to provide a more thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application may be practiced without one or more of these details. In other instances, well-known technical features have not been described in order to avoid obscuring the present application.

[0059] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present application. As used herein, unless the context clearly dictates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprises" and / or "comprising" are used in this specification, they specify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0060] The ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used herein are for illustrative purposes only and are not limiting.

[0061] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings.

[0062] Reference Figure 10 and Figure 11, the surgical robot 1 is a robot that can perform surgeries remotely, and it includes three components: a doctor's console 10, a patient-side robotic arm system 2, and an imaging system 3.

[0063] Among them, as Figure 10 shown in, the doctor's console 10 is equipped with a display unit 12 (also known as a monitor 12) for presenting the surgical instrument environment, a doctor's operation control mechanism 13, and an armrest 14. Among them, an observation window is opened on the display unit 12 for the doctor to observe. The actions of the operation control mechanism 13 correspond to the actions of the surgical instruments. The armrest 14 is used to place the doctor's arm. In addition, on the doctor's console 10, there are also other control switches that are convenient for the hands or feet to touch or press to perform various function operations and complete human-machine interaction. The doctor's console 10 can also be called the operating device 10. The display unit 12, the doctor's operation control mechanism 13, the armrest 14, etc. are all arranged on the support 11.

[0064] The patient-side robotic arm system 2 includes several robotic arms 21. Each robotic arm has several connecting arms 22. Two adjacent connecting arms 22 move relative to each other with specific degrees of freedom, enabling the end of the robotic arm 21 to achieve multi-degree-of-freedom movement (such as 7 degrees of freedom, which may vary depending on the instrument). The end joint of the robotic arm 21 is a tool-holding arm 23, and an instrument driver is installed on the tool-holding arm 23. The surgical instrument or endoscope can be detachably installed on the instrument driver.

[0065] The imaging system 3 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0066] Among them, the doctor's console 10 includes a support mechanism 100. The support mechanism 100 includes a link assembly and a telescopic power component. The display unit 12 is supported by the link assembly, and the telescopic power component is used to push the movement of the link component to complete the pitching and lifting actions of the display unit 12.

[0067] Now, reference will be made to Figures 1 to 9 describe the exemplary embodiments according to the present application in more detail.

[0068] The present application provides a support mechanism 100, an operating device 10, and a surgical robot. The support mechanism 100 is used for the operating device 10 having a monitor 12. The operating device 10 is used for the surgical robot.

[0069] Reference Figures 1 to 5, the bracket mechanism 100 includes a fixing part 110, a supporting part 120, a connecting rod assembly 130, a push rod assembly 140 and a locking member 150. Among them, the fixing part 110 is provided with a mounting part 111, and the mounting part 111 is provided with a long hole 112. The supporting part 120 is used to support the display 12, and the supporting part 120 is spaced from the fixing part 110. The connecting rod assembly 130 is pivotally connected between the fixing part 110 and the supporting part 120. A limiting post 141 is provided at the end of the push rod assembly 140 close to the fixing part 110, the limiting post 141 extends into the long hole 112, and the end of the push rod assembly 140 far from the fixing part 110 is pivotally connected to the connecting rod assembly 130. The locking member 150 is used for detachably connecting to the fixing part 110 and the connecting rod assembly 130 so as to be able to lock the fixing part 110 and the connecting rod assembly 130.

[0070] The bracket mechanism 100 can be switched between a working state and a transportation state. When the bracket mechanism 100 is in the working state, refer to Figure 1 , the locking member 150 is disengaged from the fixing part 110 and the connecting rod assembly 130, and the limiting post 141 abuts against the end of the long hole 112 far from the supporting part 120. When the bracket mechanism 100 is in the transportation state, refer to Figure 3 , the locking member 150 is connected to the fixing part 110 and the connecting rod assembly 130, and the limiting post 141 is located between the two ends of the long hole 112.

[0071] According to the bracket mechanism 100 of the present application, when the connecting rod assembly 130 is locked, the hinge point of the push rod assembly 140 is suspended relative to the mounting part 111, preventing the mounting part 111 from bearing force during transportation, and effectively preventing the damage and failure of the push rod assembly 140 during transportation.

[0072] More specifically, the bracket mechanism 100 includes a fixing part 110 for connecting to the support 11 of the operating device 10, a supporting part 120 for supporting the display 12 and a connecting rod assembly 130. The connecting rod assembly 130 includes a first connecting rod 131 and a second connecting rod 133. The first connecting rod 131 is pivotally connected between the supporting part 120 and the fixing part 110. The second connecting rod 133 is pivotally connected between the supporting part 120 and the fixing part 110. Thus, a four-bar linkage structure is formed among the fixing part 110, the supporting part 120, the first connecting rod 131 and the second connecting rod 133 to realize the up-and-down movement and pitching movement of the display 12.

[0073] To facilitate the control of the movement of the four-bar linkage structure, the bracket mechanism 100 is further provided with a push rod assembly 140. The push rod assembly 140 is pivotally connected between the fixed part 110 and the link assembly 130. Specifically, the push rod assembly 140 is connected between the fixed part 110 and the first link 131. Since the first link 131 is lower than the second link 133, it is thus possible to more conveniently control the movement of the four-bar linkage structure. Moreover, an installation part 111 is provided on the fixed part 110, and a waist-shaped hole 112 is formed in the installation part 111. The push rod assembly 140 is provided with a limit post 141, and the limit post 141 is located at the end of the push rod assembly 140 close to the fixed part 110, and the limit post 141 extends into the waist-shaped hole 112. Optionally, the push rod assembly 140 includes a sleeve part 143 and a push rod part 142, and the push rod part 142 is telescopically arranged in the sleeve part 143. The limit post 141 is arranged at the end of the sleeve part 143, and the end of the push rod part 142 is pivotally connected to the first link 131.

[0074] Continuing to refer to Figures 1 to 6 , a first limit part 132 is provided on the first link 131, a second limit part 113 is provided on the fixed part 110, and the position of the second limit part 113 corresponds to the position of the first limit part 132. The bracket mechanism 100 further includes a locking member 150, and the locking member 150 is used for detachably connecting with the first limit part 132 and the second limit part 113. Thus, by using the cooperation relationship between the locking member 150 and the limit parts, the locking and unlocking operations of the link assembly 130 can be conveniently carried out.

[0075] As an implementation form, the first limit part 132 can be configured as a first limit hole 132, the second limit part 113 can be configured as a second limit hole 113, and the locking member 150 can be configured as a locking post 150, and the locking post 150 is used for extending through the first limit hole 132 and the second limit hole 113. Thus, through the insertion-type assembly method of the locking post 150, the quick disassembly and assembly are facilitated, and the convenience is further improved.

[0076] The first limit hole 132 can rotate around the first pivot center AX1 following the link assembly 130, wherein the distance from the center of the first limit hole 132 to the first pivot center AX1 is equal to the distance from the center of the second limit hole 113 to the first pivot center AX1. Moreover, when the bracket mechanism 100 is in the working state and the push rod assembly 140 is contracted to the minimum length, the centers of the first limit hole 132 and the second limit hole 113 are arranged in a staggered manner, the center of the second limit hole 113 is higher than the center of the first limit hole 132, and the first limit hole 132 and the second limit hole 113 partially overlap.

[0077] At this time, the locking post 150 can be inserted into the first limiting hole 132 and the second limiting hole 113, so that the first connecting rod 131 is forced to pivot upward in the circumferential direction, so that the first limiting hole 132 and the second limiting hole 113 are concentric, and thus the working state can be switched to the transportation state. Driven by the reaction force, the push rod assembly 140 moves a small part in the direction away from the fixing part 110, and then the limiting post 141 of the push rod assembly 140 is located between the two ends of the kidney-shaped hole 112. At this time, the push rod assembly 140 as a whole does not bear force, and neither the push rod assembly 140 nor the mounting part 111 is likely to be damaged during transportation.

[0078] If it is necessary to switch from the transportation state to the working state, only need to pull out the locking post 150 from the first limiting hole 132 and the second limiting hole 113, and the first connecting rod 131 will pivot downward in the circumferential direction under the action of gravity until the limiting post 141 of the push rod assembly 140 abuts against the end of the kidney-shaped hole 112, so that the push rod assembly 140 as a whole bears force and can control the movement of the four-link structure.

[0079] Reference Figures 6 to 9 , in order to facilitate the insertion of one end of the locking post 150, the locking post 150 is configured such that the radial dimension of one end is greater than that of the other end. Specifically, the locking post 150 includes an insertion section 151, a locking section 152, and a transition section 153 connected between the insertion section 151 and the locking section 152. Among them, the radial dimension of the locking section 152 is greater than that of the insertion section 151, and the radial dimension of the locking section 152 is adapted to the radial dimensions of the first limiting hole 132 and the second limiting hole 113. The outer peripheral surface of the transition section 153 is configured as an inclined surface, and the inclined surface transition makes it more smooth for the locking post 150 to force the displacement of the link assembly 130.

[0080] As an alternative embodiment, reference Figure 6 , a flexible sleeve 160 is provided in the first limiting hole 132, and the locking post 150 can extend through the flexible sleeve 160. Thus, the flexible sleeve 160 can buffer the vibration during transportation and provide a margin for the machining of the limiting hole. Further, a first rigid sleeve 161 can be provided in the flexible sleeve 160, and a second rigid sleeve 162 can be provided in the second limiting hole 113. The locking post 150 can extend through the first rigid sleeve 161 and the second rigid sleeve 162 and be in direct contact with both of them. Thus, by utilizing the strength of the rigid sleeve, the durability of the limiting part and the locking post 150 can be improved.

[0081] The second aspect of the present application provides an operating device 10. The operating device 10 includes a support 11, the bracket mechanism 100 of the first aspect described above, and a display 12. The fixing part 110 of the bracket mechanism 100 is connected to the support 11. The display 12 is disposed on the support part 120 of the bracket mechanism 100. AsFigure 2 and Figure 4 respectively show schematic diagrams of the operating device 10 in the working state and the transportation state.

[0082] The third aspect of the present application provides a surgical robot. The surgical robot includes the support mechanism 100 of the first aspect above, or includes the operating device 10 of the second aspect above. According to the surgical robot of the present application, it can achieve technical effects similar to those of the support mechanism 100 of the first aspect above or the operating device 10 of the second aspect above.

[0083] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the technical field of the present application. The terms used herein are only for the purpose of describing specific implementation purposes and are not intended to limit the present application. The features described in one embodiment herein can be applied alone or in combination with other features in another embodiment, unless the feature is not applicable or otherwise stated in that other embodiment.

[0084] The present application has been illustrated by the above embodiments. However, it should be understood that the above embodiments are only for the purpose of exemplification and illustration, and the present application is not limited to the above embodiments. According to the teachings of the present application, more variations and modifications can be made, and these variations and modifications all fall within the scope claimed by the present application.

Claims

1. A bracket mechanism, characterized in that, Comprising: A fixing part, the fixing part is provided with a mounting part, and the mounting part is provided with a waist-shaped hole; A supporting part, the supporting part is used for supporting a display, and the supporting part is spaced from the fixing part; A link assembly, the link assembly is pivotally connected between the fixing part and the supporting part; A push rod assembly, a limiting post is arranged at an end of the push rod assembly close to the fixing part, the limiting post extends into the waist-shaped hole, and an end of the push rod assembly far from the fixing part is pivotally connected to the link assembly; And A locking member, the locking member is used for detachably connecting to the fixing part and the link assembly so as to be able to lock the fixing part and the link assembly; Wherein, the bracket mechanism can be switched between a working state and a transportation state, When the bracket mechanism is in the working state, the locking member disengages from the fixing part and the link assembly, and the limiting post abuts against an end of the waist-shaped hole far from the supporting part; When the bracket mechanism is in the transportation state, the locking member is connected to the fixing part and the link assembly, and the limiting post is located between two ends of the waist-shaped hole.

2. The bracket mechanism according to claim 1, characterized in that, The link assembly is provided with a first limiting part, the fixing part is provided with a second limiting part, and the position of the second limiting part corresponds to the position of the first limiting part, and the locking member is used for detachably connecting to the first limiting part and the second limiting part.

3. The bracket mechanism according to claim 2, characterized in that, The first limiting part includes a first limiting hole, the second limiting part includes a second limiting hole, the locking member includes a locking post, and the locking post is used for extending through the first limiting hole and the second limiting hole.

4. The bracket mechanism according to claim 3, characterized in that, When the bracket mechanism is in the working state and the push rod assembly contracts to the minimum length, the centers of the first limiting hole and the second limiting hole are arranged in a dislocation manner, and the first limiting hole and the second limiting hole partially overlap.

5. The bracket mechanism according to claim 4, characterized in that, The first limiting hole can rotate around a first pivot center following the link assembly, wherein the distance from the center of the first limiting hole to the first pivot center is equal to the distance from the center of the second limiting hole to the first pivot center.

6. The bracket mechanism according to claim 4, characterized in that, When the bracket mechanism is in the working state and the push rod assembly contracts to the minimum length, the center of the second limiting hole is higher than the center of the first limiting hole.

7. The bracket mechanism according to claim 4, characterized in that, The radial dimension of one end of the locking post is larger than the radial dimension of the other end of the locking post.

8. The bracket mechanism according to claim 7, characterized in that, The locking post includes: An insertion section; A locking section, the radial dimension of the locking section is larger than the radial dimension of the insertion section; A transition section, the transition section is connected between the insertion section and the locking section, and the outer peripheral surface of the transition section is configured as an inclined surface.

9. The bracket mechanism according to claim 4, characterized in that, A flexible sleeve is arranged in the first limiting hole, and the locking post can extend through the flexible sleeve.

10. The bracket mechanism according to claim 9, characterized in that, A first rigid sleeve is arranged in the flexible sleeve, and a second rigid sleeve is arranged in the second limiting hole.

11. The bracket mechanism according to any one of claims 2 - 10, characterized in that, The link assembly includes: A first link, the first link is pivotally connected between the supporting part and the fixing part, the push rod assembly is pivotally connected to the first link, and the first limiting part is arranged on the first link; and A second link pivotally connected between the support portion and the fixed portion, the position of the second link being higher than that of the first link.

12. An operating device, characterized in that, The operating device includes: A support; The bracket mechanism according to any one of claims 1-11, the fixed portion of the bracket mechanism being connected to the support; and A display disposed on the support portion of the bracket mechanism.

13. A surgical robot, characterized in that The surgical robot includes the bracket mechanism according to any one of claims 1-11, or includes the operating device according to claim 12.

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