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 first connecting rod and a push rod assembly. The fixing part is provided with a limiting surface, a mounting part provided with a kidney-shaped hole, a first limiting part and a second limiting part, the first limiting part and the second limiting part are arranged at intervals, the limiting surface is provided with a containing groove, and the first limiting part is telescopically arranged in the containing groove. The supporting part is used for supporting the displayer and is spaced from the fixing part. The first connecting rod is pivotally connected between the fixing part and the supporting part. One end of the push rod assembly is provided with a hinge piece extending into the kidney-shaped hole, and the other end is pivotally connected with the first connecting rod. The support mechanism can be switched between a working state and a transportation state. When the support mechanism is in a working state, the first limiting part retracts into the containing groove, and the hinge piece abuts against one end of the kidney-shaped hole. When the support mechanism is in a transportation state, the first connecting rod pivots to be located between the first limiting part and the second limiting part, the first limiting part stretches out of the containing groove, and the hinge piece 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 more 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-link mechanism for driving. The weight of the display itself is relatively heavy. During transportation, due to bumps, the display will shake itself. The shaking force is about 3-10 times the gravity. When this gravity is transferred to the push rod, it is easy to cause 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, are likely to cause damage to the display housing, and the push rod is still likely to fail first; another example is using a rigid limiting method such as screws to clamp the four-link mechanism. All the shaking generated by the display during transportation is borne by the rigid limiting block, which is likely to cause deformation of the fixing screws 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 described in detail 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 has a limiting surface, the limiting surface is provided with a receiving groove, the fixing part also has a first limiting part and a second limiting part arranged at intervals, wherein the first limiting part is telescopically arranged in the receiving groove, the fixing part is also provided with an installation part, and the installation part is provided with a waist-shaped hole;

[0008] A supporting part, the supporting part is used to support the display, and the supporting part is arranged at an interval from the fixing part;

[0009] A first link, the first link is pivotally connected between the fixing part and the supporting part, and the first link can pivot to be located between the first limiting part and the second limiting part; and

[0010] The push rod assembly, an end portion of the push rod assembly close to the fixing portion is provided with a hinge member, the hinge member extends into the waist-shaped hole, and an end portion of the push rod assembly away from the fixing portion is pivotally connected to the first link;

[0011] Wherein, the bracket mechanism can be switched between a working state and a transportation state,

[0012] When the bracket mechanism is in the working state, the first limiting portion retracts into the receiving groove to allow the first link to pivot in a first direction, and the hinge member abuts against an end portion of the waist-shaped hole away from the supporting portion,

[0013] When the bracket mechanism is in the transportation state, the first link pivots to be located between the first limiting portion and the second limiting portion, the first limiting portion extends out of the receiving groove to limit the first link from pivoting in the first direction, the second limiting portion limits the first link from pivoting in a second direction opposite to the first direction, and the hinge member is located between the two ends of the waist-shaped hole.

[0014] According to the bracket mechanism of the present application, the movement of the first link is restricted by two limiting portions in the transportation state, and the first limiting portion is telescopic itself. The switching between the transportation state and the working state can be completed without disassembly, reducing the possibility of damaging other components due to disassembly, and making the push rod not bear force in the transportation state, reducing the possibility of damage to the push rod.

[0015] Optionally, the fixing portion further includes a control member, the control member penetrates into the receiving groove from the outside of the fixing portion and is threadedly connected to the first limiting portion. When the outer end of the control member rotates, the first limiting portion follows the rotation of the control member and expands and contracts.

[0016] According to the present application, the expansion and contraction of the first limiting portion can be controlled by external operation.

[0017] Optionally, the control member is configured as a self-locking lead screw, the first limiting portion is configured as a lead screw nut, the fixing portion further includes a bearing, the control member is connected to the inner ring of the bearing, and the outer ring of the bearing is connected to the fixing portion.

[0018] According to the present application, by using the combination of the self-locking lead screw, the lead screw nut and the bearing, the first limiting portion can be moved more labor-savingly and the first limiting portion will not retract accidentally, improving the stability and being beneficial to resisting transportation bumps.

[0019] Optionally, an operation portion is provided at the outer end of the control member.

[0020] According to the present application, it is more convenient to operate.

[0021] Optionally, the circumferential profile of the receiving groove is at least partially adapted to the circumferential profile of the first limiting portion.

[0022] According to the present application, the telescoping of the first limiting portion is guided, and the displacement is more accurate.

[0023] Optionally, a groove extending along the axial direction of the control member is provided on the side surface of the first limiting portion, and a blocking platform is formed at the end of the groove close to the outer end of the control member;

[0024] A blocking member is provided on the periphery of the receiving groove, the surface of the blocking member is flush with the limiting surface, the end of the blocking member extends into the groove, and the blocking member and the blocking platform form an interference fit to limit the amplitude of the first limiting portion protruding out of the receiving groove.

[0025] According to the present application, the degree of protrusion of the first limiting portion can be limited, and the screw rod and the screw nut can be prevented from disengaging.

[0026] Optionally, when the first link abuts against the first limiting portion, the push rod assembly can be in an extended state.

[0027] According to the present application, the contraction of the push rod itself can be utilized to make the pivoting end of the push rod located between the two ends of the kidney-shaped hole, and it is more convenient to release the push rod.

[0028] Optionally, an open groove is provided on the side portion of the fixing portion, the pivoting end of the first link extends into the open groove, the open groove has side walls and two opposite bottom walls, and the inner surface of the bottom wall forms the limiting surface, and the second limiting portion is provided on the side wall.

[0029] According to the present application, the pivoting part and the limiting part of the link are hidden, which is further beneficial to maintaining the good state of the structure.

[0030] Optionally, a third limiting portion is further provided on the side wall, wherein the second limiting portion is located between the first limiting portion and the third limiting portion, and when the first limiting portion protrudes out of the receiving groove, the first limiting portion abuts against the third limiting portion.

[0031] According to the above arrangement, the third limiting portion can provide an opposite supporting force when the first link presses the second limiting portion in the first direction, so that the second limiting portion is in force balance and the possibility of jamming and damage is reduced.

[0032] Optionally, the bracket mechanism further includes a second link, and the second link is pivotally connected between the fixing portion and the supporting portion.

[0033] Optionally, the first limiting portion and the first link are respectively provided with mutually cooperating wedge surfaces.

[0034] According to the present application, it is beneficial to the close contact between the first limiting portion and the second limiting portion, and the first connecting rod can be stably restricted between the first limiting portion and the second limiting portion.

[0035] The second aspect of the present application provides an operating device, and the operating device includes:

[0036] A support;

[0037] The bracket mechanism described in the first aspect above, and the fixing portion of the bracket mechanism is connected to the support; and

[0038] A display, and the display is arranged on the supporting portion of the bracket mechanism.

[0039] The operating device according to the present application can conveniently complete the switching between the transportation state and the working state, reduce the possibility of damaging other components due to disassembly, and make the push rod not bear force in the transportation state, reducing the possibility of damage to the push rod.

[0040] The third aspect of the present application provides a surgical robot, and the surgical robot includes the bracket mechanism described in the first aspect above, or includes the operating device described in the second aspect above.

[0041] The surgical robot according to the present application has 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

[0042] The following drawings of the present application are used as a part of the present application to understand the present application. The embodiments and descriptions of the present application are shown in the drawings to explain the principles of the present application.

[0043] In the drawings:

[0044] Figure 1 It is a schematic diagram of the bracket mechanism in the working state according to an embodiment of the present application;

[0045] Figure 2 For Figure 1 A schematic diagram of the back of the bracket mechanism in

[0046] Figure 3 For Figure 1 A schematic cross-sectional view of the bracket mechanism in

[0047] Figure 4 It is a schematic cross-sectional view of the bracket mechanism in the transportation state according to an embodiment of the present application;

[0048] Figure 5Schematic cross-sectional view of another perspective of the support mechanism in the working state according to an embodiment of the present application;

[0049] Figure 6 Schematic diagram of the first limiting portion of the support mechanism according to an embodiment of the present application;

[0050] Figure 7 For Figure 6 Cross-sectional view of the first limiting portion in

[0051] Figure 8 Partial schematic diagram of the operating device according to an embodiment of the present application;

[0052] Figure 9 Schematic diagram of the structure of the doctor's console according to an embodiment of the present application; and

[0053] Figure 10 Schematic diagram of a surgical robot according to an embodiment of the present application. Detailed implementation manners

[0054] In the following description, numerous specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application may be implemented without one or more of these details. In other instances, in order to avoid confusion with the present application, some well-known technical features are not described.

[0055] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.

[0056] The ordinal numbers such as "first" and "second" cited in the present application are only identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used herein are only for illustrative purposes and are not restrictive.

[0057] Now, the exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings.

[0058] Reference Figure 9 and Figure 10 The surgical robot 1 is a robot that can perform surgeries remotely, and it includes three components: a doctor's console 10, a mechanical arm system 2 beside the patient, and an imaging system 3.

[0059] Among them, as Figure 9 shown in, the doctor's console 10 is provided with a display unit 12 (also referred to as a monitor 12) for displaying the surgical instrument environment, a doctor 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, and 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, used for various function operations to complete human-machine interaction. The doctor's console 10 can also be called an operation device 10. The display unit 12, the doctor operation control mechanism 13, the armrest 14, etc. are all arranged on the support 11.

[0060] The mechanical arm system 2 beside the patient includes several mechanical arms 21. Each mechanical arm has several connecting arms 22. Two adjacent connecting arms 22 are relatively movable with specific degrees of freedom, so that the end of the mechanical arm 21 can achieve multi-degree-of-freedom movement (such as 7 degrees of freedom, which may vary according to different instruments). On the end joint of the mechanical 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 is detachably installed on the instrument driver.

[0061] The imaging system 3 includes a display screen, an endoscope controller, system electronic devices, an image processor, etc.

[0062] Among them, the doctor's console 10 includes a support mechanism 100. The support mechanism 100 includes a connecting rod assembly and a telescopic power component. The display unit 12 is supported by the connecting rod assembly, and the telescopic power component is used to push the movement of the connecting rod component to complete the pitching and lifting movements of the display unit 12.

[0063] Now, reference will be made to Figures 1 to 8 describe the exemplary embodiments according to the present application in more detail.

[0064] The present application provides a support mechanism 100, an operation device 10, and a surgical robot. The support mechanism 100 is used for the operation device 10 having a monitor 12. The operation device 10 is used for the surgical robot.

[0065] Reference Figure 1 , Figure 2 and Figure 3, the bracket mechanism 100 includes a fixing part 110, a supporting part 130, a first connecting rod 131, and a push rod assembly 140. The fixing part 110 has a limiting surface, on which a receiving groove 114 is provided. The fixing part 110 also has a first limiting part 115 and a second limiting part 116 arranged at intervals, wherein the first limiting part 115 is telescopically arranged in the receiving groove 114. The fixing part 110 is further provided with a mounting part 111, and the mounting part 111 is provided with an oblong hole 112. The supporting part 130 is used for supporting the display 12, and the supporting part 130 is arranged at an interval from the fixing part 110. The first connecting rod 131 is pivotally connected between the fixing part 110 and the supporting part 130, and the first connecting rod 131 can pivot to be located between the first limiting part 115 and the second limiting part 116. An end portion of the push rod assembly 140 close to the fixing part 110 is provided with a hinge member 141, the hinge member 141 extends into the oblong hole 112, and an end portion of the push rod assembly 140 away from the fixing part 110 is pivotally connected to the first connecting rod 131.

[0066] Wherein, 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, the first limiting part 115 retracts into the receiving groove 114 to allow the first connecting rod 131 to pivot in the first direction, and the hinge member 141 abuts against an end portion of the oblong hole 112 away from the supporting part 130. When the bracket mechanism 100 is in the transportation state, the first connecting rod 131 pivots to be located between the first limiting part 115 and the second limiting part 116, the first limiting part 115 extends out of the receiving groove 114 to limit the first connecting rod 131 from pivoting in the first direction, the second limiting part 116 limits the first connecting rod 131 from pivoting in a second direction opposite to the first direction, and the hinge member 141 is located between the two ends of the oblong hole 112.

[0067] According to the bracket mechanism 100 of the present application, the movement of the first connecting rod 131 is restricted by two limiting parts in the transportation state, and the first limiting part 115 is telescopic itself, so that the switching between the transportation state and the working state can be completed without disassembly, reducing the possibility of damaging other components due to disassembly, and making the push rod not bear force in the transportation state, reducing the possibility of damage to the push rod.

[0068] More specifically, the bracket mechanism 100 includes a fixing part 110 for connecting with a support 11 of the operating device 10, a supporting part 130 for supporting the display 12, and a connecting rod assembly. The connecting rod assembly includes a first connecting rod 131 and a second connecting rod 132. The first connecting rod 131 is pivotally connected between the supporting part 130 and the fixing part 110. The second connecting rod 132 is pivotally connected between the supporting part 130 and the fixing part 110. Thus, a four-bar linkage structure is formed among the fixing part 110, the supporting part 130, the first connecting rod 131, and the second connecting rod 132 to realize the up-and-down movement and pitching movement of the display 12.

[0069] 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. 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 132, 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 long hole 112 is formed in the installation part 111. The push rod assembly 140 is provided with a hinge part 141, and the hinge part 141 is located at the end of the push rod assembly 140 close to the fixed part 110, and the hinge part 141 extends into the long 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 hinge part 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.

[0070] Reference Figure 4 and Figure 5 As shown in and, an open slot 123 is formed in the side part of the fixed part 110, and the pivot ends of the first link 131 and the second link 132 can both extend into the open slot 123. The open slot 123 has side walls 124 and two oppositely arranged bottom walls 113, and a limiting surface is formed on the inner surface of the bottom wall 113, and a receiving groove 114 is formed in the limiting surface. In other words, the receiving groove 114 is formed in one of the bottom walls 113. A first limiting part 115 is telescopically arranged in the receiving groove 114, and it can extend out of the receiving groove 114 and protrude from the limiting surface, or can retract into the receiving groove 114 and be flush with or lower than the limiting surface. The circumferential profile of the receiving groove 114 is at least partially adapted to the circumferential profile of the first limiting part 115 to guide the telescopic movement of the first limiting part 115 to form an accurate displacement.

[0071] A second limiting portion 116 is also provided on the side wall 124, which forms a gap with the receiving groove 114. Thus, when the first limiting portion 115 extends out of the receiving groove 114, a gap can be formed between the first limiting portion 115 and the second limiting portion 116. The second limiting portion 116 can be configured as the extreme position of the downward pivoting of the first link 131. When the first link 131 abuts against the second limiting portion 116, the push rod assembly still has not reached the shortest length of the push rod assembly. Therefore, the length of the push rod assembly can be slightly shortened, and the first link 131 can still be clamped and fixed by the first limiting portion 115 and the second limiting portion 116, so that the fixing of the first link is structurally supported by the first limiting portion and the second limiting portion. Further, in the transportation state, since the length of the push rod assembly is less than the shortest length of the push rod for supporting the first link, and the connection end of the push rod to the fixing portion has a certain amount of play, even if there is still a gap between the first limiting portion 115 and the second limiting portion 116 and the first link still has a small amount of play, the push rod is still not stressed at this time, and the bumps and tilts during transportation or movement will not affect the push rod assembly, protecting the push rod assembly from being damaged.

[0072] Preferably, the fixing portion 110 further includes a control member 117, and the control member 117 penetrates into the receiving groove 114 from the outside of the fixing portion 110 and is threadedly connected to the first limiting portion 115. That is, the control member 117 penetrates through the bottom wall 113. When the outer end of the control member 117 rotates, the first limiting portion 115 follows the rotation of the control member 117 and expands and contracts. Thus, the expansion and contraction of the first limiting portion 115 can be controlled from the outside.

[0073] As an alternative embodiment, the control member 117 is configured as a self-locking lead screw 117, the first limiting portion 115 is configured as a lead screw nut 115, and the fixing portion 110 further includes a bearing 119. The control member 117 is connected to the inner ring of the bearing 119, and the outer ring of the bearing 119 is connected to the fixing portion 110. By using the combination of the self-locking lead screw 117, the lead screw nut 115 and the bearing 119, the first limiting portion 115 can be moved more labor-savingly and the first limiting portion 115 will not accidentally retract, improving the stability and being beneficial to resisting transportation bumps. For more convenient external control, an operating portion is provided at the outer end of the control member 117. For example, the operating portion can be a screw groove, such as a cross or a slotted screw groove. Preferably, refer to Figure 7, a first limiting portion 115 is provided with a wedge surface 126 that cooperates with the first connecting rod, facilitating the close contact between the first limiting portion 115 and the second limiting portion 116, thereby stably restricting the first connecting rod 131 between the first limiting portion 115 and the second limiting portion 116. Further, the distance between the wedge surface 126 and the second limiting portion decreases from the outer end of the receiving groove to the inner end of the receiving groove, such that during the process of the first limiting portion being pushed out from the groove, the first limiting portion changes from having a gap with the first connecting rod to contacting it, then to having a squeezing force and an increasing squeezing force, thereby tightly pressing the first connecting rod against the second limiting portion, firmly fixing the first connecting rod, and preventing the loosening of the first connecting rod during transportation.

[0074] In the working state, the pivot end of the push rod assembly 140 and the fixed portion 110 abuts against the end of the kidney-shaped hole 112, or rather, the hinge member 141 abuts against the end of the kidney-shaped hole 112, thereby being able to bear force. As an example, when the device needs to be transported, the device needs to be switched from the working state to the transportation state. First, control the push rod assembly 140 to pivot the first connecting rod 131 to abut against the second limiting portion 116. The user rotates (for example, rotates clockwise) the operating part, causing the self-locking screw rod 117 to rotate. The first limiting portion 115, which is the screw nut 115, extends out of the receiving groove 114 under the action of the thread fit. The wedge surface 126 of the first limiting portion 115 fits with the wedge surface 126 on the first connecting rod 131. Thus, the first limiting portion 115 and the second limiting portion 116 wedge the first connecting rod 131 tightly. At this time, control the push rod assembly 140 to contract, so that the hinge member 141 can leave the end of the kidney-shaped hole 112 and be located between the two ends, such that the push rod assembly 140 does not bear force.

[0075] When the device needs to be used after the transportation is completed and the device will no longer move, the device can be switched from the transportation state to the working state. The user only needs to rotate the operating part in the reverse direction (for example, rotate counterclockwise), causing the self-locking screw rod 117 to rotate. The first limiting portion 115, which is the screw nut 115, retracts into the receiving groove 114 under the action of the thread fit. Thus, the first connecting rod 131 can pivot over the receiving groove 114. At this time, the push rod assembly 140 can be controlled to extend, so that the hinge member 141 abuts against the end of the kidney-shaped hole 112 again and bears force, and then the four-link structure can be controlled.

[0076] As a preferred embodiment, refer to Figure 4 、 Figure 5 and Figure 6, on the side of the first limiting part 115, a groove 120 extending along the axial direction of the control part 117 is provided, and a blocking platform 121 is formed at the end of the groove 120 close to the outer end of the control part 117. A blocking part 122 is provided on the periphery of the receiving groove 114, the surface of the blocking part 122 is flush with the limiting surface, the end of the blocking part 122 extends into the groove 120, and the blocking part 122 and the blocking platform 121 form an interference fit to limit the amplitude of the first limiting part 115 protruding from the receiving groove 114. Thus, the degree of the first limiting part 115 protruding can be limited, and the separation of the lead screw from the lead screw nut 115 can be avoided.

[0077] As an alternative embodiment, referring to Figure 3 , the side wall 124 is further provided with a third limiting part 125, wherein the second limiting part 116 is located between the first limiting part 115 and the third limiting part 125, and when the first limiting part 115 protrudes from the receiving groove 114, the first limiting part 115 abuts against the third limiting part 125. The third limiting part 125 can provide an opposite supporting force when the first connecting rod 131 presses the second limiting part 116 along the first direction, so that the second limiting part 116 is in force balance and the possibility of jamming and damage is reduced.

[0078] The second aspect of the present application provides an operating device 10. As shown in Figure 8 , the operating device 10 includes a support 11, the bracket mechanism 100 of the above first aspect, and a display 12. The fixing part 110 of the bracket mechanism 100 is connected to the support 11. The display 12 is arranged on the supporting part 130 of the bracket mechanism 100.

[0079] According to the operating device 10 of the present application, the switching between the transportation state and the working state can be conveniently completed, the possibility of damaging other components due to disassembly is reduced, and the push rod does not bear force in the transportation state, reducing the possibility of damage to the push rod.

[0080] The third aspect of the present application provides a surgical robot, which includes the bracket mechanism 100 of the above first aspect, or includes the operating device 10 of the above second aspect. According to the surgical robot of the present application, technical effects similar to those of the bracket mechanism 100 of the above first aspect or the operating device 10 of the above second aspect can be achieved.

[0081] 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 embodiments 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.

[0082] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative and explanatory purposes. This application is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of this application, and these variations and modifications all fall within the scope claimed by this application.

Claims

1. A support mechanism, characterized in that, Comprising: A fixing part, the fixing part has a limiting surface, the limiting surface is provided with a receiving groove, the fixing part also has a first limiting part and a second limiting part arranged at intervals, wherein the first limiting part is telescopically arranged in the receiving groove, the fixing part is also provided with a mounting part, and the mounting part is provided with a kidney-shaped hole; A supporting part, the supporting part is used for supporting a display, and the supporting part is arranged at an interval from the fixing part; A first connecting rod, the first connecting rod is pivotally connected between the fixing part and the supporting part, and the first connecting rod can pivot to be located between the first limiting part and the second limiting part; And A push rod assembly, an end of the push rod assembly close to the fixing part is provided with a hinge member, the hinge member extends into the kidney-shaped hole, and an end of the push rod assembly away from the fixing part is pivotally connected to the first connecting rod; 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 first limiting part retracts into the receiving groove to allow the first connecting rod to pivot in a first direction, and the hinge member abuts against an end of the kidney-shaped hole away from the supporting part, When the bracket mechanism is in the transportation state, the first connecting rod pivots to be located between the first limiting part and the second limiting part, the first limiting part extends out of the receiving groove to limit the first connecting rod to pivot in the first direction, the second limiting part limits the first connecting rod to pivot in a second direction opposite to the first direction, and the hinge member is located between two ends of the kidney-shaped hole.

2. The support mechanism according to claim 1, characterized in that, The fixing part further includes a control member, the control member penetrates into the receiving groove from the outside of the fixing part and is threadedly connected to the first limiting part. When the outer end of the control member rotates, the first limiting part follows the rotation of the control member and expands and contracts.

3. The support mechanism according to claim 2, characterized in that, The control member is configured as a self-locking lead screw, the first limiting part is configured as a lead screw nut, the fixing part further includes a bearing, the control member is connected to the inner ring of the bearing, and the outer ring of the bearing is connected to the fixing part.

4. The support mechanism according to claim 3, characterized in that, An operating part is arranged at the outer end of the control member.

5. The support mechanism according to claim 2, characterized in that, The circumferential contour of the receiving groove is at least partially adapted to the circumferential contour of the first limiting part.

6. The support mechanism according to claim 5, characterized in that, A groove extending along the axial direction of the control member is arranged on the side surface of the first limiting part, and a blocking platform is formed at an end of the groove close to the outer end of the control member; A blocking member is arranged at the periphery of the receiving groove, the surface of the blocking member is flush with the limiting surface, an end of the blocking member extends into the groove, and the blocking member and the blocking platform form an interference fit to limit the amplitude of the first limiting part extending out of the receiving groove.

7. The support mechanism according to claim 1, characterized in that, When the first connecting rod abuts against the first limiting part, the push rod assembly can be in an extended state.

8. The support mechanism according to claim 1, characterized in that, An open groove is formed in the side part of the fixing part, a pivoting end of the first connecting rod extends into the open groove, the open groove has a side wall and two opposite bottom walls, wherein the inner surface of the bottom wall forms the limiting surface, and the second limiting part is arranged on the side wall.

9. The support mechanism according to claim 8, characterized in that, The side wall is further provided with a third limiting portion, wherein the second limiting portion is located between the first limiting portion and the third limiting portion, and when the first limiting portion extends out of the receiving groove, the first limiting portion abuts against the third limiting portion.

10. The support mechanism according to claim 1, characterized in that, The bracket mechanism further includes a second connecting rod, and the second connecting rod is pivotally connected between the fixing portion and the supporting portion.

11. The support mechanism according to claim 1, characterized in that, The first limiting portion is provided with a wedge surface for cooperating with the first connecting rod.

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