Medical robot

Abstract

The invention provides a medical robot. The medical robot comprises a base table, at least one load arm and a braking unit. The base is provided with a guide rail. A load arm is movably connected to the guide rail. The brake unit comprises a brake stator and a brake rotor. The brake stator is fixedly arranged on one of the base station and the load arm. The brake mover is movably arranged on the other one of the base station and the load arm between a braking position and a separation position. And the brake rotor and the brake stator at the separation position are spaced. And the brake rotor at the brake position is jointed with the brake stator, and the load arm and the base station are kept relatively static. The invention provides a connection mode of the load arm and the base station, which is different from the prior art and has a simpler structure, the load arm and the base station can be in a relative motion state and a relative static state under the action of the brake stator and the brake rotor, the load arm can be directly braked without being influenced by other transmission devices, and the transmission efficiency is improved. Therefore, the brake has a smaller return clearance, and the brake precision is effectively improved.

Description

Technical Field

[0001] The present application generally relates to the medical field, and more particularly to a medical robot. Background Art

[0002] Large rotary configurations are commonly used in medical equipment, especially in the scenario where multiple robotic arms in a multi-arm medical robot are installed in parallel and work collaboratively. Medical robots have unique requirements for braking devices. For example, the braking device needs to avoid the influence of dust from friction pads, needs to avoid the influence of return clearance on the operation of mechanical equipment, and should not generate significant noise during use to affect the surgical process.

[0003] Since the radius of the large medical rotary component is large, the braking component cannot be directly driven by a motor. Medical machines in the prior art often come with a transmission device to convert the rotary motion of the motor into the motion of the rotary device. However, this structure of the braking component is prone to bring braking clearance problems through the transmission device. Especially for mechanisms with a long rotary radius, a very small return angle clearance is amplified by the long rotary radius, easily causing a visible return difference at the end, which affects the application accuracy of the surgical system.

[0004] Therefore, the present application proposes a medical robot to solve at least some of 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 solve at least partially the above problems, the present application proposes a medical robot. The medical robot includes:

[0007] A base platform, the base platform is provided with a guide rail;

[0008] At least one load arm, the at least one load arm is used to connect a surgical instrument, and the at least one load arm is movably connected to the guide rail; and

[0009] A braking unit, the braking unit includes a brake stator and a brake rotor, the brake stator is fixedly arranged on one of the base platform and the load arm, and the brake rotor is movably arranged between a braking position and a separation position on the other of the base platform and the load arm; wherein

[0010] The brake rotor located at the separation position is spaced apart from the brake stator;

[0011] The brake mover located at the braking position engages with the brake stator, and the load arm remains relatively stationary with respect to the base.

[0012] The medical robot according to the present application provides a connection method between the load arm and the base that is different from the prior art and has a simpler structure. The load arm and the base can be in a relatively movable state and a relatively stationary state through the action of the brake stator and the brake mover. Additionally, the load arm can be directly braked without being affected by other transmission devices, resulting in a smaller return clearance for the brake and effectively improving the braking accuracy.

[0013] Optionally,

[0014] It includes at least two of the load arms, and the at least two load arms are spaced apart along the extension direction of the guide rail and are movably connected to the guide rail, where

[0015] the at least two load arms move synchronously with respect to the guide rail; or

[0016] at least one of the at least two load arms moves non-synchronously with respect to the guide rail compared to the other load arms.

[0017] According to the present application, multiple load arms can be braked or released synchronously, can be braked or released separately, individually, or independently, or several of the load arms can be braked or released synchronously while the other load arms are braked or released separately, individually, or independently.

[0018] Optionally,

[0019] the at least two brake movers are respectively arranged on the corresponding load arms, and the brake stator is arranged on the base;

[0020] the brake stator is arranged along the extension direction of the guide rail and is opposite to at least one of the brake movers.

[0021] According to the present application, by providing one brake stator, the braking of multiple load arms can be satisfied. This not only has a simple structure but also enables independent braking control of multiple load arms.

[0022] Optionally,

[0023] the guide rail is an arc-shaped guide rail or a circular guide rail; and / or

[0024] the brake stator is an arc-shaped structure or a circular structure.

[0025] According to the present application, the guide rail is arranged as an arc-shaped guide rail or a circular guide rail, so that the base can be connected to multiple load arms. At the same time, more load arms can be arranged for the medical robot in a certain space to better meet the needs of the operation.

[0026] Optionally,

[0027] The base is integrally cylindrical, and the guide rail is provided on the upper surface and / or the lower surface of the base;

[0028] A connecting portion is provided at the first end of the load arm, a sliding member is connected to the connecting portion, and the connecting portion is slidably engaged with the guide rail through the sliding member.

[0029] According to the present application, by providing guide rails on the upper and lower surfaces of the base, the connection of the load arms can be made more reliable.

[0030] Optionally,

[0031] The brake stator is located inside the guide rail, and the radian of the brake stator is the same as that of the guide rail.

[0032] According to the present application, the braking torque of the braking unit can be increased.

[0033] Optionally,

[0034] The sliding member is provided with a concave chute, the notch of the concave chute faces the guide rail, and the sliding member is buckled with the guide rail through the concave chute.

[0035] According to the present application, through the connection method of the concave chute and the guide rail, the derailment of the load arm during the movement can be effectively prevented; at the same time, through the limitation of the two guide rails, the force at the connection of the load arm and the base can be more dispersed.

[0036] Optionally,

[0037] The brake mover includes an inductive coil, and the brake stator is made of a non-magnetic and permeable material;

[0038] The braking unit is configured such that when the inductive coil is energized, the brake mover is attracted to the brake stator, and when the inductive coil is de-energized, the brake mover is separated from the brake stator; or, the braking unit is configured such that when the inductive coil is de-energized, the brake mover is attracted to the brake stator, and when the inductive coil is energized, the brake mover is separated from the brake stator.

[0039] According to the present application, the electromagnetic brake can avoid the problems of noise, wear and air leakage of the pneumatic brake, and eliminate the defects of hydraulic transmission.

[0040] Optionally, the brake mover includes:

[0041] A permanent magnet for generating a magnetic force to attract the brake stator;

[0042] A magnetic conductive housing for guiding the magnetic field generated by the inductive coil and the permanent magnet. The inductive coil and the permanent magnet are both disposed within the magnetic conductive housing, and the magnetic conductive housing faces the brake stator;

[0043] An elastic member for generating a separating force between the magnetic conductive housing and the brake stator. The magnetic conductive housing is connected to the load arm via the elastic member;

[0044] The braking unit is configured such that when the inductive coil is de-energized, the brake mover is attracted to the brake stator, and when the inductive coil is energized, the brake mover is separated from the brake stator.

[0045] According to the present application, a power-off normally-closed brake can be achieved.

[0046] Optionally, the permanent magnet is located on a side of the inductive coil away from the brake stator.

[0047] Optionally, the brake mover includes:

[0048] A magnetic conductive housing for guiding the magnetic field generated by the inductive coil. The inductive coil is disposed within the magnetic conductive housing, and the magnetic conductive housing faces the brake stator;

[0049] An elastic member for generating a separating force between the magnetic conductive housing and the brake stator. The magnetic conductive housing is connected to the load arm via the elastic member;

[0050] The braking unit is configured such that when the inductive coil is energized, the brake mover is attracted to the brake stator, and when the inductive coil is de-energized, the brake mover is separated from the brake stator.

[0051] According to the present application, a power-off normally-open brake can be achieved.

[0052] Optionally, the brake mover further includes a non-magnetic magnetic conductive structure located on a side of the inductive coil close to the brake stator.

[0053] According to the present application, by providing a non-magnetic magnetic conductive material, the local magnetic field strength of the brake mover can be effectively enhanced.

[0054] Optionally, the brake mover is located above the base. One end of the elastic member is connected to the load arm, and the other end of the elastic member is connected to the upper part of the magnetic conductive housing. The lower part of the magnetic conductive housing faces the brake stator.

[0055] Optionally,

[0056] the elastic member is configured as one or more of a waveform, a rectangle, and a double-leaf door shape; and / or

[0057] the elastic member is one or more of a reed, a leaf spring, and a tension spring.

[0058] According to the present application, the arrangement of the elastic member can absorb the movement deviation of the brake mover in the height direction through elastic deformation.

[0059] Optionally, the distance between the brake mover and the brake stator at the separation position is any value in the range of 0.1 mm to 2 mm.

[0060] According to the present application, the small distance between the brake mover and the brake stator can shorten the braking time and improve the braking sensitivity.

[0061] Optionally, the brake mover includes at least two mover parts, and the mover parts are configured as cylinders.

[0062] At least two of the at least two mover parts are arranged in series; and / or

[0063] At least two of the at least two mover parts are arranged in parallel.

[0064] According to the present application, the cylindrical mover is suitable for large-scale mass production, and the brake mover is manufactured in a manner of integrating at least two mover parts in series and / or in parallel, which can take into account both production efficiency and the layout space requirements of the large turntable.

[0065] Optionally, the medical robot further includes:

[0066] a base;

[0067] a column, the bottom end of the column being connected to the base; and

[0068] a cantilever beam, the cantilever beam being connected to the top end of the column, the base being connected to the cantilever beam, and the base being capable of rotating relative to the cantilever beam. Description of the Drawings

[0069] The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding 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. In the drawings,

[0070] Figure 1 is a schematic diagram of a medical robot according to the first embodiment of the present application;

[0071] Figure 2 is Figure 1Schematic diagram of a part, which shows a schematic configuration diagram between a base, a braking unit, and a load arm, and the brake mover has a fan-shaped ring cross-section;

[0072] Figure 3 For Figure 1 Schematic diagram of a part, which shows a schematic configuration diagram between a base, a braking unit, and multiple load arms;

[0073] Figure 4 For Figure 1 Schematic diagram of a part, which shows a refined configuration diagram between a guide rail, a braking unit, and a load arm, and further shows a schematic diagram of a refined configuration of the braking unit;

[0074] Figure 5 Schematic diagram of a part of a medical robot according to the second embodiment of the present application, which shows a schematic configuration diagram between a base, a braking unit, and a load arm, and the brake mover includes at least two mover parts configured as cylinders;

[0075] Figure 6 For Figure 1 Schematic diagram of another refined configuration of the braking unit; and

[0076] Figure 7 For Figure 6 Schematic diagram of the structure of the elastic member in

[0077] Explanation of reference numerals:

[0078] 10: Medical robot 1: Load arm

[0079] 11: First connection part 12: Second connection part

[0080] 2: Base 3: Braking unit

[0081] 31: Brake stator 32 / 132: Brake mover

[0082] 132a: Mover part 321: Inductive coil

[0083] 322: Permanent magnet 323: Magnetic conductive housing

[0084] 324: Elastic member 324a: Diaphragm structure

[0085] 4: Guide rail 41: First guide rail

[0086] 42: Second guide rail 51: First sliding part

[0087] 52: Second sliding part 6: Surgical instrument

[0088] 71: Base 72: Support structure

[0089] 721: Column 722: Cantilever beam Detailed implementation manner

[0090] 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 embodiments of the present application can be implemented without one or more of these details. In other instances, in order to avoid confusion with the embodiments of the present application, some well-known technical features are not described.

[0091] In order to thoroughly understand the embodiments of the present application, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art.

[0092] It should be understood that the terms used herein are for the purpose of describing particular example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an" and "the" may also include the plural forms. The terms "comprising", "including", "containing" and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the particular order described or illustrated, unless the order of performance is explicitly stated. It should also be understood that alternative or additional steps may be used.

[0093] Although the terms first, second, third, etc. may be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer or section from another. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply an order or sequence when used in the text. Thus, the first element, component, region, layer or section discussed below may be referred to as the second element, component, region, layer or section without departing from the teachings of the example embodiments.

[0094] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature shown in the figures to another element or feature. These relative terms, such as "inner", "outer", "inner side", "outer side", "below", "beneath", "above", "over", etc., are intended to include different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if the device in the figure is flipped, an element described as "below" or "beneath" another element or feature will then be oriented "above" or "over" the other element or feature. Thus, the exemplary term "below" can include both upward and downward orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative descriptors used herein are to be interpreted accordingly.

[0095] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings, which show representative embodiments of the present application and do not limit the present application.

[0096] First Embodiment

[0097] Figures 1 to 4 A first embodiment of a medical robot 10 is shown. The medical robot 10 includes a base 2, at least one load arm 1, and a braking unit 3. The base 2 is provided with a guide rail 4. At least one load arm 1 is used to connect a surgical instrument 6, and at least one load arm 1 is movably connected to the guide rail 4. The braking unit 3 includes a brake stator 31 and a brake mover 32. The brake stator 31 is fixedly provided on one of the base 2 and the load arm 1, and the brake mover 32 is movably provided between a braking position and a disengaging position on the other of the base 2 and the load arm 1. Wherein, the brake mover 32 located at the disengaging position is spaced apart from the brake stator 31. The brake mover 32 located at the braking position engages with the brake stator 31, and the load arm 1 and the base 2 remain relatively stationary.

[0098] According to the medical robot 10 of the present application, a connection method between the load arm 1 and the base 2 that is different from the prior art and has a simpler structure is provided. The load arm 1 and the base 2 can be in a state of relative movement and relative rest through the action of the brake stator 31 and the brake mover 32. In addition, the load arm 1 can be directly braked without being affected by other transmission devices, so that the brake has a smaller return clearance and can effectively improve the braking accuracy.

[0099] It should be noted that the directional terms used for the various components, parts, etc. of the medical robot 10 described in this application are relative to the base 2. The height direction is the height direction or the thickness direction of the base 2 itself. For the cylindrical base 2, the height direction is the axial direction of the base 2. In the height direction, the side of the base 2 close to the cantilever beam 722 is "up", and the other side away from the cantilever beam 722 is "down".

[0100] Reference Figure 1 , the medical robot 10 includes a base 2, at least one load arm 1 (for example, four load arms 1), a braking unit 3, a base 71, and a support structure 72. Wheels may be provided at the lower part of the base 71 for easy movement. The support structure 72 includes a column 721 and a cantilever beam 722. The bottom end of the column 721 is connected to the base 71, and the cantilever beam 722 is connected to the top end of the column 721. The base 2 is connected to the cantilever beam 722, and the base 2 can rotate relative to the cantilever beam 722. The base 2 is provided with a guide rail 4. At least one load arm 1 is used to directly or indirectly connect a surgical instrument 6, and at least one load arm 1 is movably connected to the guide rail 4. The braking unit 3 includes a brake stator 31 and a brake rotor 32. The brake stator 31 is fixedly provided on one of the base 2 and the load arm 1, and the brake rotor 32 is movably provided between a braking position and a disengaging position on the other of the base 2 and the load arm 1. Among them, the brake rotor 32 in the disengaging position is spaced apart from the brake stator 31. The brake rotor 32 in the braking position engages with the brake stator 31, and the load arm 1 and the base 2 remain relatively stationary.

[0101] In some embodiments, the medical robot 10 may be a ceiling-mounted surgical robot. The base 2 may be a directional slewing platform. The surgical positioning adjustment, etc. can be achieved by adjusting the position of the load arm 1.

[0102] Reference Figures 1 to 4 , the brake stator 31 may be fixedly provided on the base 2, and the brake rotor 32 is movably provided between a braking position and a disengaging position on the load arm 1. The load arm 1 may be a robotic arm or a mount for some general medical devices. The load arm 1 may be used to directly or indirectly connect a surgical instrument 6.

[0103] The medical robot 10 may include at least two load arms 1, the at least two load arms 1 are spaced along the extending direction of the guide rail 4, and the at least two load arms 1 are movably connected to the guide rail 4. In some embodiments, the at least two load arms 1 move synchronously relative to the guide rail 4. In some other embodiments, at least one of the at least two load arms 1 moves non-synchronously relative to the guide rail 4 with respect to the other load arms 1. Thus, the multiple load arms 1 can be braked or be braked synchronously, can be braked or be braked separately, individually, or isolatedly, or several of the load arms 1 can be braked or be braked synchronously while the other load arms 1 are braked or be braked separately, individually, or isolatedly.

[0104] In some embodiments, at least two brake movers 32 are respectively disposed on the corresponding load arms 1, and the brake stator 31 is disposed on the base 2. The brake stator 31 is disposed along the extending direction of the guide rail 4 and is opposite to at least one brake mover 32. Thus, by providing one brake stator 31, the braking of multiple load arms 1 can be satisfied, which is not only simple in structure, but also can realize the independent braking control of multiple load arms 1. Preferably, the brake stator 31 is coaxially disposed with the guide rail 4, and the spatial layout is scientific.

[0105] Reference Figure 2 and Figure 3 , in some embodiments, the guide rail 4 may be an annular guide rail 4, and the brake stator 31 may be an annular structure. Thus, the base 2 can be connected to multiple load arms 1. At the same time, more load arms 1 can be arranged in a certain space for the medical robot 10 to better meet the needs of the operation. In some other embodiments, the guide rail 4 may be an arc-shaped guide rail 4, and the brake stator 31 may be an arc-shaped structure; or the guide rail 4 may be an arc-shaped guide rail 4, and the brake stator 31 may be an annular structure; or the guide rail 4 may be an annular guide rail 4, and the brake stator 31 may be an arc-shaped structure. The specific setting method can be adjusted according to actual requirements. The load arm 1 can rotate around the center of the annular guide rail 4 or the arc-shaped guide rail 4.

[0106] In some embodiments, the base 2 is generally constructed as a column shape, which has an upper surface and a lower surface oppositely disposed along the height direction of the base 2 itself, and the guide rail 4 is provided on the upper surface and / or the lower surface of the base 2. The axis of the base 2 may be parallel to the height direction, and the base 2 may be generally constructed as a flat column shape. The load arm 1 may be generally constructed as a long column shape, and the axis of the load arm 1 may be perpendicular to the axis of the base 2. A connecting portion is provided at the first end of the load arm 1, and a sliding member is connected to the connecting portion. The connecting portion is slidably engaged with the guide rail 4 through the sliding member. Thus, by providing the guide rail 4 on the upper and lower surfaces of the base 2, the connection of the load arm 1 can be made more reliable.

[0107] In some embodiments, the guide rail 4 can be an annular or arc-shaped guide rail 4 with the same size up and down. In some other embodiments, the guide rail 4 can also be a single guide rail 4 or a configuration where the guide rail 4 spindles are collinear in space, which can have an equivalent effect to the annular or arc-shaped guide rail 4 with the same size up and down.

[0108] In the illustrated embodiment, the connecting portion includes a first connecting portion 11 and a second connecting portion 12 that are oppositely arranged in the height direction. The sliding member includes a first sliding member 51 and a second sliding member 52 that are oppositely arranged in the height direction. The guide rail 4 includes a first guide rail 41 and a second guide rail 42 that are oppositely arranged in the height direction. The first guide rail 41 is disposed on the upper surface of the base 2. The first guide rail 41 can be an arc-shaped guide rail 4 or an annular guide rail 4. The notch of the concave chute of the first sliding member 51 faces the first guide rail 41. The first sliding member 51 is buckled to the first guide rail 41 through the concave chute. The first connecting portion 11 of the load arm 1 is connected to the surface of the first sliding member 51 opposite to the notch orientation. Similarly, the second guide rail 42 is disposed on the lower surface of the base 2. The second guide rail 42 can be an arc-shaped guide rail 4 or an annular guide rail 4. The notch of the concave chute of the second sliding member 52 faces the second guide rail 42. The first sliding member 51 is buckled to the second guide rail 42 through the concave chute. The second connecting portion 12 of the load arm 1 is connected to the surface of the first sliding member 51 opposite to the notch orientation. Thus, through the connection mode of the concave chute and the guide rail 4, the load arm 1 can be effectively prevented from derailing during movement; at the same time, through the limitation of the two guide rails 4, the force at the connection between the load arm 1 and the base 2 can be more dispersed. The brake mover 32 can be connected to the load arm 1 or to the sliding member in the form of, for example, a mechanical connection.

[0109] Reference Figure 2 and Figure 3 , the cross-section of the brake mover 32 can be in the shape of a sector ring, so that it can fit more closely to the annular or arc-shaped brake stator 31, thereby increasing the suction surface area between the brake mover 32 and the brake stator 31.

[0110] In some embodiments, the projected dimension w (see Figure 2 ) of the arc-shaped brake stator 31 on the upper surface (or lower surface) of the base 2 is adapted to the projected dimension of the load arm 1 on the upper surface (or lower surface) of the base 2. Taking the load arm 1 constructed as a cylinder as an example, w is approximately equivalent to the radial dimension of the load arm 1 constructed as a cylinder.

[0111] As Figure 3 shown, a combined structure of multiple groups of arc-shaped guide rails 4 and sliding members can form a concentric configuration in a plane or in space. The combined structure of the arc-shaped guide rails 4 and the sliding members is correspondingly connected to the load arm 1. Thus, the connection stiffness of the load arm 1 can be improved.

[0112] The radian of the brake stator 31 is the same as that of the guide rail 4. The brake stator 31 is located inside the guide rail 4, which can increase the braking torque of the braking unit 3. The braking unit 3 is arranged around a larger radius of rotation. Thus, the load arm 1 can be effectively braked, the stiffness in the rotation direction of the load arm 1 can be improved, and resonance of a robot with multiple load arms 1 during movement can be avoided.

[0113] The medical robot 10 according to the present application can select an electromagnetic brake solution to avoid the problems of noise, wear, and air leakage of pneumatic brakes and eliminate the defects of hydraulic transmission. Specifically, the brake mover 32 can include an inductor coil 321. The brake stator 31 is made of a non-magnetic permeable material such as ferromagnetic metal. Thus, it has high wear resistance and does not generate dust. The non-magnetic permeable material can also be some composite materials that have an equivalent effect to certain magnetic materials that produce a magnetic adsorption effect with magnets. The brake stator 31 can be configured in the shape of a disc or other shapes suitable for attracting the brake mover 32.

[0114] In some embodiments, the medical robot 10 according to the present application can adopt a power-off normally open brake solution. Among them, the braking unit 3 is configured such that when the inductor coil 321 is energized, the brake mover 32 attracts the brake stator 31, and when the inductor coil 321 is de-energized, the brake mover 32 separates from the brake stator 31. In some other embodiments, the medical robot 10 according to the present application can adopt a power-off normally open brake solution. Among them, the braking unit 3 is configured such that when the inductor coil 321 is de-energized, the brake mover 32 attracts the brake stator 31, and when the inductor coil 321 is energized, the brake mover 32 separates from the brake stator 31.

[0115] Optionally, the distance between the brake mover 32 and the brake stator 31 in the separated position is small, which can be any value in the range of 0.1 mm - 2 mm, preferably any value in the range of 0.2 - 0.5 mm, and further preferably any value in the range of 0.3 - 0.5 mm. Thus, the small distance between the brake mover 32 and the brake stator 31 can shorten the time used for braking and improve the sensitivity of the brake.

[0116] The power-off normally open brake solution and the power-off normally open brake solution will be further described below.

[0117] The medical robot 10 according to the present application can adopt a power-off normally open brake solution. Refer to Figure 4, specifically, the brake mover 32 may include a permanent magnet 322, a magnetic conductive housing 323, and an elastic member 324. The permanent magnet 322 is used to generate a magnetic force that attracts the brake stator 31. The magnetic conductive housing 323 is used to conduct the magnetic field generated by the inductive coil 321 and the permanent magnet 322. Both the inductive coil 321 and the permanent magnet 322 are disposed within the magnetic conductive housing 323, and the magnetic conductive housing 323 faces the brake stator 31. The elastic member 324 is used to generate a separating force between the magnetic conductive housing 323 and the brake stator 31, and the magnetic conductive housing 323 is connected to the load arm 1 via the elastic member 324. The braking unit 3 is configured such that when the inductive coil 321 is de-energized, the brake mover 32 is attracted to the brake stator 31, and when the inductive coil 321 is energized, the brake mover 32 is separated from the brake stator 31. The permanent magnet 322 is optionally located on the side of the inductive coil 321 away from the brake stator 31. Thus, a power-off normally-closed braking scheme can be achieved.

[0118] The arrangement of the elastic member 324 can absorb the movement deviation of the brake mover 32 in the height direction through elastic deformation. Figure 4 The elastic member 324 shown in [the figure] is a corrugated spring leaf and is used to separate the brake mover 32 from the brake stator 31. It can be understood that the elastic member 324 can also be other types of springs, such as shrapnel, spring leaves, diaphragms, tension springs, etc. The elastic member can be configured as multiple. Figure 6 and Figure 7 An exemplary elastic member 324 of a diaphragm structure is given. Moreover, two or more diaphragm structures 324a can be combined, for example, by stacking, to jointly form the overall elastic member 324. Given that the center of gravity of the load arm 1 is offset from the guide rail 4, when the brake mover 32 is in the braking state, the bending conditions of the multiple diaphragm structures 324a are different and complex, and to a certain extent, it can compensate for the load eccentricity of the brake mover 32 caused by the eccentricity of the load arm 1. Further, each diaphragm structure 324a respectively includes a plurality of wing-shaped structures (see Figure 7 ). One of any two adjacent wing-shaped structures among the plurality of wing-shaped structures is locked to the load arm 1 by a fastener such as a screw, and the other of the two adjacent wing-shaped structures is locked to the magnetic conductive housing by a fastener such as a screw. This diaphragm elastic member 324 with wing-shaped structures can not only absorb the movement of the brake mover 32 in the height direction but also bear the offset of the arm of the load arm 1 in the moving direction. In addition, the diaphragm can also be configured as one or more of a corrugated shape, a rectangular shape, and a double-leaf door shape, and the elastic member 324 can be one or more of a spring leaf, a leaf spring, or a tension spring. The type and configuration of the elastic member 324 can be flexibly selected according to actual needs to achieve an equivalent effect.

[0119] Among them, the permanent magnet 322 is used to achieve natural adsorption. In some embodiments not shown, using a suitable electromagnetic element to replace the permanent magnet 322 can have an equivalent effect. In this power-off normally closed brake application, in the non-powered state, the permanent magnet 322 generates a strong magnetic field, overcoming the deformation of the elastic member 324 so that it can move downward to directly adsorb with the brake stator 31, and the load arm 1 is forced to be fixedly connected to the base 2. When power is supplied to the brake mover 32, the inductor coil 321 can generate a strong reverse electromagnetic thrust, pushing the movable part of the brake mover 32 upward by a certain distance and maintaining it, so that the load arm 1 can move freely. This certain distance is the distance between the brake mover 32 and the brake stator 31 at the separation position.

[0120] In some other embodiments not shown, the medical robot 10 according to the present application can adopt a power-off normally open brake scheme. Specifically, the brake mover 32 can include a magnetic conduction housing 323 and an elastic member 324. The magnetic conduction housing 323 is used to conduct the magnetic field generated by the inductor coil 321. The inductor coil 321 is arranged inside the magnetic conduction housing 323, and the magnetic conduction housing 323 faces the brake stator 31. The elastic member 324 is used to generate a force for separating the magnetic conduction housing 323 from the brake stator 31, and the magnetic conduction housing 323 is connected to the load arm 1 through the elastic member 324. The braking unit 3 is configured such that when the inductor coil 321 is powered on, the brake mover 32 is attracted to the brake stator 31, and when the inductor coil 321 is powered off, the brake mover 32 is separated from the brake stator 31. Thus, a power-off normally open brake scheme can be realized.

[0121] Among them, the brake mover 32 can further include a non-magnetic magnetic conduction structure body such as an armature, and the non-magnetic magnetic conduction structure body is located on one side of the inductor coil 321 close to the brake stator 31. Thus, the local magnetic field intensity of the brake mover 32 can be effectively improved. The arrangement of the elastic member 324 can absorb the movement deviation of the brake mover 32 in the height direction through elastic deformation. The elastic member 324 can be configured as one or more of a waveform, a rectangle, and a double-leaf door shape, and the elastic member 324 can be one or more of a reed, a leaf spring, and a tension spring. The type and structure of the elastic member 324 can be flexibly selected according to actual needs to achieve an equivalent effect.

[0122] The medical robot 10 according to the present application can flexibly select a power-off normally open brake scheme or a power-off normally closed brake scheme according to actual medical needs. It can be understood that other components and members of the medical robot 10 can be adaptively adjusted according to the adaptation needs. In some embodiments, the brake mover 32 is located above the base 2, one end of the elastic member 324 is connected to the load arm 1, the other end of the elastic member 324 is connected to the upper part of the magnetic conduction housing 323, and the lower part of the magnetic conduction housing 323 faces the brake stator 31 to be suitable for a power-off normally open brake scheme or a power-off normally closed brake scheme.

[0123] Second Embodiment

[0124] Figure 5 A part of a medical robot according to a second embodiment of the present application is shown.

[0125] Different from the first embodiment, the brake mover 132 may include at least two mover parts 132a, and the mover part 132a may be configured as a cylinder. In some embodiments, at least two of the at least two mover parts 132a are arranged in series. In some other embodiments, at least two of the at least two mover parts 132a are arranged in parallel. Thus, the cylindrical brake mover is suitable for large-scale mass production and is convenient for manufacturing using the existing brake production line; the brake mover 132 is manufactured in a manner of integrating at least two mover parts 132a in series and / or in parallel, which can take into account both production efficiency and the layout space requirements of a large turntable.

[0126] For the parts not described in this embodiment, reference may be made to the description and drawings in the above embodiment. For the sake of brevity, they will not be described and / or illustrated in detail again.

[0127] In some embodiments not shown, different from the first embodiment, the brake stator may be fixedly arranged on the load arm, and the brake mover is movably arranged on the base between the braking position and the separating position. Driven by the load arm 1, the stator can move around the center of the arc-shaped guide rail or the annular guide rail. The settings and structures of other components, members, etc. required to implement the technical solution of the present application are adaptively adjusted.

[0128] The brake solution used in the medical robot 10 according to the present application is applicable not only to the turntable structure but also to the brakes in linear motion.

[0129] 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. Terms such as "arranged" as used herein may mean that one component is directly attached to another component or that one component is attached to another component through an intermediate member. The features described in one embodiment herein can be applied alone or in combination with other features to another embodiment, unless the feature is not applicable or otherwise stated in that other embodiment.

[0130] The present application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative and explanatory purposes, and are not intended to limit the present application to the scope of the described embodiments. Those skilled in the art can understand that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope claimed by the present application.

Claims

1. A medical robot, characterized in that, Comprising: A base, the base being provided with a guide rail; At least one load arm, the at least one load arm being used for connecting a surgical instrument, the at least one load arm being movably connected to the guide rail; and A braking unit, the braking unit including a brake stator and a brake rotor, the brake stator being fixedly arranged on one of the base and the load arm, the brake rotor being movably arranged between a braking position and a separating position on the other of the base and the load arm; Wherein The brake rotor located at the separating position is spaced apart from the brake stator; The brake rotor located at the braking position engages with the brake stator, and the load arm and the base remain relatively stationary.

2. The medical robot according to claim 1, characterized in that It includes at least two of the load arms, at least two of the load arms being arranged at intervals along the extending direction of the guide rail, and at least two of the load arms being movably connected to the guide rail, wherein At least two of the load arms move synchronously relative to the guide rail; or At least one of at least two of the load arms moves non-synchronously relative to the guide rail with respect to the other load arms.

3. The medical robot according to claim 2, characterized in that At least two of the brake rotors are respectively arranged on the corresponding load arms, and the brake stator is arranged on the base; The brake stator is arranged along the extending direction of the guide rail and is opposite to at least one of the brake rotors.

4. The medical robot according to claim 1, characterized in that The guide rail is an arc-shaped guide rail or a circular guide rail; and / or The brake stator is an arc-shaped structure or a circular structure.

5. The medical robot according to claim 4, characterized in that The base is integrally cylindrical, and the upper surface and / or the lower surface of the base is provided with the guide rail; A connecting portion is provided at a first end of the load arm, a sliding member is connected to the connecting portion, and the connecting portion is slidably engaged with the guide rail through the sliding member.

6. The medical robot according to claim 4, characterized in that The brake stator is located inside the guide rail, and the radian of the brake stator is the same as the radian of the guide rail.

7. The medical robot according to claim 5, characterized in that The sliding member is provided with a concave chute, the notch of the concave chute faces the guide rail, and the sliding member is buckled with the guide rail through the concave chute.

8. The medical robot according to claim 1, characterized in that The brake rotor includes an inductive coil, and the brake stator is made of a non-magnetic and magnetically conductive material; The braking unit is configured such that when the inductive coil is energized, the brake rotor is attracted to the brake stator, and when the inductive coil is de-energized, the brake rotor is separated from the brake stator; or, the braking unit is configured such that when the inductive coil is de-energized, the brake rotor is attracted to the brake stator, and when the inductive coil is energized, the brake rotor is separated from the brake stator.

9. The medical robot according to claim 8, characterized in that The brake rotor includes: A permanent magnet for generating a magnetic force to attract the brake stator; A magnetic conductive housing for guiding the magnetic field generated by the inductive coil and the permanent magnet. Both the inductive coil and the permanent magnet are disposed within the magnetic conductive housing, and the magnetic conductive housing faces the brake stator; An elastic member for generating a separating force between the magnetic conductive housing and the brake stator. The magnetic conductive housing is connected to the load arm via the elastic member; The braking unit is configured such that when the inductive coil is de-energized, the brake mover is attracted to the brake stator, and when the inductive coil is energized, the brake mover is separated from the brake stator.

10. The medical robot according to claim 9, wherein The permanent magnet is located on one side of the inductive coil away from the brake stator.

11. The medical robot according to claim 8, wherein The brake mover includes: A magnetic conductive housing for guiding the magnetic field generated by the inductive coil. The inductive coil is disposed within the magnetic conductive housing, and the magnetic conductive housing faces the brake stator; An elastic member for generating a separating force between the magnetic conductive housing and the brake stator. The magnetic conductive housing is connected to the load arm via the elastic member; The braking unit is configured such that when the inductive coil is energized, the brake mover is attracted to the brake stator, and when the inductive coil is de-energized, the brake mover is separated from the brake stator.

12. The medical robot according to claim 11, wherein The brake mover further includes a non-magnetic magnetic conductive structure located on one side of the inductive coil close to the brake stator.

13. The medical robot according to any one of claims 9 to 12, wherein The brake mover is located above the base. One end of the elastic member is connected to the load arm, and the other end of the elastic member is connected to the upper part of the magnetic conductive housing. The lower part of the magnetic conductive housing faces the brake stator.

14. The medical robot according to any one of claims 9 to 12, wherein The elastic member is configured as one or more of a waveform, a rectangle, a double-leaf door shape, and a wing shape; and / or The elastic member is one or more of a reed, a diaphragm, a leaf spring, and a tension spring.

15. The medical robot according to any one of claims 1 to 12, characterized in that, The distance between the brake mover and the brake stator at the separation position is any value within 0.1 mm - 2 mm.

16. The medical robot according to any one of claims 1 to 12, characterized in that, The brake mover includes at least two mover parts, and the mover parts are configured as cylinders. At least two of the at least two mover parts are connected in series; and / or At least two of the at least two mover parts are connected in parallel.

17. The medical robot according to any one of claims 1 to 12, characterized in that, Further includes: A base; A column, the bottom end of the column being connected to the base; And A cantilever beam, the cantilever beam being connected to the top end of the column. The base is connected to the cantilever beam, and the base is capable of rotating relative to the cantilever beam.

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