Doctor console and surgical robot system

Abstract

The invention discloses a doctor console and a surgical robot system, and relates to the technical field of medical instruments, and the doctor console comprises a bearing bottom plate and a pedal bottom plate; a brake switch mechanism, a first brake mechanism, a second brake mechanism, a synchronous winding drum, a first directional wheel and a second directional wheel are arranged on the bearing bottom plate, the brake switch mechanism is connected with the synchronous winding drum, and the synchronous winding drum is connected with the first brake mechanism and the second brake mechanism; the pedal bottom plate is hinged to the bearing bottom plate, and the output end of the synchronous winding drum is connected with the pedal bottom plate. According to the doctor console, the brake switch mechanism is arranged on the bearing bottom plate, the two brake mechanisms and the pedal bottom plate are in linkage through the synchronous winding drum, the brake switch mechanism can be controlled in a linkage mode to brake the two directional wheels, the pedal bottom plate is put down, operation is convenient, meanwhile, the brake effect is guaranteed, and the doctor console is suitable for popularization and application. Therefore, the surgical robot system can ensure the flexibility of a doctor console and the stability in the surgical process.

Description

[0001] Related Applications The present application claims priority to the Chinese patent application No.CN202510706328.3, filed on May 29, 2025, entitled "Doctor Console and Surgical Robot System", the contents of which are incorporated herein by reference in its entirety, and fully incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of medical devices, in particular to a doctor console and a surgical robot system. BACKGROUND

[0003] In a surgical robot system, a doctor controls the actions of a robot and an end effector through a console to realize surgical operation. In order to ensure flexibility, the existing doctor console is usually mobile. Although the mobile console has relatively high degree of freedom, it may shake. The console with brake devices on the rollers needs to be manually released and fixed before and after each movement. Especially for the console with brake devices on multiple rollers, each brake device needs to be operated in sequence when manually released and fixed each time, which is very troublesome. SUMMARY

[0004] To solve the problems in the prior art, the present application provides a doctor console and a surgical robot system. The doctor console is provided with brake switch mechanisms on a bearing bottom plate, and two brake mechanisms and a foot plate are linked by a synchronous winding drum. The two directional wheel brakes and the foot plate can be controlled by controlling the brake switch mechanisms, which is convenient to operate and ensures the brake effect, so that the surgical robot system can ensure the flexibility of the doctor console and the stability during the operation.

[0005] To achieve the above-mentioned purposes, the present application adopts the following technical solutions: On the one hand, the present application provides a doctor console, which comprises a bearing bottom plate and a foot plate. The bearing bottom plate is provided with brake switch mechanisms, a first brake mechanism, a second brake mechanism, a synchronous winding drum, a first directional wheel and a second directional wheel. The brake switch mechanisms are connected with the input end of the synchronous winding drum. The output end of the synchronous winding drum is connected with the first brake mechanism and the second brake mechanism respectively. The first brake mechanism is the brake mechanism of the first directional wheel, and the second brake mechanism is the brake mechanism of the second directional wheel. The foot plate is hinged with the bearing bottom plate. A lifting mechanism is arranged between the bearing bottom plate and the foot plate. The lifting mechanism is used to drive the foot plate to rotate around the bearing bottom plate to realize lifting. The output end of the synchronous winding drum is connected with the lifting mechanism.

[0006] In the present application, the first directional wheel and the second directional wheel on the bearing base in the released state can move freely, while the foot pedal base is lifted by the synchronous drum driving lifting mechanism to rise from the ground, at which time the operating table can be freely moved, when fixation is required, the doctor can step on the brake switch mechanism, the brake switch mechanism drives the synchronous drum to rotate, the synchronous drum rotates to drive the first brake mechanism and the second brake mechanism to brake the first directional wheel and the second directional wheel respectively, at the same time, the rotation of the synchronous drum drives the lifting mechanism to act, the foot pedal base rotates around the bearing base, and the foot pedal base falls to the ground, at which time the doctor can step on the foot pedal base, and then operate the surgical robot on the robot operating system on the doctor's console to perform surgical operation, at this time, the first directional wheel and the second directional wheel are braked, and the mobility of the bearing base is maximally limited.

[0007] In a further technical solution, the brake switch mechanism comprises a brake pedal and a brake cam, the brake cam is rotatably connected with the bearing base, one end of the brake cam is located below the brake pedal, and the other end of the brake cam is connected with the synchronous drum.

[0008] When the brake pedal is actuated, the brake cam rotates around the bearing base, and at the same time drives the synchronous drum to rotate, and the transmission structure is stable.

[0009] In a further technical solution, the brake switch mechanism further comprises a self-locking swing lever and a self-locking limiting component, one end of the self-locking swing lever is connected with the brake pedal, the other end of the self-locking swing lever passes through the bearing base and is rotatably provided with a self-locking wheel, and the self-locking limiting component is arranged below the bearing base and cooperates with the self-locking wheel. A first spring is arranged between the brake pedal and the bearing base.

[0010] By arranging the self-locking swing lever and the self-locking limiting component, when the automatic pedal is stepped on, the self-locking limiting component limits the self-locking wheel, so that the brake pedal remains in a low position and cannot be reset, ensuring the stability of braking, and there is no need to always step on the brake pedal.

[0011] In a further technical solution, a movement groove for movement of the self-locking wheel is arranged on the self-locking limiting component, the movement groove is an annular groove, the movement groove comprises a part of outwardly inclined slope and a part of inwardly inclined slope in the movement direction of the brake pedal, the outwardly inclined slope and the inwardly inclined slope are connected at the highest part of the movement groove, and the lowest part of the movement groove comprises an upward groove connected with the outwardly inclined slope and the inwardly inclined slope.

[0012] By setting the motion groove, when the brake pedal moves, the self-locking wheel is driven by the self-locking swing rod to move in the motion groove, the brake pedal is stepped down, the self-locking wheel moves along the outwardly inclined ramp in the motion groove until the groove at the lowest part of the motion groove, at this time the brake pedal is released, the self-locking wheel is raised under the action of the first spring and is locked in the groove, at this time the self-locking is realized, when it is needed to be released, the brake pedal is stepped down again, the self-locking wheel continues to move along the motion groove and enters the inwardly inclined ramp, the self-locking wheel returns to the initial position through the inwardly inclined ramp, at this time the brake pedal is reset, and the brake release is completed.

[0013] The structural design of the motion groove ensures the movement direction and position of the self-locking wheel and ensures the self-locking effect, and the operation is simple.

[0014] In a further technical solution, the brake switch mechanism further comprises a first brake line, a second brake line and a third brake line, the first brake line is connected between the brake cam and the synchronous reel, the second brake line is connected between the synchronous reel and the first brake mechanism, and the third brake line is connected between the synchronous reel and the second brake mechanism.

[0015] The power transmission of each part is realized through the brake line, the transmission structure is simple and stable, and the weight is light.

[0016] In a further technical solution, the first brake mechanism comprises a wedge block, a brake pressing rod and a pressing assembly, the wedge block is connected with the synchronous reel, the surface of the wedge block comprises an inclined surface, one end of the brake pressing rod passes through the wedge block and is opposite to the first directional wheel on the bearing bottom plate, and a brake pad is arranged on the end of the brake pressing rod facing the first directional wheel, the other end of the brake pressing rod extends above the inclined surface of the wedge block and is rotatably provided with a brake roller, and the pressing assembly is in contact with the brake roller and applies downward pressure to the brake roller.

[0017] By setting the wedge block, the brake pressing rod and the pressing assembly, when the wedge block is driven by the synchronous reel, the brake roller can move on the inclined surface of the wedge block, the pressing assembly applies downward pressure to the brake pressing rod through the brake roller and realizes braking, the braking is stable, and the release is simple.

[0018] In a further technical solution, the pressing assembly comprises a spring pressing rod, the spring pressing rod is rotatably connected with the bearing bottom plate, one end of the spring pressing rod is in contact with the upper surface of the brake roller, and a second spring is arranged between the other end of the spring pressing rod and the bearing bottom plate.

[0019] The second spring provides a pre-tightening force to the spring pressing rod, so that the pressing assembly can continuously apply pressure to the brake roller.

[0020] In a further technical solution, the lifting mechanism comprises a first sliding block and a second sliding block, the first sliding block and the second sliding block are connected with the synchronous winding drum through a first linkage line and a second linkage line respectively, the bottom part of the bearing bottom plate is respectively provided with a first sliding rail and a second sliding rail, and the first sliding block and the second sliding block are respectively connected on the first sliding rail and the second sliding rail in a sliding mode. The first sliding block and the second sliding block are respectively provided with a first roller and a second roller, and the foot pedal plate is respectively provided with a first waist-shaped hole and a second waist-shaped hole, and the first roller and the second roller are respectively located in the first waist-shaped hole and the second waist-shaped hole.

[0021] The first sliding block and the second sliding block are driven by the synchronous winding drum to move along the first sliding rail and the second sliding rail, and the first roller and the second roller are driven to drive the foot pedal plate to rotate around the bearing bottom plate through the first waist-shaped hole and the second waist-shaped hole, so that the foot pedal plate is lifted and landed, and the driving structure is simple and stable.

[0022] In a further technical solution, the first linkage line and the second linkage line are both changed direction through a steering wheel and then connected with the first sliding block and the second sliding block respectively.

[0023] The line is changed direction, so that it can be arranged in a more orderly manner, and the overall layout of the structure is facilitated.

[0024] A surgical robot system comprises the doctor console according to any one of the above technical solutions.

[0025] The doctor console of the present application sets the brake switch mechanism on the bearing bottom plate, and connects the two brake mechanisms and the foot pedal plate through the synchronous winding drum, so that the two directional wheel brakes and the foot pedal plate can be controlled by controlling the brake switch mechanism, which is convenient to operate, and ensures the effect of the brake, so that the surgical robot system can ensure the flexibility of the doctor console and the stability during the operation.

[0026] The beneficial effects are as follows: 1、The doctor console of the present application sets the brake switch mechanism on the bearing bottom plate, and connects the two brake mechanisms and the foot pedal plate through the synchronous winding drum, so that the two directional wheel brakes and the foot pedal plate can be controlled by controlling the brake switch mechanism, which is convenient to operate, and ensures the effect of the brake, so that the surgical robot system can ensure the flexibility of the doctor console and the stability during the operation.

[0027] 2、The brake pedal drives the brake cam to rotate around the bearing bottom plate when it is in action, and the synchronous winding drum is rotated at the same time, so that the transmission structure is stable.

[0028] 3. By setting the self-locking swing lever and the self-locking limiting assembly, when the automatic pedal is stepped on, the self-locking limiting assembly is locked by the limiting self-locking wheel, so that the brake pedal is kept in a low position and cannot be reset, thereby ensuring the stability of braking and without needing to keep stepping on the brake pedal.

[0029] 4. The structure design of the movement groove ensures the movement direction and position of the self-locking wheel, thereby ensuring the self-locking effect and simple operation.

[0030] 5. The power transmission of each part is realized through the brake line, and the transmission structure is simple, stable and light in weight.

[0031] 6. By setting the wedge-shaped block, the brake pressing rod and the pressing assembly, when the wedge-shaped block is driven by the synchronous winding drum, the brake roller can move on the inclined surface of the wedge-shaped block, the pressing assembly applies the pressing force to the brake pressing rod through the brake roller and realizes braking, and the braking is stable and the release is simple.

[0032] 7. The second spring provides the pre-tightening force to the spring pressing rod, thereby ensuring that the pressing assembly can continuously apply the pressing force to the brake roller.

[0033] 8. The synchronous winding drum drives the first sliding block and the second sliding block to move along the first sliding rail and the second sliding rail, and drives the first roller and the second roller, the first waist-shaped hole and the second waist-shaped hole drive the foot pedal bottom plate to rotate around the bearing bottom plate, thereby realizing the lifting and landing of the foot pedal bottom plate, and the driving structure is simple and stable in control.

[0034] 9. The line is routed through the change direction, so that it can be arranged in a more orderly manner, thereby facilitating the overall layout of the structure. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is the overall structure schematic diagram of the doctor console of the embodiment of the present application; Figure 2 is the structure schematic diagram of the bearing bottom plate and the foot pedal bottom plate of the doctor console of the embodiment of the present application from one perspective; Figure 3 is the structure schematic diagram of the bearing bottom plate and the foot pedal bottom plate of the doctor console of the embodiment of the present application from another perspective; Figure 4 is the structure schematic diagram of the brake switch mechanism of the doctor console of the embodiment of the present application Figure 1 ; Figure 5 is the structure schematic diagram of the brake switch mechanism of the doctor console of the embodiment of the present application Figure 2 ; Figure 6 is the local structure schematic diagram of the self-locking limiting assembly of the doctor console of the embodiment of the present application; Figure 7is a schematic view of a transmission structure of a synchronous winding drum of a doctor console according to an embodiment of the present application; Figure 8 is Figure 7 is a schematic view of a partial enlarged structure at A in the above figure; Figure 9 is a schematic view of a linkage lifting structure of a footboard of a doctor console according to an embodiment of the present application Figure 1 ; Figure 10 is a schematic view of a linkage lifting structure of a footboard of a doctor console according to an embodiment of the present application Figure 2 ; Figure 11 is a schematic view of a transmission structure of a synchronous winding drum of a doctor console according to an embodiment of the present application.

[0036] 1, bearing bottom plate; 11, first slide rail; 12, second slide rail; 2, footboard; 21, first waist-shaped hole; 22, second waist-shaped hole; 3, brake switch mechanism; 31, brake pedal; 32, brake cam; 33, fixed seat; 34, first brake wire; 35, first steering wheel; 36, second steering wheel; 37, first spring; 38, self-locking swing lever; 39, self-locking wheel; 310, self-locking limiting plate; 311, movement groove; 312, groove; 313, third steering wheel; 4, first brake mechanism; 41, wedge-shaped block; 42, brake roller; 43, brake pressing rod; 44, brake pad; 45, spring pressing rod; 46, pressing rod seat; 47, pressing rod rotating shaft; 48, second spring; 5, second brake mechanism; 6, synchronous winding drum; 61, second brake wire; 62, third brake wire; 63, first linkage wire; 64, second linkage wire; 65, fifth steering wheel; 66, sixth steering wheel; 67, first sliding block; 68, first roller; 69, seventh steering wheel; 610, eighth steering wheel; 611, second sliding block; 612, second roller; 7, first directional wheel; 8, second directional wheel; 9, first universal wheel; 10, second universal wheel. DETAILED DESCRIPTION

[0037] The present application will be further described below in conjunction with the drawings: EMBODIMENT

[0038] As Figure 1 shown, a doctor console comprises a bearing bottom plate 1 and a footboard 2; as Figure 2 and Figure 3As shown, the bearing base plate 1 is provided with a brake switch mechanism 3, a first brake mechanism 4, a second brake mechanism 5, a synchronous winding drum 6, a first directional wheel 7, and a second directional wheel 8, the brake switch mechanism 3 is connected with the input end of the synchronous winding drum 6, the output end of the synchronous winding drum 6 is connected with the first brake mechanism 4 and the second brake mechanism 5 respectively, the first brake mechanism 4 is the brake mechanism of the first directional wheel 7, and the second brake mechanism 5 is the brake mechanism of the second directional wheel 8; The pedal base plate 2 is hinged with the bearing base plate 1, and a lifting mechanism is arranged between the bearing base plate 1 and the pedal base plate 2, the lifting mechanism is used for driving the pedal base plate 2 to rotate around the bearing base plate 1 to realize lifting, and the output end of the synchronous winding drum 6 is connected with the lifting mechanism.

[0039] In the present application, the first directional wheel 7 and the second directional wheel 8 on the bearing base plate 1 can move freely in the released state, and at the same time, the pedal base plate 2 is lifted by the lifting mechanism driven by the synchronous winding drum 6 to rise from the ground, at this time, the operation table can be freely moved, when it is necessary to be fixed, the doctor can step on the brake switch mechanism 3, the brake switch mechanism 3 drives the synchronous winding drum 6 to rotate, the synchronous winding drum 6 rotates and drives the first brake mechanism 4 and the second brake mechanism 5 to brake the first directional wheel 7 and the second directional wheel 8 respectively, at the same time, the rotation of the synchronous winding drum 6 drives the lifting mechanism to act, and the pedal base plate rotates around the bearing base plate, so that the pedal base plate 2 falls to the ground, in the present embodiment, the pedal base plate 2 falls to the ground by relying on its own gravity, when it is necessary to lift it away from the ground, the lifting mechanism drives the pedal base plate 2 to rise, at this time, the doctor can step on the pedal base plate 2, and then operate the surgical robot on the robot operating system on the doctor's console to perform surgical operation, at this time, the first directional wheel 7 and the second directional wheel 8 are braked, so that the mobility of the bearing base plate 1 is most limited.

[0040] In the present embodiment, the first universal wheel 9 and the second universal wheel 10 are further included, which cooperate with the first directional wheel 7 and the second directional wheel 8, the bearing base plate 1 has a total of four wheels, which ensures the stability of movement, and the flexibility of movement is higher on the basis of two directional wheels and two universal wheels.

[0041] In the present embodiment, the bearing base plate 1 surrounds the pedal base plate 2 in a U shape, the structure is more compact, the area of the pedal base plate 2 is increased, and more pedal switches can be arranged on the pedal base plate 2 for operation control of the surgery.

[0042] In another embodiment, as shown in Figure 4 and Figure 5 The brake switch mechanism 3 includes a brake pedal 31 and a brake cam 32, the brake cam 32 is rotatably connected with the bearing base plate 1, the middle part of the brake cam 32 is located below the brake pedal 31, and the other end of the brake cam 32 is connected with the synchronous winding drum 6.

[0043] Specifically, a fixed seat 33 is fixedly arranged on the bearing bottom plate 1, a hole position is formed on the fixed seat 33, the middle part of the brake cam 32 is located at the hole position, and the brake cam 32 can rotate around the fixed seat 33 by penetrating a pin, so that the rotation of the brake cam 32 is realized.

[0044] When the brake pedal 31 is actuated, the brake pedal 31 drives the brake cam 32 to rotate around the bearing bottom plate 1, and the synchronous drum 6 is rotated at the same time, and the transmission structure is stable.

[0045] In another embodiment, as shown in Figure 4 and Figure 5 , the brake switch mechanism 3 further comprises a self-locking swing lever 38 and a self-locking limiting assembly, one end of the self-locking swing lever 38 is connected with the brake pedal 31, the other end of the self-locking swing lever 38 penetrates through the bearing bottom plate 1 and is rotatably provided with a self-locking wheel 39, and the self-locking limiting assembly is arranged below the bearing bottom plate 1 and cooperates with the self-locking wheel 39. The first spring 37 is arranged between the brake pedal 31 and the bearing bottom plate 1.

[0046] When braking, the brake pedal 31 is stepped on, the brake pedal 31 drives the self-locking swing lever 38 to drive the self-locking wheel 39 to go down, when the self-locking wheel 39 goes down to the lower position, the self-locking limiting assembly limits the self-locking wheel 39, so that the self-locking wheel 39 cannot return, at this time, the brake pedal 31 is always in the low position, the driving of the brake pedal 31 to the first brake mechanism 4 and the second brake mechanism 5 is always effective, and the first brake mechanism 4 and the second brake mechanism 5 always brake the first directional wheel 7 and the second directional wheel 8.

[0047] In this embodiment, the self-locking limiting assembly is released by stepping on the brake pedal 31 again, the self-locking limiting assembly limits the self-locking wheel 39, under the resetting action of the first spring 37, the brake pedal 31 is reset and goes up, drives the self-locking swing lever 38 and the self-locking wheel 39 to go up and reset, at the same time, the brake pedal 31 resets the first brake mechanism 4 and the second brake mechanism 5, that is, the first brake mechanism 4 and the second brake mechanism 5 release the brake of the first directional wheel 7 and the second directional wheel 8.

[0048] By arranging the self-locking swing lever 38 and the self-locking limiting assembly, when the brake pedal is stepped on, the self-locking limiting assembly limits the self-locking wheel 39, so that the brake pedal 31 remains in the low position and cannot be reset, the stability of braking is ensured, and it is not necessary to always step on the brake pedal 31.

[0049] In another embodiment, as shown in Figure 6As shown, the self-locking limiting assembly is provided with a movement groove 311 for movement of the self-locking wheel 39. The movement groove 311 is a ring-shaped groove. The movement groove 311 includes a part of outwardly inclined ramp and a part of inwardly inclined ramp in the movement direction of the brake pedal 31. The part of outwardly inclined ramp and the part of inwardly inclined ramp are connected at the highest position of the movement groove 311. The lowest position of the movement groove 311 includes an upward groove 312 connected with the part of outwardly inclined ramp and the part of inwardly inclined ramp.

[0050] In the embodiment, the self-locking limiting assembly specifically includes a self-locking limiting plate 310. The self-locking limiting plate 310 is vertically arranged and fixedly connected to the lower surface of the bearing bottom plate 1. The movement groove 311 is arranged on the self-locking limiting plate 310.

[0051] In the embodiment, one end of the self-locking swing rod 38 is rotatably connected with the brake pedal 31, so as to realize swing of the self-locking swing rod 38 with the horizontal direction displacement of the self-locking wheel 39.

[0052] By arranging the movement groove 311, when the brake pedal 31 moves, the self-locking wheel 39 moves in the movement groove 311 by the self-locking swing rod 38. When the brake pedal 31 is stepped on, the self-locking wheel 39 moves along the outwardly inclined ramp in the movement groove 311 until the groove 312 at the lowest position of the movement groove 311. At this time, the brake pedal 31 is released. The self-locking wheel 39 moves upward under the action of the first spring 37 and is locked at the groove 312. At this time, the self-locking is realized. When it is needed to release, the brake pedal 31 is stepped on again. The self-locking wheel 39 continues to move along the movement groove 311 and enters the inwardly inclined ramp. The self-locking wheel 39 returns to the initial position through the inwardly inclined ramp. At this time, the brake pedal 31 is reset and the brake release is completed.

[0053] The structure design of the movement groove 311 ensures the movement direction and position of the self-locking wheel 39 and ensures the self-locking effect. The operation is simple.

[0054] In another embodiment, as shown in Figure 4 , Figure 7 and Figure 11 , the brake switch mechanism 3 further includes a first brake line 34, a second brake line 61 and a third brake line 62. The first brake line 34 is connected between the brake cam 32 and the synchronous drum 6. The second brake line 61 is connected between the synchronous drum 6 and the first brake mechanism 4. The third brake line 62 is connected between the synchronous drum 6 and the second brake mechanism 5.

[0055] The power transmission of each part is realized through the brake line. The transmission structure is simple, stable and light in weight.

[0056] In this embodiment, since the parts are not suitable for direct straight connection, the direction of the brake line is changed by setting a steering wheel to realize the arrangement of the brake line.

[0057] In this embodiment, the first brake line 34 passes sequentially around the first steering wheel 35, the second steering wheel 36, and the third steering wheel 313 and connects to the synchronous drum 6, performing three changes of direction.

[0058] from Figure 11 As can be seen, in this embodiment, the first braking mechanism 4 and the second braking mechanism 5 are arranged on both radial sides of the synchronous drum 6, so there is no need to set a steering wheel to steer the braking line.

[0059] In another embodiment, such as Figure 8 As shown, the first braking mechanism 4 includes a wedge block 41, a brake lever 43, and a pressing assembly. The wedge block 41 is connected to the synchronous drum 6 via a second brake line 61. The surface of the wedge block 41 includes an inclined surface. One end of the brake lever 43 passes through the wedge block 41, the bearing base plate 1, and is opposite to the first directional wheel 7. A brake pad 44 is provided at one end of the brake lever 43 facing the first directional wheel 7. The other end of the brake lever 43 extends above the inclined surface of the wedge block 41 and is rotatably provided with a brake roller 42. The pressing assembly contacts the brake roller 42 and applies downward pressure to the brake roller 42.

[0060] In this embodiment, a guide structure is also provided between the wedge block 41 and the supporting base plate 1 to guide the movement of the wedge block 41 and ensure that the movement direction of the wedge block 41 is accurate.

[0061] By setting up a wedge block 41, a brake lever 43, and a pressing assembly, the wedge block 41 can drive the brake roller 42 to move on the inclined surface of the wedge block 41 when it is driven by the synchronous drum 6. The pressing assembly applies downward pressure to the brake lever 43 through the brake roller 42 to achieve braking, which is stable and easy to release.

[0062] In another embodiment, such as Figure 8 As shown, the pressing assembly includes a spring rod 45, which is rotatably connected to the bearing base plate 1. One end of the spring rod 45 contacts the upper surface of the brake roller 42, and a second spring 48 is provided between the other end of the spring rod 45 and the bearing base plate 1.

[0063] Specifically, a pressure rod seat 46 is fixedly provided on the bearing base plate 1. The pressure rod seat 46 is provided with a hole. A part of the spring pressure rod 45 is located in the pressure rod seat 46. By inserting the pressure rod shaft 47 into the hole, the spring pressure rod 45 can rotate around the pin.

[0064] The pre-tightening force is provided to the spring pressing rod 45 by the second spring 48, so as to ensure that the pressing assembly can continuously exert pressure on the brake roller 42.

[0065] The process of braking and releasing is explained in detail as follows: the second brake line 61 is pre-wound on the synchronous drum 6, that is, when the synchronous drum 6 is rotated by the brake cam 32, the second brake line 61 is loosened, and when the synchronous drum 6 is reset, the second brake line 61 is tightened and wound on the synchronous drum 6. When the brake pedal 31 is stepped on, the brake cam 32 drives the synchronous drum 6 to rotate, the second brake line 61 is loosened, the spring pressing rod 45 is pushed by the second spring 48 to force the brake roller 42 to move downward, at this time, the wedge-shaped block 41 moves away from the second brake line 61, and when the brake pad 44 of the brake pressing rod 43 contacts the first directional wheel 7, the first directional wheel 7 is braked. When the brake pedal 31 is stepped on again, the brake pedal 31 is reset, the synchronous drum 6 is reset, the second brake line 61 is tightened, so that the wedge-shaped block 41 moves towards the second brake line 61, the wedge-shaped block 41 lifts the brake roller 42, so that the brake pad 44 of the brake pressing rod 43 is separated from the first directional wheel 7, at this time, the brake on the first directional wheel 7 is released.

[0066] In this embodiment, the structure and principle of the second brake mechanism 5 are the same as those of the first brake mechanism 4.

[0067] In another embodiment, as shown in Figure 7 、 Figure 9 、 Figure 10 and Figure 11 , the lifting mechanism includes a first sliding block 67 and a second sliding block 611, and the first sliding block 67 and the second sliding block 611 are connected with the synchronous drum through a first linkage line 63 and a second linkage line 64 respectively. The bottom of the bearing bottom plate 1 is respectively provided with a first sliding rail 11 and a second sliding rail 12, and the first sliding block 67 and the second sliding block 611 are respectively connected with the first sliding rail 11 and the second sliding rail 12 in a sliding manner. The first sliding block 67 and the second sliding block 611 are respectively provided with a first roller 68 and a second roller 612, and the foot pedal bottom plate 2 is respectively provided with a first waist-shaped hole 21 and a second waist-shaped hole 22, and the first roller 68 and the second roller 612 are respectively located in the first waist-shaped hole 21 and the second waist-shaped hole 22.

[0068] The first waist-shaped hole 21 and the second waist-shaped hole 22 are respectively provided in a tilted manner relative to the horizontal direction of the foot pedal bottom plate 2.

[0069] In this embodiment, the first linkage line 63 passes through a fourth steering wheel, a fifth steering wheel 65, and a sixth steering wheel 66 in sequence, changes direction, and is connected with the first sliding block 67, and the second linkage line 64 passes through a seventh steering wheel 69 and an eighth steering wheel 610 in sequence, changes direction, and is connected with the second sliding block 611.

[0070] The first slider 67 and the second slider 611 are moved along the first slide rail 11 and the second slide rail 12 by the synchronous drum 6, and the first roller 68 and the second roller 612 are moved, and the foot pedal base 2 is rotated around the bearing base 1 through the first waist-shaped hole 21 and the second waist-shaped hole 22, so that the foot pedal base 2 is lifted and landed, and the driving structure is simple and stable.

[0071] In the embodiment, the first linkage line 63 and the second linkage line 64 are pre-wound on the synchronous drum 6, that is, when the brake pedal 31 is stepped on, the synchronous drum 6 is actuated, and then the first linkage line 63 and the second linkage line 64 are loosened. When the first linkage line 63 and the second linkage line 64 are loosened, the foot pedal base 2 is pressed on the first roller 68 and the second roller 612 through the first waist-shaped hole 21 and the second waist-shaped hole 22 due to its own gravity, so that the first roller 68 and the second roller 612 are moved to drive the first slider 67 and the second slider 611 to move. When the brake pedal 31 is reset, the synchronous drum 6 is reset, and then the first linkage line 63 and the second linkage line 64 are tightly wound on the synchronous drum 6, and the first linkage line 63 and the second linkage line 64 pull the first slider 67 and the second slider 611 to move along the first slide rail 11 and the second slide rail 12, so that the first roller 68 and the second roller 612 move in the first waist-shaped hole 21 and the second waist-shaped hole 22, respectively. Due to the inclined arrangement of the first waist-shaped hole 21 and the second waist-shaped hole 22 on the foot pedal base 2, the movement of the first roller 68 and the second roller 612 in the first waist-shaped hole 21 and the second waist-shaped hole 22 can drive the foot pedal base 2 to rotate around the bearing base 1 to be lifted off the ground.

[0072] In another embodiment, a surgical robot system includes a surgeon console as in any of the above embodiments.

[0073] The surgeon console of the present application can control the two directional wheel brakes and lower the foot pedal base 2 by controlling the brake switch mechanism 3 through the synchronous drum 6 linkage of the two brake mechanisms and the foot pedal base 2, which is convenient to operate and ensures the effect of the brake, so that the surgical robot system can ensure the flexibility of the surgeon console and the stability during the operation.

[0074] The basic principles, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application.

Claims

1. A physician console, characterized by, The carrying base plate and the foot plate are connected by a lifting mechanism. The carrying base plate is provided with a brake switch mechanism, a first brake mechanism, a second brake mechanism, a synchronous winding drum, a first directional wheel and a second directional wheel. The foot plate is hingedly connected to the carrying base plate, and a lifting mechanism is arranged between the carrying base plate and the foot plate.

2. The physician console of claim 1, wherein, The brake switch mechanism comprises a brake pedal and a brake cam.

3. The physician console of claim 2, wherein, The brake switch mechanism further comprises a self-locking swing rod and a self-locking limiting assembly. The brake pedal and the carrying base plate are provided with a first spring.

4. The physician console of claim 3, wherein, The self-locking limiting assembly is provided with a movement groove for the self-locking wheel.

5. The physician console of claim 2, wherein, The brake switch mechanism further comprises a first brake wire, a second brake wire and a third brake wire.

6. The physician console of claim 1 or 5, wherein, The first brake mechanism comprises a wedge-shaped block, a brake pressing rod and a pressing assembly.

7. The physician console of claim 6, wherein, The pressing assembly comprises a spring pressing rod. The spring pressing rod is rotatably connected to the carrying base plate.

8. The physician console of claim 1, wherein, The lifting mechanism comprises first and second sliding blocks connected with a synchronous winding drum through first and second linkage lines, and the bottom part of the bearing bottom plate is respectively provided with first and second sliding rails, and the first and second sliding blocks are respectively connected with the first and second sliding rails through sliding connection; First and second rollers are respectively arranged on the first and second sliding blocks, and first and second waist-shaped holes are respectively arranged on the footrest bottom plate, and the first and second rollers are respectively located in the first and second waist-shaped holes.

9. The physician console of claim 8, wherein, The first and second linkage lines are respectively connected with the first and second sliding blocks through turning wheels.

10. A surgical robotic system, characterized by, A medical console comprising any one of claims 1-9.

Images