Clutch system and moving station of surgical robot

Abstract

The invention relates to the field of medical instruments, and discloses a clutch system and a moving station of a surgical robot. The clutch system comprises a base, at least one driving wheel, at least one motor and at least one driving piece. The at least one driving wheel is rotationally arranged on the base through a wheel shaft, the at least one motor is movably arranged on the base, the at least one driving piece is movably arranged on the base and used for driving an output shaft of the at least one motor to move between a connection position and a disconnection position, and the at least one driving piece is used for driving the output shaft of the at least one motor to move between the connection position and the disconnection position. The output shaft of the at least one motor is coupled with the axle of the at least one driving wheel in the open position, and the output shaft of the at least one motor is disconnected from the axle of the at least one driving wheel in the open position. In this way, under the condition that the motor breaks down or other specific conditions, an operator can operate the driving piece to enable the motor to be in the off position, so that passive movement of the wheels is facilitated, manual movement of the base is achieved, and the torque of the motor does not need to be overcome.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical devices, and in particular, to a clutch system and a mobile station of a surgical robot. BACKGROUND

[0002] Minimally invasive surgery has a smaller trauma to patients and a higher postoperative output, and has occupied an important position in surgical operations. Existing robot-assisted minimally invasive surgery systems mainly adopt a master-slave remote operation mode. For example, an operator issues a movement command to a surgical trolley on the patient side through a master operator on a master console to control a surgical tool on the surgical trolley to perform surgical treatment.

[0003] In different situations, it is often necessary to move the surgical trolley. For example, before the operation starts, the surgical trolley needs to be moved to a suitable position on the patient side. Or, during transportation, the surgical trolley needs to be moved from one position to another position, etc. During the movement, the drive of the motor is usually transmitted to the wheel through a transmission mechanism to drive the wheel to rotate, so as to easily and labor-savingly move the surgical trolley.

[0004] However, in the case of motor failure, the surgical trolley needs to be manually pushed for movement. Since the transmission mechanism and the wheel are still coupled and cannot be disconnected from the drive connection of the wheel, the motor torque needs to be driven during the movement of the wheel, which is laborious and not conducive to the passive movement of the wheel. Or, the drive connection of the wheel is usually disconnected by engaging or separating the electromagnetic clutch and the transmission mechanism, but the electromagnetic clutch has a high cost and is not conducive to the later maintenance and detection. SUMMARY

[0005] In some embodiments, the present disclosure provides a clutch system, comprising:

[0006] a base;

[0007] at least one driving wheel rotatably arranged on the base through an axle;

[0008] at least one motor movably arranged on the base; and

[0009] at least one driving member movably arranged on the base, the at least one driving member being configured to drive an output shaft of the at least one motor to move between a connected position and a disconnected position, in the connected position, the output shaft of the at least one motor is coupled with the axle of the at least one driving wheel, in the disconnected position, the output shaft of the at least one motor is decoupled from the axle of the at least one driving wheel.

[0010] In some embodiments, the present disclosure also provides a mobile station of a surgical robot, comprising:

[0011] at least two driven wheels;

[0012] The clutch system as described in any of the embodiments of the present disclosure, the two driven wheels are symmetrically arranged at the end of the base of the clutch system opposite to the driving wheel of the clutch system, respectively;

[0013] A column is arranged on the base of the clutch system; and

[0014] At least one mechanical arm is arranged on the column. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly introduced. The drawings in the following description only show some embodiments of the present disclosure, and for those skilled in the art, other embodiments can be obtained according to the content of the embodiments of the present disclosure and these drawings without paying creative labor.

[0016] Figure 1 A structural schematic diagram of a clutch system according to some embodiments of the present disclosure is shown;

[0017] Figure 2 A partial structural schematic diagram of a clutch system according to some embodiments of the present disclosure is shown;

[0018] Figure 3 A cross-sectional schematic diagram of a clutch system in a connected position according to some embodiments of the present disclosure is shown;

[0019] Figure 4 A cross-sectional schematic diagram of a clutch system in a disconnected position according to some embodiments of the present disclosure is shown;

[0020] Figure 5 A partial structural schematic diagram of a linkage mechanism according to some embodiments of the present disclosure is shown;

[0021] Figure 6 Another angle of a structural schematic diagram of a clutch system according to some embodiments of the present disclosure is shown;

[0022] Figure 7 A structural schematic diagram of a clutch system according to some other embodiments of the present disclosure is shown;

[0023] Figure 8 A bottom view of a clutch system in a connected position in Figure 7 is shown;

[0024] Figure 9 A bottom view of a clutch system in a disconnected position in Figure 7 is shown;

[0025] Figure 10 A structural schematic diagram of a clutch system according to some other embodiments of the present disclosure is shown;Figure 7 Partial cross-sectional view of the clutching system in the connection position in FIG. 1;

[0026] Figure 11 shows Figure 7 Partial cross-sectional view of the clutching system in the disconnection position in FIG. 1;

[0027] Figure 12 shows a structural schematic diagram of a mobile station of a surgical robot according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0028] To make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, not all embodiments.

[0029] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "coupling" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the proximal part or the rear end, the rear part, and the end opposite to the proximal end, the proximal part or the rear end, the rear part is defined as the distal end, the distal part or the front end, the front part. Alternatively, the end close to the operator (such as a surgical patient) is defined as the distal end, the distal part or the front end, the front part, and the end opposite to the distal end, the distal part or the front end, the front part is defined as the proximal end, the proximal part or the rear end, the rear part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical devices or surgical robots, or for other non-medical devices.

[0030] The present disclosure provides a clutching system. Figure 1 shows a structural schematic diagram of a clutching system 1000 according to some embodiments of the present disclosure, Figure 2A partial structural schematic diagram of a clutch system 1000 according to some embodiments of the present disclosure is shown. For clarity of illustration, Figure 2 The base 110 is hidden in the middle. As Figure 1 and Figure 2 shown, the clutch system 1000 can include a base 110, at least one driving wheel 160, at least one motor 120, and at least one driving member 130.

[0031] The at least one driving wheel 160 is rotatably arranged on the base 110 by a wheel shaft, and the at least one motor 120 is movably arranged on the base 110. In some embodiments, the base 110 can be a plate, a block or a special-shaped structure, such as a metal plate or a polymer composite plate. In some embodiments, the base 110 can include an upper surface and a lower surface. For example, the at least one driving wheel 160 can be arranged on the lower surface of the base 110, and the at least one motor 120 can be movably arranged on the upper surface of the base 110.

[0032] In some embodiments, the at least one motor 120 can be swingably arranged on the base 110, or the at least one motor 120 can be transversely or longitudinally movably arranged on the base 110. It should be understood that transverse movement can refer to movement along or parallel to the surface of the base 110, for example, transverse movement along the length or width of the base 110. Longitudinal movement can refer to movement perpendicular to the surface of the base 110. The above is only an example, and it should be understood that the motor 120 can also be rotatably or movably arranged on the base 110 in other ways.

[0033] The at least one driving member 130 is movably arranged on the base 110. The at least one driving member 130 is used to drive the output shaft of the at least one motor 120 to move between the connected position and the disconnected position. It should be understood that Figure 1 and Figure 2In the connected position, the output shaft of the motor 120 is coupled to the axle of the drive wheel 160. In the disconnected position, the output shaft of the motor 120 is decoupled from the axle of the drive wheel 160. It should be understood that the driving member 130 can include, but is not limited to, a rocker, a dial, a handle or other structure for driving. In some embodiments, the driving member 130 can include a driving rod, which can be driven by a motor or a motor to rotate, thereby driving the output shaft of the motor 120 to move between the connected position and the disconnected position. In some embodiments, the driving member 130 can be manually operated to rotate, twist, push or swing, etc. The driving member 130 can be directly or indirectly connected to the motor 120, so that when the driving member 130 is driven, it can drive the output shaft of the motor 120 to move between the connected position and the disconnected position. For example, the driving member 130 can include a driving rod rotatably arranged on the base 110. One end of the driving rod is an operating end, and the other end is directly or indirectly connected to the motor 120 through the base 110 or along the lower surface of the base 110. The operator can rotate the operating end of the driving rod to drive the output shaft of the motor 120 to move between the connected position and the disconnected position.

[0034] In some embodiments, as shown in FIG. 1, the at least one driving member 130 can include one driving member 130. The output shaft of one or two motors 120 is driven to move by one driving member 130. In some embodiments, the at least one driving member 130 can include two driving members 130, and the output shaft of the two motors 120 is driven to move by the two driving members 130 respectively. Figure 2

[0035] It should be understood that in the connected position, the output shaft of the motor 120 is coupled to the axle of the drive wheel 160. The motor 120 drives the axle to rotate through the output shaft to drive the drive wheel 160 to rotate, thereby facilitating the movement of the base 110. In the disconnected position, the output shaft of the motor 120 is decoupled from the axle of the drive wheel 160, and they are spaced apart from each other, so that the driving force of the motor 120 cannot be transmitted to the axle. In this way, in the event of a motor 120 failure or other specific conditions, the operator can operate the driving member 130 to place the motor 120 in the disconnected position, so as to facilitate the passive movement of the wheel and realize the manual movement of the base 110 without the need to overcome the torque of the motor 120.

[0036] In some embodiments, as shown in FIG. 1, the at least one driving member 130 can include one driving member 130. The output shaft of one or two motors 120 is driven to move by one driving member 130. In some embodiments, the at least one driving member 130 can include two driving members 130, and the output shaft of the two motors 120 is driven to move by the two driving members 130 respectively. Figure 1 ​As shown, the clutch system 1000 can further include a transmission mechanism 140 and a linkage mechanism 150. The transmission mechanism 140 is connected with the driving member 130, and the linkage mechanism 150 is connected with the transmission mechanism 140 and the at least one motor 120. The transmission mechanism 140 is configured to drive the linkage mechanism 150 to move under the driving of the driving member 130, and the linkage mechanism 150 is configured to drive the output shaft of the at least one motor 120 to move between the connected position and the disconnected position. It should be understood that the transmission mechanism 140 can include, but is not limited to, a gear assembly, a belt pulley assembly, a chain wheel assembly, a wire pulley assembly, a gear rack, a worm gear, a screw block assembly, and a combination thereof. The linkage mechanism 150 can include, but is not limited to, a multi-link assembly, a joint assembly, a screw block assembly, a linear motion assembly, and a combination thereof.

[0037] By controlling the transmission mechanism and the linkage mechanism through the driving member to control the movement of the motor between the connected position and the disconnected position, the clutch control can be accurately achieved. The purely mechanical clutch structure can reduce the cost and is conducive to the later maintenance and safety detection.

[0038] In some embodiments, as shown in Figure 1 and Figure 2 The transmission mechanism 140 can include a gear assembly 141. The gear assembly 141 can include a first gear 1411 and a first bevel gear 1412. The first gear 1411 is connected with the driving member 130, and the first bevel gear 1412 is connected with the linkage mechanism 150. The first bevel gear 1412 is engaged with the first gear 1411. It should be understood that the driving member 130 drives the first gear 1411 to rotate under the driving action, the first gear 1411 drives the first bevel gear 1412 to rotate, and the first bevel gear 1412 drives the linkage mechanism 150 to move.

[0039] In some embodiments, as shown in Figure 1 and Figure 2As shown, the transmission mechanism 140 can further include a belt wheel assembly 142. The belt wheel assembly 142 can include a first transmission wheel 1421, a second transmission wheel 1422, and a synchronous transmission member 1423. The first transmission wheel 1421 is connected with the driving member 130 for rotating with the driving member 130. The second transmission wheel 1422 is connected with the first gear 1411. The synchronous transmission member 1423 is arranged on the first transmission wheel 1421 and the second transmission wheel 1422 for connecting with the first transmission wheel 1421 and the second transmission wheel 1422. In some embodiments, the synchronous transmission member 1423 can include a synchronous belt, such as a belt. The first transmission wheel 1421 and the second transmission wheel 1422 can include belt wheels, and the driving of the driving member 130 is transmitted to the first gear 1411 through the synchronous belt and the belt wheels. In some embodiments, the synchronous transmission member 1423 can include a chain, and the first transmission wheel 1421 and the second transmission wheel 1422 can include sprockets, and the driving of the driving member 130 is transmitted to the first gear 1411 through the chain and the sprockets. In some embodiments, as shown in FIG. 1A, the belt wheel assembly 142 can further include a tension wheel 1424, and the chain is arranged on the sprocket and the tension wheel 1424 for connecting with the sprocket and the tension wheel 1424. By arranging the tension wheel, the tension of the chain during transmission is ensured. It should be understood that the above is only an example, and the synchronous transmission member 1423 can also be other structures capable of realizing power transmission. Figure 2 As shown, the belt wheel assembly 142 can further include a tension wheel 1424, and the chain is arranged on the sprocket and the tension wheel 1424 for connecting with the sprocket and the tension wheel 1424. By arranging the tension wheel, the tension of the chain during transmission is ensured. It should be understood that the above is only an example, and the synchronous transmission member 1423 can also be other structures capable of realizing power transmission.

[0040] Figure 3 FIG. 1C shows a cross-sectional schematic view of the clutch system 1000 in the connected position according to some embodiments of the present disclosure, Figure 4 FIG. 1D shows a cross-sectional schematic view of the clutch system 1000 in the disconnected position according to some embodiments of the present disclosure. For clarity of illustration, Figure 3 and Figure 4 part of the transmission mechanism 140 is hidden in FIG. 1C. In some embodiments, as shown in FIG. 1C, Figure 3 and Figure 4As shown, the clutch system 1000 can further include a second gear 111, a third gear 112, a second bevel gear 113, and a third bevel gear 114. The second bevel gear 113 and the third bevel gear 114 are engaged with the second gear 111 and the third gear 112, respectively. The at least one driving wheel 160 includes a first driving wheel 161 and a second driving wheel 162. The first driving wheel 161 and the second driving wheel 162 are connected with the second gear 111 and the third gear 112 through an axle 1611 and an axle 1621, respectively. It should be understood that the first driving wheel 161 and the second driving wheel 162 can be symmetrically arranged at one end of the base 110. For example, the axles 1611 and 1621 of the first driving wheel 161 and the second driving wheel 162 can be arranged on the lower surface of the base 110 through bearings and bearing seats, respectively. One end of the axles 1611 and 1621 is used for connecting with the first driving wheel 161 and the second driving wheel 162, respectively, and the other end is used for connecting with the second gear 111 and the third gear 112, respectively. The at least one motor 120 can include a first motor 121 and a second motor 122. The output shafts of the first motor 121 and the second motor 122 are connected with the second bevel gear 113 and the third bevel gear 114, respectively.

[0041] In some embodiments, the first motor 121 and the second motor 122 can be fixedly arranged on a motor housing, which is pivotally connected to the base 110, so that the first motor 121 and the second motor 122 can swing around a pivot axis, respectively. The output shafts of the first motor 121 and the second motor 122 are parallel to the longitudinal axis perpendicular to the surface of the base 110 in the connected position, as shown in FIG. 1A. Figure 3 The output shafts of the first motor 121 and the second motor 122 are at an angle to the longitudinal axis perpendicular to the surface of the base 110 in the disconnected position, as shown in FIG. 1B. Figure 4

[0042] As shown in FIG. 1A, in the connected position, the second bevel gear 113 and the third bevel gear 114 are engaged with the second gear 111 and the third gear 112, respectively, so that the output shafts of the first motor 121 and the second motor 122 are coupled with the axles 1611 and 1621 of the first driving wheel 161 and the second driving wheel 162, respectively. Figure 3 As shown in FIG. 1B, in the disconnected position, the second bevel gear 113 and the third bevel gear 114 are disengaged from the second gear 111 and the third gear 112, respectively, so that the output shafts of the first motor 121 and the second motor 122 are decoupled from the axles 1611 and 1621 of the first driving wheel 161 and the second driving wheel 162, respectively. Figure 4

[0043] Figure 5 ​​A partial structural schematic diagram of the linkage mechanism 150 is shown according to some embodiments of the present disclosure. In some embodiments, as shown in Figures 3-5 The linkage mechanism 150 can include a lead screw 151, a slider 152, a first linkage 153, a second linkage 154, and a third linkage 155, as shown in some embodiments. The lead screw 151 is connected with the first bevel gear 1412, and the slider 152 is connected with the lead screw 151 for linear movement under the drive of the lead screw 151. The first linkage 153 is fixedly arranged on the slider 152, and the second linkage 154 and the third linkage 155 are respectively hinged to two ends of the first linkage 153 to form a first hinge point 1531 and a second hinge point 1532. The second linkage 154 and the third linkage 155 are respectively hinged with the first motor 121 and the second motor 122 to form a third hinge point 1541 and a fourth hinge point 1551. It should be understood that the linkage mechanism 150 can also not include the lead screw 151 and the slider 152, and can be other structures that can convert rotary motion into linear motion.

[0044] The first bevel gear 1412 rotates to drive the lead screw 151 to rotate, and the lead screw 151 rotates to drive the slider 152 to move up and down along the lead screw 151 to drive the first linkage 153 to move up and down to drive the second linkage 154 and the third linkage 155 hinged with the first linkage 153 to move, and the second linkage 154 and the third linkage 155 drive the first motor 121 and the second motor 122 to swing, respectively, to make the output shafts of the first motor 121 and the second motor 122 offset from the longitudinal axis, and the second bevel gear 113 and the third bevel gear 114 are disengaged from the second gear 111 and the third gear 112, respectively, and are spaced apart from each other to make the output shaft of the first motor 121 disengage from the wheel shaft 1611 of the first driving wheel 161, and the output shaft of the second motor 122 disengage from the wheel shaft 1621 of the second driving wheel 162.

[0045] In some embodiments, as shown in Figure 3 In the connection position, the first hinge point 1531, the second hinge point 1532, the third hinge point 1541, and the fourth hinge point 1551 are substantially collinear. It should be understood that such design makes the hinge points substantially collinear, so that the linkage mechanism 150 can be in a dead point position, at which the linkage mechanism 150 is in a stable state of force balance, and the stable locking of the motor 120 is achieved.

[0046] By providing the linkage mechanism 150, one driving member 130 can control the clutching of two motors 120 at the same time, so that the operation of the clutching system 1000 is more simple.

[0047] Figure 6 Another angle structural schematic diagram of the clutching system 1000 is shown according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 6As shown, the clutch system 1000 can further include an indicator disc 170 and a housing (not shown). The indicator disc 170 can be rotatably arranged on the base 110, and the indicator disc 170 can include a first mark 171 and a second mark 172. It should be understood that the indicator disc 170 can be circular, square, regular, irregular, or irregular, or other shaped structures. The first mark 171 and the second mark 172 can be spaced apart lines, marks, symbols, letters, or other marks, which are not limited herein. The first mark 171 and the second mark 172 can be the same or different. In some embodiments, the indicator disc 170 can further include at least one hollow structure. By arranging the hollow structure in the non-marking area, the weight of the indicator disc 170 can be reduced to reduce the weight on the base 110.

[0048] The housing can be arranged on the base 110 to cover the indicator disc 170. It should be understood that the housing can be an opaque housing arranged outside the indicator disc 170, which can play a protective and dustproof role. In some embodiments, the housing can include a display window. For example, the display window can be an opening, or a transparent area arranged on the housing, or other structures or designs for display, which are not limited herein. The shape of the display window can be circular, square, regular, irregular, or irregular, or other shaped structures.

[0049] It should be understood that the first mark 171 is used for the output shaft of the at least one motor 120 to be located in the display window in the connected position, and the second mark 172 is used for the output shaft of the at least one motor 120 to be located in the display window in the disconnected position. The operator can judge the position of the output shaft of the motor 120 by observing the different marks appearing in the display window.

[0050] In some embodiments, the clutch system 1000 can further include a displacement sensor (not shown) and a controller. The displacement sensor is configured to detect the displacement of the linkage mechanism 150. The linkage mechanism 150 is configured to move between a first state and a second state, which correspond to the connected position and the disconnected position, respectively. For example, the first state can be that the first articulation point 1531, the second articulation point 1532, the third articulation point 1541 and the fourth articulation point 1551 are substantially collinear, and the linkage mechanism 150 is in a stable state of force balance. The second state can be the limit position or the restricted position of the slider 152. It should be understood that the displacement sensor can include, but is not limited to, a distance sensor, a laser sensor, etc. For example, the control part and the sensing part of the displacement sensor can be respectively arranged on the base 110 and the slider 152, or the displacement sensor can be arranged on the base 110 as a whole. The slider 152 moves along the screw rod 151, thereby changing the distance between the slider 152 and the base 110, and the displacement sensor is configured to detect the distance between the slider 152 and the base 110, and determine the position state of the linkage mechanism 150 based on the detected distance.

[0051] The controller is configured to control the rotation of the indicator disc 170 to position the first mark 171 in the display window when the displacement sensor detects that the linkage mechanism 150 is in the first state, and control the rotation of the indicator disc 170 to position the second mark 172 in the display window when the displacement sensor detects that the linkage mechanism 150 is in the second state.

[0052] In some embodiments, the indicator disc 170 can further include a third mark 173. In a third state of the linkage mechanism 150, the output shaft of the motor (e.g., the motors 121 and 122) is initially coupled to the wheel shaft (e.g., the wheel shafts 1611 and 1621) and not fully coupled. The controller is configured to control the rotation of the indicator disc 170 to position the third mark 173 in the display window and control the output shaft of the at least one motor to start running at a predetermined speed when the displacement sensor detects that the linkage mechanism 150 is in the third state. For example, in the third state, the second bevel gear 113 and the third bevel gear 114 are initially in contact and meshing with the second gear 111 and the third gear 112, respectively, and not fully meshing. In the third state, the controller controls the output shaft of the motor to start running at a predetermined lower speed, which can provide assistance during the meshing of the gears to facilitate the rapid meshing of the gears.

[0053] Figure 7 A structural schematic diagram of a clutch system 2000 according to some other embodiments of the present disclosure is shown. In some embodiments, as shown in FIG. 2, the clutch system 2000 can include a linkage mechanism 250, a motor 220, a wheel shaft 261, a wheel 262, a display window 270, an indicator disc 270, a displacement sensor 280 and a controller 290. Figure 7As shown, at least one drive element 230 of the clutch system 2000 may include a free end 2301 and an abutment end 2302. The free end 2301 is located outside the base 210 and is used to receive drive. In the connected position, the abutment end 2302 directly or indirectly abuts against the motor 220. In the disconnected position, the abutment end 2302 is separated from the motor 220. By controlling the movement of the motor between the connected and disconnected positions through the drive element, without the need for additional transmission components, the structure of the clutch system can be simplified. Furthermore, the purely mechanical clutch structure can reduce costs and facilitate later maintenance and safety inspection.

[0054] In some embodiments, such as Figure 7 As shown, the clutch system 2000 may further include at least one slide rail (not shown) and at least one sliding connector 250. At least one slide rail is fixedly mounted on the base 210 (e.g., the slide rail may be mounted on the lower surface of the base 210). At least one sliding connector 250 is connected to at least one motor 220. At least one sliding connector 250 is slidably mounted on at least one slide rail, and at least one motor 220 is slidable along at least one slide rail between a connected position and a disconnected position (e.g., laterally moving along the length of the base 210). It should be understood that the sliding connector 250 may include, but is not limited to, sliders, slide plates, and other sliding elements and combinations thereof that can be slidably mounted on the slide rail. By providing the slide rail and sliding connector 250, the output shaft of the motor 220 can move between the connected position and the disconnected position. Additionally, the drive member 230 abuts against the sliding connector 250, which increases bending resistance and prevents direct contact with the motor 220 that could damage it.

[0055] like Figure 7 As shown, in the connected position, the abutting end 2302 of at least one drive member 230 abuts against the end of at least one sliding connector 250. The abutment between the drive member 230 and the sliding connector 250 keeps the output shaft of the motor 220 in the connected position, thereby maintaining the meshing of the bevel gear (e.g., the second bevel gear 213 or the third bevel gear 214) connected to the output shaft of the motor 220 and the gear (e.g., the second gear 211 or the third gear 212) connected to the axle. By separating the drive member 230 from the sliding connector 250, the sliding connector 250, under the action of the gear return force, drives the output shaft of the motor 220 to the disconnected position, thereby disengaging the bevel gear (e.g., the second bevel gear 213 or the third bevel gear 214) connected to the output shaft of the motor 220 and the gear (e.g., the second gear 211 or the third gear 212) connected to the axle.

[0056] Figure 8 A bottom view of the clutch system 2000 in the engaged position is shown. Figure 9A bottom view of the clutch system 2000 is shown in the disengaged position. In some embodiments, as shown in FIGS. 1A and 1B, the clutch system 2000 can include a first motor 221 and a second motor 222. The first motor 221 and the second motor 222 can be electric motors. The first motor 221 and the second motor 222 can be coupled to a first gear 211 and a second gear 212, respectively. The first gear 211 and the second gear 212 can be coupled to a first drive member 231 and a second drive member 232, respectively. The first drive member 231 and the second drive member 232 can be coupled to a first sliding member 251 and a second sliding member 252, respectively. The first sliding member 251 and the second sliding member 252 can be coupled to a first track and a second track, respectively. The first sliding member 251 and the second sliding member 252 can be configured to slide along the first track and the second track, respectively. Figure 8 and Figure 9 The at least one motor 220 can include a first motor 221 and a second motor 222. The at least one sliding rail includes a first sliding rail and a second sliding rail (not shown in the figures), and the at least one sliding connector 250 includes a first sliding connector 251 and a second sliding connector 252. The first sliding connector 251 and the second sliding connector 252 are connected to the first motor 221 and the second motor 222, respectively, and the first sliding connector 251 and the second sliding connector 252 are slidably arranged on the first sliding rail and the second sliding rail, respectively.

[0057] In some embodiments, as shown in FIGS. 1A and 1B, the clutch system 2000 can further include a second gear 211, a third gear 212, a second bevel gear 213, and a third bevel gear 214. The second bevel gear 213 and the third bevel gear 214 are engaged with the second gear 211 and the third gear 212, respectively. The second bevel gear 213 and the third bevel gear 214 are connected to the output shafts of the first motor 221 and the second motor 222, respectively. The at least one drive member 230 can include a first drive member 231 and a second drive member 232. It should be understood that the movement of the output shafts of the first motor 221 and the second motor 222 can be controlled by driving the first drive member 231 and the second drive member 232, respectively. Figure 8 and Figure 9 The at least one motor 220 can include a first motor 221 and a second motor 222. The at least one sliding rail includes a first sliding rail and a second sliding rail (not shown in the figures), and the at least one sliding connector 250 includes a first sliding connector 251 and a second sliding connector 252. The first sliding connector 251 and the second sliding connector 252 are connected to the first motor 221 and the second motor 222, respectively, and the first sliding connector 251 and the second sliding connector 252 are slidably arranged on the first sliding rail and the second sliding rail, respectively.

[0058] In the connected position, the abutting ends of the first drive member 231 and the second drive member 232 are in abutment with the end portions of the first sliding connector 251 and the second sliding connector 252, respectively, and the second bevel gear 213 and the third bevel gear 214 are engaged with the second gear 211 and the third gear 212, respectively, to couple the output shafts of the first motor 221 and the second motor 222 to the wheel shafts 2611 and 2621 of the first drive member 261 and the second drive member 262, respectively. In the disengaged position, the abutting ends of the first drive member 231 and the second drive member 232 are disengaged from the end portions of the first sliding connector 251 and the second sliding connector 252, respectively, and the second bevel gear 213 and the third bevel gear 214 are disengaged from the second gear 211 and the third gear 212, respectively, to decouple the output shafts of the first motor 221 and the second motor 222 from the wheel shafts 2611 and 2621 of the first drive member 261 and the second drive member 262, respectively.

[0059] In some embodiments, the motor 220 is fixedly arranged at one end of the sliding connecting member 250, and the other end of the sliding connecting member 250 is provided with an abutting step for abutting or disconnecting with the abutting end of the driving rod 230.

[0060] Figure 10 A partial cross-sectional schematic view of the clutch system 2000 in the connected position is shown, Figure 11 A partial cross-sectional schematic view of the clutch system 2000 in the disconnected position is shown. Among them, Figure 10 and Figure 11 The structure schematic views of the first motor 221, the first driving wheel 261 and the first driving member 231 in the connected position and the disconnected position are shown respectively. In some embodiments, the sliding connecting member 250 can include at least one sliding plate (for example, Figure 10 sliding plates 2511 and / or 2512 shown) and a plurality of sliding blocks (for example, Figure 10 sliding blocks 2513 shown). The plurality of sliding blocks 2513 are arranged at intervals on the sliding rail, and the at least one sliding plate can be arranged on the plurality of sliding blocks 2513, and the motor 220 is fixedly arranged on the sliding plate. It should be understood that the at least one sliding plate can include one or more sliding plates, and the plurality of sliding plates can be arranged on the plurality of sliding blocks respectively.

[0061] In some embodiments, as Figures 8-11 shown, the first sliding connecting member 251 can include a first sliding plate 2511, a second sliding plate 2512 and a first sliding block 2513. The first sliding plate 2511 and the second sliding plate 2512 are respectively arranged on the first sliding rail by at least one first sliding block 2513. The first motor 221 can be arranged on the second sliding plate 2512, and the first driving member 231 is used for abutting with one end of the first sliding plate 2511 away from the first motor 221. The second sliding connecting member 252 can include a third sliding plate 2521, a fourth sliding plate 2522 and a second sliding block. The third sliding plate 2521 and the fourth sliding plate 2522 are respectively arranged on the second sliding rail by at least one second sliding block. The second motor 222 can be arranged on the fourth sliding plate 2522, and the second driving member 232 is used for abutting with one end of the third sliding plate 2521 away from the second motor 222. It should be understood that arranging a plurality of sliding plates can make the sliding plate carrying the motor more easily slide under the action of the gear back thrust force.

[0062] In some embodiments, as Figure 10 and Figure 11As shown, the clutch system 2000 may further include at least one limiting portion 215. At least one limiting portion 215 is disposed on the base 210. For example, the limiting portion 215 may be a limiting block, a limiting plate, or other limiting member. In some embodiments, at least one limiting portion 215 may include two limiting portions, respectively used to limit the first sliding connector 251 and the second sliding connector 252. For simplicity, the first sliding connector 251 is taken as an example. Figure 10 As shown, in the connected position, the abutting end of the first drive member 231 passes through the first side (the side closer to the first motor 221) of at least one limiting portion 215 and abuts against the end of at least one first sliding connector 251 (e.g., the first slide plate 2511). In the disconnected position, the abutting end of at least one first drive member 231 is located within at least one limiting portion 215 or on the second side (away from the first motor 221) of at least one limiting portion 215, the first side of which is used to limit the end of at least one sliding connector 250 (e.g., the first slide plate 2511).

[0063] It should be understood that, such as Figure 8 and Figure 10 As shown, in the connection position, the first drive member 231 abuts against the first slide plate 2511, and the first slide plate 2511 abuts against the second slide plate 2512, so that the second bevel gear 213 connected to the output shaft of the first motor 221 and the second gear 211 connected to the axle 2611 of the first drive wheel 261 mesh. The second drive member 232 abuts against the third slide plate 2521, and the third slide plate 2521 abuts against the fourth slide plate 2522, so that the third bevel gear 214 connected to the output shaft of the second motor 222 and the axle 2621 of the second drive wheel 262 mesh with the third gear 212.

[0064] When it is necessary to move to the disconnected position, the first driving member 231, under the action of driving force, separates from the first sliding plate 2511. The second sliding plate 2512, under the action of gear push force, drives the first motor 221 to move along the first slide rail, causing the second bevel gear 213 connected to the output shaft of the first motor 221 and the second gear 211 connected to the axle 2611 to disengage. The second sliding plate 2512 drives the first sliding plate 2511 to move until the first sliding plate 2511 abuts against the limiting part 215, thereby moving the output shaft of the first motor 221 to the disconnected position. Figure 8The second driving member 232 is separated from the third sliding plate 2521 under the action of the driving force, and the fourth sliding plate 2522 drives the second motor 222 to move along the second sliding rail under the action of the gear return force, so that the third bevel gear 214 connected with the output shaft of the second motor 222 and the third gear 212 connected with the wheel shaft 2621 are disengaged, the fourth sliding plate 2522 drives the third sliding plate 2521 to move, and the third sliding plate 2521 abuts against the limiting portion 215, so that the output shaft of the second motor 222 moves to the disengaged position.

[0065] In some embodiments, the at least one limiting portion 215 can include at least one limiting structure (not shown in the figure). The at least one limiting structure is used to keep the abutting end of the at least one driving member (for example, the first driving member 231 and the second driving member 232) abutting against the end of the at least one sliding connecting member (for example, the first sliding connecting member 251 and the second sliding connecting member 252) through the first side of the at least one limiting portion 215. For example, the limiting structure can be a threaded hole. The first driving member 231 and the second driving member 232 are respectively provided with a threaded structure matched with the threaded hole. In the connected position, the end of the abutting end of the first driving member 231 and the second driving member 232 respectively passes through the corresponding threaded hole. The threaded hole and the threaded structure are matched to keep the abutting end of the first driving member 231 and the second driving member 232 respectively abutting against the end of the first sliding connecting member 251 and the second sliding connecting member 252 located on the first side of the limiting portion 215.

[0066] In some embodiments, the limiting structure can be a snap pin or a pin hole. For example, the limiting portion 215 is provided with a pin hole, and the first driving member 231 and the second driving member 232 are respectively provided with a snap pin corresponding to the pin hole. When the end of the abutting end of the first driving member 231 and the second driving member 232 abuts against the end of the first sliding connecting member 251 and the second sliding connecting member 252 respectively, the snap pin enters the corresponding pin hole to keep the first driving member 231 and the second driving member 232 abutting against the first sliding connecting member 251 and the second sliding connecting member 252 respectively. The above is only an example, and it should be understood that the limiting structure can also be a step or other structure that can keep the driving member abutting against the sliding connecting member.

[0067] In some embodiments, the disclosure also provides a mobile station of a surgical robot. Figure 12 A structural schematic diagram of a mobile station 10 of a surgical robot according to some embodiments of the disclosure is shown. As shown in FIG. 1, the mobile station 10 includes a base 210, a first driving member 231, a second driving member 232, a first sliding connecting member 251, a second sliding connecting member 252, a first motor 221, a second motor 222, a first gear 211, a second gear 212, a third gear 213, a fourth gear 214, a wheel shaft 261, a wheel 2611, a wheel shaft 262, a wheel 2621, a limiting portion 215, and a third sliding plate 2521. Figure 12As shown, the mobile station 10 of the surgical robot can include at least two driven wheels 102, a clutching system (e.g., the clutching system 1000 or 2000) as in any embodiment of the present disclosure, a column 103, and at least one robotic arm 104. The two driven wheels 102 are symmetrically arranged on the base 110 (or the base 210) of the clutching system 1000 (or the clutching system 2000) at the end opposite to the driving wheel 160 (or the driving wheel 260) of the clutching system 1000. It should be understood that the positions of the two driven wheels 102 and the two driving wheels 160 (or the driving wheel 260) can be interchanged. In some embodiments, the mobile station 10 of the surgical robot can include four driving wheels 160 (or the driving wheel 260) without the driven wheels 102. The number of driving wheels and driven wheels is not limited herein, which is only an example.

[0068] The column 103 is arranged on the base 110 (or the base 210) of the clutching system, and the at least one robotic arm 104 is arranged on the column 103. It should be understood that, in a normal state, the driving wheel 160 (or the driving wheel 260) is coupled with the motor 120 (or the motor 220), and the driving wheel 160 (or the driving wheel 260) is used to rotate under the driving of the motor 120 (or the motor 220) to drive the mobile station 10 of the surgical robot to move. In the case of motor failure or other specific conditions, the operator can operate the driving member to place the output shaft of the motor in the disengaged position to disengage the coupling between the motor and the driving wheel, so as to facilitate the passive movement of the driving wheel and the driven wheel, and realize the manual movement of the base without overcoming the torque of the motor.

[0069] In some embodiments, as shown, Figure 12 The mobile station 10 can include a single robotic arm 104. It should be understood by those skilled in the art that the mobile station 10 can also include multiple robotic arms 104. It should be understood that the robotic arm 104 can include multiple movable joints and links, and has multiple degrees of freedom. The single robotic arm or the multiple robotic arms can carry at least one surgical tool 105 (or an endoscope) for extending into the patient's body to perform surgical operations. For example, before the operation, it is necessary to move the mobile station 10 to the patient side, so that the robotic arm 104 is moved to the appropriate position to connect with the sheath, so as to facilitate the at least one surgical tool 105 or the endoscope to enter the body through the sheath. It should be understood by those skilled in the art that the mobile station 10 of the surgical robot provided in the present embodiment can be any suitable mobile station of a surgical robot including a laparoscopic surgical robot.

[0070] Note that the above merely describes exemplary embodiments of the present disclosure and the principles of the technology applied. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, reconfigurations and substitutions can be made by those skilled in the art without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the claims.

Claims

1. A clutching system characterized by, The application relates to a transmission mechanism for a motor-driven wheel, comprising: a base; at least one driving wheel rotatably arranged on the base via an axle; at least one motor movably arranged on the base; and at least one driving member movably arranged on the base, the driving member being used for driving the output shaft of the motor to move between a connection position and a disconnection position, in the connection position, the output shaft of the motor is coupled with the axle of the driving wheel, in the disconnection position, the output shaft of the motor is decoupled with the axle of the driving wheel.

2. The clutching system of claim 1, wherein, Further comprising: the motor is swingably arranged on the base; or the motor is transversely or longitudinally movably arranged on the base.

3. The clutching system of claim 1, wherein, Further comprising: a transmission mechanism connected with the driving member; and a linkage mechanism connected with the transmission mechanism and the motor, the transmission mechanism is used for driving the linkage mechanism to move under the driving of the driving member, and the linkage mechanism is used for driving the output shaft of the motor to move between the connection position and the disconnection position.

4. A clutching system according to claim 3, wherein The transmission mechanism comprises: a gear assembly, comprising: a first gear connected with the driving member; and a first bevel gear connected with the linkage mechanism, the first bevel gear being engaged with the first gear.

5. A clutching system according to claim 4, wherein, The transmission mechanism further comprises: a pulley assembly, comprising: a first transmission pulley connected with the driving member for rotating with the driving member; a second transmission pulley connected with the first gear; and a synchronous transmission member arranged on the first transmission pulley and the second transmission pulley for being connected with the first transmission pulley and the second transmission pulley.

6. The clutching system of claim 4, wherein, Further comprising: a second gear and a third gear; a second bevel gear and a third bevel gear; the at least one driving wheel comprises a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel are respectively connected with the second gear and the third gear via axles; the at least one motor comprises a first motor and a second motor, the output shafts of the first motor and the second motor are respectively connected with the second bevel gear and the third bevel gear; in the connection position, the second bevel gear and the third bevel gear are respectively engaged with the second gear and the third gear, so that the output shafts of the first motor and the second motor are respectively coupled with the axles of the first driving wheel and the second driving wheel; in the disconnection position, the second bevel gear and the third bevel gear are respectively disengaged with the second gear and the third gear, so that the output shafts of the first motor and the second motor are respectively decoupled with the axles of the first driving wheel and the second driving wheel.

7. A clutching system according to claim 6, characterised in that, The linkage mechanism comprises: a screw rod connected with the first bevel gear; a sliding block connected with the screw rod for linear movement under the driving of the screw rod; a first linkage rod fixedly arranged on the sliding block; and a second linkage rod fixedly arranged on the first linkage rod. A second link and a third link are hingedly connected to two ends of the first link to form a first hinge point and a second hinge point, and the second link and the third link are hingedly connected to the first motor and the second motor to form a third hinge point and a fourth hinge point.

8. A clutching system according to claim 7, characterised in that, In the connection position, the first hinge point, the second hinge point, the third hinge point and the fourth hinge point are substantially collinear.

9. The clutching system of claim 3, wherein, Further comprising: an indicator disc rotatably arranged on the base and comprising a first mark and a second mark; and a housing arranged on the base for covering the indicator disc, the housing comprising a display window; the first mark is used for the output shaft of the at least one motor to be located in the display window in the connection position, and the second mark is used for the output shaft of the at least one motor to be located in the display window in the disconnection position. Further comprising:

10. The clutching system of claim 9, wherein, a displacement sensor for detecting displacement of the linkage mechanism, the linkage mechanism being used to move between a first state and a second state, the first state and the second state corresponding to the connection position and the disconnection position respectively; and a controller for controlling the indicator disc to rotate to make the first mark located in the display window when the displacement sensor detects that the linkage mechanism is in the first state, and for controlling the indicator disc to rotate to make the second mark located in the display window when the displacement sensor detects that the linkage mechanism is in the second state.

11. The clutch system according to claim 10, wherein the indicator disc further comprises a third mark, the output shaft of the motor is initially coupled with the axle and not fully coupled when the linkage mechanism is in a third state between the first state and the second state; the controller is used to control the indicator disc to rotate to make the third mark located in the display window and control the output shaft of the at least one motor to start running at a predetermined speed when the displacement sensor detects that the linkage mechanism is in the third state.

12. The clutch system according to claim 1, wherein the at least one driving member comprises a free end and an abutting end, the free end is located outside the base for receiving driving; in the connection position, the abutting end abuts against the motor, and in the disconnection position, the abutting end is separated from the motor. Further comprising:

13. A clutching system according to claim 12, characterised in that, at least one slide rail fixedly arranged on the base; at least one sliding connecting member connected with the at least one motor, the at least one sliding connecting member is slidingly arranged on the at least one slide rail, and the at least one motor can slide along the at least one slide rail with the at least one sliding connecting member between the connection position and the disconnection position; in the connection position, the abutting end of the at least one driving member abuts against an end of the at least one sliding connecting member. Further comprising:

14. A clutching system according to claim 13, characterised in that, ​ At least one limiting part is arranged on the base, and the at least one limiting part comprises at least one limiting structure, and at the connecting position, the at least one limiting structure is used for keeping the abutting end of the at least one driving member in abutment with the end of the at least one sliding connecting member through the first side of the at least one limiting part.

15. A clutching system according to claim 14, wherein, At the disconnecting position, the abutting end of the at least one driving member is located in the at least one limiting part or on the second side of the at least one limiting part, and the first side of the at least one limiting part is used for limiting the end of the at least one sliding connecting member.

16. The clutch system according to claim 13, wherein The at least one motor comprises a first motor and a second motor; The at least one sliding rail comprises a first sliding rail and a second sliding rail; The at least one sliding connecting member comprises a first sliding connecting member and a second sliding connecting member, and the first sliding connecting member and the second sliding connecting member are connected with the first motor and the second motor respectively, and the first sliding connecting member and the second sliding connecting member are slidingly arranged on the first sliding rail and the second sliding rail respectively.

17. A clutching system according to claim 16, characterised in that, Further comprising: A second gear and a third gear; A second bevel gear and a third bevel gear connected with the first motor and the second motor respectively; The at least one driving wheel comprises a first driving wheel and a second driving wheel, and the first driving wheel and the second driving wheel are connected with the second gear and the third gear through an axle respectively; The at least one driving member comprises a first driving member and a second driving member; At the connecting position, the abutting end of the first driving member and the second driving member is in abutment with the end of the first sliding connecting member and the second sliding connecting member respectively, the second bevel gear and the third bevel gear are in meshing with the second gear and the third gear respectively, so that the output shaft of the first motor and the output shaft of the second motor are coupled with the axle of the first driving wheel and the axle of the second driving wheel respectively; at the disconnecting position, the abutting end of the first driving member and the second driving member is disconnected from the end of the first sliding connecting member and the second sliding connecting member respectively, the second bevel gear and the third bevel gear are disconnected from the meshing with the second gear and the third gear respectively, so that the output shaft of the first motor and the output shaft of the second motor are disconnected from the coupling with the axle of the first driving wheel and the axle of the second driving wheel respectively.

18. A mobile station of a surgical robot, characterized by, Comprising: At least two driven wheels; The clutch system according to any one of claims 1-17, wherein two driven wheels are symmetrically arranged at the end opposite to the driving wheel on the base of the clutch system; A stand arranged on the base of the clutch system; and At least one mechanical arm arranged on the stand. ​

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