Surgical cart and surgical robot

Abstract

The utility model discloses a surgical cart and a surgical robot, and relates to the technical field of medical instruments. According to the technical scheme, the trolley is characterized by comprising a trolley bottom plate, wherein a plurality of rollers are arranged at the bottom of the trolley bottom plate; a plurality of self-adaptive supporting legs are arranged at the bottom of the lifting bracket; the lifting driving device is arranged between the lifting bracket and the trolley bottom plate; the self-adaptive supporting leg comprises a supporting leg sleeve, a movable sleeve arranged in the supporting leg sleeve, an elastic piece acting on the movable sleeve and a universal leg cup arranged at the bottom of the movable sleeve. The trolley can adapt to uneven ground within a certain degree, so that the stability of the trolley is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and more specifically, to an operating table vehicle and a surgical robot. Background Art

[0002] Surgical robots rely on robotic arms to perform surgical operations instead of human hands. The stability of the robotic arms themselves is required to be high during surgery. The trolley casters themselves have a certain elasticity and cannot guarantee the stability requirements during surgery. Therefore, the robot trolley is generally equipped with a lifting structure to ensure stable contact between the robot and the floor of the operating room.

[0003] The existing Chinese patent with authorization announcement number CN217672578U discloses a trolley and a robotic arm trolley, which includes a rectangular frame body, a pressure-bearing bottom plate, and a lifting column. The four corners of the lower side of the rectangular frame body are respectively provided with columns, and the four sides below the pressure-bearing bottom plate are respectively connected to four sets of universal walking wheels; the lifting column drives the pressure-bearing bottom plate to move downward or upward.

[0004] However, when the four columns in the above patent are in contact with the ground, if the ground is uneven, causing some columns to be unable to contact the ground, the stability of the trolley will be affected. Utility Model Content

[0005] In view of the deficiencies in the prior art, one of the purposes of the present invention is to provide a surgical trolley that can adapt to uneven ground within a certain degree, thereby improving the stability of the trolley.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] An operating table trolley, comprising:

[0008] A trolley bottom plate, wherein a plurality of rollers are arranged at the bottom of the trolley bottom plate;

[0009] A lifting bracket, wherein a plurality of adaptive supporting feet are arranged at the bottom of the lifting bracket;

[0010] A lifting drive device, wherein the lifting drive device is arranged between the lifting bracket and the bottom plate of the trolley;

[0011] The adaptive support foot comprises a support foot sleeve, a movable sleeve arranged in the support foot sleeve, an elastic member acting on the movable sleeve, and a universal foot cup arranged at the bottom of the movable sleeve.

[0012] Furthermore, the adaptive support foot also includes an adjusting sleeve arranged in the support foot sleeve, the adjusting sleeve and the support foot sleeve are threadedly connected, and the elastic member is arranged between the movable sleeve and the adjusting sleeve.

[0013] Furthermore, the elastic member includes a disc spring sleeved on the movable sleeve.

[0014] Furthermore, a first gasket is arranged between the upper end of the disc spring and the adjusting sleeve, and a second gasket is arranged between the lower end of the disc spring and the movable sleeve.

[0015] Furthermore, the second gasket is fixedly connected to the movable sleeve, and the inner wall of the support sleeve is provided with a limit stop that cooperates with the second gasket.

[0016] Furthermore, a lifting base is arranged on the bottom plate of the trolley, and a guide rail assembly is arranged between the lifting base and the lifting bracket.

[0017] Furthermore, the lifting bracket includes a frame located above the bottom plate of the trolley, and the frame is provided with two extension brackets respectively located on both sides of the lifting base, and the extension brackets are respectively provided with an upper pressure plate and a lower pressure plate; the side wall of the lifting base is provided with a guide rail assembly respectively connected to the upper pressure plate and the lower pressure plate; the lifting bracket also includes a driving seat respectively connected to the two upper pressure plates and the two lower pressure plates, and the lifting drive device is arranged between the lifting base and the driving seat.

[0018] Furthermore, a locking and releasing mechanism respectively connected to the plurality of rollers is also provided on the bottom plate of the trolley, and the locking and releasing mechanism is used to control the synchronous locking or releasing of the plurality of rollers.

[0019] Furthermore, the locking and releasing mechanism comprises:

[0020] a locking rod connected to the roller;

[0021] A first support rod fixedly connected to the locking rod;

[0022] A second support rod, wherein two ends of the second support rod are respectively connected to the two first support rods through a first rotating shaft;

[0023] A third support rod, one end of which is connected to the second support rod via a second rotating shaft, and the other end of which is fixedly connected to the driving rod;

[0024] A bearing seat, wherein the bearing seat is sleeved on the driving rod and connected to the bottom plate of the trolley;

[0025] A pedal, wherein the pedal is fixedly connected to the driving rod;

[0026] Wherein, the first support rod, the second support rod and the third support rod are arranged in a parallelogram.

[0027] Another object of the present utility model is to provide a surgical robot, which includes the above-mentioned surgical trolley.

[0028] In summary, the utility model has the following beneficial effects:

[0029] 1. When the four adaptive legs are in contact with the ground and lift the trolley, the elastic force generated by the deformation of the disc springs in each adaptive leg is balanced with the gravity of the trolley and remains stable; if the ground is slightly uneven, and the design deformation of the other three adaptive legs is not enough to overcome the gravity of the trolley, they will continue to deform elastically, causing the fourth adaptive leg to contact the ground, thereby achieving lifting with four legs in contact; therefore, using four adaptive legs to contact the ground can adapt to slight unevenness of the ground, thereby improving the stability of the trolley;

[0030] 2. The bottom support surface of the universal foot cup can automatically deflect. When the bottom support surface contacts the ground, it can adaptively deflect and adjust according to the flatness of the ground, thereby improving the stability of the contact between the universal foot cup and the ground;

[0031] 3. A pedal is used to control the trolley to switch between the locked state and the released state, which has a simple structure and is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The structure of the surgical trolley in Example 1 is shown in FIG. Figure 1 ;

[0033] Figure 2 The structure of the surgical trolley in Example 1 is shown in FIG. Figure 2 ;

[0034] Figure 3 The structure of the surgical trolley in Example 1 is shown in FIG. Figure 3 ;

[0035] Figure 4 is a schematic diagram of the structure of the adaptive support foot in Example 1;

[0036] Figure 5 The structure of the surgical trolley in Example 1 is shown in FIG. Figure 4 ;

[0037] Figure 6 The structure of the surgical trolley in Example 1 is shown in FIG. Figure 5 .

[0038] In the figure: 1. trolley bottom plate; 2. roller; 31. lifting base; 32. frame; 321. extension bracket; 331. upper pressure plate; 332. lower pressure plate; 34. guide rail assembly; 35. drive seat; 4. adaptive support foot; 41. support foot sleeve; 411. limit stop; 42. adjustment sleeve; 43. movable sleeve; 44. universal foot cup; 45. disc spring; 46. first gasket; 47. second gasket; 51. locking rod; 52. first support rod; 53. first rotating shaft; 54. second support rod; 55. second rotating shaft; 56. third support rod; 57. drive rod; 58. pedal; 59. bearing seat. DETAILED DESCRIPTION

[0039] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0040] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention. Embodiment 1:

[0041] An operating table, referring to Figures 1 to 6 , which includes a trolley bottom plate 1, a lifting bracket and a lifting drive device (not shown in the drawings); rollers 2 are respectively arranged at the four top corners of the bottom of the trolley bottom plate 1, and the movement of the trolley is realized by the rollers 2; adaptive support feet 4 are respectively arranged at the four top corners of the bottom of the lifting bracket; the lifting drive device is arranged between the lifting bracket and the trolley bottom plate 1, and is used to drive the lifting bracket to move in the vertical direction; specifically, the lifting drive device drives the lifting bracket to move downward until the adaptive support feet 4 contact the ground, and then the lifting drive device continues to drive, so as to lift the trolley bottom plate 1 upward, so that the rollers 2 are separated from the ground; in this embodiment, the lifting drive device adopts an electric push rod, of course, a hydraulic rod or a screw motor can also be adopted, which is not limited here.

[0042] Reference Figures 1 to 6 Specifically, the lifting bracket in this embodiment includes a frame 32 located above the trolley bottom plate 1, and four adaptive legs 4 are respectively arranged at the bottom of the frame 32; a lifting base 31 is fixedly arranged on the trolley bottom plate 1, and two extension brackets 321 are respectively arranged on the frame 32, and an upper pressing plate 331 and a lower pressing plate 332 are respectively arranged on the extension bracket 321; the side wall of the lifting base 31 is provided with a guide rail assembly 34 connected to the upper pressing plate 331 and the lower pressing plate 332, so as to improve the stability of the movement of the lifting bracket; that is, the guide rail assembly 34 includes a guide rail and two slide seats arranged on the guide rail, and the upper pressing plate 331 The lower pressure plate 332 is respectively connected to the two sliding seats; the lifting bracket also includes a driving seat 35 connected to the two upper pressure plates 331 and the two lower pressure plates 332, and the lifting drive device is arranged between the lifting base 31 and the driving seat 35; in the present embodiment, the lifting drive device is an electric push rod, that is, the electric push rod is fixedly installed on the lifting base 31, and the telescopic rod of the electric push rod is fixedly connected to the driving seat 35; in the present embodiment, a through hole cooperating with the adaptive support foot 4 is provided on the trolley bottom plate 1, which can facilitate the structural layout; in the present embodiment, a lifting drive device is used to drive the lifting bracket to move, which has the advantages of simple structure, low cost and simple control.

[0043] Reference Figures 1 to 6 Specifically, in this embodiment, the adaptive support foot 4 includes a support foot sleeve 41, an adjusting sleeve 42 arranged in the support foot sleeve 41, a movable sleeve 43 arranged in the support foot sleeve 41, a disc spring 45 arranged between the adjusting sleeve 42 and the movable sleeve 43, a first gasket 46 arranged between the adjusting sleeve 42 and the disc spring 45, a second gasket 47 arranged between the disc spring 45 and the movable sleeve 43, and a universal foot cup 44 arranged at the bottom of the movable sleeve 43; wherein, the top end of the support foot sleeve 41 and the bottom end of the lifting bracket are fixedly connected by bolts; the adjusting sleeve 42 and the support foot sleeve 41 are threadedly connected, and the adjusting sleeve 42 is rotated so that the adjusting sleeve 42 is axially displaced relative to the support foot sleeve 41, that is, the support foot can be adjusted according to the needs. It is necessary to adjust the initial deformation of the disc spring 45 to meet the actual use requirements; the disc spring 45 is sleeved on the movable sleeve 43, and the disc spring 45 is deformed according to the force conditions and can maintain good rigidity when constrained axially inside and outside; the second gasket 47 is fixedly connected to the movable sleeve 43, and the inner wall of the support sleeve 41 is provided with a limit stop 411 that cooperates with the second gasket 47, so as to limit the axial position of the movable sleeve 43; the bottom support surface of the universal foot cup 44 can be automatically deflected, and when the bottom support surface contacts the ground, it can be adaptively deflected and adjusted according to the flatness of the ground, thereby improving the stability of the contact between the universal foot cup 44 and the ground; of course, in other optional embodiments, the structure of the adaptive support foot can also be adjusted, which is not limited here.

[0044] Reference Figures 1 to 6 When the four adaptive legs 4 are in contact with the ground and lift the trolley, the elastic force generated by the deformation of the disc springs 45 in each adaptive leg 4 is balanced with the gravity of the trolley and maintains stability; if the ground is slightly uneven, and the design deformation of the other three adaptive legs 4 is not enough to overcome the gravity of the trolley, it will continue to deform elastically, causing the fourth adaptive leg 4 to contact the ground, thereby achieving four-leg contact lifting; therefore, in this embodiment, four adaptive legs are used to contact the ground, which can adapt to slight unevenness of the ground, thereby improving the stability of the trolley.

[0045] Reference Figures 1 to 6In this embodiment, a locking and releasing mechanism connected to the plurality of rollers 2 is further provided on the bottom plate 1 of the trolley, and the locking and releasing mechanism is used to control the synchronous locking or releasing of the plurality of rollers 2, so as to facilitate the operation; specifically, the locking and releasing mechanism comprises a locking rod 51, a first support rod 52, a first rotating shaft 53, a second support rod 54, a second rotating shaft 55, a third support rod 56, a driving rod 57, a pedal 58 and a bearing seat 59; in this embodiment, the roller 2 is a central control wheel, so the rotation of the locking rod 51 can switch the roller 2 between the locking state and the releasing state; in this embodiment, each roller 2 is connected to a locking rod 51, so the number of locking rods 51 is four; one end of the first support rod 52 is fixedly connected to the locking rod 51, and the other end is fixedly connected to the locking rod 51 The first rotating shaft 53 is connected; that is, the first support rod 52 can drive the locking rod 51 to rotate; the two ends of the second support rod 54 are respectively connected to the two first rotating shafts 53, so the number of the second support rods 54 in this embodiment is two; one end of the third support rod 56 is connected to the second support rod 54 through the second rotating shaft 55, and the other end is fixedly connected to the driving rod 57; the number of driving rods 57 is two, and the pedal 58 is fixedly connected between the two driving rods 57; the bearing seat 59 is sleeved on the driving rod 57, and the bearing seat 59 is connected to the trolley bottom plate 1, so that the driving rod 57 can rotate around its own axis; in this embodiment, the driving rod 57 is arranged horizontally, so the pedal 58 can deflect up and down around the driving rod 57.

[0046] Reference Figures 1 to 6 In this embodiment, the second support rod 54 and the two first support rods 52 connected thereto are arranged in a parallelogram, so the second support rod 54 can drive the two first support rods 52 to rotate simultaneously, and the first support rod 52 rotates around the locking rod 51; stepping on the pedal 58 downward causes the pedal 58 to deflect downward, and the pedal 58 drives the driving rod 57 and the third support rod 56 to rotate synchronously, and the third support rod 56 drives the second support rod 54 to move, and the second support rod 54 drives the two first support rods 52 to rotate simultaneously, so that the four locking rods 51 rotate synchronously, and the four rollers 2 are locked synchronously; in the locked state, the first support rod 52, the second support rod 54 and the third support rod 56 located on the same side are arranged in a parallelogram, and the self-locking property of the parallelogram can be used to maintain the roller in the locked state; lifting the pedal 58 upward and deflecting it, the roller is switched from the locked state to the released state, and maintained in the released state; in this embodiment, one pedal 58 is used to perform the locking and releasing actions respectively, which can simplify the structure and is easy to operate. Embodiment 2:

[0047] A surgical robot, referring to Figures 1 to 6 , which includes the operating table cart in Example 1.

Claims

1. An operating table trolley, characterized in that: include: A trolley bottom plate, wherein a plurality of rollers are arranged at the bottom of the trolley bottom plate; A lifting bracket, wherein a plurality of adaptive supporting feet are arranged at the bottom of the lifting bracket; A lifting drive device, wherein the lifting drive device is arranged between the lifting bracket and the bottom plate of the trolley; Wherein, the adaptive support foot comprises a support foot sleeve, a movable sleeve arranged in the support foot sleeve, an elastic member acting on the movable sleeve, and a universal foot cup arranged at the bottom of the movable sleeve; The adaptive support foot further comprises an adjusting sleeve arranged in the support foot sleeve, the adjusting sleeve and the support foot sleeve are threadedly connected, and the elastic member is arranged between the movable sleeve and the adjusting sleeve; A lifting base is arranged on the bottom plate of the trolley, and a guide rail assembly is arranged between the lifting base and the lifting bracket.

2. The operating table trolley according to claim 1, characterized in that: The elastic member comprises a disc spring sleeved on the movable sleeve.

3. The operating table trolley according to claim 2, characterized in that: A first gasket is arranged between the upper end of the disc spring and the adjusting sleeve, and a second gasket is arranged between the lower end of the disc spring and the moving sleeve.

4. The operating table trolley according to claim 3, characterized in that: The second gasket is fixedly connected to the movable sleeve, and the inner wall of the support sleeve is provided with a limit stop that cooperates with the second gasket.

5. The operating table trolley according to claim 1, characterized in that: The lifting bracket includes a frame located above the bottom plate of the trolley, and two extension brackets are arranged on the frame and are respectively located on both sides of the lifting base, and the extension brackets are respectively provided with an upper pressure plate and a lower pressure plate; the side wall of the lifting base is provided with a guide rail assembly connected with the upper pressure plate and the lower pressure plate respectively; the lifting bracket also includes a driving seat connected with the two upper pressure plates and the two lower pressure plates respectively, and the lifting drive device is arranged between the lifting base and the driving seat.

6. The operating table trolley according to claim 1, characterized in that: The bottom plate of the trolley is also provided with a locking and releasing mechanism respectively connected to the multiple rollers, and the locking and releasing mechanism is used to control the synchronous locking or releasing of the multiple rollers.

7. The operating table trolley according to claim 6, characterized in that: The locking and releasing mechanism comprises: a locking rod connected to the roller; A first support rod fixedly connected to the locking rod; A second support rod, wherein two ends of the second support rod are respectively connected to the two first support rods through a first rotating shaft; A third support rod, one end of which is connected to the second support rod via a second rotating shaft, and the other end of which is fixedly connected to the driving rod; A bearing seat, wherein the bearing seat is sleeved on the driving rod and connected to the bottom plate of the trolley; A pedal, wherein the pedal is fixedly connected to the driving rod; Wherein, the first support rod, the second support rod and the third support rod are arranged in a parallelogram.

8. A surgical robot, characterized in that: A surgical trolley comprising any one of claims 1-7.

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