Lifting module for surgical robot

Abstract

The lifting module for the surgical robot comprises a base, a walking assembly and a driving assembly, the lifting module can be connected with the surgical robot, and the base can support the surgical robot; the walking assembly comprises a wheel seat and a walking wheel, the walking wheel can be rotatably arranged on the wheel seat, and the wheel seat can move in the first direction relative to the surgical robot; the driving assembly comprises a lead screw and a driving piece. The lead screw extends in the first direction, can be rotationally arranged on the base, penetrates through the wheel seat and is in threaded connection with the wheel seat; the driving part is in transmission connection with the lead screw and can drive the lead screw to rotate to drive the wheel seat to move in the first direction relative to the surgical robot so as to adjust the relative position of the base and the walking wheel. When the base descends to make contact with the ground, the driving assembly continues driving to make the walking wheels rise and leave the ground, the base is supported on the ground, the lifting module cannot move through the walking wheels, and therefore accidental movement is prevented.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a lifting module for a surgical robot. Background Art

[0002] Usually, the bottom of the operating table is equipped with running wheels, which can be rotatably set on the ground, and the running wheels facilitate the running and movement of the operating table to move the operating table to the required position. However, when the operating table does not need to be moved, the running wheels may cause the bed to move unexpectedly, causing trouble to the actual operation, affecting the accuracy of the operation, and posing a safety hazard. Summary of the invention

[0003] Based on this, it is necessary to provide a lifting module for a surgical robot to address the problem of unexpected movement of the operating table, which can lift the walking wheels off the ground so that the operating table can be reliably fixed when it does not need to move.

[0004] A lifting module for a surgical robot, comprising:

[0005] A base, capable of being connected to the surgical robot, and the base is capable of supporting the surgical robot;

[0006] A walking assembly, the walking assembly comprising a wheel seat and a walking wheel, the walking wheel being rotatably disposed on the wheel seat, and the wheel seat being movable in a first direction relative to the surgical robot;

[0007] A driving assembly, the driving assembly comprising a screw and a driving member; the screw extends along the first direction, the screw is rotatably disposed on the base, the screw is passed through the wheel seat and is threadedly connected to the wheel seat; the driving member is transmission-connected to the screw, the driving member can drive the screw to rotate, so as to drive the wheel seat to move in the first direction relative to the surgical robot, so as to adjust the relative position of the base and the walking wheel.

[0008] In one embodiment of the present application, the drive assembly also includes a driving wheel and a driven wheel; the driving wheel is drivingly connected to the output shaft of the driving member, at least two driven wheels are provided, all of the driven wheels are meshed with the driving wheel, and at least two screw rods are provided, and the driven wheels are arranged on the screw rods in a one-to-one correspondence.

[0009] In one embodiment of the present application, the drive assembly also includes a nut and a guide rod, the nut is passed through the wheel seat, at least two nuts are provided and correspond one to one with the screw rod, the screw rod is threadedly connected to the nut, the guide rod is fixed to the base, the guide rod is passed through the wheel seat and cooperates with the wheel seat guide.

[0010] In one embodiment of the present application, the wheel seat is provided with a groove, the groove is recessed toward one side of the base, the walking wheel is provided with at least two and includes a first walking wheel and a second walking wheel, the groove is located between the first walking wheel and the second walking wheel; the nut and the guide rod are passed through the bottom wall of the groove.

[0011] In one embodiment of the present application, the driving assembly further includes a linear bearing, the linear bearing is passed through the wheel seat, and the guide rod is sleeved on the linear bearing to cooperate with the wheel seat guide.

[0012] In one embodiment of the present application, the lifting module also includes a mounting seat, which is spaced apart from the base, and the wheel seat is located between the base and the mounting seat; the opposite ends of the screw rod are respectively rotatably connected to the base and the mounting seat, and the driving member is fixed to at least one of the base and the mounting seat.

[0013] In one embodiment of the present application, the lifting module further includes a first limit position detector, which is disposed on the mounting seat and is used to detect a first limit position of the wheel seat; and / or

[0014] The lifting module further comprises a second limit position detector, which is arranged on the base and is used to detect a second limit position of the wheel seat.

[0015] In one embodiment of the present application, the drive assembly further includes a thrust bearing, an outer ring of the thrust bearing is fixed to the mounting seat, and an inner ring of the thrust bearing is sleeved with the screw rod to limit the axial movement of the screw rod.

[0016] In one embodiment of the present application, the lifting module also includes a pad and a connecting member, wherein the pad is fixed to the mounting seat, and the pad is located on the side of the mounting seat facing the wheel seat, and a plurality of connecting members are provided, and the connecting members are passed through the mounting seat and the pad to be fixed to the base of the surgical robot.

[0017] In one embodiment of the present application, the driving member includes a driving motor, and the thread profile of the screw rod is a trapezoidal thread.

[0018] After adopting the above technical solution, this application has at least the following technical effects:

[0019] The lifting module for the surgical robot of the present application has a walking wheel that can be rotatably arranged on a wheel seat to drive the surgical robot to move. The driving assembly includes a screw rod and a driving member. The screw rod is passed through the wheel seat and is screwed to the wheel seat. The driving member can drive the screw rod to rotate to drive the wheel seat to move relative to the surgical robot in a first direction to adjust the relative position of the base and the walking wheel. Therefore, when the surgical robot does not need to move, the driving member drives the screw rod to rotate. Since the screw rod is screwed to the wheel seat, the walking wheel is arranged on the wheel seat, and the screw rod is rotatably arranged on the base, the rotation of the screw rod can force the base to descend. When the base descends to the same height as the traveling wheels, the base and the traveling wheels contact the ground at the same time, and the screw continues to rotate. At this time, the base cannot continue to descend due to contact with the ground, and instead the wheel seat and the traveling wheels thereon are lifted. After the traveling wheels are lifted, the surgical robot is supported on the ground by the base, thereby preventing the traveling wheels from driving the lifting module and the surgical robot to move accidentally. If the movement of the surgical robot needs to be restored, the driving member drives the screw in the reverse direction to rotate, so that the wheel seat moves downward until the traveling wheels contact the ground and the base is lifted. At this time, the traveling wheels can drive the surgical robot to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG. 1 is a schematic diagram of a lifting module installed on a base of a surgical robot according to an embodiment of the present application.

[0021] FIG. 2 is a schematic diagram of the lifting module shown in FIG. 1 viewed from an angle.

[0022] FIG. 3 is a top view of the lifting module shown in FIG. 2 .

[0023] FIG. 4 is a cross-sectional view of the lifting module shown in FIG. 3 at AA.

[0024] FIG. 5 is a cross-sectional view of the lifting module shown in FIG. 3 at position BB.

[0025] FIG. 6 is a schematic diagram of the lifting module shown in FIG. 2 viewed from another angle.

[0026] FIG. 7 is a partial exploded schematic diagram of the lifting module shown in FIG. 2 .

[0027] FIG. 8 is a partial enlarged view of the lifting module shown in FIG. 5 at position C. FIG.

[0028] Among them: 100, lifting module; 110, mounting seat; 111, pad; 112, first mounting position; 113, avoidance groove; 120, base; 130, walking assembly; 131, wheel seat; 1311, groove; 1312, mounting hole; 1313, through hole; 132, first walking wheel; 133, second walking wheel; 140, driving assembly; 104, driving member; 141, screw rod; 1411, second mounting position; 142, nut; 143, guide rod; 144, linear bearing; 145, thrust bearing; 146, limit plate; 147, support bearing; 148, driving wheel; 149, driven wheel; 160, first limit detector; 170, second limit detector; 200, base. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0030] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0031] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0032] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0033] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "on" or "below" a second feature, etc., or the like, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0035] Referring to Figures 1 and 2, the present application provides a lifting module 100. Figure 1 is a schematic diagram of a lifting module 100 of an embodiment of the present application installed on a base 200 of a surgical robot, and Figure 2 is a schematic diagram of the lifting module 100 shown in Figure 1 viewed from one angle. The lifting module 100 is applied to the base 200 of the operating table in the surgical robot, and is used for the lifting and lowering control of the operating table, and can ensure that the operating table will not move accidentally after moving. Of course, in other embodiments of the present application, the lifting module 100 can also be applied to other equipment that needs to be lifted, such as tables and components that need to be lifted, etc. This embodiment is explained by taking the application of the lifting module 100 in a surgical robot as an example.

[0036] The base 200 of the operating table in the traditional surgical robot can be provided with one or more lifting modules 100. The lifting module 100 can lift the base 200 to achieve the lifting operation of the operating table to adjust the height of the operating table. In order to facilitate the movement of the operating table, the lifting module 100 is usually provided with running wheels for movement. However, after moving to the designated position, the position of the operating table needs to be fixed. However, when the operating table is subjected to external force, it is easy to cause the running wheels to rotate and cause the operating table to move unexpectedly, thereby causing troubles in the debugging of the equipment and the surgical operation. To this end, the present embodiment provides a lifting module 100, which, after being installed on the surgical robot, can not only realize the lifting control of the operating table, but also can support the running wheels off the ground, so that the operating table is reliably fixed when it does not need to be moved. The specific structure of the lifting module 100 of an embodiment is introduced below.

[0037] Referring to FIGS. 1 to 5 , in one embodiment, a lifting module 100 for a surgical robot includes a base 120, a walking assembly 130, and a driving assembly 140. The base 120 can be connected to the surgical robot, and the base 120 can support the surgical robot. The walking assembly 130 includes a wheel seat 131 and a walking wheel, and the walking wheel is rotatably arranged on the wheel seat 131, and the wheel seat 131 is located on a side of the base 120 away from the ground, and the wheel seat 131 can move relative to the surgical robot in a first direction. The driving assembly 140 is arranged on the base 120 and connected to the wheel seat 131, and the driving assembly 140 can drive the wheel seat 131 to rise and fall relative to the base 120, so that the base 120 can be supported on the ground. FIG. 3 is a top view of the lifting module 100 shown in FIG. 2 , FIG. 4 is a cross-sectional view of the lifting module 100 shown in FIG. 3 at AA, and FIG. 5 is a cross-sectional view of the lifting module 100 shown in FIG. 3 at BB.

[0038] The walking wheels are rotatably arranged on the wheel seat 131 to drive the lifting module 100 to walk and realize movement; since the wheel seat 131 is located on the side of the base 120 away from the ground, during normal walking, the walking wheels are supported on the ground. When the height needs to be adjusted, the driving component 140 drives the wheel seat 131 to rise and fall relative to the base 120 to realize the adjustment of the height of the base 120. When movement is not required, the driving component 140 can drive the wheel seat 131 to lift relative to the base 120 and lift the walking wheels off the ground. At this time, the height of the base 120 drops to the ground, and the walking wheels are off the ground through the base 120 supporting the ground, thereby preventing the walking wheels from driving the lifting module 100 and the surgical robot to move accidentally.

[0039] The lifting module 100 is used to be installed on the base 200 of the surgical robot. One or more lifting modules 100 can be set on the base 200 to achieve a smoother lifting operation. The base 120 is connected to the base 200 of the surgical robot. When the driving component 140 drives the walking component to rise and fall relative to the base 120, the base 120 is also relatively lifted, thereby driving the entire surgical robot to rise and fall. The base 120 is a plate at the bottom of the lifting module 100. The driving component 140 is arranged on the base 120. The driving component 140 is connected to the walking component 130. The driving component 140 can drive the walking component 130 to rise and fall relative to the base 120, so that the walking component 130 is lifted off the ground and the base 120 is supported on the ground.

[0040] The walking assembly 130 and the base 120 are in a relative motion relationship. When the driving assembly 140 drives the walking assembly 130 to rise relative to the base 120, the base 120 gradually contacts the ground, and the walking assembly 130 gradually leaves the ground. When the base 120 is supported on the ground, the lifting module 100 cannot move relative to the ground, thereby reliably fixing the operating table of the surgical robot. When the driving assembly 140 drives the walking assembly 130 to descend relative to the base 120, the walking assembly 130 gradually contacts the ground, and the base 120 gradually leaves the ground. At this time, the operating table can move along the ground through the walking assembly 130 to move the operating table to the desired position.

[0041] Specifically, the walking assembly 130 may have multiple walking wheels. As shown in FIG. 2 , there are two walking wheels, namely, a first walking wheel 132 and a second walking wheel 133. The first walking wheel 132 and the second walking wheel 133 are arranged at intervals on the wheel seat 131, and the first walking wheel 132 and the second walking wheel 133 are rotatably arranged at the bottom of the wheel seat 131. The walking assembly 130 moves the lifting module 100 along the ground by rotating the first walking wheel 132 and the second walking wheel 133, thereby adjusting the position of the operating bed. The first walking wheel 132 and the second walking wheel 133 are in a relative motion relationship with the base 120.

[0042] When the driving assembly 140 drives the wheel seat 131 to rise, the wheel seat 131 drives the first running wheel 132 and the second running wheel 133 to rise synchronously relative to the base 120. Correspondingly, the base 120 has a state of descending movement and gradually contacts the ground, and the first running wheel 132 and the second running wheel 133 gradually leave the ground. When the driving assembly 140 drives the wheel seat 131 to descend along the first direction, the wheel seat 131 drives the first running wheel 132 and the second running wheel 133 to descend synchronously relative to the base 120. Correspondingly, the base 120 has a state of ascending movement and gradually leaves the ground, and the first running wheel 132 and the second running wheel 133 gradually contact the ground.

[0043] That is, the base 120 has a first state and a second state. When the base 120 is in the first state, there is a distance between the base 120 and the ground. When the base 120 is in the second state, the base 120 is in contact with the ground. When the base 120 switches from the first state to the second state, the driving component 140 drives the wheel seat 131 to drive the first running wheel 132 and the second running wheel 133 to gradually rise, and the base 120 gradually descends and contacts the ground. At this time, the base 120 is in the second state. When the base 120 switches from the second state to the first state, the driving component 140 drives the wheel seat 131 to drive the first running wheel 132 and the second running wheel 133 to gradually descend, and the base 120 gradually rises and leaves the ground. At this time, the base 120 is in the first state.

[0044] When the base 120 contacts the ground, if the driving assembly 140 stops moving, at this time, the first running wheel 132 and the second running wheel 133 contact the ground, that is, the base 120 and the first running wheel 132 and the second running wheel 133 are all in contact with the ground, and the operating bed can be reliably fixed by the contact between the base 120 and the ground. If the driving assembly 140 continues to rise, after the base 120 contacts the ground, the driving assembly 140 drives the wheel seat 131 to continue to rise, and then the first running wheel 132 and the second running wheel 133 are separated from the ground and continue to rise. At this time, the first running wheel 132 and the second running wheel 133 are lifted off the ground, and only the base 120 contacts the ground, so as to reliably fix the operating bed.

[0045] After the operation is completed or when the operating bed needs to be moved, the driving component 140 drives the wheel seat 131 to descend, and the wheel seat 131 drives the first running wheel 132 and the second running wheel 133 to gradually descend and contact the ground. After the running wheels contact the ground, the driving component 140 drives the wheel seat 131 to continue to descend. In this way, under the reaction force of the first running wheel 132 and the second running wheel 133, the base 120 can gradually leave the ground, so that the operating bed rises as a whole. It is worth noting that the descending principle of the driving component 140 driving the wheel seat 131 is essentially the same as the ascending principle, but it is a reverse process. The following text only takes the descending of the driving component 140 driving the wheel seat 131 as an example for explanation.

[0046] In the lifting module 100 of the above-mentioned embodiment, the driving assembly 140 drives the wheel seat 131 to rise and fall relative to the base 120, so that the base 120 is detached from the ground or supported on the ground. The lifting module 100 is supported on the ground by the first running wheel 132 and the second running wheel 133. There is a gap between the base 120 and the ground, and the lifting module 100 can move. The driving assembly 140 drives the wheel seat 131 to rise relative to the base 120. At this time, the first running wheel 132 and the second running wheel 133 rise and detach from the ground. The base 120 is supported on the ground, and the lifting module 100 cannot move through the first running wheel 132 and the second running wheel 133, thereby preventing the lifting module 100 from moving accidentally. In this way, when the operating bed does not need to move, the base 120 can contact the ground, limit the movement of the operating bed, ensure that the operating bed is reliably fixed, facilitate surgical operations, ensure the accuracy of surgical operations, and reduce the safety hazards caused by the movement of the operating bed.

[0047] As shown in Figures 4 and 5, in one embodiment, the driving assembly 140 includes a screw rod 141 and a driving member 104; the screw rod 141 is rotatably disposed on the base 120, and the screw rod 141 is penetrated through the wheel seat 131 and is screwed with the wheel seat 131, and the driving member 104 can drive the screw rod 141 to rotate to drive the wheel seat 131 to move in a first direction relative to the surgical robot to adjust the relative position of the base 120 and the walking wheel; the driving member 104 is transmission-connected to the screw rod 141, and the wheel seat 131 has a guiding configuration along the axial direction of the screw rod 141.

[0048] When the driving member 104 drives the screw rod 141 to rotate around the axial direction of the screw rod 141, since the wheel seat 131 has a guiding configuration along the axial direction of the screw rod 141, the wheel seat 131 can only move along the axial direction of the screw rod 141, thereby realizing the lifting and lowering operation of the wheel seat 131, and then the walking wheel is lifted off the ground or placed on the ground.

[0049] 5 and 7 , in one embodiment, the driving assembly 140 further includes a nut 142 and a guide rod 143 , the nut 142 is disposed on the wheel seat 131 , and the screw rod 141 is threadedly connected to the nut 142 ; the guide rod 143 is fixed to the base 120 , and the guide rod 143 is passed through the wheel seat 131 and cooperates with the wheel seat 131 for guidance.

[0050] The screw rod 141 is screwed to the wheel seat 131 through the nut 142, and the guide rod 143 realizes the guiding configuration of the wheel seat 131 along the axial direction of the screw rod 141, so as to cooperate with the nut 142 to enable the wheel seat 131 to be lifted and lowered under the action of the driving member 104. The cooperation between the screw rod 141 and the guide rod 143 makes the lifting operation of the wheel seat 131 more stable.

[0051] There are at least two screw rods 141, and at least two nuts 142 are provided and correspond to the screw rods 141 one by one. The screw rods 141 are screwed with the corresponding nuts 142 and penetrated through the wheel seat 131. On the one hand, the multiple screw rods 141 can better drive the wheel seat 131 to rise and fall relative to the base 120, and on the other hand, it can also make the lifting of the wheel seat 131 relative to the base 120 more stable.

[0052] Of course, in other embodiments, the guide configuration of the wheel seat 131 can also be implemented in other ways. For example, if there are at least two screw rods 141, at least one of the screw rods 141 acts as a driving rod threadedly connected to the wheel seat 131 and also acts as a guide rod, so that the wheel seat 131 does not rotate but moves along the axial direction of the screw rod 141; for example, if there is only one screw rod 141, but there are guide strips and guide grooves between the wheel seat 131 and the base 120, or the wheel seat 131 and other external mechanisms such as the base 200 are guided and matched by sliding or the like, which will not be repeated.

[0053] The driving member 104 is the power source of the driving assembly 140, and the screw rod 141 and the nut 142 are the motion output members of the driving assembly 140 to output the lifting motion. The screw rod 141 is arranged along the height direction, and the bottom of the screw rod 141 can be rotatably connected to the base 120. The nut 142 is sleeved on the screw rod 141, and the nut 142 and the wheel seat 131 can be fixed by means of screw connection or the like.

[0054] The output end of the driving member 104 is connected to the screw rod 141, and the driving member 104 can drive the screw rod 141 to rotate. When the screw rod 141 rotates, the screw rod 141 can drive the nut 142 to move along the screw rod 141, so that the nut 142 can output a lifting motion. The nut 142 is fixedly connected to the wheel seat 131. When the screw rod 141 drives the nut 142 to rise and fall, the nut 142 can drive the wheel seat 131 to rise and fall synchronously, thereby realizing that the wheel seat 131 drives the travel wheels such as the first travel wheel 132 and the second travel wheel 133 to rise and fall.

[0055] Referring to Fig. 4 to Fig. 7, in one embodiment, the wheel seat 131 is provided with a groove 1311, the groove 1311 is recessed toward one side of the base 120, at least two running wheels are provided and include a first running wheel 132 and a second running wheel 133, the groove 1311 is located between the first running wheel 132 and the second running wheel 133, and the nut 142 and the guide rod 143 are passed through the bottom wall of the groove 1311. Such a configuration can make the structure more compact, and also can make the wheel seat 131 have a larger lifting space.

[0056] Fig. 6 is a schematic diagram of the lifting module 100 shown in Fig. 2 from another angle, and Fig. 7 is a partial exploded schematic diagram of the lifting module 100 shown in Fig. 2. The middle area of ​​the wheel seat 131 is recessed downward to form a groove 1311, and the nut 142 is at least partially located in the groove 1311, and the nut 142 is passed through the bottom wall of the groove 1311 and fixed to the wheel seat 131 by screws, so that the nut 142 is connected to the wheel seat 131 in the groove 1311.

[0057] The nut 142 is arranged in the groove 1311 of the wheel seat 131, which improves the space utilization, makes the overall structure of the lifting module 100 more compact, saves the occupied space, and is convenient for integration and installation into the base 200 of the surgical robot. At the same time, it can also make the wheel seat 131 have a larger lifting range.

[0058] 5 and 7, in one embodiment, the wheel seat 131 has a mounting hole 1312, which is set through the bottom wall of the groove 1311, and the nut 142 is passed through the wheel seat 131 through the mounting hole 1312. The nut 142 is installed in the recessed groove 1311 through the mounting hole 1312, thereby realizing the connection between the nut 142 and the wheel seat 131, which can reduce the occupied space while driving the wheel seat 131 to move up and down.

[0059] 5 and 7 , in one embodiment, the wheel seat 131 has a through hole 1313, and the through hole 1313 allows the driving member 104 to pass through. The through hole 1313 is located in the groove 1311 and passes through the bottom wall of the groove 1311. The through hole 1313 allows the driving member 104 to pass through to avoid interference between the driving member 104 and the wheel seat 131.

[0060] 5 and 7 , in one embodiment, at least two screw rods 141 are provided, and the screw rods 141 are passed through the wheel seat 131 and screwed to the wheel seat 131. The driving assembly 140 further includes a driving wheel 148 and a driven wheel 149 meshed with the driving wheel 148, the driving wheel 148 is drivingly connected to the output shaft of the driving member 104, and at least two driven wheels 149 are fixedly provided on the screw rods 141 one by one, and all the driven wheels 149 are meshed with the driving wheel 148.

[0061] The driving wheel 148 can be driven by the driving member 104. Since all the driven wheels 149 are meshed with the driving wheel 148, when the driving wheel 148 rotates, all the driven wheels 149 are driven to rotate, thereby driving the corresponding screw rod 141 fixed to the driven wheel 149 to rotate. The screw rod 141 pushes the wheel seat 131 to rise and fall through the nut 142, thereby achieving the effect of one driving member 104 driving multiple screw rods 141 to rotate. Compared with the structure in which multiple driving members 104 drive the screw rods 141 individually, it not only reduces the complexity of the device, but also reduces the control difficulty.

[0062] Optionally, there are two driven wheels 149. Each driven wheel 149 is disposed on a threaded rod 141. When the driving wheel 148 rotates, the two driven wheels 149 are driven to rotate simultaneously, and then the driven wheels 149 can drive the corresponding threaded rod 141 to rotate, so as to drive the two nuts 142 to rise and fall synchronously, and then drive the wheel seat 131 to rise and fall, thereby ensuring the stability of the lifting movement of the wheel seat 131.

[0063] Optionally, as shown in Fig. 7, the driving wheel 148 and the two driven wheels 149 are gears, and the pitch circle diameters of the two driven wheels 149 are equal and larger than the pitch circle diameter of the driving wheel 148. This arrangement reduces the overall structural size on the one hand, and at the same time, the driving wheel 148 with a small pitch circle diameter drives the driven wheel 149 with a large pitch circle diameter, which can reduce the speed of the gear transmission while increasing the torque, so as to effectively drive the wheel seat 131 and the base 120 to rise and fall.

[0064] 5 and 7, in one embodiment, the driving assembly 140 further includes a guide rod 143 and a linear bearing 144, the guide rod 143 is fixed to the base 120, the linear bearing 144 is disposed on the wheel seat 131, and the guide rod 143 is sleeved on the linear bearing 144 to guide and cooperate with the wheel seat 131. The linear bearing 144 is disposed in the wheel seat 131, and the linear bearing 144 and the guide rod 143 are slidably matched to achieve lifting and lowering guidance of the wheel seat 131, improve the lifting and lowering movement accuracy, and ensure the lifting and lowering trajectory of the wheel seat 131 is accurate.

[0065] Of course, in other embodiments of the present application, the driving assembly 140 may also include a guide slider, which may be slidably disposed on the guide rod 143. Optionally, there are multiple guide rods 143, which are evenly distributed, and there are multiple linear bearings 144, which are disposed one by one corresponding to the guide rods 143. The cooperation between the multiple guide rods 143 and the linear bearings 144 can ensure the stability of the guide support, thereby ensuring that the wheel seat 131 is lifted and lowered smoothly.

[0066] 3 and 4 , in one embodiment, the lifting module 100 further includes a mounting seat 110, the mounting seat 110 is spaced apart from the base 120, and the wheel seat 131 is located between the base 120 and the mounting seat 110. The opposite ends of the screw rod 141 are rotatably connected to the base 120 and the mounting seat 110, respectively, and the driving member 104 is fixed to at least one of the base 120 and the mounting seat 110.

[0067] The two ends of the screw rod 141 are rotatably connected to the mounting seat 110 and the base 120 respectively to form a whole. The wheel seat 131 is screwed to the screw rod 141 and is located between the mounting seat 110 and the base 120. When the wheel seat 131 is raised or lowered relative to the base 120, the base 120 is also raised or lowered. Since the screw rod 141 connects the base 120 and the mounting seat 110, the mounting seat 110 is also raised or lowered, thereby realizing the lifting of the operating table of the surgical robot. Optionally, the mounting seat 110 is fixed to the base 200.

[0068] The mounting seat 110 and the base 120 are arranged opposite to each other in the height direction. The mounting seat 110 is a plate body at the top of the lifting module 100. The mounting seat 110 is connected to the base 200 of the operating table in the surgical robot. The top of the screw rod 141 is rotatably connected to the mounting seat 110, and the bottom of the screw rod 141 is rotatably connected to the base 120 to provide reliable support between the mounting seat 110 and the base 120.

[0069] The driving member 104 can be fixed to only one of the base 120 and the mounting seat 110, or can be fixed to both, so as to achieve installation support for the driving member 104. As shown in Fig. 5, the driving member 104 is fixed to the mounting seat 110 by screws, while the driving member 104 is not fixed to the base 120.

[0070] Optionally, the two ends of the guide rod 143 are respectively fixedly connected to the mounting seat 110 and the base 120, and the guide rod 143 passes through the wheel seat 131 and cooperates with the guide of the wheel seat 131. The bottom of the guide rod 143 is fixed to the base 120, and the top of the guide rod 143 is fixed to the mounting seat 110. The guide rod 143 is arranged parallel to the screw rod 141. The guide rod 143 can guide the lifting and lowering of the wheel seat 131. When the wheel seat 131 is lifted or lowered, the wheel seat 131 can be lifted or lowered along the guide rod 143, thereby guiding the movement of the wheel seat 131, ensuring that the lifting and lowering trajectory of the wheel seat 131 is accurate and avoiding circumferential movement.

[0071] Referring to Fig. 1, Fig. 2, Fig. 4 and Fig. 5, in one embodiment, the lifting module 100 further includes a pad 111 and a connector. The pad 111 is fixed to the side of the mounting seat 110 facing the wheel seat 131. A plurality of connectors are provided. The connectors are arranged through the mounting seat 110 and the pad 111 to be fixed to the base 200 of the surgical robot. The pad 111 and the connector are components for connecting the mounting seat 110 with the base 200 of the operating table to install the lifting module 100 on the base 200. For example, the pad 111 may be a silicone plate or a plastic plate, and the connector may be a screw; the pad 111 is arranged on the lower surface of the mounting seat 110, and the pad 111 is fixed to the base 200. Optionally, the pad 111 is a long strip-shaped plate-like structure. Of course, in other embodiments of the present application, the pad 111 may be other shapes.

[0072] Optionally, the number of the pads 111 is two, and the two pads 111 are symmetrically arranged on both sides of the mounting base 110. Of course, in other embodiments of the present application, the number of the pads 111 can also be other, as long as the mounting base 110 can be connected to the base 200 and it does not touch the moving parts of the lifting module 100. Optionally, the mounting base 110, the pads 111 and the base 200 are fixed by fasteners such as screws.

[0073] Referring to FIGS. 2 to 5 , in one embodiment, the wheel seat 131 is arranged in a flat plate shape, and the bottom of the wheel seat 131 symmetrically connects the first running wheel 132 and the second running wheel 133. Optionally, the wheel seat 131 has a stopper, which is located at the edge of the wheel seat 131 and bent downward. The stopper can protect the first running wheel 132 and the second running wheel 133, and will not contact the first running wheel 132 and the second running wheel 133, so as to ensure that the first running wheel 132 and the second running wheel 133 can run normally.

[0074] Referring to FIG. 4 and FIG. 5 , illustratively, the driving member 104 is fixed to the mounting seat 110. Optionally, the mounting seat 110 has an avoidance groove 113, which is recessed in the upper surface of the mounting seat 110, and the avoidance groove 113 is used to avoid the driving member 104. The avoidance groove 113 can avoid the output shaft of the driving member 104, avoid interference between the output shaft and the mounting seat 110, and ensure the stability of the output shaft movement of the driving member 104. Of course, in other embodiments of the present application, the driving member 104 can also be fixed to the base 120.

[0075] 5 and 7, in one embodiment, at least two screw rods 141 are provided and spaced apart, and at least two nuts 142 are provided and correspond one to one with the screw rods 141. The number of screw rods 141 is at least two, and at least two screw rods 141 are symmetrically arranged on both sides of the driving member 104 and can be driven by the driving member 104, and a nut 142 is arranged on each screw rod 141. The cooperation of at least two screw rods 141 and at least two nuts 142 ensures the stability of the lifting and lowering of the wheel seat 131.

[0076] Exemplarily, there are two screw rods 141 and two nuts 142 , that is, the two screw rods 141 are symmetrically arranged on both sides of the driving member 104 , the nuts 142 are sleeved on the corresponding screw rods 141 , and the nuts 142 are connected to the wheel seats 131 on both sides of the driving member 104 .

[0077] Referring to FIGS. 5 to 7 , in one embodiment, the lifting module 100 further includes a first limit detector 160, which is disposed on the mounting seat 110 and is used to detect a first limit position of the wheel seat 131. The first limit position here refers to an upper limit position. The first limit detector 160 can limit the movement of the wheel seat 131 rising to the upper limit position to prevent accidents caused by abnormal movement.

[0078] When the driving member 104 drives the nut 142 through the screw rod 141 to drive the wheel seat 131 to rise, if the wheel seat 131 triggers the first limit detector 160 during the rising process, the first limit detector 160 can send a warning signal to further take measures to limit the rising movement of the wheel seat 131 and control the driving member 104 to stop, so as to avoid the wheel seat 131 from overtravel and prevent the wheel seat 131 from rising excessively.

[0079] Referring to FIGS. 5 to 7 , in one embodiment, the first position limit detector 160 is disposed on the mounting base 110 via a first bracket. The first bracket is a supporting component of the first position limit detector 160, one end of the first bracket is connected to the lower surface of the mounting base 110, and the other end of the first bracket is cantilevered and mounted with the first position limit detector 160. Of course, in other embodiments of the present application, the first bracket 171 may also be in other structural forms.

[0080] Optionally, the drive assembly further includes a controller, which is electrically connected to the drive member 104 and the first limit detector 160. The controller controls the operation of the drive member 104. When it is necessary to control the travel wheel to rise, the controller controls the drive member 104 to work, and then the drive member 104 drives the nut 142 through the screw rod 141 to drive the wheel seat 131 and the first travel wheel 132 and the second travel wheel 133 to rise. When the wheel seat 131 cooperates with the first limit detector 160, the first limit detector 160 sends a signal to the controller that triggers the wheel seat 131 to move to the upper limit position, and the controller controls the drive member 104 to stop, thereby controlling the wheel seat 131 to stop rising.

[0081] Referring to FIGS. 5 to 7 , in one embodiment, the lifting module 100 further includes a second limit detector 170, which is disposed on the base 120 and is used to detect a second limit position of the wheel seat 131. The second limit position here refers to a lower limit position. The second limit detector 170 can limit the movement of the wheel seat 131 descending to the lower limit position.

[0082] When the driving member 104 drives the nut 142 through the screw rod 141 to drive the wheel seat 131 to descend, if the wheel seat 131 triggers the second limit detector 170 during the descent, the second limit detector 170 can limit the descending movement of the wheel seat 131 and control the driving member 104 to stop, so as to avoid the wheel seat 131 from overtravel and prevent the wheel seat 131 from excessively descending.

[0083] Referring to FIGS. 5 to 7 , in one embodiment, the second position limit detector 170 is disposed on the base 120 via a second bracket. The second bracket is a supporting component of the second position limit detector 170, one end of the second bracket is connected to the upper surface of the base 120, and the other end of the second bracket is cantilevered and mounted with the second position limit detector 170. Of course, in other embodiments of the present application, the second bracket may also be in other structural forms.

[0084] The second limit detector 170 is electrically connected to the controller. When it is necessary to control the travel wheel to descend, the controller controls the driving member 104 to work, and then the driving member 104 drives the nut 142 through the screw rod 141 to drive the wheel seat 131 and the travel wheel to descend. When the wheel seat 131 cooperates with the second limit detector 170, the second limit detector 170 triggers the signal that the wheel seat 131 moves to the lowering limit position to the controller, and the controller controls the driving member 104 to stop, thereby controlling the wheel seat 131 to stop descending.

[0085] Optionally, the first limit sensor 160 and the second limit sensor 170 may be position sensors, photoelectric sensors, or other sensor devices capable of detecting or triggering positions, so as to detect the limit travel positions of the wheel seat 131 .

[0086] Referring to FIG. 5 , in one embodiment, the drive assembly 140 further includes a thrust bearing 145, which is disposed between the screw rod 141 and the mounting seat 110. The outer ring of the thrust bearing 145 is fixedly disposed on the mounting seat 110, the inner ring of the thrust bearing 145 is sleeved on the screw rod 141, and the ball bearing is disposed between the outer ring and the inner ring of the thrust bearing 145. The thrust bearing 145 is used to limit the axial movement of the screw rod 141 to prevent the screw rod 141 from moving in the axial direction.

[0087] Optionally, the drive assembly 140 further includes a limit plate 146, which is fixed to the end of the screw rod 141 and abuts against the end of the inner ring of the thrust bearing 145. The limit plate 146 is used to achieve axial limit of the inner ring of the thrust bearing 145 to prevent the inner ring of the thrust bearing 145 from axial movement. Optionally, the limit plate 146 is fixed to the end of the screw rod 141 by a fastener such as a screw.

[0088] 5 and 8, in one embodiment, the driving assembly 140 further includes a support bearing 147, which is disposed at both ends of the screw rod 141 and rotatably supports the screw rod 141 on the mounting seat 110. The inner ring and outer ring of the support bearing 147 are sleeved on the screw rod 141, and the outer ring of the support bearing 147 abuts against the mounting seat 110, and the inner ring of the support bearing 147 is used to limit the circumferential movement of the screw rod 141 to ensure that the screw rod 141 can stably rotate relative to the mounting seat 110 and the base 120. FIG8 is a partial enlarged view of the surgical lifting module 100 shown in FIG5 at C.

[0089] 5 and 8, optionally, the mounting seat 110 has a concave first mounting position 112, the outer wall of the screw rod 141 has a second mounting position 1411, and the first mounting position 112 is arranged corresponding to the second mounting position 1411. The second mounting position 1411 forms a step shape on the outer wall of the screw rod 141, the outer ring of the support bearing 147 is installed at the first mounting position 112, the inner ring of the support bearing 147 is located at the second mounting position 1411, and the inner ring and the outer ring of the support bearing 147 are rotatably supported by the ball bearing.

[0090] Traditional surgical robots use a hydraulic lifting system to control the lifting of the operating table to meet actual surgical needs. However, the hydraulic lifting system requires a set of pipelines related to the hydraulic pump, which has a complex structure, poor control accuracy, and problems such as leakage, and is not suitable for applicable requirements. To this end, in this embodiment, the drive member 104 includes a drive motor, and the thread profile of the screw rod 141 is a trapezoidal thread. The drive motor does not need to be equipped with complex pipelines and other structures, and the control program is relatively simpler. The screw rod 141 is a trapezoidal screw rod 141. After the nut 142 cooperates with the trapezoidal thread screw rod 141, the screw rod 141 has better self-locking performance, which can make the nut 142 stay at any position of the trapezoidal screw rod 141, and the drive member 104 can be self-locked at any position when the power is off, which has a higher degree of safety.

[0091] Optionally, the first running wheel 132 and the second running wheel 133 are shock-absorbing universal wheels. The shock-absorbing universal wheels can ensure good contact with the ground, thereby ensuring that the first running wheel 132 and the second running wheel 133 run smoothly.

[0092] The working process of the lifting module 100 is as follows: when the running wheels are supported on the ground, the running wheels can rotate and drive the lifting module 100 to move. When the height of the operating table of the surgical robot needs to be adjusted, the driving member 104 drives the driving wheel 148 to rotate, and drives the driven wheels 149 on both sides to rotate at the same time through the meshing of gears. The driven wheels 149 drive the screw rod 141 to rotate, and the two nuts 142 are lifted through the screw rod 141 transmission. Through the guiding effect of the four guide rods 143 and the linear bearing 144, the wheel seat 131 is raised or lowered. In this process, the base 120 is lowered or raised, and the base 200 fixed with the base 120 and the mounting seat 110 of the lifting module 100 can be lifted and lowered. If the first limit detector 160 or the second limit sensor 170 is triggered during the lifting process, the driving member 104 stops immediately. Due to the self-locking effect of the trapezoidal screw rod 141, the wheel seat stays at the limit position to avoid accidents in further lifting and lowering, which is safer. If the lifting module 100 does not need to move, the driving wheel seat 131 drives the running wheel to rise, and the corresponding base 120 descends and is supported on the ground. At this time, the running wheel cannot drive the lifting module 100 to move.

[0093] The surgical robot includes a base 200 and a body arranged on the base 200 . The base 120 of the lifting module 100 for the surgical robot in any of the above embodiments is arranged on the base 200 , and the wheel seat 131 can be lifted and lowered relative to the base 120 to lift and lower the base 200 .

[0094] When the traveling wheels of the wheel seat 131 are always supported on the ground, the base 120 rises and falls relative to the wheel seat 131. Since the base 200 is connected to the base 120, the base 200 rises and falls synchronously with the base 120; and when the wheel seat 131 is lifted and the traveling wheels are off the ground, the base 120 is supported on the ground. If the bottoms of the base 120 and the base 200 are in the same plane, then both the base 120 and the base 200 are supported on the ground. If the bottoms of the base 120 and the base 200 are at different heights, the lower one is supported on the ground. For example, if the base 120 is fixed to the base 200, and the bottom of the base 120 is higher than the bottom of the base 200, then at this time, the base 200 is actually supported on the ground, while the base 120 is not supported on the ground. At this time, the base 200 exists as a part of the base 120 to support the wheel seat 131 and the traveling wheels.

[0095] As shown in FIG1 , at least two lifting modules 100 are evenly arranged on the base 200 of the operating bed. The surgical robot of this embodiment also includes an operating bed. After the lifting modules 100 of the above embodiment are installed on the base 200 of the operating bed, the lifting and lowering adjustment of the operating bed can be realized, and after the first running wheel 132 and the second running wheel 133 are lifted and lifted off the ground, they are in contact with the ground and provide support to prevent the first running wheel 132 and the second running wheel 133 from driving the operating bed to move. Exemplarily, there are two lifting modules 100, and the two lifting modules 100 are arranged at both ends of the base 200. The two lifting modules 100 are connected to four running wheels in total, so that the lifting modules 100 are in good contact with the ground and travel smoothly.

[0096] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0097] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A lifting module for a surgical robot, characterized in that: include: A base, capable of being connected to the surgical robot, and capable of supporting the surgical robot; A walking assembly, the walking assembly comprising a wheel seat and a walking wheel, the walking wheel being rotatably disposed on the wheel seat, and the wheel seat being movable in a first direction relative to the surgical robot; A driving assembly, the driving assembly comprising a screw and a driving member; the screw extends along the first direction, the screw is rotatably disposed on the base, the screw is passed through the wheel seat and is threadedly connected to the wheel seat; the driving member is transmission-connected to the screw, the driving member can drive the screw to rotate, so as to drive the wheel seat to move in the first direction relative to the surgical robot, so as to adjust the relative position of the base and the walking wheel.

2. The lifting module for a surgical robot according to claim 1, characterized in that: The driving assembly also includes a driving wheel and a driven wheel; the driving wheel is drivingly connected to the output shaft of the driving member, at least two driven wheels are provided, all of which are meshed with the driving wheel, and at least two screw rods are provided, and the driven wheels are arranged on the screw rods in a one-to-one correspondence.

3. The lifting module for a surgical robot according to claim 2, characterized in that: The drive assembly also includes a nut and a guide rod, the nut is passed through the wheel seat, at least two nuts are provided and correspond to the screw rods one by one, the screw rods are threadedly connected to the nut, and the guide rod is fixed to the base, the guide rod is passed through the wheel seat and cooperates with the wheel seat guide.

4. The lifting module for a surgical robot according to claim 3, characterized in that: The wheel seat is provided with a groove, and the groove is recessed toward one side of the base. The walking wheels are provided with at least two and include a first walking wheel and a second walking wheel, and the groove is located between the first walking wheel and the second walking wheel; the nut and the guide rod are passed through the bottom wall of the groove.

5. The lifting module for a surgical robot according to claim 3, characterized in that: The driving assembly also includes a linear bearing, which is inserted into the wheel seat, and the guide rod is sleeved on the linear bearing to cooperate with the wheel seat guide.

6. The lifting module for a surgical robot according to claim 1, characterized in that: The lifting module also includes a mounting seat, which is spaced apart from the base, and the wheel seat is located between the base and the mounting seat; the opposite ends of the screw rod are rotatably connected to the base and the mounting seat respectively, and the driving member is fixed to at least one of the base and the mounting seat.

7. The lifting module for a surgical robot according to claim 6, characterized in that: The lifting module further comprises a first limit position detector, which is disposed on the mounting seat and is used to detect a first limit position of the wheel seat; and / or The lifting module further comprises a second limit position detector, which is arranged on the base and is used to detect a second limit position of the wheel seat.

8. The lifting module for a surgical robot according to claim 6, characterized in that: The driving assembly also includes a thrust bearing, the outer ring of the thrust bearing is fixed to the mounting seat, and the inner ring of the thrust bearing is sleeved with the screw rod to limit the axial movement of the screw rod.

9. The lifting module for a surgical robot according to claim 6, characterized in that: The lifting module also includes a pad and a connecting piece, wherein the pad is fixed to the mounting seat and is located on the side of the mounting seat facing the wheel seat. A plurality of connecting pieces are provided, and the connecting pieces are passed through the mounting seat and the pad to be fixed to the base of the surgical robot.

10. The lifting module for a surgical robot according to any one of claims 1 to 9, characterized in that: The driving member comprises a driving motor, and the thread profile of the screw rod is a trapezoidal thread.

Images