Pedal system for surgical robot

Abstract

The utility model relates to a pedal system for a surgical robot, the pedal system comprises a base, a treading module and a detector, the base is provided with a plurality of control areas, and the control areas are isolated; the treading modules can be treaded and send out control signals, and each control area is provided with at least one treading module; the number of the detectors is multiple, the detection areas of the detectors correspond to the control areas in a one-to-one mode, and the detectors can detect target objects in the detection areas and can send out reminding signals to remind the control areas where the target objects are located. Due to the fact that each control area is provided with at least one treading module, when the treading modules in different control areas are subjected to treading operation, the corresponding treading modules send out control signals; in order to prevent wrong instructions from being sent out due to wrong treading, a detector is correspondingly arranged in each control area, and when a target object enters a certain control area, the corresponding detector can detect the target object in advance and send out a reminding signal corresponding to the control area, so that the mistaken treading rate is reduced.

Description

Technical Field

[0001] This application relates to the field of medical assistive device technology, and in particular to a foot pedal system for surgical robots. Background Art

[0002] In the field of medical devices, foot pedal systems are typically installed to improve the ease of operation of surgical robots. Operators can control relevant modules of the surgical robot through these foot pedal systems.

[0003] In traditional foot pedal systems, to facilitate foot and leg operation, they are usually positioned close to the ground, making them difficult to observe. This makes foot pedal systems prone to accidental stepping during actual operation. Utility Model Content

[0004] Therefore, it is necessary to provide a foot pedal system for surgical robots to address the problem of accidental stepping during operation of the foot pedal system.

[0005] This application provides a foot pedal system for a surgical robot. The foot pedal system includes a base, a pedal module, and detectors. The base has multiple control areas, each of which is isolated. The pedal module can be stepped on and emits control signals. Each control area has at least one pedal module. Multiple detectors are provided, and the detection area of ​​each detector corresponds one-to-one with the control area. The detector can detect a target object in the detection area and emit a warning signal to indicate the control area where the target object is located.

[0006] In one embodiment, the base is provided with a plurality of partitions, and an operating area is formed between adjacent partitions. At least one pedal module is disposed between two adjacent partitions, and the height of the partitions is higher than the height of the pedal module.

[0007] In one embodiment, the base includes a base plate and at least one step protruding from the base plate. All the control areas are located on the base plate, and at least one control area is provided with the step. The step and the base plate are both provided with the pedal module, so that the pedal module located on the base plate and the pedal module located on the step have different heights. The detector is located on the base plate.

[0008] In one embodiment, all the control areas are arranged on the base plate along a reference direction, each control area is provided with a step, and all the steps are connected along the reference direction; all the detectors are spaced apart along the reference direction, and the stepping module on the base plate is located between the detector and the step.

[0009] In one embodiment, the base is provided with a plurality of mounting cavities, each mounting cavity having an opening for mounting the detector; the base is also provided with a cover plate that closes the opening, and the detector can detect the target object through the cover plate.

[0010] In one embodiment, the pedal module includes a front shell, a bottom shell, a reset component, and a first switch. The bottom shell is disposed on the base, and the front shell is rotatably connected to the bottom shell or the base. The reset component is connected between the front shell and the bottom shell to enable the front shell to reset. The first switch is disposed on the bottom shell and can be triggered by the front shell to send the control signal.

[0011] In one embodiment, the bottom shell has a receiving cavity with an opening facing the front shell, at least a portion of the first switch is disposed in the receiving cavity, the bottom shell is provided with a drain hole that penetrates the bottom shell and communicates with the receiving cavity, and the drain hole is used to drain liquid from the receiving cavity.

[0012] In one embodiment, the base includes a base plate, all the control areas are disposed on the base plate, at least one of the control areas is provided with a step, the step protrudes from the base plate, and both the step and the base plate are provided with the stepping module;

[0013] The step module on the step is a first foot pedal. The bottom surface of the bottom shell of the first foot pedal is inclined towards one side of the base plate so that the first foot pedal has a low side end. A portion of the low side end of the first foot pedal extends outside the step and is suspended above the base plate. The drain hole of the first foot pedal is located in the suspended portion of the bottom shell of the first foot pedal. And / or, the step module on the base plate is a second foot pedal. The drain hole of the second foot pedal is located on the bottom wall of the bottom shell of the second foot pedal. The bottom shell and the base plate are spaced apart to form an outflow gap. The outflow gap is in fluid communication with the drain hole.

[0014] In one embodiment, the base includes a base plate and a step protruding from the base plate, all the control areas are located on the base plate, at least one control area is provided with the step, and at least one step is provided with the step module;

[0015] The foot pedal system for the surgical robot also includes two side seats connected to opposite sides of the base plate, and all the pedal modules are distributed between the two side seats; the foot pedal system also includes side pedal modules, and at least one of the side seats is provided with a side pedal module.

[0016] In one embodiment, the side pedal module includes a second switch and a side pedal, at least a portion of the second switch being disposed within the side seat, and the side pedal being rotatably connected to the side seat so that the side pedal can be stepped on and rotated relative to the side seat, thereby enabling the side pedal to trigger the second switch.

[0017] The aforementioned foot pedal system for surgical robots has at least one pedal module in each control area. When a pedal operation is performed on a pedal module in a different control area, the corresponding pedal module sends a control signal. To prevent incorrect commands from being issued due to incorrect pedaling, a detector is set up in each control area. Since the detection area of ​​the detector corresponds one-to-one with the control area, when a target object enters a certain control area, the corresponding detector can detect the target object and issue a warning signal. This allows the target object to be detected in advance before being stepped on, and a warning signal to indicate the control area where the target object is located. This enables the operator to know which control area's pedal module they are about to step on, thus providing a reminder to the operator. Even if the operator has stepped on the wrong pedal module, they can quickly take remedial measures based on the reminder. Attached Figure Description

[0018] Figure 1 is an axonometric schematic diagram of a foot pedal system provided in an embodiment of this application.

[0019] Figure 2 is a top view of the pedal system shown in Figure 1.

[0020] Figure 3 is a schematic diagram of the distribution of the pedal system shown in Figure 2.

[0021] Figure 4 is a cross-sectional view of the pedal system shown in Figure 2 along line AA.

[0022] Figure 5 is a partial exploded schematic diagram of the foot pedal system shown in Figure 1.

[0023] Figure 6 is an isometric view of the pedal module in the pedal system shown in Figure 5.

[0024] Figure 7 is an exploded view of the trampling module shown in Figure 6.

[0025] Figure 8 is a schematic diagram of the base, side seat, and side pedal module in the foot pedal system shown in Figure 4.

[0026] Figure 9 is a rear view of the pedal system shown in Figure 1.

[0027] Figure 10 is a cross-sectional view of the pedal system shown in Figure 9 along line BB.

[0028] Figure 11 is a magnified view of point C in the pedal system shown in Figure 10.

[0029] Reference numerals: 10, Foot pedal system; 100, Base; 101, Control area; 102, Second through hole; 103, Second protruding ring; 104, Inner cavity; 110, Partition plate; 120, Base plate; 130, Step; 140, Mounting cavity; 141, Cavity opening; 150, Cover plate; 200, Foot pedal module; 201, Left foot pedal; 202, Middle foot pedal; 203, Right foot pedal; 204, First foot pedal; 205, Second foot pedal; 206, Suspended part; 210, Faceplate; 211, Panel; 212, ... 1. Enclosure; 220. Bottom shell; 221. Support plate; 222. Second enclosure; 223. Receiving cavity; 224. First through hole; 225. First convex ring; 226. Drain hole; 230. Reset component; 240. First switch; 241. Cable; 300. Detector; 301. Left detector; 302. Middle detector; 303. Right detector; 400. Side seat; 500. Side pedal module; 510. Second switch; 511. Conductive area; 520. Side pedal; 530. Spring; S. Reference direction. Detailed Implementation

[0030] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0031] In the description of this 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 this 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 this application.

[0032] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0035] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, 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 possible implementation.

[0036] One embodiment of this application provides a foot pedal system for a surgical robot. The foot pedal system enables the operation of various segments of the surgical robot's robotic arms and controlled devices such as actuators (e.g., endoscopes, high-frequency electrosurgical units) mounted on the robotic arms to perform surgery.

[0037] Referring to Figures 1 and 2, a foot pedal system 10 provided in one embodiment of this application includes a base 100, a pedal module 200, and detectors 300. The pedal module 200 can be stepped on by a target object and can emit control signals. The base 100 is provided with multiple control areas 101, each control area 101 is provided with at least one pedal module 200, and the control areas 101 are isolated to ensure that they do not overlap. Multiple detectors 300 are provided, and the detection area of ​​the detector 300 corresponds one-to-one with the control area 101. The detector 300 can detect the target object in the detection area and can emit a reminder signal to indicate the control area 101 where the target object is located.

[0038] In the aforementioned foot pedal system 10 for the surgical robot, each control area 101 is equipped with at least one pedal module 200. When a pedaling operation is performed on a pedal module 200 in a different control area 101, the corresponding pedal module 200 sends a control signal. To prevent incorrect commands from being issued due to incorrect pedaling, a detector 300 is provided for each control area 101. Since the detection area of ​​the detector 300 corresponds one-to-one with the control area 101, when a target object enters a certain control area 101, the corresponding detector 300 can detect the target object and issue a warning signal. This allows the target object to be detected in advance before being stepped on, and a warning signal to indicate which control area 101 the target object is located in, so that the operator knows which control area 101's pedal module 200 they are about to step on, thus providing a reminder to the operator. Even if the operator has already stepped on the wrong pedal module 200 in the control area 101, the reminder allows the operator to avoid stepping on the wrong module without realizing it, and thus take further remedial measures.

[0039] As shown in Figure 3, taking the foot pedal system 10, which includes three pedal modules 200 and three detectors 300, as an example, the three detectors correspond one-to-one with the three pedal modules 200. For ease of distinction, from the perspective shown in Figure 3, the three pedal modules 200 are respectively labeled as left foot pedal 201, middle foot pedal 202, and right foot pedal 203, and the detectors 300 are respectively labeled as left detector 301, middle detector 302, and right detector 303. Each detector 300 can be used to electrically connect to the control system of the surgical robot. When a target object, such as the surgeon's foot, is in the control area of ​​the left foot pedal 201, the left detector 301 can detect the target object and transmit a signal to the control system. The control system can output which area is about to be stepped on or which function is controlled by the area to be stepped on, so that the operator can confirm whether it is the control function they want to perform.

[0040] It should be noted that the validity of the control signals emitted by the pedal module 200 is not affected by the reminder signals emitted by the detector 300. The corresponding control function can be executed as soon as the control signal is emitted, rather than only after a reminder signal is emitted and confirmed. Compared to the situation where the control signals emitted by the pedal module 200 can only be executed or effectively emitted if the detector 300 detects correct pedaling, the method of the pedal module 200 emitting a valid control signal as soon as it is pedaled reduces the amount of data calculation in the background and lowers the complexity of control.

[0041] It is understandable that the reminder signal carries information about the detection area where the target object is located, and the detection area corresponds one-to-one with the control area. Therefore, the reminder signal can also provide feedback on the control area 101 being stepped on. The reminder signal can be converted into an audio reminder signal, such as reminding "You are stepping on control area A / control area B". The reminder signal can also be converted into an image and displayed on the display screen, such as giving a pop-up window indicating the location of the stepped area, or highlighting the stepped area in the pop-up window, etc., which will not be elaborated here.

[0042] Referring again to Figure 2, in one embodiment, the base 100 is provided with multiple partitions 110, and a control area 101 as described above is formed between adjacent partitions 110. At least one pedal module 200 is disposed between two adjacent partitions 110, and the height of the partitions 110 is higher than the height of the pedal module 200. Since the height of the partitions 110 is higher than the height of the pedal module 200, the partitions 110 can physically distinguish the pedal modules 200 located in different control areas 101, making it easy to quickly distinguish between different control areas 101. At the same time, when a pedal module 200 is stepped on, due to the obstruction of the partitions 110 that are higher than the pedal module, the pedal module in the adjacent area will not be stepped on by mistake, preventing the accidental stepping on multiple pedal modules and thus issuing unexpected control signals.

[0043] It should be further clarified that the arrangement between two adjacent partitions 110 is not limited to only one pedal module 200. For example, as shown in Figures 1 and 2, two pedal modules 200 can be arranged between adjacent partitions 110.

[0044] Firstly, since the control area 101 is divided by a solid partition 110, and the pedal modules 200 located within the control area 101 also have a solid structure, the target object can be easily distinguished by combining the partition 110 with the solid structure of the pedal modules 200. The pedal modules 200 located within the same control area 101 can be arranged at intervals along the length of the partition 110.

[0045] Secondly, one of the two pedal modules 200 located in the same control area 101 can be set to execute the function and switch the function, so as to reduce the risk of accidental pedaling.

[0046] Of course, to facilitate the differentiation of different pedal modules 200, other numbers of pedal modules 200 may be provided between two adjacent partitions 110, which is not limited here.

[0047] Further referring to Figures 1 and 4, in one embodiment, the base 100 includes a base plate 120 and at least one step 130, the step 130 protruding from the base plate 120, and the detector 300 disposed on the base plate 120. All control areas 101 are disposed on the base plate 120, and at least one control area 101 is provided with the step 130, that is, at least one of the control areas 101 is provided with the step 130 in the space formed by adjacent partitions 110. The height of the step 130 is higher than the height of the base plate 120, and both the step 130 and the base plate 120 are provided with pedal modules 200 so that the control areas 101 have pedal modules 200 of different heights. By setting a step 130 that is higher than the base plate 120, for two pedal modules 200 in the same control area 101, the pedal module 200 set on the step 130 is at a higher position than the pedal module 200 set on the base plate 120. This difference in height makes it easier to distinguish the pedal modules 200 and reduces the chance of accidental stepping.

[0048] Referring to Figure 2, in one embodiment, control areas 101 are arranged along the reference direction S on the base plate 120. Each control area 101 is provided with steps 130, and all steps 130 are connected together along the reference direction S, for example, all steps are integrally formed. Each control area 101 is provided with pedal modules 200 of different heights; that is, both the base plate 120 and the steps 130 of each control area 101 are provided with pedal modules 200. Thus, the pedal modules 200 within each control area 101 can be arranged with height differences through the steps 130, improving the distinguishability of the pedal modules 200 within the same control area 101. Detectors 300 are spaced apart along the reference direction S, and the pedal modules 200 on the base plate 120 are located between the detectors 300 and the steps 130. This facilitates the identification of the control area 101 corresponding to the target object. After the target object determines the expected placement area 101 based on the feedback information from the detector 300, the expected pedaling module 200 can be quickly and accurately determined based on the height difference.

[0049] It should be noted that, as shown in Figure 2, the reference direction can be a straight line, but in other embodiments, the reference direction can also be a curve so that the multiple control areas are arranged in a fan shape.

[0050] Referring to Figures 2 and 4, in one embodiment, the base 100 is provided with multiple mounting cavities 140, each with an opening 141 for mounting the detector 300. By installing the detector 300 into the mounting cavity 140 of the base 100, the detector 300 is prevented from being kicked or damaged by the target object when interacting with the stepping module 200, thus improving the service life and detection stability of the detector 300. The base 100 is also provided with a cover plate 150 that seals the opening 141. The detector 300 can detect the target object through the cover plate 150, and the cover plate 150 further seals the detector 300.

[0051] In one embodiment, the cover plate 150 may be made of a light-transmitting material, such as transparent glass or a light-transmitting polymer.

[0052] In one embodiment, the mounting cavity 140 may be recessed into the base plate 120 to improve the flatness of the surface of the base plate 120, facilitating the free movement of the target object and the operation of the stepping module 200.

[0053] Referring to Figure 7 and in conjunction with Figures 4 to 6, in one embodiment, the stepping module 200 includes a front shell 210, a bottom shell 220, a reset member 230, and a first switch 240. The bottom shell 220 is disposed on the base 100. The front shell 210 is rotatably connected to the bottom shell 220 or the base 100. The reset member 230 is connected between the front shell 210 and the bottom shell 220 so that the front shell 210 can be reset after being stepped on. The first switch 240 is disposed on the bottom shell 220. The first switch 240 can be triggered by the stepped front shell 210 and can send a control signal. With this configuration, when the target object steps on the front shell 210, causing it to rotate relative to the bottom shell 220, the first switch 240 can be triggered and send a control signal to the control system. The control signal is processed and can be received by the operator, allowing the operator to adjust the position of the target object. When the target object is removed from the faceplate 210, the reset member 230 will drive the faceplate 210 to reset and leave the first switch 240, and then the first switch 240 will stop sending control signals.

[0054] In one embodiment, the reset element 230 may be a compression spring. Of course, in other embodiments, the reset element 230 may also be other elastic or non-elastic elements that drive the housing 210 to reset.

[0055] Please refer to Figure 7. The bottom shell 220 is provided with a first through hole 224 and a first protruding ring 225. The first through hole 224 is provided through the bottom shell 220, and the first protruding ring 225 protrudes towards the side of the top shell 210 and surrounds the first through hole 224.

[0056] As shown in Figure 4, the base 100 is at least partially hollow, forming an inner cavity 104. The base 100 is provided with a second through hole 102 and a second convex ring 103. The second through hole 102 communicates with the interior of the base 100, and the second convex ring 103 protrudes towards the bottom shell 220 and surrounds the second through hole 102. The second convex ring 103 can pass through the first through hole 224 and within the first convex ring 225, so that the cable 241 of the first switch 240 can be led out of the bottom shell 220 through the first through hole 224 and introduced into the inner cavity 104 of the base 100 through the second through hole 102, and finally connected to the control system along the inner cavity 104. It is easy to understand that the foot pedal system 10 and the surgical robot used therein are usually set up in the operating room for clinical surgical treatment. However, there may be spills of patient bodily fluids (blood, etc.) or leaks of medical solutions (physiological saline and various drugs) in the operating room, which may cause water to enter the foot pedal system 10 and cause poor contact. In this embodiment, by providing the first convex ring 225, the probability of accidental electric shock to the cable 241 of the first switch 240 within the pedal module 200 can be reduced; by providing the second convex ring 103, the probability of accidental electric shock to the cable 241 of the first switch 240 on the base 100 can be reduced.

[0057] Furthermore, the mounting cavity 140 can be connected to the inner cavity 104, or the two can be configured as mutually isolated cavities.

[0058] Please refer to Figure 1. The base plate 120 and the step 130 may both be provided with the stepping module 200 as described in the various embodiments. In other words, the base plate 120 and the step 130 may both be provided with a second protruding ring 103 and a second through hole 102.

[0059] Referring to Figure 7, in one embodiment, the bottom shell 220 has a receiving cavity 223 with an opening facing the front shell 210. The front shell 210 includes a panel 211 and a first surrounding plate 212. The first surrounding plate 212 is connected to the side of the panel 211 facing the bottom shell 220 and protrudes in the direction of the bottom shell 220. The bottom shell 220 includes a support plate 221 and a second surrounding plate 222. The second surrounding plate 222 is connected to the side of the support plate 221 facing the front shell 210 to enclose and form the aforementioned receiving cavity 223 with an opening. Furthermore, the second surrounding plate 222 protrudes in the direction of the front shell 210. The first surrounding plate 212 at least partially covers the second surrounding plate 222 to isolate the receiving cavity 223 from the outside.

[0060] Referring to Figures 4 and 8, in one embodiment, at least a portion of the first switch 240 is disposed within the receiving cavity 223. The bottom shell 220 is provided with a drain hole 226, which penetrates the bottom shell 220 and communicates with the receiving cavity 223, allowing liquid within the receiving cavity 223 to drain out. By promptly draining liquid entering the receiving cavity 223 through the drain hole 226, the likelihood of liquid soaking the components within the receiving cavity 223 and causing damage to the pedal assembly is reduced.

[0061] Further, as shown in Figure 4, for ease of explanation, the step module 200 on the step 130 is the first foot pedal 204, and the step module 200 on the base plate 120 is the second foot pedal 205. The bottom surface of the bottom shell 220 of the first foot pedal 204 is inclined towards one side of the base plate 120, so that the first foot pedal 204 has a low side end. A portion of the low side end of the first foot pedal 204 extends outside the step 130 and is suspended above the base plate 120. The drain hole 226 of the first foot pedal 204 is provided in the suspended portion 206 of the low side end of the bottom shell 220 of the first foot pedal 204, so that liquid can be discharged from the low side end through the drain hole 226. In one aspect, the drain hole 226 is opened in the suspended portion 206, which can avoid the step 130, so that liquid that may exist in the first foot pedal 204 can be smoothly discharged through the drain hole 226. Secondly, since the suspended part 206 is the part of the first foot pedal 204 that is relatively close to the base plate 120 in the overall structure, that is, the height of the suspended part 206 is lower, the drain hole 226 is provided at the suspended part 206, so that the liquid that may exist in the first foot pedal 204 can flow out of the first foot pedal 204 more smoothly under the action of gravity.

[0062] The drain hole 226 of the second foot pedal 205 is located on the bottom wall of the bottom shell 220 of the second foot pedal 205. The bottom shell 220 and the bottom plate 120 are spaced apart to form an outflow gap (not shown in the figure, the same below), and the outflow gap is in fluid communication with the drain hole 226. By reserving the outflow gap, the liquid in the second foot pedal 205 can flow out smoothly. Of course, a similar outflow gap can also be formed between the bottom shell 220 of the first foot pedal 204 and the step 130. Since the liquid that may exist in the first foot pedal 204 can flow out through the outflow gap, the first foot pedal 204 can be completely located on the step 130, that is, the first foot pedal 204 may not have a suspended part 206.

[0063] Please refer to Figure 4. In one embodiment, the first foot pedal 204 and the second foot pedal 205 can have the same structure and size, which facilitates production, assembly, etc.

[0064] It should be understood that the individual pedal modules 200 are not limited to being located on the base plate 120 and the steps 130. For example, referring to Figures 9 and 10, in one embodiment, the foot pedal system 10 also includes two side seats 400 connected to opposite sides of the base plate 120, with all pedal modules 200 distributed between the two side seats 400. The foot pedal system 10 also includes side pedal modules 500, with at least one side seat 400 having a side pedal module 500. Since the side pedal modules 500 are distributed on the side seats 400 and have different positions from the pedal modules 200 located on the base plate 120 and the steps 130, the operator can easily and quickly locate the side pedal module 500 based on the positioning effect of the side seats 400. Furthermore, because the side pedal modules 500 and the pedal modules 200 have different positions and are triggered differently, the problem of confusion and accidental triggering is almost nonexistent.

[0065] Referring to Figures 10 and 11, in one embodiment, the side pedal module 500 includes a second switch 510 and a side pedal 520, with at least a portion of the second switch 510 disposed within the side seat 400. The side pedal 520 is rotatably connected to the side seat 400, allowing the side pedal 520 to be stepped on and rotate relative to the side seat 400, thereby triggering the second switch 510. Similar to the first switch 240, the second switch 510 can also be electrically connected to a control system, and when triggered, the second switch 510 can send a control signal to the control system.

[0066] Furthermore, the side pedal module 500 also includes a spring piece 530, the second switch 510 has a conductive area 511, and the side pedal 520 can push the spring piece 530 to switch between a raw state and a yielded state. The spring piece 530 can elastically recover from the raw state to the yielded state. In the raw state, the spring piece 530 is separated from the conductive area 511; in the yielded state, the spring piece 530 contacts the conductive area 511, triggering the second switch 510.

[0067] One embodiment of this application also provides a surgical robot, which includes a robotic arm, an end effector, an indicator module, a control system, and a foot pedal system 10 for the surgical robot as described in the above embodiments. The robotic arm, end effector, indicator module, and foot pedal system 10 are electrically connected to the control system, and the end effector is located at the end of the robotic arm to complete a preset operation.

[0068] The indicator module can be a display screen, used to show the current location of the object in the control area 101. Alternatively, the indicator module can include multiple indicator lights, each corresponding to a pedal module 200 and a side pedal module 500.

[0069] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0070] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A pedal system for a surgical robot, characterized in that: include: A base, wherein the base is provided with a plurality of control areas, each of the control areas being isolated; A pedal module, which can be stepped on and send out a control signal, and each control area is provided with at least one pedal module; The detector is provided with a plurality of detectors, and the detection areas of the detectors correspond one-to-one with the control areas. The detectors can detect targets in the detection areas and can send out reminder signals to indicate the control areas where the targets are located.

2. The pedal system for a surgical robot according to claim 1, characterized in that: The base is provided with a plurality of partitions, and a control area is formed between adjacent partitions. At least one treading module is arranged between two adjacent partitions, and the height of the partition is higher than the height of the treading module.

3. The pedal system for a surgical robot according to claim 1, characterized in that: The base comprises a bottom plate and at least one step protruding from the bottom plate, all the control areas are arranged on the bottom plate, at least one of the control areas is provided with the step, and the step and the bottom plate are both provided with the treading module, so that the treading module located on the bottom plate and the treading module located on the step have different heights; The detector is arranged on the bottom plate.

4. The pedal system for a surgical robot according to claim 3, characterized in that: All of the control areas are arranged on the bottom plate along a reference direction, each of the control areas is provided with the steps, and all of the steps are connected along the reference direction; all of the detectors are arranged at intervals along the reference direction, and the pedaling module on the bottom plate is located between the detectors and the steps.

5. The pedal system for a surgical robot according to claim 1, characterized in that: The base is provided with a plurality of installation cavities, and the installation cavities are provided with cavity openings for installing the detectors; the base is also provided with a cover plate for closing the cavity openings, and the detector can detect the target object through the cover plate.

6. The pedal system for a surgical robot according to claim 1, characterized in that: The pedaling module includes a face shell, a bottom shell, a reset member and a first switch. The bottom shell is arranged on the base. The face shell is rotatably connected to the bottom shell or the base. The reset member is connected between the face shell and the bottom shell to enable the face shell to be reset. The first switch is arranged on the bottom shell. The first switch can be triggered by the face shell and send out the control signal.

7. The pedal system for a surgical robot according to claim 6, characterized in that: The bottom shell has a receiving cavity opening toward the surface shell, at least a portion of the first switch is disposed in the receiving cavity, and the bottom shell is provided with a drainage hole, which passes through the bottom shell and is connected to the receiving cavity, and the drainage hole is used to discharge the liquid in the receiving cavity.

8. The pedal system for a surgical robot according to claim 7, characterized in that: The base comprises a bottom plate, all the control areas are arranged on the bottom plate, at least one of the control areas is provided with a step, the step is protruding from the bottom plate, and the step and the bottom plate are both provided with the stepping module; The pedal module arranged on the step is a first pedal, and the bottom surface of the bottom shell of the first pedal is inclined toward one side of the bottom plate so that the first pedal has a low side end, a part of the low side end of the first pedal extends out of the step and is suspended above the bottom plate, and the drainage hole of the first pedal is arranged at the suspended part of the bottom shell of the first pedal; and / or, the pedal module arranged on the bottom plate is a second pedal, and the drainage hole of the second pedal is arranged on the bottom wall of the bottom shell of the second pedal, the bottom shell and the bottom plate are spaced to form an outflow gap, and the outflow gap is fluidically connected with the drainage hole.

9. The pedal system for a surgical robot according to claim 1, characterized in that: The base comprises a bottom plate and a step protruding from the bottom plate, all the control areas are arranged on the bottom plate, at least one of the control areas is provided with the step, and at least one of the steps is provided with the stepping module; The pedal system for the surgical robot also includes two side seats, which are connected to opposite sides of the base plate, and all the pedal modules are distributed between the two side seats; the pedal system also includes a side pedal module, and at least one of the side seats is provided with the side pedal module.

10. The pedal system for a surgical robot according to claim 9, characterized in that: The side pedal module includes a second switch and a side pedal, wherein at least a portion of the second switch is disposed in the side seat, and the side pedal is rotatably connected to the side seat so that the side pedal can be stepped on and rotate relative to the side seat, thereby enabling the side pedal to trigger the second switch.

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