Surgical robot and headstock supporting mechanism thereof

Abstract

The utility model belongs to the technical field of medical equipment, and provides a headstock supporting mechanism which comprises a support, a driving device and a movable seat, and a vertically-arranged lead screw is arranged on the support; the driving device is used for driving the lead screw, and the output end of the driving device is connected to the lead screw; the movable seat is in transmission connection with the lead screw and can move on the lead screw; a foldable supporting arm is arranged on the movable seat, and the supporting arm is connected to the movable seat through a rotating shaft. The utility model further provides a surgical robot with the headstock supporting mechanism. The technical problem that on a surgical robot in the prior art, storage of a supporting structure of a headstock occupies a large internal space of a main body is solved.

Description

Technical Field

[0001] The present application belongs to the field of medical equipment technology, and in particular, relates to a surgical robot and a head frame support mechanism thereof. Background Art

[0002] In traditional neurosurgery, stereotactic surgical robots, such as Figure 1 As shown, the main part of the surgical robot is a surgical trolley, which is generally equipped with a mechanical arm. The function of the mechanical arm is to transport the surgical instruments to the position specified by the doctor, or to lock the puncture angle, etc. The patient is fixed on the operating table by a head frame, and the surgical trolley can extend a support arm to connect with the head frame. During the operation, the position of the patient's head, head frame and support arm remains stationary and unchanged, which is convenient for surgical operations. After the operation, the support arm can be retracted into the trolley for easy transportation and storage of the trolley.

[0003] However, this push-pull support arm design occupies a large internal space of the surgical cart, which is not conducive to the layout of other components inside the cart, resulting in the difficulty in reducing the overall volume of the surgical cart. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a surgical robot and a head frame support mechanism thereof, so as to solve the technical problem in the prior art surgical robots that the head frame support structure occupies a large space inside the main body.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] In a first aspect, an embodiment of the present application provides a head frame support mechanism, which is arranged on the main body of a surgical robot, and includes:

[0007] A bracket, provided with a vertically arranged lead screw;

[0008] A driving device, used for driving the lead screw, wherein an output end of the driving device is connected to the lead screw;

[0009] The movable seat is connected to the lead screw in a transmission manner and can move on the lead screw; a foldable support arm is provided on the movable seat, and a rotating shaft of the support arm is connected to the movable seat so that the movable seat can rotate and swing on the movable seat.

[0010] The structure on the movable seat is improved. The movable seat is provided with a transmission mechanism, which includes a turbine and a worm. The turbine is connected to the rotating shaft, and the convex teeth on the turbine mesh with the teeth on the worm. The bracket is also provided with a rack extending parallel to the lead screw, and the worm is provided with a connecting gear, which meshes with the rack, so that the lead screw, the movable seat and the support arm have linkage. The transmission mechanism has a self-locking function, and there is no need to set up a locking structure separately. The support arm can hover at any swing amplitude, effectively ensuring the fixing effect of the support arm and increasing the adjustable performance of the support arm.

[0011] In one embodiment, the movable seat also includes a storage box, and the turbine and the worm are stored in the storage box; the storage box is provided with a connecting ear and a threaded through hole, the threaded through hole is connected to the lead screw, and the connecting ear is connected to the end of the support arm through a rotating shaft, so that the support arm can rotate and swing on the movable seat with the rotating shaft as the axis.

[0012] In one embodiment, the storage box is provided with a bulge for accommodating the turbine, the bulge is provided with a through hole, the rotating shaft on the connecting ear passes through the through hole into the bulge and is connected to the turbine, thereby improving the compactness of the connection between the various transmission components.

[0013] In one embodiment, a side opening is provided on one end of the storage box close to the bracket, and the connecting gear is exposed from the side opening and meshes with the rack. The connecting gear is exposed only through the side opening on the storage box to ensure the stability of the connection with the rack. The storage box is used to the maximum extent to block foreign objects from entering, avoid the jamming of the machine parts due to the influence of the entering objects, and extend the service life.

[0014] In one embodiment, the storage box is further provided with a mounting hole and a bearing disposed in the mounting hole, the worm has threaded teeth connected to the turbine, and one end of the worm away from the connecting gear is sleeved on the bearing. The bearing is conducive to improving the smoothness of the operation of the worm, allowing the worm to be horizontally arranged in the storage box for operation, ensuring that it remains in meshing with the convex teeth on the turbine, and improving the stability of the transmission connection.

[0015] In one embodiment, a limiting protrusion is provided on one end of the storage box close to the bracket, and a slide groove extending parallel to the screw is provided on the bracket. The limiting protrusion is embedded in the slide groove on the bracket, thereby limiting the moving trajectory of the movable seat so that the movable seat can only move up and down on the bracket.

[0016] In one embodiment, the bracket is further provided with a first positioning switch and a second positioning switch for cooperating with the limit protrusion for triggering. The first positioning switch and the second positioning switch are respectively arranged at different heights of the bracket, and send out trigger signals when the limit protrusions approach each other.

[0017] An improvement is made to the structure of the driving device, wherein the driving device comprises a motor, the output end of the motor is connected to the end of the lead screw, and the motor is used to drive the lead screw to rotate, thereby realizing an electric drive to drive the support arm to perform an opening and closing movement.

[0018] In one embodiment, the driving device further includes a brake for stopping the motor, and the brake is arranged on the output end of the motor to prevent unexpected rotation of the motor and improve overall safety.

[0019] Another improvement is made to the structure of the driving device, wherein the driving device includes a hand crank, and the output shaft of the hand crank is connected to the end of the lead screw through a gear set to manually drive the support arm to perform opening and closing movements.

[0020] In one embodiment, the driving device also includes a brake for stopping the hand crank, and the brake is arranged on the output shaft of the hand crank to prevent the user from accidentally touching the hand crank during the operation, thereby improving overall safety.

[0021] In a second aspect, the present application also provides a surgical robot, comprising a main body and the head frame support mechanism, wherein the head frame support mechanism is arranged on the main body; the driving device can drive the lead screw to open the folded support arm and connect it to the head frame arranged on the operating table, so that the position of the patient's head, the head frame and the support arm are stationary and unchanged, which is convenient for surgical operation.

[0022] This application has at least the following beneficial effects:

[0023] A foldable support arm is provided on the main body of the surgical robot, and a lead screw driving structure is adopted. The support arm is provided on a movable seat, and a driving device is used to drive the lead screw to drive the movable seat to move up and down. During the movement of the movable seat, the support arm is rotated and swung to achieve unfolding and flattening to connect with the head frame to support the head frame; or the support arm is driven to stand upright and fold for storage. Due to the folding structure, the internal space occupied by the main body of the surgical robot can be effectively saved, which is conducive to the layout of other components inside the main body, reducing the overall volume, and facilitating storage and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 This is a schematic diagram of the working state structure of a traditional surgical robot;

[0026] Figure 2 A schematic diagram of the structure of the support arm in the retracted state of the surgical robot provided in an embodiment of the present application;

[0027] Figure 3 A schematic diagram of the three-dimensional structure of the head frame support mechanism provided in an embodiment of the present application;

[0028] Figure 4 Schematic diagram of the three-dimensional structure of the bracket provided in the embodiment of the present application Figure 1 ;

[0029] Figure 5 A schematic diagram of the structure of the support arm of the surgical robot provided in an embodiment of the present application in an expanded state;

[0030] Figure 6 An internal perspective view of a head frame support mechanism provided in an embodiment of the present application;

[0031] Figure 7 Schematic diagram of the three-dimensional structure of the movable seat provided in the embodiment of the present application Figure 1 ;

[0032] Figure 8 Schematic diagram of the three-dimensional structure of the movable seat provided in the embodiment of the present application Figure 2 ;

[0033] Fig. 9 A perspective view of the internal structure of the movable seat provided in the embodiment of the present application;

[0034] Fig.10 Schematic diagram of the three-dimensional structure of the bracket provided in the embodiment of the present application Figure 2 ;

[0035] Fig.11 A schematic diagram of the back structure of the head frame support mechanism provided in an embodiment of the present application;

[0036] Fig.12 A schematic diagram of the structure of the head frame support mechanism provided in an embodiment of the present application using hand-cranked drive.

[0037] Among them, the reference numerals in the figure are:

[0038] 100- cart; 101- robotic arm;

[0039] 200-head frame;

[0040] 300-operating bed;

[0041] 1- Support arm;

[0042] 2-bracket; 21-base plate; 22-connecting plate; 221-connecting hole; 23-rack; 24-slideway; 25-first positioning switch; 26-second positioning switch;

[0043] 3-movable seat; 30-storage box; 31-connecting ear; 311-axial hole; 32-threaded through hole; 33-convex bulge; 34-side opening; 35-mounting hole; 36-limiting protrusion;

[0044] 4-screw; 41-second bevel gear;

[0045] 5- Turbine;

[0046] 6-worm; 61-connecting gear; 62-bearing;

[0047] 7-hand crank; 71-first bevel gear. DETAILED DESCRIPTION

[0048] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0050] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do 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 should not be understood as a limitation on the present application.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0052] Stereotactic surgical robots for neurosurgery Figure 1 As shown, the main part is a surgical trolley 100, and the patient is fixed on the operating table 300 through a head frame 200. The surgical trolley 100 can extend a support arm 1 to connect with the head frame 200 to support the head frame 200. During the operation, the positions of the patient's head, the head frame 200 and the support arm 1 are stationary and unchanged, which is convenient for surgical operations. After the operation, the support arm 1 can be retracted into the trolley 100 to facilitate the transportation and storage of the trolley 100.

[0053] Specifically, the push-pull support arm 1 structure allows the support arm 1 to be horizontally arranged in the cart 100, and the support arm 1 can be pulled out in a straight line so that the support arm 1 extends out of the cart 100 and is connected to the head frame 200. When storing, the support arm 1 is directly pushed back into the cart 100, which is very convenient to operate. However, the push-pull support arm 1 design occupies a large internal space of the main body of the surgical robot. Figure 1 As shown, the support arm 1 needs to be set at a certain height to be at the same height as the head frame 200. In actual application, this height is just located in the middle of the cart 100. When the support arm 1 is stored, it will be placed horizontally in the middle of the cart 100, and the interior of the cart 100 will be divided into two parts, upper and lower. It can be seen that such a storage structure of the support arm 1 is not conducive to the layout of other components inside the cart 100; moreover, the length of the support arm 1 cannot be adjusted, and there must be enough space inside the cart 100 to fully store the support arm 1, resulting in the volume of the cart 100 cannot be reduced.

[0054] Here, the embodiment of the present application provides a surgical robot and a head frame support mechanism thereof, which improves the connection support structure of the head frame on the surgical robot and adopts a foldable support arm design, which is beneficial for supporting the head frame when working. When not working, the support arm can be folded and retracted, occupying a small volume, convenient for storage, transportation and use, and effectively solving the technical problem that the internal space of the surgical robot body is large, which is not conducive to the layout of other internal components and the overall volume cannot be reduced. It is now described in detail.

[0055] Please also read Figure 2 and Figure 3A surgical robot includes a main body and a head frame support mechanism of the present application. The main body can be a surgical cart 100, and a mechanical arm 101 is provided on the cart 100. The mechanical arm 101 can assist the doctor in performing the surgery according to the setting of the control part of the surgical robot. The cart 100 can be operated to move the position, and the interior of the cart 100 is used to store other surgical tools.

[0056] In this embodiment, the head frame support mechanism may be preferably arranged at the front end of the cart 100. The "front end" here may be understood as the end in the forward direction of the cart 100. The head frame support mechanism includes a support arm 1, a bracket 2, a movable seat 3 and a driving device (not shown).

[0057] The support 2 is vertically arranged at the front end of the cart 100, and a vertically arranged lead screw 4 is arranged on the support 2. Figure 4 As shown, the bracket 2 may include a base plate 21 and connecting plates 22 integrally connected to the upper and lower ends of the base plate 21, the connecting plates 22 at the upper and lower ends extend in parallel in the same direction, and the connecting plates 22 at the upper and lower ends are both provided with coaxially aligned connecting holes 221. The lead screw 4 is arranged on the base plate 21, and is respectively connected to the connecting holes 221 of the connecting plates 22 at the upper and lower ends to achieve vertical fixation.

[0058] See also Figure 3 The movable seat 3 is transmission-connected with the lead screw 4, and the movable seat 3 can be driven by the lead screw 4 to move up and down on the lead screw 4. The support arm 1 is connected to the movable seat 3 through a rotating shaft so that the support arm 1 can rotate and swing on the movable seat 3, and is foldably arranged on the movable seat 3.

[0059] The output end of the drive device (not shown) is connected to the lead screw 4. It can be understood that the output end of the drive device is connected to the lead screw 4. Figure 3 The driving device can be an electric or manual driving mechanism, as long as it can drive the screw 4 to operate, and is not specifically limited here.

[0060] The driving device drives the lead screw 4 to rotate to link the movable seat 3, so that the movable seat 3 can fold the support arm 1 upright and store it in the process of displacement. Figure 2 As shown, or unfolded and flattened to support the head frame 200 as shown Figure 5 shown.

[0061] Compared with the prior art, the surgical robot and head frame support mechanism provided by the embodiment of the present application have a foldable support arm 1 on the main body of the surgical robot, and a lead screw 4 driving structure is adopted. The support arm 1 is arranged on the movable seat 3, and the lead screw 4 is driven by a driving device to drive the movable seat 3 to move up and down. During the movement of the movable seat 3, the support arm 1 is rotated and swung to achieve unfolding and flattening to connect with the head frame 200 to support the head frame 200; or, the support arm 1 is driven to stand upright and fold for storage. Due to the folding structure, the internal space occupied by the main body of the surgical robot can be effectively saved, which is conducive to the layout of other components inside the main body, reducing the overall volume, and facilitating storage and transportation.

[0062] In the related art, there is also a structure using a folding support arm (not shown in the figure), specifically, by setting a structure similar to a folding bracket on the cart 100, that is, a structure similar to a triangular display stand, the support arm 1 is connected to the top of a support rod, and a connecting rod is set between the support arm 1 and the support rod, and the connecting rod is used to support the extended support arm 1, thereby forming a triangular support structure. Although this folding support arm 1 structure can reduce the space occupied by the support arm 1 inside the cart 100, the structure of the folding bracket has limitations on the posture of fixing the support arm 1. It can only be locked when the support arm 1 is fully extended, or locked when the support arm 1 is fully folded. If the support arm 1 is in the middle state and needs to be fixed, it is necessary to add multiple locking structures, which will increase the volume of the folding bracket and make the structure more complicated. It is difficult to install it on the cart 100, and it is impossible to adjust the distance between it and the head frame 200. Therefore, this support arm 1 structure formed by the folding bracket has great limitations and is not conducive to practical application.

[0063] Here, in the head frame support mechanism provided in the embodiment of the present application, please refer to Figure 6 The movable seat 3 is provided with a transmission mechanism, and is respectively connected to the lead screw 4 and the support arm 1 through the transmission mechanism.

[0064] The transmission mechanism comprises a turbine 5 and a worm 6. The turbine 5 is connected to the rotating shaft. The outer periphery of the turbine 5 has a circle of convex teeth, and the worm 6 has threaded teeth, and the convex teeth on the turbine 5 mesh with the teeth on the worm 6.

[0065] The bracket 2 is also provided with a rack 23, on which there are orderly arranged convex teeth, and the rack 23 is preferably equal in length to the lead screw 4 and extends parallel to the lead screw 4. A connecting gear 61 is provided at the end of the worm 6, and the connecting gear 61 is meshed with the rack 23, so that the lead screw 4, the movable seat 3 and the support arm 1 have linkage.

[0066] On the one hand, the rack 23 on the bracket 2 is meshed with the connecting gear 61 on the worm 6, so that the movable seat 3 will move only when driven by the lead screw 4, otherwise the movable seat 3 is locked and cannot move. On the other hand, the support arm 1 is connected to the rotating shaft connecting the movable seat 3 with a turbine 5, and the turbine 5 is meshed with the teeth on the worm 6, so that the worm 6 will rotate only when the lead screw 4 drives the movable seat 3 to move, thereby driving the turbine 5 to rotate, and the rotating shaft drives the support arm 1 to rotate and swing, otherwise the support arm 1 is also locked and cannot swing. In this way, the transmission mechanism connected to the lead screw 4 on the movable seat 3 of the present application has a self-locking function, and the posture of the support arm 1 can be fixed without setting up an additional locking structure.

[0067] In addition, since the transmission mechanism on the movable seat 3 has a self-locking function, the support arm 1 can hover at any swing angle during the movement. In actual use, according to the surgical requirements, such as the distance requirement from the operating table 300, the support arm 1 can be connected to the operating table 300 or the patient's head frame 200 in the middle state (swinging state), so as to adjust the expansion range of the support arm 1 and effectively adjust the distance from the head frame 200.

[0068] It can be seen that compared with the support arm 1 structure using the folding bracket 2 in the above-mentioned related art, the support arm 1 structure of the folding bracket 2 needs to be additionally provided with a locking structure for the support arm 1 in order to fix the folded or unfolded posture of the support arm 1. The head frame support mechanism of the present application adopts a linkage structure of a lead screw 4, a rack 23, a worm 6, a turbine 5 and a rotating shaft, thereby forming a transmission mechanism with a self-locking function, which can fix the folded state or fully unfolded state of the support arm 1 to ensure the support stability of the support arm 1. The support arm 1 can be locked at any unfolding range, which is conducive to adjusting the distance between the support arm 1 and the head frame 200, thereby increasing the adjustable performance of the support arm 1.

[0069] In the embodiments of this application, please refer to Figure 6 and Figure 7 The movable seat 3 also includes a receiving box 30, in which the turbine 5 and the worm 6 are received. The receiving box 30 is provided with a connecting ear 31 and a threaded through hole 32, and the threaded through hole 32 is sleeved with the lead screw 4. When the lead screw 4 is driven to rotate, the movable seat 3 can be driven to move along the lead screw 4.

[0070] The connecting ear 31 has an axial hole 311 , and is connected to the end of the support arm 1 by inserting a rotating shaft (not shown) into the axial hole 311 , so that the support arm 1 can rotate and swing on the movable seat 3 around the rotating shaft.

[0071] In this way, the receiving box 30 is used to cover and protect the turbine 5, worm 6 and connecting gear 61 of the transmission mechanism to prevent foreign objects such as dust particles from entering and causing the transmission mechanism to get stuck; or to prevent liquids such as blood or excrement that may be present in the operating room from penetrating and affecting the hygiene of the equipment.

[0072] In this embodiment, if Figure 7 and Figure 8 As shown, the connecting ear 31 is preferably arranged at the top of the storage box 30, so that when the movable seat 3 is located at the lower end of the screw 4, the support arm 1 can be completely erected and folded on the bracket 2. As the movable seat 3 is driven to rise along the screw 4, the support arm 1 is gradually rotated, swung and unfolded, and the support arm 1 is finally flattened when the movable seat 3 moves to the upper end of the screw 4. In this way, the height of the bracket 2 can be set according to the setting height of the head frame 200, so that when the movable seat 3 rises to a similar height, the support arm 1 is unfolded and connected to the head frame 200 to support the head frame 200, which is conducive to improving the support effect.

[0073] In one embodiment of the present application, please refer to Figure 7 , Figure 8 and Fig. 9 The receiving box 30 is provided with a convex bulge 33 for receiving the turbine 5. The convex bulge 33 is provided with a through hole (not shown in the figure). The rotating shaft on the connecting ear 31 passes through the through hole into the convex bulge 33 and is connected to the turbine 5, thereby improving the compactness of the connection between the various transmission components.

[0074] In this embodiment, the convex bulge 33 is arranged close to the connecting ear 31, and the perforation on the convex bulge 33 corresponds to the position of the shaft hole 311 on the connecting ear 31, so that the end of the rotating shaft can directly penetrate into the convex bulge 33 and connect with the center of the turbine 5 arranged inside the convex bulge 33. The convex bulge 33 can preferably be a rectangular body, so that the interior of the convex bulge 33 has enough space to accommodate the turbine 5, ensuring the smooth operation of the turbine 5.

[0075] In one embodiment of the present application, please refer to Figure 6 , Figure 8 and Fig. 9 A side opening 34 is formed on one end of the storage box 30 close to the bracket 2 , and the connecting gear 61 is exposed from the side opening 34 and meshes with the rack 23 .

[0076] In this way, the connecting gear 61 is vertically embedded in the receiving box 30, and the connecting gear 61 is exposed only by the side opening 34 on the receiving box 30, thereby ensuring the connection stability with the rack 23. The receiving box 30 is used to the maximum extent to block foreign objects from entering, avoid the jamming of the machine parts due to the influence of the entering objects, extend the service life, improve the compactness of the connection between the transmission parts, and reduce the occupied space.

[0077] In one embodiment of the present application, please refer to Figure 8 and Fig. 9 The other end of the storage box 30 is also provided with a mounting hole 35 and a bearing 62 arranged in the mounting hole 35. The above-mentioned connecting gear 61 is provided on one end of the worm 6. The other end of the worm 6 away from the connecting gear 61 is sleeved on the bearing 62. A threaded tooth 63 is provided in the middle part of the worm 6 to engage with the convex teeth on the turbine 5.

[0078] Thus, the bearing 62 is helpful to improve the running smoothness of the worm 6, so that the worm 6 can be horizontally arranged in the storage box 30 for running, ensuring that the worm 6 is kept in meshing with the convex teeth on the turbine 5, thereby improving the stability of the transmission connection.

[0079] In one embodiment of the present application, please refer to Figure 8 , Fig.10 and Fig.11 The bracket 2 is also provided with a slide groove 24, which can preferably be a linear groove, which is equal in length to the lead screw 4 and extends parallel to the lead screw 4.

[0080] A limiting protrusion 36 is further provided on one end of the storage box 30 close to the bracket 2 , and the limiting protrusion 36 is embedded in the slide groove 24 on the bracket 2 , thereby limiting the moving track of the movable seat 3 , so that the movable seat 3 can only move up and down translationally on the bracket 2 .

[0081] Please also refer to Fig.10 and Fig.11 The bracket 2 is also provided with a first positioning switch 25 and a second positioning switch 26. The first positioning switch 25 and the second positioning switch 26 are arranged near the slide groove 24 on the bracket 2 and are used to trigger and cooperate with the limit protrusion 36 on the above-mentioned movable seat 3 respectively.

[0082] The first positioning switch 25 and the second positioning switch 26 may preferably be trigger switches such as sensors, etc. The first positioning switch 25 and the second positioning switch 26 are respectively arranged at different heights of the bracket 2, and a trigger signal is sent when the limit protrusions 36 on the back of the movable seat 3 are respectively approached. The first positioning switch 25 and the second positioning switch 26 can be electrically connected to the control part of the surgical robot, and the control part makes subsequent applications according to the received trigger signal.

[0083] In this embodiment, since the shaft connection portion between the support arm 1 and the movable seat 3 is a superposition of vertical motion and circular motion, it can be approximately regarded as horizontal motion. Figure 2 As shown, the support arm 1 can be set to a folded state when it is erected on the bracket 2; Figure 5 As shown, when the support arm 1 is unfolded and flattened, it can be set to the supporting state; when the support arm 1 is in the middle position, it can be set to the middle state.

[0084] The first positioning switch 25 is arranged at a higher height on the bracket 2 than the second positioning switch 26. When the support arm 1 is in the supporting state, the limit protrusion 36 on the back of the movable seat 3 triggers the first positioning switch 25. When the support arm 1 is in the folded state, the limit protrusion 36 on the back of the movable seat 3 triggers the second positioning switch 26. Fig.10 shown.

[0085] The surgical robot can determine the state of the support arm 1 through the first positioning switch 25 and the second positioning switch 26, as shown in the following table:

[0086] Support arm status First positioning switch (support) Second position switch (folding) Folded state Not triggered trigger Support status trigger Not triggered Intermediate state Not triggered Not triggered Error Status trigger trigger

[0087] In the embodiment of the present application, in order to improve the balance of the entire head frame support mechanism, please combine Figure 6 , Figure 8 and Fig. 9 As shown, the transmission mechanism on the movable seat 3 has two groups of turbines 5 and worms 6, the receiving box 30 has two convex humps 33 for receiving the turbines 5, the connecting ears 31 and the threaded through holes 32 are arranged between the two convex humps 33, and the two ends of the rotating shaft extend into the two convex humps 33 and are connected to the turbines 5. The two worms 6 are also arranged in the wings on both sides of the receiving box 30 that are connected to the convex humps 33 and are connected to the turbines 5.

[0088] Two symmetrical mounting holes 35 are provided inside the front of the storage box 30 for respectively providing bearings 62 for sleeve connection of one end of the two worms 6. Side openings 34 are respectively provided on the two wings at the back of the storage box 30 for the connecting gears 61 on the other ends of the two worms 6 to be exposed from the side openings 34.

[0089] In coordination, the bracket 2 has two racks 23 extending parallel to the lead screw 4, the two racks 23 are symmetrically arranged, and respectively mesh with the connecting gears 61 on the two worms 6. The bracket 2 also has two symmetrically arranged slide grooves 24, and the first positioning switch 25 and the second positioning switch 26 are arranged at different heights of the bracket 2 and are located between the two slide grooves 24. The back of the storage box 30 also has two symmetrically positioned limit protrusions 36, which are respectively embedded in the slide grooves 24, and when approaching the first positioning switch 25 or the second positioning switch 26, the first positioning switch 25 or the second positioning switch 26 is triggered respectively.

[0090] Therefore, the head frame support mechanism of the present application adopts a left-right symmetrical structural design, which is beneficial to improving the stability of the overall structure and extending the service life.

[0091] The structure of the drive device includes but is not limited to the following structures:

[0092] In one embodiment of the present application, Figure 3As shown, the drive device includes a motor (not shown), and the output end of the motor is connected to the end of the lead screw 4. It can be understood here that the motor is arranged in Figure 3 The output end of the motor is connected to the top of the lead screw 4. The motor is used to drive the lead screw 4 to rotate, thereby realizing the electric mode to drive the support arm 1 to open and close.

[0093] For example, the drive mode can be set as follows: Figure 5 As shown, when the motor rotates forward, the lead screw 4 is driven to rotate forward and the movable seat 3 is caused to rise along the lead screw 4. The transmission mechanism on the movable seat 3 drives the support arm 1 to gradually unfold from a folded state. When the movable seat 3 rises to the first positioning switch 25, the support arm 1 is completely flattened.

[0094] like Figure 2 As shown, when the motor reverses, it drives the screw 4 to rotate in the opposite direction and causes the movable seat 3 to descend along the screw 4. The transmission mechanism on the movable seat 3 drives the support arm 1 to gradually retract from the flattened state. When the movable seat 3 descends to the second positioning switch 26, the support arm 1 is completely erected and folded.

[0095] In this embodiment, the motor can also be controlled by the user through buttons set on the surgical robot, such as virtual buttons or physical buttons. As an example, the operation mode can be defined as follows:

[0096] (1) During the operation, if any button is pressed, the motor does not rotate, and the system prompts the user that the support arm 1 is prohibited from moving during the operation.

[0097] (2) Before or after the operation, when the support arm 1 is in the intermediate state or the folded state, the motor rotates forward when the support button is pressed, and stops rotating when the button is released or the first positioning switch 25 is triggered.

[0098] (3) Before or after the operation, when the support arm 1 is in the intermediate state or the supporting state, the motor reverses when the folding button is pressed, and stops rotating when the button is released or the second positioning switch 26 is triggered.

[0099] Preferably, the drive device may also include a brake (not shown) for stopping the operation of the motor. The brake may be a common mechanical brake. The brake is arranged on the output end of the motor to prevent unexpected rotation of the motor and improve overall safety.

[0100] In another embodiment of the present application, see Fig.12 The driving device includes a hand crank 7, and the output shaft of the hand crank 7 is connected to the end of the lead screw 4 through a gear set to manually drive the support arm 1 to open and close.

[0101] In this embodiment, the gear set may include a first bevel gear 71 and a second bevel gear 41 that mesh with each other, the first bevel gear 71 is arranged on the end of the output shaft of the hand crank 7, and the output shaft of the hand crank 7 is coaxial and rotates synchronously; the second bevel gear 41 is arranged on the end of the screw 4, and is coaxial with the screw 4 and rotates synchronously.

[0102] When the support arm 1 needs to be operated, the user rotates the hand crank 7. The hand crank 7 rotates and drives the first bevel gear 71 to rotate, and the first bevel gear 71 drives the second bevel gear 41 to rotate, and the second bevel gear 41 drives the lead screw 4 to rotate, and the subsequent movement is consistent with the above-mentioned electric mode.

[0103] Since the transmission mechanism composed of the screw 4, the turbine 5 and the worm 6 is self-locking, the support arm 1 can only move when it is driven by the hand crank 7, but the support arm 1 cannot drive the hand crank 7 to move. The support arm 1 can hover at any swing amplitude, which is conducive to locking the movement state of the support arm 1 and can also adjust the distance between it and the head frame 200.

[0104] In order to prevent the user from accidentally touching the hand crank 7 during the operation, causing unexpected movement of the support arm 1, in this embodiment, the driving device may also include a brake (not shown) for stopping the hand crank 7, which is arranged on the output shaft of the hand crank 7, thereby eliminating misoperation and improving overall safety.

[0105] Thus, before or after the operation, the brake can be in a released state, and the user can turn the hand crank 7. During the operation, the brake is locked so that the user cannot turn the hand crank 7, thereby preventing the user from accidentally touching the hand crank 7 during the operation and improving safety.

[0106] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A head frame support mechanism, arranged on a surgical robot, characterized in that: include: The bracket (2) is provided with a vertically arranged lead screw (4); A driving device, used for driving the lead screw (4), wherein an output end of the driving device is connected to the lead screw (4); The movable seat (3) is transmission-connected to the lead screw (4), and the movable seat (3) can move on the lead screw (4); a foldable support arm (1) is provided on the movable seat (3), and the support arm (1) has a rotating shaft connected to the movable seat (3).

2. The headgear support mechanism according to claim 1, characterized in that: The movable seat (3) is provided with a transmission mechanism, which includes a turbine (5) and a worm (6); the turbine (5) is connected to the rotating shaft, and the protruding teeth on the turbine (5) mesh with the teeth on the worm (6); the bracket (2) is also provided with a rack (23) extending parallel to the lead screw (4), and the worm (6) is provided with a connecting gear (61), and the connecting gear (61) meshes with the rack (23).

3. The headgear support mechanism according to claim 2, characterized in that: The movable seat (3) also includes a storage box (30), and the turbine (5) and the worm (6) are stored in the storage box (30); the storage box (30) is provided with a connecting ear (31) and a threaded through hole (32), the threaded through hole (32) is sleeved with the lead screw (4), and the connecting ear (31) is connected to the end of the support arm (1) via a rotating shaft.

4. The headgear support mechanism according to claim 3, characterized in that: The storage box (30) is provided with a convex bulge (33) for accommodating the turbine (5), the convex bulge (33) is provided with a through hole, and the rotating shaft on the connecting ear (31) penetrates into the convex bulge (33) through the through hole and is connected to the turbine (5).

5. The head frame support mechanism according to claim 3, characterized in that: A side opening (34) is provided on one end of the storage box (30) close to the bracket (2), and the connecting gear (61) is exposed from the side opening (34) and meshes with the rack (23).

6. The headgear supporting mechanism according to claim 3, characterized in that: The storage box (30) is also provided with a mounting hole (35) and a bearing (62) arranged in the mounting hole (35); the worm (6) has threaded teeth connected to the turbine (5); and one end of the worm (6) away from the connecting gear (61) is sleeved on the bearing (62).

7. The headgear supporting mechanism according to claim 3, characterized in that: A limiting protrusion (36) is also provided on one end of the storage box (30) close to the bracket (2), and a sliding groove (24) extending parallel to the lead screw (4) is also provided on the bracket (2), and the limiting protrusion (36) is embedded in the sliding groove (24) on the bracket (2).

8. The headgear supporting mechanism according to claim 7, characterized in that: The bracket (2) is also provided with a first positioning switch (25) and a second positioning switch (26) for triggering and cooperating with the limiting protrusion (36); the first positioning switch (25) and the second positioning switch (26) are respectively arranged at different heights of the bracket (2).

9. The headgear support mechanism according to any one of claims 1 to 8, characterized in that: The driving device comprises a motor, the output end of which is connected to the end of the lead screw (4).

10. The head frame support mechanism according to claim 9, characterized in that: The driving device further comprises a brake for stopping the motor, wherein the brake is arranged on an output end of the motor.

11. The headgear supporting mechanism according to any one of claims 1 to 8, characterized in that: The driving device comprises a hand crank (7), and the output shaft of the hand crank (7) is transmission-connected to the end of the lead screw (4) via a gear set.

12. The headgear supporting mechanism according to claim 11, characterized in that: The driving device also includes a brake for stopping the hand crank (7), and the brake is arranged on the output shaft of the hand crank (7).

13. A surgical robot, characterized in that: It comprises a main body and a head frame support mechanism as described in any one of claims 1 to 12, wherein the head frame support mechanism is arranged on the main body; the driving device is capable of driving the lead screw (4) to open the folded support arm (1) and to be installed and connected with the head frame (200) arranged on the operating bed (300).

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