Auxiliary positioning device and mobile medical system

Abstract

The utility model relates to an auxiliary positioning device and a mobile medical system. The auxiliary positioning device comprises a matching module used for being installed at the bottom of the cart, the matching module comprises a foot cup and two sets of trundles arranged at intervals in the first direction, and the foot cup can move in the second direction relative to the cart; the second direction is the height direction of the cart, and the first direction is perpendicular to the second direction; the positioning module comprises a guide assembly, the guide assembly comprises two sets of guide parts which are arranged at intervals in the first direction and extend in the third direction, and each set of guide parts is matched with the corresponding set of trundles so that the trundles can move in the third direction; the third direction is perpendicular to the first direction and the second direction; the blocking piece is located on one side of the guide assembly in the third direction and used for blocking the trundle moving to the end point in the third direction; and the fixing piece is located between the two sets of guiding pieces, and when the caster arrives at the terminal point, the foot cup is configured to move downwards in the second direction so as to be matched with the fixing piece in an inserted mode. The auxiliary positioning device is simple in structure and does not need complex operation.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an auxiliary positioning device and a mobile medical system. Background Art

[0002] With the advancement of science and technology and medicine, medical robots have been used more and more widely in clinical practice, and surgical carts, as an indispensable structure in mobile medical systems, play an important role in carrying medical robots. Before surgery, it is usually necessary to adjust the position of the surgical cart so that the medical robot can reach the surgical area for subsequent surgical operations. After the adjustment is in place, the surgical cart needs to be fixed here to prevent the medical robot from shifting with the surgical cart during the operation. However, in the related art, the structure for positioning and fixing the surgical cart is relatively complicated, and the positioning operation is relatively troublesome. Utility Model Content

[0003] Based on this, it is necessary to provide an auxiliary positioning device and a mobile medical system, in which the structure for positioning and fixing the position of the cart is simple and does not require more complicated operations.

[0004] An auxiliary positioning device, the auxiliary positioning device comprising:

[0005] A matching module, used to be installed at the bottom of the cart, the matching module includes a foot cup and two sets of casters arranged at intervals along a first direction, the foot cup can move relative to the cart along a second direction; wherein the second direction is the height direction of the cart, and the first direction is perpendicular to the second direction; and

[0006] Positioning module, including:

[0007] A guide assembly, comprising two groups of guide members arranged at intervals along the first direction and extending along a third direction, each group of the guide members cooperates with a corresponding group of the casters to enable the casters to move along the third direction; wherein the third direction is perpendicular to the first direction and the second direction;

[0008] A blocking member, located at one side of the guide assembly along the third direction, for blocking the caster from moving to an end point along the third direction;

[0009] The fixing member is located between the two groups of guide members. When the caster reaches the end point, the foot cup is configured to move downward along the second direction to be plugged into and matched with the fixing member.

[0010] In one of the embodiments, the guide member is a slide groove extending along the third direction, and each group of the slide grooves is slidably matched with a corresponding group of the casters.

[0011] In one embodiment, the blocking member is a blocking block protruding along the second direction, or the blocking member is a blocking groove recessed along the second direction.

[0012] In one embodiment, the bottom end of the foot cup has a slot, the fixing member has a groove, the groove wall of the groove is provided with a protruding plug, the foot cup moving downward along the second direction can extend into the groove, and the plug can be inserted into the slot.

[0013] In one of the embodiments, the top end of the plug is in the shape of an outwardly convex curved surface, and in the direction in which the plug is inserted into the slot, the entrance of the slot is a conical surface with a gradually decreasing size.

[0014] In one embodiment, the fixing member and the foot cup are provided in plurality, and each fixing member can be plugged into and matched with a corresponding foot cup.

[0015] In one embodiment, the positioning module includes a pedal and an adjustment assembly, the foot cup is connected to the pedal via the adjustment assembly, and the pedal is configured to rotate downward to drive the foot cup to move downward along the second direction.

[0016] In one embodiment, the adjustment assembly includes a first connecting rod mechanism and a push-pull rod, the first connecting rod mechanism includes a first rod, a second rod and a third rod, the foot cup is configured to slide and cooperate with the cart along the second direction, one end of the first rod is hinged to the foot cup, and the other end is hinged to the second rod and the third rod, the end of the second rod away from the first rod is configured to be hinged to the cart, the end of the third rod away from the first rod is hinged to one end of the push-pull rod, the other end of the push-pull rod is fixed to the pedal, and the connection between the pedal and the push-pull rod is configured to be rotatably connected to the cart, the pedal rotating downward can push the third rod through the push-pull rod to increase the angle between the first rod and the second rod.

[0017] In one embodiment, the positioning module includes a plurality of the adjustment components, the foot cups are provided with a plurality of them, and the pedal and at least part of the foot cups are connected through corresponding adjustment components.

[0018] In one embodiment, the adjustment assembly also includes a second connecting rod mechanism, the second connecting rod mechanism includes a fourth rod, a fifth rod and a sixth rod, the first rod is hinged to one of the foot cups, one end of the fourth rod is hinged to the other foot cup, the other end of the fourth rod is hinged to the fifth rod and the sixth rod, the end of the fifth rod facing away from the fourth rod is configured to be hinged to the cart, and the end of the sixth rod facing away from the fourth rod is hinged to the first rod, the second rod and the third rod.

[0019] In one embodiment, the first rod is an elastic rod.

[0020] A mobile medical system comprises the auxiliary positioning device mentioned above, and also comprises the cart and a medical robot, wherein the medical robot is installed on the cart.

[0021] The auxiliary positioning device and the mobile medical system are matched with a module for installation at the bottom of the cart. In the matching module, two sets of casters can drive the cart to move to achieve the position adjustment of the cart. In the positioning module, each set of guides cooperates with a corresponding set of casters, so as to guide and roughly position the casters when they are moving, so that the casters move along the third direction to reach the desired end point. When the end point is reached, the blocking member located on one side of the guide assembly along the third direction can block the casters to inhibit them from continuing to move, so that the cart stays at the end point. And the foot cup moves downward along the second direction, and is plugged and matched with the fixing member, so that the cart can be fixed in position and the casters can be inhibited from continuing to move. In this way, it is only necessary to set the casters and the foot cup at the bottom of the cart, and to set the guide member for guiding the casters and the blocking member for blocking them, so as to achieve the positioning of the cart, and only to set the fixing member that cooperates with the foot cup, so as to achieve the position fixing of the cart. Compared with the more complex structure in the related art, the above structure is simpler, and positioning and position fixing can be completed quickly without more complex operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a schematic diagram of the structure of a cart and an auxiliary positioning device in one embodiment of the present application (the cart has not reached the end point).

[0023] FIG2 is a schematic diagram of the structure of a cart and an auxiliary positioning device in one embodiment of the present application (the cart moves to the end point and the position is fixed).

[0024] FIG. 3 is a schematic diagram of the structure of a positioning module in an embodiment of the present application.

[0025] FIG. 4 is a schematic diagram of the structure of the foot cup and the connecting seat in one embodiment of the present application.

[0026] FIG. 5 is a schematic diagram of the structure of a fixing member in an embodiment of the present application.

[0027] FIG. 6 is a schematic diagram of the structure of a foot cup in an embodiment of the present application.

[0028] FIG. 7 is a cross-sectional view of the cooperation between the foot cup and the fixing member in one embodiment of the present application (when the insert block is not inserted into the slot).

[0029] FIG8 is a cross-sectional view of the cooperation between the foot cup and the fixing member in one embodiment of the present application (when the insert block has been inserted into the slot).

[0030] FIG. 9 is a schematic diagram of the structure of the pedal and the adjustment assembly in one embodiment of the present application (when the pedal is not pressed).

[0031] FIG. 10 is a cross-sectional view of a pedal and an adjustment assembly in one embodiment of the present application (when the pedal is not depressed).

[0032] FIG. 11 is a schematic diagram of the structure of the pedal and the adjustment assembly in one embodiment of the present application (when the pedal is pressed).

[0033] FIG. 12 is a cross-sectional view of a pedal and an adjustment assembly in one embodiment of the present application (when the pedal is depressed).

[0034] Reference numerals:

[0035] 100, cart; 210, foot cup; 211, slot; 2111, cone; 220, connecting seat; 300, caster; 400, base plate; 410, guide member; 500, blocking member; 600, fixing member; 610, groove; 611, plug block; 710, pedal; 720, fixed axis; 730, rotating seat; 810, first connecting rod mechanism; 811, first rod; 812, second rod; 813, third rod; 820, second connecting rod mechanism; 821, fourth rod; 822, fifth rod; 823, sixth rod; 830, push-pull rod. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, 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.

[0041] 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.

[0042] Referring to FIGS. 1 to 3 , an auxiliary positioning device provided in an embodiment of the present application includes a matching module and a positioning module. The matching module is used to be installed at the bottom of the cart 100, and the matching module includes a foot cup 210 and a caster 300. Two groups of casters 300 are arranged at intervals along the first direction, and the foot cup 210 can move relative to the cart 100 in the second direction. The positioning module includes a guide assembly, a blocking member 500 and a fixing member 600. The guide assembly includes two groups of guide members 410 arranged at intervals along the first direction and extending along the third direction. Each group of guide members 410 cooperates with a corresponding group of casters 300 to move the casters 300 in the third direction. The blocking member 500 is located on one side of the guide assembly along the third direction to block the casters 300 moving to the end point along the third direction. The fixing member 600 is located between the two groups of guide members 410. When the casters 300 reach the end point, the foot cup 210 is configured to move downward in the second direction to be plugged and matched with the fixing member 600. The second direction is the height direction of the cart 100 , the first direction is perpendicular to the second direction, and the third direction is perpendicular to the first direction and the second direction.

[0043] The auxiliary positioning device mentioned above cooperates with the module, and the two groups of casters 300 can drive the cart 100 to move, so as to adjust the position of the cart 100. In the positioning module, each group of guide members 410 cooperates with the corresponding group of casters 300, so as to guide and roughly position the casters 300 when they move, so that the casters 300 move along the third direction to reach the desired end point. When the end point is reached, the blocking member 500 located on one side of the guide assembly along the third direction can block the casters 300 to inhibit them from continuing to move, so that the cart 100 stays at the end position. And the foot cup 210 moves downward along the second direction, and is plugged and matched with the fixing member 600, which can fix the position of the cart 100 and inhibit the casters 300 from continuing to move. In this way, the positioning of the cart 100 can be achieved by only providing the caster 300 and the foot cup 210 at the bottom of the cart 100, and providing the guide member 410 for guiding the caster 300 and the blocking member 500 for blocking the caster 300, and the position of the cart 100 can be fixed by only providing the fixing member 600 for matching with the foot cup 210. Compared with the more complicated structure in the related art, the above structure is simpler and can quickly complete the positioning and position fixing without more complicated operations.

[0044] 1 to 3 , in some embodiments, the guide member 410 is a slide groove extending along the third direction, and each set of the slide grooves is slidably matched with a corresponding set of casters 300 .

[0045] Specifically, the positioning module includes a substrate 400, and a linear slide groove that is recessed downward along the second direction and extends along the third direction is engraved on the substrate 400 to form a guide member 410. The two groups of casters 300 arranged at intervals along the first direction correspond to the two groups of slide grooves arranged at intervals along the first direction, and each group of casters 300 can be partially or completely sunk into the slide groove, so that the movement of the casters 300 is guided and limited by the slide groove, and the casters 300 are prevented from deviating from the third direction when walking.

[0046] In the embodiment shown in the drawings, there are four casters 300, which are divided into two groups arranged at intervals along the first direction, and the two casters 300 in each group are arranged at intervals along the third direction. Alternatively, the number of casters 300 may be increased, for example, six casters 300 are provided, and the three casters 300 in each group are arranged at intervals along the third direction. Of course, only two casters 300 arranged at intervals along the first direction may also be provided.

[0047] In other embodiments, the guide member 410 may also be a slide rail extending along the third direction, and each set of slide rails is slidably matched with a corresponding set of casters 300 .

[0048] 1 to 3 , in some embodiments, the blocking member 500 is a blocking block protruding along the second direction, or the blocking member 500 is a blocking groove recessed along the second direction.

[0049] In the embodiment shown in the drawings, the blocking member 500 is a blocking block, which protrudes upward from the top surface of the base plate 400 along the second direction and extends along the first direction. Thus, when the caster 300 moves to the end point along the third direction, the blocking block will abut against the caster 300 to inhibit the caster 300 from continuing to move, thereby temporarily limiting it there.

[0050] In other embodiments, the blocking member 500 is a blocking groove, and the blocking block is recessed downward from the top surface of the substrate 400 along the second direction and extends along the first direction. In this way, when the caster 300 moves to the end point along the third direction, the caster 300 will at least partially sink into the blocking groove to inhibit the caster 300 from continuing to move, thereby temporarily limiting it there.

[0051] Referring to Figures 5, 6 and 8, in some embodiments, the bottom end of the foot cup 210 has a slot 211, the fixing member 600 has a groove 610, and the groove wall of the groove 610 is provided with a protruding plug 611. The foot cup 210 moving downward along the second direction can extend into the groove 610, and the plug 611 can be inserted into the slot 211.

[0052] Meanwhile, referring to FIG. 4 , specifically, the top of the foot cup 210 is provided with a connection seat 220 that is slidably matched therewith in the second direction, and the connection seat 220 is used to be fixedly connected to the bottom of the cart 100. The slot 211 is formed by being recessed upward from the bottom end of the foot cup 210. The fixing member 600 is fixed on the base plate 400, and the top surface of the fixing member 600 is recessed downward to form a groove 610. A part of the upper area of ​​the bottom wall of the groove 610 is raised upward to form an insert block 611. When the foot cup 210 moves downward, it will enter the groove 610, and at the same time, the insert block 611 will be inserted into the slot 211, thereby limiting the caster 300 from continuing to move along the third direction, thereby fixing the position of the cart 100.

[0053] In the above embodiment, the foot cup 210 is inserted into the groove 610, and the insert block 611 is inserted into the slot 211. The two sets of structures cooperate to jointly limit the caster 300 from continuing to move along the third direction, which can more stably fix the position of the cart 100 and prevent it from being displaced.

[0054] 7 and 8 , in some embodiments, the top of the insert block 611 is in the shape of a convex curved surface, and in the direction in which the insert block 611 is inserted into the slot 211 , the entrance of the slot 211 is a tapered surface 2111 with a gradually decreasing size.

[0055] Specifically, the top of the plug block 611 is in the shape of a convex curved surface, and the direction in which the plug block 611 is inserted into the slot 211 is from bottom to top. In this direction, the entrance of the slot 211 gradually shrinks to form a conical surface 2111. By setting the entrance of the slot 211 as the conical surface 2111, it is easier for the plug block 611 to enter the slot 211. In addition, since the top of the plug block 611 is in the shape of a convex curved surface, if there is a deviation in the position of the cart 100 reaching the end point, the plug block 611 is not completely aligned with the slot 211, and the two are in the state shown in Figure 7, then the conical surface 2111 will slide along the top curved surface of the plug block 611, thereby fine-tuning the position of the cart 100 and the foot cup 210, reaching the state shown in Figure 8, so that the slot 211 and the plug block 611 are completely aligned, thereby completing the plug-in fit. In this way, the position of the cart 100 and the foot cup 210 can be automatically fine-tuned when the position is not completely aligned, and the position fixation of the cart 100 is successfully completed.

[0056] 3 and 9 , in some embodiments, a plurality of fixing members 600 and a plurality of foot cups 210 are provided, and each fixing member 600 can be plugged and matched with a corresponding foot cup 210 .

[0057] Specifically, in the embodiment shown in FIG. 3 , three sets of fixing members 600 and foot cups 210 are provided correspondingly, and in the embodiment shown in FIG. 9 , five sets of fixing members 600 and foot cups 210 are provided correspondingly. Of course, the number is not limited, and other numbers are also possible. By providing multiple sets of fixing members 600 and foot cups 210 that are plugged in and matched with each other, the position of the cart 100 can be fixed more firmly, and the probability of the cart 100 being offset is lower.

[0058] In the above embodiments, the guide member 410, the blocking member 500 and the fixing member 600 in the positioning module are all installed on the base plate 400. In other embodiments, the base plate 400 may be omitted, and the guide member 410, the blocking member 500 and the fixing member 600 may be directly placed on the ground.

[0059] In the embodiments shown in the drawings, when the foot cup 210 moves downward to complete the plug-in fit with the fixing member 600, the caster 300 and the cart 100 are relatively lifted and suspended in the air. In other embodiments, it can also be configured that when the foot cup 210 moves downward to complete the plug-in fit with the fixing member 600, the caster 300 and the cart 100 can still be in contact with the base plate 400 or the ground and are not suspended in the air.

[0060] 9 to 12 , in some embodiments, the positioning module includes a pedal 710 and an adjustment assembly, the foot cup 210 is connected to the pedal 710 via the adjustment assembly, and the pedal 710 is configured to rotate downward to drive the foot cup 210 to move downward along the second direction.

[0061] Specifically, by stepping on the pedal 710 to rotate it downward, the foot cup 210 is driven to move downward in the second direction through the adjustment assembly to complete the plug-in fit with the fixing member 600. Conversely, if the pedal 710 is lifted upward to rotate it upward, the foot cup 210 will move upward in the second direction to release the plug-in fit with the fixing member 600. When the pedal 710 is stepped on in place and the foot cup 210 and the fixing member 600 complete the plug-in fit, the pedal 710 is locked in the current position to prevent it from rotating upward and causing the foot cup 210 to be lifted.

[0062] In some embodiments, a locking member may be provided, and a slot matching the shape of the pedal 700 may be provided on the locking member. When the pedal 710 is stepped on, the locking member may move to the slot on the locking member to engage with the pedal 710, so as to lock the pedal 710 in the current position. When the foot cup 210 needs to be lifted, the locking member may move in the reverse direction, the pedal 710 may be removed from the slot, and the pedal 710 may be lifted upward.

[0063] 9 to 12 , in some embodiments, the adjustment assembly includes a first linkage mechanism 810 and a push-pull rod 830, the first linkage mechanism 810 includes a first rod 811, a second rod 812 and a third rod 813, the foot cup 210 is configured to slide and cooperate with the cart 100 along the second direction, one end of the first rod 811 is hinged to the foot cup 210, and the other end is hinged to the second rod 812 and the third rod 813, the end of the second rod 812 away from the first rod 811 is configured to be hinged to the cart 100, the end of the third rod 813 away from the first rod 811 is hinged to one end of the push-pull rod 830, the other end of the push-pull rod 830 is fixed to the pedal 710, and the connection between the pedal 710 and the push-pull rod 830 is configured to be rotatably connected to the cart 100, the pedal 710 rotating downward can push the third rod 813 through the push-pull rod 830 to increase the angle between the first rod 811 and the second rod 812.

[0064] Specifically, the foot cup 210 is slidably matched with the connecting seat 220 fixed at the bottom of the cart 100 along the second direction, so as to indirectly realize the sliding match with the cart 100. The first rod 811, the second rod 812 and the third rod 813 are hinged at the same point. The bottom end of the first rod 811 is hinged to the foot cup 210, and the top end is hinged to the bottom end of the second rod 812 and the third rod 813, and the top end of the second rod 812 is hinged to the connecting seat 220. The end of the push-pull rod 830 away from the third rod 813 is fixed to the pedal 710, and the connection between the pedal 710 and the push-pull rod 830 is sleeved and fixed to the outside of the fixed shaft 720. The rotating seat 730 is fixed to the bottom of the cart 100, and the fixed shaft 720 is penetrated through the rotating seat 730, and the fixed shaft 720 and the rotating seat 730 are rotatably connected through a bearing. In this way, the pedal 710 and the push-pull rod 830 can form a lever with the rotating seat 730 as the fulcrum. When one end of the lever, the pedal 710, is stepped on downward, the other end of the lever, the push-pull rod 830, will rotate upward. When the push-pull rod 830 rotates upward, it will push the third rod 813, so that the hinge points of the first rod 811, the second rod 812 and the third rod 813 move away from the pedal 710, increase the angle between the first rod 811 and the second rod 812, and make the bottom end of the first rod 811 swing downward to drive the foot cup 210 to slide downward, and complete the plug-in cooperation with the fixing member 600.

[0065] 9 to 12 , in some embodiments, the positioning module includes a plurality of adjustment components, a plurality of foot cups 210 are provided, and the pedal 710 is connected to at least part of the foot cups 210 via corresponding adjustment components.

[0066] Specifically, in the embodiment shown in FIG. 3 , three foot cups 210 are provided, and the pedal 710 is connected to each foot cup 210 via the aforementioned adjustment assembly. In the embodiments shown in FIGS. 9 to 12 , five foot cups 210 are provided, and the pedal 710 is connected to three of the foot cups 210 via the aforementioned adjustment assembly. In this way, multiple foot cups 210 can be moved downward at the same time by stepping on the pedal 710, without the need to adjust the position of each foot cup 210 individually, and the operation is simpler.

[0067] Furthermore, among the five foot cups 210, the three foot cups 210 close to the pedal 700 along the third direction are connected to the pedal 700 through the aforementioned adjustment assembly, and the two foot cups 210 away from the pedal 700 along the third direction can be moved up and down by other means. Of course, in other embodiments, the five foot cups 210 can also be connected to the pedal 710 through the aforementioned adjustment assembly.

[0068] Among the three push-pull rods 830 corresponding to the three foot cups 210 close to the pedal 700 along the third direction, one push-pull rod 830 is fixed to the center position of the pedal 710 along the first direction, and the other two are respectively fixed to the end positions of the pedal 710 along the first direction. Except for the positions of the three push-pull rods 830, other structures in the adjustment assembly are the same as those in the previous embodiment, and will not be repeated here.

[0069] It should be noted that the number of the foot cups 210 may be other than three and five as shown in the embodiments of the drawings. It is sufficient to connect the multiple foot cups 210 and the pedal 700 through the above-mentioned adjustment assembly. The position of the foot cups 210 is not limited and can be set as needed as long as the cart 100 can be stably supported.

[0070] 9 to 12 , in some embodiments, the adjustment assembly further includes a second linkage mechanism 820, the second linkage mechanism 820 includes a fourth rod 821, a fifth rod 822 and a sixth rod 823, the first rod 811 is hinged to one foot cup 210, one end of the fourth rod 821 is hinged to another foot cup 210, the other end of the fourth rod 821 is hinged to the fifth rod 822 and the sixth rod 823, the end of the fifth rod 822 facing away from the fourth rod 821 is configured to be hinged to the cart 100, and the end of the sixth rod 823 facing away from the fourth rod 821 is hinged to the first rod 811, the second rod 812 and the third rod 813.

[0071] Specifically, the connection structure of the fourth rod 821, the fifth rod 822, the sixth rod 823 and the corresponding foot cup 210 is the same as the connection structure of the first rod 811, the second rod 812, the third rod 813 and the corresponding foot cup 210, and will not be repeated here. The difference is that the end of the sixth rod 823 away from the fourth rod 821 is hinged to the first rod 811, the second rod 812 and the third rod 813, and the end of the third rod 813 away from the first rod 811 is hinged to one end of the push-pull rod 830. When the pedal 710 is stepped on downward, the push-pull rod 830 rotates upward, pushing the third rod 813, so that the hinge points of the first rod 811, the second rod 812, the third rod 813 and the sixth rod 823 move away from the pedal 710, increasing the angle between the fourth rod 821 and the fifth rod 822, and allowing the bottom end of the fourth rod 821 to swing downward, so as to drive the corresponding foot cup 210 to slide downward and complete the plug-in match with the corresponding fixing member 600. In this way, through the cooperation of a set of adjustment components and the pedal 700, the two foot cups 210 can be moved downward, and the operation is simpler.

[0072] 9 to 12 , in some embodiments, the first rod 811 is an elastic rod, so that after the foot cup 210 moves downward, the first rod 811 hinged thereto can elastically support the cart 100, thereby compensating for the uneven height of the base plate 400 or a part of the ground.

[0073] Similarly, in some embodiments, the fourth rod 821 is also an elastic rod. In this way, after the foot cup 210 hinged thereto moves downward, the fourth rod 821 elastically supports the cart 100, thereby compensating for the uneven height of a part of the base plate 400 or the ground.

[0074] In the above embodiments, the foot cup 210 is moved along the second direction by the pedal 710 and the adjustment assembly. In other embodiments, a driving member such as a cylinder or an electric push rod may be provided and installed on the cart 100 to directly drive the foot cup 210 to move along the second direction.

[0075] Referring to FIG. 1 and FIG. 2 , in some embodiments, a mobile medical system provided by an embodiment of the present application includes the auxiliary positioning device in any one of the aforementioned embodiments, and also includes a cart 100 and a medical robot, and the medical robot is installed on the cart 100 .

[0076] 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.

[0077] 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. An auxiliary positioning device, characterized in that: The auxiliary positioning device comprises: A matching module, used for being installed at the bottom of a cart (100), the matching module comprising a foot cup (210) and two sets of casters (300) arranged at intervals along a first direction, the foot cup (210) being able to move along a second direction relative to the cart (100); wherein the second direction is a height direction of the cart (100), and the first direction is perpendicular to the second direction; and Positioning module, including: A guide assembly, comprising two groups of guide members (410) arranged at intervals along the first direction and extending along a third direction, each group of the guide members (410) cooperating with a corresponding group of the casters (300) to enable the casters (300) to move along the third direction; wherein the third direction is perpendicular to the first direction and the second direction; A blocking member (500) is located on one side of the guide assembly along the third direction, and is used to block the caster (300) from moving to an end point along the third direction; The fixing member (600) is located between the two groups of guide members (410). When the caster (300) reaches the end point, the foot cup (210) is configured to move downward along the second direction to be plugged into and fit with the fixing member (600).

2. The auxiliary positioning device according to claim 1, characterized in that: The guide member (410) is a slide groove extending along the third direction, and each group of the slide grooves is slidably matched with a corresponding group of casters (300).

3. The auxiliary positioning device according to claim 1, characterized in that: The blocking member (500) is a blocking block protruding along the second direction, or the blocking member (500) is a blocking groove recessed along the second direction.

4. The auxiliary positioning device according to claim 1, characterized in that: The bottom end of the foot cup (210) has a slot (211), the fixing member (600) has a groove (610), the groove wall of the groove (610) is provided with a protruding plug block (611), the foot cup (210) moving downward along the second direction can extend into the groove (610), and the plug block (611) can be inserted into the slot (211).

5. The auxiliary positioning device according to claim 4, characterized in that: The top end of the plug block (611) is in the shape of an outwardly convex curved surface, and in the direction in which the plug block (611) is inserted into the slot (211), the entrance of the slot (211) is a conical surface (2111) of which the size gradually decreases.

6. The auxiliary positioning device according to claim 1, characterized in that: The fixing member (600) and the foot cup (210) are both provided in plurality, and each fixing member (600) can be plugged and matched with a corresponding foot cup (210).

7. The auxiliary positioning device according to any one of claims 1 to 6, characterized in that: The positioning module comprises a pedal (710) and an adjustment component, the foot cup (210) is connected to the pedal (710) via the adjustment component, and the pedal (710) is configured to rotate downward to drive the foot cup (210) to move downward along the second direction.

8. The auxiliary positioning device according to claim 7, characterized in that: The adjustment assembly comprises a first connecting rod mechanism (810) and a push-pull rod (830); the first connecting rod mechanism (810) comprises a first rod (811), a second rod (812) and a third rod (813); the foot cup (210) is configured to be slidably matched with the cart (100) along the second direction; one end of the first rod (811) is hinged to the foot cup (210), and the other end is hinged to the second rod (812) and the third rod (813); the end of the second rod (812) facing away from the first rod (811) is configured to be hinged In the cart (100), one end of the third rod (813) facing away from the first rod (811) is hinged to one end of the push-pull rod (830), and the other end of the push-pull rod (830) is fixed to the pedal (710), and the connection between the pedal (710) and the push-pull rod (830) is configured to be rotatably connected to the cart (100), and the pedal (710) rotating downward can push the third rod (813) through the push-pull rod (830) to increase the angle between the first rod (811) and the second rod (812).

9. The auxiliary positioning device according to claim 8, characterized in that: The positioning module comprises a plurality of groups of the adjustment components, a plurality of the foot cups (210) are provided, and the pedal (710) and at least part of the foot cups (210) are connected via corresponding adjustment components.

10. The auxiliary positioning device according to claim 8, characterized in that: The adjustment assembly also includes a second connecting rod mechanism (820), which includes a fourth rod (821), a fifth rod (822) and a sixth rod (823), the first rod (811) is hinged to one of the foot cups (210), one end of the fourth rod (821) is hinged to another of the foot cups (210), the other end of the fourth rod (821) is hinged to the fifth rod (822) and the sixth rod (823), one end of the fifth rod (822) away from the fourth rod (821) is configured to be hinged to the trolley (100), and one end of the sixth rod (823) away from the fourth rod (821) is hinged to the first rod (811), the second rod (812) and the third rod (813).

11. The auxiliary positioning device according to any one of claims 8 to 10, characterized in that: The first rod (811) is an elastic rod.

12. A mobile medical system, characterized in that: The mobile medical system comprises the auxiliary positioning device according to any one of claims 1 to 11, and further comprises the cart (100) and a medical robot, wherein the medical robot is installed on the cart (100).

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