Hanging assembly and moving station of surgical robot

Abstract

The utility model relates to the field of medical instruments, and discloses a suspension assembly and a moving station of a surgical robotic.The suspension assembly comprises a base, at least one cover plate, a swing rod and at least one elastic piece, at least one part of the cover plate is fixedly connected with the base, the swing rod is rotationally connected with the base, and the swing rod can swing up and down around a pivot shaft; the at least one elastic piece is movably arranged between the cover plate and the swing rod in a pre-pressing mode. Under the condition that the base encounters an obstacle or a pit, the swing rod of the suspension assembly compresses the elastic piece in the up-and-down swing process, the damping effect is achieved, the base is prevented from bumping, and the base is kept stable.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a suspension assembly and a mobile station of a surgical robot. Background Art

[0002] Minimally invasive surgery is less traumatic to patients and has higher postoperative output, and has occupied an important position in surgical operations. Existing robot-assisted minimally invasive surgery systems mainly adopt a master-slave teleoperation mode. For example, the operator issues motion commands to the operating table on the patient side through the master operator on the main console to control the surgical tools on the operating table for surgical treatment.

[0003] In different situations, it is usually necessary to move the operating trolley. For example, before the operation begins, the operating trolley needs to be moved to a suitable position on the patient's side. Or, during transportation, the operating trolley needs to be moved from one position to another, etc. During the movement of the operating trolley, if the operating trolley encounters obstacles or uneven ground (for example, a concave and convex ground), the operating trolley will be bumpy, affecting the stability of the operating trolley, and even causing collisions between the equipment placed on the operating trolley or between the equipment and the trolley wall, affecting the safety of the equipment. Utility Model Content

[0004] Based on the above problems, the purpose of the present disclosure is to provide a suspension assembly, comprising:

[0005] Pedestal;

[0006] at least one cover plate, at least a portion of which is fixedly connected to the base;

[0007] A swing rod, rotatably connected to the base, the swing rod being able to swing up and down around a pivot axis; and

[0008] At least one elastic member is movably pre-compressed and disposed between the cover plate and the swing rod.

[0009] In some embodiments, the swing arm includes a first end and a second end opposite to the first end, the pivot axis is located at a middle position between the first end and the second end, and the first end and the second end can swing up and down around the pivot axis.

[0010] In some embodiments, the at least one cover plate includes a first cover plate and a second cover plate, wherein the first cover plate and the second cover plate are respectively disposed at the first end and the second end;

[0011] The elastic member includes a first elastic member and a second elastic member, the rocker arm includes a first groove and a second groove respectively arranged at the first end and the second end, the bottom ends of the first elastic member and the second elastic member are respectively arranged in the first groove and the second groove, the first elastic member is located between the first groove and the first cover plate in a pre-compressed state, and the second elastic member is located between the second groove and the second cover plate in a pre-compressed state.

[0012] In some embodiments, it also includes:

[0013] A first outer sleeve, fixedly connected to the first cover plate;

[0014] A second outer sleeve, fixedly connected to the second cover plate;

[0015] A first inner sleeve, slidably sleeved in the first outer sleeve; and

[0016] The second inner sleeve is slidably mounted in the second outer sleeve.

[0017] The bottoms of the first inner sleeve and the second inner sleeve are respectively movably arranged in the first groove and the second groove, the first inner sleeve and the second inner sleeve are at least partially sleeved on the outside of the first elastic member and the second elastic member, and the bottoms of the first inner sleeve and the second inner sleeve are respectively connected to the bottom ends of the first elastic member and the second elastic member.

[0018] In some embodiments, the bottom of the first inner sleeve and the second inner sleeve is solid, the outer end surfaces of the bottom of the first inner sleeve and the second inner sleeve are arc-shaped, the inner end surfaces of the bottom of the first inner sleeve and the second inner sleeve are flat, and the bottom ends of the first elastic member and the second elastic member are respectively abutted or fixedly arranged on the inner end surfaces of the bottoms of the first inner sleeve and the second inner sleeve.

[0019] In some embodiments, the first adjusting rod and the second adjusting rod are further included, and the outer circumferences of the first adjusting rod and the second adjusting rod are respectively provided with a first thread segment and a second thread segment;

[0020] The first cover plate and the second cover plate respectively include a first threaded hole and a second threaded hole that pass through in the thickness direction, the first thread segment and the second thread segment are respectively used to cooperate with the first threaded hole and the second threaded hole, the length of the first thread segment is greater than the thickness of the first threaded hole of the first cover plate, the length of the second thread segment is greater than the thickness of the second threaded hole of the second cover plate, and the first thread segment and the second thread segment at least partially pass through the first threaded hole and the second threaded hole respectively and directly or indirectly abut against the top ends of the first elastic member and the second elastic member.

[0021] In some embodiments, a first nut and a second nut are further included, wherein the first nut and the second nut are respectively sleeved on the first thread segment and the second thread segment, and the first nut and the second nut are respectively used to abut against the first cover plate and the second cover plate.

[0022] In some embodiments, it also includes a first guide rod and a second guide rod, the top of the first guide rod and the second guide rod are respectively provided with a first rod cap and a second rod cap, the first elastic member and the second elastic member are respectively sleeved on the outside of the first guide rod and the second guide rod, and the first rod cap and the second rod cap are respectively used to abut against the top of the first elastic member and the second elastic member.

[0023] In some embodiments, the first rod cap and the second rod cap further include a first limiting hole and a second limiting hole extending axially inward from the end surface, respectively. The bottom end surfaces of the first adjusting rod and the second adjusting rod are arc-shaped, and the bottoms of the first adjusting rod and the second adjusting rod are respectively used to extend into the first limiting hole and the second limiting hole and abut against the bottoms of the first limiting hole and the second limiting hole.

[0024] In some embodiments, the first cover plate includes at least one first limiting portion, and the second cover plate includes at least one second limiting portion, the first limiting portion and the second limiting portion are respectively located above the rocker arm and spaced apart from the rocker arm, and the first limiting portion or the second limiting portion is used to abut against the rocker arm when the rocker arm swings around the pivot axis.

[0025] In some embodiments, the first cover plate includes a first upper cover plate, a first left cover plate and a first right cover plate, the second cover plate includes a second upper cover plate, a second left cover plate and a second right cover plate, the first elastic member is arranged between the first upper cover plate and the first groove, the second elastic member is arranged between the second upper cover plate and the second groove, the first left cover plate and / or the first right cover plate respectively include a first flange extending outward along an axial direction parallel to the rocker arm to form the at least one first limiting portion, the second left cover plate and / or the second right cover plate respectively include a second flange extending outward along an axial direction parallel to the rocker arm to form the at least one second limiting portion.

[0026] In some embodiments, it also includes at least one first limit member and at least one second limit member, the at least one first limit member is respectively fixedly arranged on the at least one first limit portion, and the at least one second limit member is respectively fixedly arranged on the at least one second limit portion, the first limit member and the second limit member are perpendicular to the upper surface of the rocker arm and extend in a direction close to the rocker arm, the first limit member and the second limit member are spaced apart from the rocker arm, and the first limit member or the second limit member is used to abut and limit with the rocker arm when the rocker arm swings around the pivot axis.

[0027] In some embodiments, it also includes a bearing seat and a cross roller bearing, wherein the bearing seat is fixedly disposed on the base, the cross roller bearing is disposed on the bearing seat, and the cross roller bearing is connected to the rocker arm to allow the rocker arm to swing.

[0028] In some embodiments, the present disclosure further provides a mobile station for a surgical robot, comprising:

[0029] at least two driving wheels and at least two driven wheels;

[0030] In the suspension assembly described in any embodiment of the present disclosure, the two driven wheels are symmetrically arranged at the two ends of the swing rod of the suspension assembly, and the two driving wheels are symmetrically arranged at the end of the base opposite to the swing rod;

[0031] A column, disposed on a base of the suspension assembly; and

[0032] At least one mechanical arm is arranged on the column.

[0033] Some embodiments of the present disclosure have one or more of the following beneficial effects:

[0034] 1. When the base encounters an obstacle or a pit, the elastic part is compressed by the swing arm of the suspension assembly during the up and down swing process to play a shock-absorbing role, prevent the base from bumping, and keep the base stable; 2. The pre-compression amount of the elastic part is adjusted by the cooperation of the adjustment rod and the cover plate to meet different actual usage conditions; 3. The outer end surface of the bottom of the inner sleeve is set to an arc surface, which can reduce the friction of the inner sleeve during the lateral movement, making the movement of the inner sleeve smoother, so as to prevent the inner sleeve from being stuck due to the inability to respond quickly to the movement of the swing arm during movement, resulting in a weakened shock-absorbing effect or failure to achieve shock absorption; 4. The setting of a limit part can prevent the swing arm from swinging too much, causing the base to be unstable or the moving direction to be easily offset. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0036] Figure 1 A schematic diagram showing the structure of a suspension assembly according to some embodiments of the present disclosure is shown;

[0037] Figure 2 A partial structural schematic diagram of a suspension assembly according to some embodiments of the present disclosure is shown;

[0038] Figure 3 A schematic cross-sectional view showing a partial structure of a suspension assembly in a horizontal position according to some embodiments of the present disclosure;

[0039] Figure 4 A schematic cross-sectional view showing a partial structure of a suspension assembly in an inclined position according to some embodiments of the present disclosure;

[0040] Figure 5 An enlarged schematic cross-sectional view of a first end of a suspension assembly according to some embodiments of the present disclosure is shown;

[0041] Figure 6 A schematic diagram of the structure of a mobile station of a surgical robot according to some embodiments of the present disclosure is shown.

[0042] List of reference numerals:

[0043] 1000, suspension components;

[0044] 100. Base;

[0045] 200, cover plate; 210, first cover plate; 211, first upper cover plate; 212, first left cover plate; 213, first right cover plate; 214, first position-limiting portion; 215, first position-limiting member; 220, second cover plate; 221, second upper cover plate; 222, second left cover plate; 223, second right cover plate; 224, second position-limiting portion; 225, second position-limiting member;

[0046] 300, swing rod; 310, first end; 311, first groove; 320, second end; 321, second groove;

[0047] 400, elastic member; 410, first elastic member; 420, second elastic member;

[0048] 510, first outer sleeve; 511, first connecting portion; 520, second outer sleeve; 521, second connecting portion; 530, first inner sleeve; 540, second inner sleeve;

[0049] 610, first adjusting rod; 620, second adjusting rod; 630, first nut; 640, second nut; 650, first guide rod; 651, first rod cap; 6511, first limiting hole; 660, second guide rod; 661, first

[0050] Two-pole cap;

[0051] 710, bearing seat; 720, cross roller bearing;

[0052] 10. Mobile station; 101. Driving wheel; 102. Driven wheel; 103. Column; 104. Robotic arm; 105. Surgical tool. DETAILED DESCRIPTION

[0053] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0054] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying 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 limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0055] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable 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 components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the near part or the rear end, the rear part, and the end close to the surgical patient is defined as the distal end, the far end or the front end, the front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0056] The present application discloses a suspension assembly. Figure 1 FIG. 1 is a schematic diagram showing a structure of a suspension assembly 1000 according to some embodiments of the present disclosure. Figure 2 FIG. 1 is a partial structural schematic diagram of a suspension assembly 1000 according to some embodiments of the present disclosure. Figure 3 FIG. 1 is a schematic cross-sectional view of a portion of a suspension assembly 1000 in a horizontal position according to some embodiments of the present disclosure. For the sake of clarity, Figure 2 and Figure 3 The base 100 is not shown. Figure 1-Figure 3 As shown, the suspension assembly 1000 may include a base 100, at least one cover plate 200, a swing rod 300 and at least one elastic member 400. At least a portion of the cover plate 200 is fixedly connected to the base 100. For example, the fixed connection may be achieved by screws, welding, etc. In some embodiments, the base 100 may be a plate-shaped, block-shaped or special-shaped structure, such as a metal plate or a polymer composite plate. In some embodiments, the base 100 may include an upper surface and a lower surface. One end of the cover plate 200 may be fixedly connected to the upper surface of the base 100, and the other end of the cover plate 200 extends out of the base 100 and is located on one side of the base 100. For example, the cover plate may be arranged along the length direction of the base 100 (such as Figure 1 The swing rod 300 is rotatably connected to the base 100, and the swing rod 300 can swing up and down around the pivot axis. For example, the swing rod 300 can be rotatably connected to one side of the base 100 through a bearing, and the swing rod 300 can swing up and down around the pivot axis in a vertical direction (such as Figure 2 At least one elastic member 400 is movably pre-compressed and disposed between the cover plate 200 and the swing rod 300. For example, the elastic member 300 may be a spring, an elastic washer, a bellows, or other elastic structures. During the swinging process of the swing rod 300, the movement speed of the swing rod 300 may be slowed down by compressing the elastic member, thereby absorbing the movement energy of the swing rod 300 relative to the base 100, playing a shock-absorbing role, preventing the base 100 from bumping, and keeping the base 100 stable.

[0057] It should be understood that the at least one cover plate 200 may include two cover plates or more cover plates. The number of the elastic members 400 may be consistent with the number of the cover plates 200 .

[0058] In some embodiments, Figure 2 As shown, the swing rod 300 may include a first end 310 and a second end 320 opposite to the first end 310, the pivot axis is located at a middle position (e.g., a middle position) between the first end 310 and the second end 320, and the first end 310 and the second end 320 can swing up and down around the pivot axis.

[0059] In some embodiments, Figure 2As shown, at least one cover plate 200 may include a first cover plate 210 and a second cover plate 220, and the first cover plate 210 and the second cover plate 220 are respectively disposed at a first end 310 and a second end 320. For example, the first cover plate 210 and the second cover plate 220 may be fixedly connected to the upper surface of the base 100 at the first end 310 and the second end 320 corresponding to the swing rod 300, respectively. Figure 2 and Figure 3 As shown, the swing rod 300 may include a first groove 311 and a second groove 321 respectively disposed at the first end 310 and the second end 320. For example, the first groove 311 and the second groove 321 extend from the upper surface of the swing rod 300 to the lower surface to form a cylindrical or prismatic groove, and the size of the groove is larger than the size of the elastic member 400, so as to allow the end of the elastic member 400 to extend therein.

[0060] The elastic member 400 may include a first elastic member 410 and a second elastic member 420. The bottom ends of the first elastic member 410 and the second elastic member 420 are respectively disposed in the first groove 311 and the second groove 321, the first elastic member 410 is located between the first groove 311 and the first cover plate 210 in a pre-compressed state, and the second elastic member 420 is located between the second groove 321 and the second cover plate 220 in a pre-compressed state. It should be understood that the elastic member can achieve the pre-compression effect by compressing the elastic member with an external tool, or by the elasticity of the elastic member itself (e.g., stretching or bending itself) to achieve the pre-compression effect.

[0061] It should be understood that the first cover plate 210 and the second cover plate 220 are spaced apart from the upper surfaces of the first end 310 and the second end 320 of the swing rod 300, respectively. The top ends of the first elastic member 410 and the second elastic member 420 extend out of the first groove 311 and the second groove 321, respectively, and directly or indirectly abut against the lower surfaces of the first cover plate 210 and the second cover plate 220. In this way, when the swing rod 300 swings up and down in a substantially vertical direction, for example, the first end 310 of the swing rod 300 moves upward, and the second end 320 of the swing rod 300 moves downward or has a tendency to move downward, the first elastic member 410 is compressed by the upward force, and the second elastic member 420 recovers downward from the pre-stressed state, so that the second end 320 of the swing rod 300 grips the ground more firmly, thereby absorbing the motion energy from the swing rod 300 relative to the base 100, playing a shock-absorbing role, and preventing the base 100 from bumping.

[0062] In some embodiments, the suspension assembly 1000 may further include a first outer sleeve 510, a second outer sleeve 520, a first inner sleeve 530, and a second inner sleeve 540. The first outer sleeve 510 and the second outer sleeve 520 are fixedly connected to the first cover plate 210 and the second cover plate 220, respectively. The first inner sleeve 530 is slidably sleeved in the first outer sleeve 510, and the second inner sleeve 540 is slidably sleeved in the second outer sleeve 520, and the bottoms of the first inner sleeve 530 and the second inner sleeve 540 are movably arranged in the first groove 311 and the second groove 321, respectively. The first inner sleeve 530 and the second inner sleeve 540 are at least partially sleeved on the outside of the first elastic member 410 and the second elastic member 420, respectively. The bottoms of the first inner sleeve 530 and the second inner sleeve 540 are connected to the bottom ends of the first elastic member 410 and the second elastic member 420, respectively. It should be understood that when the swing rod 300 swings up and down in a substantially vertical direction, the first inner sleeve 530 moves longitudinally relative to the first outer sleeve 510 to compress or release the first elastic member 410, or the second inner sleeve 540 moves longitudinally relative to the second outer sleeve 520 to release or compress the second elastic member 420. The inner sleeve is sleeved on the outer side of the elastic member to play a guiding role, ensuring that the elastic member moves substantially in the longitudinal direction to prevent the elastic member from being laterally offset during the movement.

[0063] In some embodiments, Figure 3 As shown, the tops of the first outer sleeve 510 and the second outer sleeve 520 may further include a first connection portion 511 and a second connection portion 521 extending laterally to both sides. The first connection portion 511 and the second connection portion 521 are respectively fixedly connected to the first cover plate 210 and the second cover plate 220 to ensure the stability of the connection.

[0064] Figure 4 FIG. 1 is a schematic cross-sectional view of a portion of the structure of the suspension assembly 1000 in an inclined position according to some embodiments of the present disclosure. Figure 3 and Figure 4 As shown, the radial dimensions of the first inner sleeve 530 and the second inner sleeve 540 are smaller than the transverse dimensions of the first groove 311 and the second groove 321 along the length direction of the swing rod 300, so that the first inner sleeve 530 and the second inner sleeve 540 can respectively move slightly transversely along the first groove 311 and the second groove 321. It should be understood that when the swing rod 300 is in a horizontal position without swinging, the central longitudinal axes of the first inner sleeve 530 and the second inner sleeve 540 coincide with the central longitudinal axes of the first groove 311 and the second groove 321 respectively. When the swing rod 300 swings in an inclined position, as shown in FIG. Figure 4As shown, the first end 310 of the swing rod 300 is relatively inclined upward, the second end 320 is relatively inclined downward, and the central longitudinal axes of the first inner sleeve 530 and the second inner sleeve 540 are slightly offset to the right and left, respectively, and are misaligned with the central longitudinal axes of the first groove 311 and the second groove 321. In this way, when the swing rod 300 swings up and down in a substantially vertical direction, the compression of the elastic member is more stable and smooth through the small lateral movement and longitudinal movement of the inner sleeve.

[0065] In some embodiments, Figure 3 and Figure 4 As shown, the bottom of the first inner sleeve 530 and the second inner sleeve 540 is solid, the outer end surface of the bottom of the first inner sleeve 530 and the second inner sleeve 540 is an arc surface, and the inner end surface of the bottom of the first inner sleeve 530 and the second inner sleeve 540 is a plane. The bottom ends of the first elastic member 410 and the second elastic member 420 are respectively abutted or fixedly arranged on the inner end surface of the bottom of the first inner sleeve 530 and the second inner sleeve 540. The outer end surface of the bottom of the inner sleeve is set as an arc surface, which can reduce the friction force of the inner sleeve during the lateral movement process, making the movement of the inner sleeve smoother, so as to prevent the inner sleeve from being stuck due to the inability to quickly respond to the movement of the swing rod 300 during the movement process, resulting in a weakened shock absorption effect or failure to achieve shock absorption.

[0066] In some embodiments, Figure 3 As shown, the suspension assembly 1000 may also include a first adjustment rod 610 and a second adjustment rod 620. The outer circumferences of the first adjustment rod 610 and the second adjustment rod 620 are respectively provided with a first threaded section and a second threaded section. The first cover plate 210 and the second cover plate 220 respectively include a first threaded hole and a second threaded hole that penetrate in the thickness direction, and the first threaded section and the second threaded section are respectively used to cooperate with the first threaded hole and the second threaded hole. The length of the first threaded section is greater than the thickness of the first threaded hole of the first cover plate 210, and the length of the second threaded section is greater than the thickness of the second threaded hole of the second cover plate 220. The first threaded section and the second threaded section at least partially pass through the first threaded hole and the second threaded hole respectively and directly or indirectly abut against the top of the first elastic member 410 and the second elastic member 420. For example, the first threaded hole and the second threaded hole may be respectively arranged at the center of one end of the first cover plate 210 and the second cover plate 220 away from the base 100. In some embodiments, the pre-compression amount of the first elastic member 410 and the second elastic member 420 may be respectively adjusted by adjusting the length of the first adjustment rod 610 and the second adjustment rod 620 extending into the first threaded hole and the second threaded hole respectively. It should be understood that the model and pre-compression amount of the elastic member 400 can be determined according to the gravity of the base 100, the gravity borne by the base 100, and the force conditions of the wheels connected to the base 100 (such as the driving wheel 101 and the driven wheel 102) to meet different actual usage conditions.

[0067] In some embodiments, Figure 3 As shown, the suspension assembly 1000 may further include a first nut 630 and a second nut 640. The first nut 630 and the second nut 640 are respectively sleeved on the first thread segment and the second thread segment, and the first nut 630 and the second nut 640 are respectively used to abut against the first cover plate 210 and the second cover plate 220 (for example, the upper surface of the cover plate). By providing the first nut 630 and the second nut 640, the first adjustment rod 610 and the second adjustment rod 620 are prevented from loosening, which affects the pre-compression amount of the first elastic member 410 and the second elastic member 420.

[0068] In some embodiments, Figure 3 As shown, the suspension assembly 1000 may further include a first guide rod 650 and a second guide rod 660. The first guide rod 650 and the second guide rod 660 are provided with a first rod cap 651 and a second rod cap 661 at the top, respectively, the first elastic member 410 and the second elastic member 420 are sleeved on the outside of the first guide rod 650 and the second guide rod 660, respectively, and the first rod cap 651 and the second rod cap 661 are used to abut against the top of the first elastic member 410 and the second elastic member 420, respectively.

[0069] In some embodiments, the first guide rod 650 and the second guide rod 660 may include a transverse portion and a longitudinal portion that are fixedly connected. The longitudinal cross-sections of the transverse portion and the longitudinal portion are similar to a "T"-shaped structure, and the top of the "T"-shaped structure forms a rod cap. The first elastic member 410 and the second elastic member 420 are respectively sleeved on the longitudinal portions of the first guide rod 650 and the second guide rod 660, and the tops of the first elastic member 410 and the second elastic member 420 are respectively abutted against the bottom surfaces of the transverse portions of the first guide rod 650 and the second guide rod 660. The bottoms of the first adjustment rod 610 and the second adjustment rod 620 pass through the first threaded hole and the second threaded hole respectively and abut against the tops of the first guide rod 650 and the second guide rod 660. In this way, the first guide rod 650 and the second guide rod 660 can enable the first elastic member 410 and the second elastic member 420 to move approximately in the longitudinal direction during the movement, and prevent the bottoms of the first adjustment rod 610 and the second adjustment rod 620 from directly abutting against the tops of the first elastic member 410 and the second elastic member 420, which are easy to slip.

[0070] Figure 5 FIG. 1 is an enlarged schematic diagram of a transverse cross-section of a first end of a suspension assembly 1000 according to some embodiments of the present disclosure. Figure 3 and Figure 5As shown, the first rod cap 651 and the second rod cap 661 may also include a first limiting hole 6511 and a second limiting hole (not shown) extending axially from the end surface to the inside. The bottom end surfaces of the first adjustment rod 610 and the second adjustment rod 620 are arcuate, and the bottoms of the first adjustment rod 610 and the second adjustment rod 620 are respectively used to extend into the first limiting hole 6511 and the second limiting hole and abut against the bottoms of the first limiting hole 6511 and the second limiting hole. It should be understood that the provision of the first limiting hole 6511 and the second limiting hole can prevent the first adjustment rod 610 and the second adjustment rod 620 from slipping off the top of the first guide rod 650 and the second guide rod 660, respectively, affecting the pre-compression effect of the first elastic member 410 and the second elastic member 420. In addition, the bottom end surfaces of the first adjustment rod 610 and the second adjustment rod 620 are arcuate, which can facilitate tightening with the first cover plate 210 and the second cover plate 220.

[0071] In some embodiments, Figure 3-Figure 5 As shown, the first cover plate 210 may include at least one first limiting portion 214, and the second cover plate 220 may include at least one second limiting portion 224. The first limiting portion 214 and the second limiting portion 224 are respectively located above the swing rod 300 and spaced apart from the swing rod 300, and the first limiting portion 214 or the second limiting portion 224 is used to abut against the swing rod 300 when the swing rod 300 swings around the pivot axis. In some embodiments, the at least one first limiting portion 214 may include two first limiting portions 214 respectively disposed at both ends of the first cover plate 210, and the at least one second limiting portion 224 may include two second limiting portions 224 respectively disposed at both ends of the second cover plate 220. It should be understood that when the swing rod 300 is in a horizontal position and does not swing, the at least one first limiting portion 214 and the at least one second limiting portion 224 may be respectively parallel to the swing rod 300 and spaced apart by a certain distance. The distances between the first limiter 214 and the second limiter 224 and the swing rod 300 are greater than the height of a general obstacle or the depth of a common pit, so that when the wheels of the base 100 encounter a general obstacle or a common pit during movement, the swing rod 300 can swing and the base 100 can pass smoothly. The setting of the limiter can prevent the swing rod 300 from swinging too much, causing the base 100 to be unstable or the moving direction to be easily deviated.

[0072] In some embodiments, Figure 3 and Figure 4As shown, the first cover plate 210 may include a first upper cover plate 211, a first left cover plate 212 and a first right cover plate 213. The second cover plate 220 may include a second upper cover plate 221, a second left cover plate 222 and a second right cover plate 223. The first elastic member 410 is disposed between the first upper cover plate 211 and the first groove 311, the second elastic member 420 is disposed between the second upper cover plate 221 and the second groove 321, and the first left cover plate 212 and / or the first right cover plate 213 respectively include a first flange extending outwardly in parallel with the axial direction of the swing rod 300 to form at least one first position limiting portion 214. The second left cover plate 222 and / or the second right cover plate 223 respectively include a second flange extending outwardly in parallel with the axial direction of the swing rod 300 to form at least one second position limiting portion 224. The first flange and the second flange are respectively spaced apart from the upper surface of the swing rod 300. For example, taking the first cover plate 210 as an example, the first upper cover plate 211, the first left cover plate 212, the first right cover plate 213 and at least one first limit portion 214 can form a structure similar to a "J" shape. In this way, a partial accommodation space can be provided for the elastic member 400 to avoid the base 100 being set too high, which affects the stability of the base 100 during operation. The above is only an example, and it should be understood that the first cover plate 210 and the second cover plate 220 can also be rectangular plates, regular plates, irregular plates or other structural plates, which are not limited here.

[0073] In some embodiments, Figure 3 and Figure 4As shown, the suspension assembly 1000 may further include at least one first stopper 215 and at least one second stopper 225. At least one first stopper 215 is fixedly disposed on at least one first stopper portion 214, and at least one second stopper 225 is fixedly disposed on at least one second stopper portion 224. The first stopper 215 and the second stopper 225 are perpendicular to the upper surface of the swing rod 300 and extend in a direction close to the swing rod 300. The first stopper 215 and the second stopper 225 are spaced apart from the swing rod 300, and the first stopper 215 or the second stopper 225 is used to abut against the swing rod 300 when the swing rod 300 swings around the pivot axis. In some embodiments, the first stopper 215 and the second stopper 225 may include, but are not limited to, a nut, an abutment block, an abutment rod, etc. For simplicity of description, only one first stopper 215 and one second stopper 225 are shown in the figure. In some embodiments, at least one first position-limiting member 215 may include two first position-limiting members 215, which are respectively arranged on the two first position-limiting portions 214. At least one second position-limiting member 225 may include two second position-limiting members 225, which are respectively arranged on the two second position-limiting portions 224. It should be understood that at least one first position-limiting member 215 may include one first position-limiting member 215, and at least one second position-limiting member 225 may include one second position-limiting member 225. By providing two first position-limiting members 215 and two second position-limiting members 225, the upper surface of the swing arm 300 may be more stably abutted during the swinging process of the swing arm 300 to perform position limiting. It should be understood that the number of the first position-limiting member 215 and the second position-limiting member 225 may also be multiple, which is not limited here.

[0074] In some embodiments, Figure 3 As shown, the suspension assembly 1000 may further include a bearing seat 710 and a cross roller bearing 720. The bearing seat 710 is fixedly disposed on the base 100, the cross roller bearing 720 is disposed on the bearing seat 710, and the cross roller bearing 720 is connected to the swing rod 300 to allow the swing rod 300 to swing. It should be understood that the bearing seat 710 may be fixedly disposed at the center of one side of the base 100, the cross roller bearing 720 is connected to the middle position between the first end 310 and the second end 320 of the swing rod 300, and the swing rod 300 swings up and down in the vertical direction through the cross roller bearing 720. The cross roller bearing 720 is provided to improve the rotation accuracy and reduce the friction of the swing rod 300 during the swinging process.

[0075] In some embodiments, the present disclosure also provides a mobile station for a surgical robot. Figure 6 FIG. 1 is a schematic diagram showing the structure of a mobile station 10 of a surgical robot according to some embodiments of the present disclosure. Figure 1 and Figure 6As shown, the mobile station 10 of the surgical robot may include at least two driving wheels 101, at least two driven wheels 102, a suspension assembly (e.g., suspension assembly 1000) as in any embodiment of the present disclosure, a column 103, and at least one mechanical arm 104. The two driven wheels 102 are symmetrically arranged at the two ends of the swing rod 300 of the suspension assembly 1000, and the two driving wheels 101 are symmetrically arranged at the opposite end of the swing rod 300 on the base 100. It should be understood that the driving wheel 101 can be coupled with a motor for rotation under the drive of the motor. The column 103 is arranged on the base 100 of the suspension assembly 1000, and at least one mechanical arm 104 is arranged on the column 103. During the movement of the mobile station 10 of the surgical robot, when encountering general obstacles or ordinary pits, the suspension assembly 1000 is used to achieve shock absorption, which can avoid the base 100 from bumping, ensure the stability of the base 100, and avoid the mechanical arm 104 from colliding or the equipment inside the column 103 from colliding.

[0076] In some embodiments, Figure 6 As shown, the mobile station 10 may include multiple robotic arms 104. Those skilled in the art will appreciate that the mobile station 10 may also include a single robotic arm 104. It should be understood that the robotic arm 104 may include multiple movable joints and connecting rods, and has multiple degrees of freedom. A single robotic arm or multiple robotic arms may carry at least one surgical tool 105 (or endoscope), and at least one surgical tool 105 or endoscope is used to extend into the patient's body to perform a surgical operation. For example, before the operation, the mobile station 10 needs to be moved to the patient's side so that the robotic arm 104 moves to a suitable position to connect with the sheath, so as to facilitate at least one surgical tool 105 or endoscope to enter the body through the sheath. Those skilled in the art will appreciate that the mobile station 10 of the surgical robot provided in this embodiment may be a mobile station of any suitable surgical robot including a laparoscopic surgical robot.

[0077] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A suspension assembly, characterized in that: include: Pedestal; at least one cover plate, at least a portion of which is fixedly connected to the base; A swing rod is rotatably connected to the base, and the swing rod can swing up and down around a pivot axis; as well as At least one elastic member is movably pre-compressed and disposed between the cover plate and the swing rod.

2. The suspension assembly according to claim 1, characterized in that: The swing rod includes a first end and a second end opposite to the first end, the pivot axis is located at a middle position between the first end and the second end, and the first end and the second end can swing up and down around the pivot axis.

3. The suspension assembly according to claim 2, characterized in that: The at least one cover plate includes a first cover plate and a second cover plate, wherein the first cover plate and the second cover plate are respectively disposed at the first end and the second end; The elastic member includes a first elastic member and a second elastic member, the rocker arm includes a first groove and a second groove respectively arranged at the first end and the second end, the bottom ends of the first elastic member and the second elastic member are respectively arranged in the first groove and the second groove, the first elastic member is located between the first groove and the first cover plate in a pre-compressed state, and the second elastic member is located between the second groove and the second cover plate in a pre-compressed state.

4. The suspension assembly according to claim 3, characterized in that: Also includes: A first outer sleeve, fixedly connected to the first cover plate; A second outer sleeve, fixedly connected to the second cover plate; A first inner sleeve, slidably sleeved in the first outer sleeve; as well as The second inner sleeve is slidably mounted in the second outer sleeve. The bottoms of the first inner sleeve and the second inner sleeve are respectively movably arranged in the first groove and the second groove, the first inner sleeve and the second inner sleeve are at least partially sleeved on the outside of the first elastic member and the second elastic member, and the bottoms of the first inner sleeve and the second inner sleeve are respectively connected to the bottom ends of the first elastic member and the second elastic member.

5. The suspension assembly according to claim 4, characterized in that: The bottoms of the first inner sleeve and the second inner sleeve are solid, the outer end surfaces of the bottoms of the first inner sleeve and the second inner sleeve are arc-shaped, the inner end surfaces of the bottoms of the first inner sleeve and the second inner sleeve are flat, and the bottom ends of the first elastic member and the second elastic member are respectively abutted or fixedly arranged on the inner end surfaces of the bottoms of the first inner sleeve and the second inner sleeve.

6. The suspension assembly according to claim 5, characterized in that: It also includes a first adjusting rod and a second adjusting rod, wherein the outer circumferences of the first adjusting rod and the second adjusting rod are respectively provided with a first thread segment and a second thread segment; The first cover plate and the second cover plate respectively include a first threaded hole and a second threaded hole that pass through in the thickness direction, the first thread segment and the second thread segment are respectively used to cooperate with the first threaded hole and the second threaded hole, the length of the first thread segment is greater than the thickness of the first threaded hole of the first cover plate, the length of the second thread segment is greater than the thickness of the second threaded hole of the second cover plate, and the first thread segment and the second thread segment at least partially pass through the first threaded hole and the second threaded hole respectively and directly or indirectly abut against the top ends of the first elastic member and the second elastic member.

7. The suspension assembly according to claim 6, characterized in that It also includes a first nut and a second nut, which are respectively sleeved on the first thread segment and the second thread segment, and the first nut and the second nut are respectively used to abut against the first cover plate and the second cover plate.

8. The suspension assembly according to claim 6, characterized in that It also includes a first guide rod and a second guide rod, the tops of the first guide rod and the second guide rod are respectively provided with a first rod cap and a second rod cap, the first elastic member and the second elastic member are respectively sleeved on the outside of the first guide rod and the second guide rod, and the first rod cap and the second rod cap are respectively used to abut against the tops of the first elastic member and the second elastic member.

9. The suspension assembly according to claim 8, characterized in that The first rod cap and the second rod cap also respectively include a first limiting hole and a second limiting hole extending axially inward from the end surface, and the bottom end surfaces of the first adjusting rod and the second adjusting rod are arc-shaped. The bottoms of the first adjusting rod and the second adjusting rod are respectively used to extend into the first limiting hole and the second limiting hole and abut against the bottoms of the first limiting hole and the second limiting hole.

10. The suspension assembly according to claim 3, characterized in that The first cover plate includes at least one first limiting portion, and the second cover plate includes at least one second limiting portion, the first limiting portion and the second limiting portion are respectively located above the rocker arm and spaced apart from the rocker arm, and the first limiting portion or the second limiting portion is used to abut against the rocker arm when the rocker arm swings around the pivot axis.

11. The suspension assembly according to claim 10, characterized in that The first cover plate includes a first upper cover plate, a first left cover plate and a first right cover plate, the second cover plate includes a second upper cover plate, a second left cover plate and a second right cover plate, the first elastic member is arranged between the first upper cover plate and the first groove, the second elastic member is arranged between the second upper cover plate and the second groove, the first left cover plate and / or the first right cover plate respectively include a first flange extending outward along an axial direction parallel to the swing rod to form the at least one first limiting portion, the second left cover plate and / or the second right cover plate respectively include a second flange extending outward along an axial direction parallel to the swing rod to form the at least one second limiting portion.

12. The suspension assembly according to claim 11, characterized in that It also includes at least one first limit member and at least one second limit member, the at least one first limit member is fixedly arranged on the at least one first limit portion, and the at least one second limit member is fixedly arranged on the at least one second limit portion, the first limit member and the second limit member are perpendicular to the upper surface of the rocker arm and extend in a direction close to the rocker arm, the first limit member and the second limit member are spaced apart from the rocker arm, and the first limit member or the second limit member is used to abut and limit with the rocker arm when the rocker arm swings around the pivot axis.

13. The suspension assembly according to claim 1, characterized in that It also includes a bearing seat and a cross roller bearing, wherein the bearing seat is fixedly arranged on the base, the cross roller bearing is arranged on the bearing seat, and the cross roller bearing is connected to the swing rod to allow the swing rod to swing.

14. A mobile station for a surgical robot, characterized in that: include: at least two driving wheels and at least two driven wheels; The suspension assembly according to any one of claims 1 to 13, wherein the two driven wheels are symmetrically arranged at two ends of the swing rod of the suspension assembly, and the two driving wheels are symmetrically arranged at one end of the base opposite to the swing rod; A column, arranged on a base of the suspension assembly; as well as At least one mechanical arm is arranged on the column.

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