Moving device for operating bed and surgical robot

Abstract

The utility model relates to a movement device for an operating bed and a surgical robot. The moving device for the operating bed comprises a base, a moving device and a control device, the base is provided with at least three first mounting positions, and the at least three first mounting positions are not collinear; the movable seat is provided with at least three second mounting positions, the at least three second mounting positions are not collinear, and the movable seat is used for being fixed to an operating bed; the number of the driving units is at least three, each driving unit is movably connected with the base through the corresponding first installation position, each driving unit is movably connected with the movable base through the corresponding second installation position, each driving unit can output linear motion, and the driving units can drive the movable base to move relative to the base. Therefore, the movable seat has at least one translational degree of freedom and at least one rotational degree of freedom. When the driving unit outputs linear motion, the driving unit can enable the movable seat to rotate or translate, the translating or inclining requirement of the operating bed is met, and meanwhile the bearing capacity and rigidity of the movable seat are improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a motion device for an operating table and a surgical robot. Background Art

[0002] The operating table is also called the operating table. It is used to support the patient during the operation. The height of the operating table can be adjusted according to the needs of the operation to provide a convenient operating environment for the doctor. The operating table is a necessary tool for the doctor during the operation. It is a basic equipment in the operating room and can accommodate the patient so that the doctor can perform the operation more conveniently.

[0003] Usually, the operating table is driven by a motor or hydraulic drive, and the reciprocating motion of each electric cylinder or oil cylinder is controlled by a microcomputer to control the position change of the operating table surface, such as lifting, moving, etc., so as to cooperate with the operation. However, the traditional motion device used to drive the operating table has low rigidity and poor load bearing capacity, which cannot meet the actual needs. Summary of the invention

[0004] Based on this, it is necessary to provide a motion device and a surgical robot for an operating table to address the problems of low rigidity and poor load-bearing capacity of the current motion device driving the operating table.

[0005] A motion device for an operating table, comprising:

[0006] A base, wherein the base is provided with at least three first installation positions, and at least three of the first installation positions are not collinear;

[0007] A movable seat, wherein the movable seat is provided with at least three second mounting positions, and at least three of the second mounting positions are not collinear, and the movable seat is used to be fixed to the operating table;

[0008] A driving unit, wherein at least three driving units are provided, each of the driving units is movably connected to the base via the corresponding first mounting position, each of the driving units is movably connected to the movable seat via the corresponding second mounting position, each of the driving units is capable of outputting linear motion, and the driving unit is capable of driving the movable seat to move relative to the base so that the movable seat has at least one translational degree of freedom and at least one rotational degree of freedom.

[0009] In one embodiment of the present application, the motion device also includes a rotating joint and a universal joint, and there are at least three rotating joints, and each of the driving units is installed at the first mounting position through the corresponding rotating joint. There are at least three universal joints, and each of the driving units is installed at the second mounting position through the corresponding universal joint.

[0010] In one embodiment of the present application, the rotating joint includes a support shaft and a mounting seat, the driving unit has a mounting end, the mounting end is located at one end of the driving unit facing the base, and the mounting seat is arranged at the first mounting position; the support shaft is fixedly connected or rotatably connected to one of the mounting end and the mounting seat, and the support shaft is rotatably connected to the other.

[0011] In one embodiment of the present application, the mounting seat is provided with a mounting hole, one end of the support shaft is passed through the mounting hole, and the rotation joint further includes a limiter, the limiter is fixedly connected to the support shaft, and the limiter is also fixed to the mounting seat to limit the support shaft from rotating relative to the mounting seat;

[0012] And / or, the rotary joint further comprises a support bearing, the mounting end is provided with a mounting portion, the outer ring of the support bearing is arranged on the mounting portion, and the inner ring of the support bearing is sleeved on the support shaft.

[0013] In one embodiment of the present application, the mounting seat includes a mounting body, a first fixing portion and a second fixing portion, the mounting body is arranged in a ring-shaped structure, the support shaft is passed through the mounting body, the first fixing portion and the second fixing portion are both arranged in a plate-shaped structure, the first fixing portion and the second fixing portion are arranged on opposite sides of the mounting body, and are fixedly connected to the first mounting position.

[0014] In one embodiment of the present application, each of the first mounting positions is provided with at least two rotating joints, so that each of the driving units can be connected to the base through at least two rotating joints, and along the rotation axis direction of the rotating joint, at least one rotating joint is provided on the opposite sides of the mounting end.

[0015] In one embodiment of the present application, the number of the first mounting positions, the second mounting positions and the driving unit are all three, the three first mounting positions are arranged in a first triangle, the three second mounting positions are arranged in a second triangle, and the first triangle and the second triangle are similar triangles.

[0016] In one embodiment of the present application, both the first triangle and the second triangle are isosceles triangles, and the height of the first triangle is greater than the height of the second triangle.

[0017] In one embodiment of the present application, the three rotating joints corresponding to the first mounting positions are respectively the first joint, the second joint and the third joint, the rotation axis of the first joint is the first axis, the rotation axis of the second joint is the second axis, the rotation axis of the third joint is the third axis, the first axis is parallel to the second axis, and the first axis is perpendicular to the third axis.

[0018] A surgical robot comprises an operating table and at least one motion device for the operating table as described in any of the above technical features, wherein the movable seat is connected to the operating table, and the motion device can lift and / or rotate the operating table.

[0019] After adopting the above technical solution, this application has at least the following technical effects:

[0020] The motion device and surgical robot for an operating table of the present application, in the motion device for an operating table, the base has at least three non-collinear first mounting positions, the movable seat has at least three non-collinear second mounting positions, when the driving unit is movably connected with the base and the movable seat through the corresponding first mounting positions and the second mounting positions, a parallel mechanism of at least three branches is formed; when the driving unit outputs linear motions of the same amplitude, the movable seat can be translated in the vertical direction relative to the base to meet the lifting and lowering needs of the operating table, and when different driving units output linear motions of different amplitudes, the movable seat can be rotated or translated in the horizontal direction to meet the horizontal movement or tilting needs of the operating table; since at least three first mounting positions and at least three second mounting positions are not collinear, according to the principle that three points form a plane, through the setting of at least three driving units, effective support for the movable seat is achieved, and the bearing capacity of the movable seat and the operating table is improved. At the same time, the base, the movable seat and multiple driving units form a parallel mechanism, and the advantages of the parallel mechanism such as large rigidity and strong bearing capacity are utilized to improve the rigidity and bearing capacity of the motion device to meet the needs of patients with large weight or special surgical procedures. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of a motion device for an operating table according to an embodiment of the present application.

[0022] Figure 2 for Figure 1 The shown moving device for an operating table is a top view without the movable base.

[0023] Figure 3 for Figure 1 An exploded schematic diagram of a motion device for an operating table is shown.

[0024] Figure 4 for Figure 1 An exploded schematic diagram of a rotary joint in a motion device for an operating table is shown.

[0025] Wherein: 10, motion device for operating table; 100, base; 110, first mounting position; 120, adapter plate; 200, movable seat; 210, second mounting position; 300, drive unit; 310, mounting end; 311, mounting part; 320, drive end; 400, rotating joint; 410, supporting shaft; 420, mounting seat; 421, mounting hole; 422, mounting body; 423, first fixing part; 424, second fixing part; 430, limiting member; 440, supporting bearing; 500, universal joint; 510, connecting seat; 520, ball joint; A, first unit; A1, first joint; B, second unit; B1, second joint; C, third unit; C1, third joint; O, rotation axis; O1, first axis; O2, second axis; O3, third axis. DETAILED DESCRIPTION

[0026] 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.

[0027] 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.

[0028] 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. Thus, 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, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0029] 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.

[0030] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "on" or "below" a second feature, etc., or the like, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0031] 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.

[0032] See also Figures 1 to 3 , this embodiment provides a motion device 10 for an operating table. The motion device 10 for an operating table is applied to a surgical robot. The manipulator of the surgical robot performs auxiliary operations or all surgical operations on the patient on the operating table. During this process, the motion device 10 is connected to the operating table and can drive the operating table to change its position and posture, such as lifting, deflecting, and other changes, thereby meeting the position and posture requirements of the doctor and the manipulator during surgery. In this embodiment, only the example of the motion device 10 for an operating table driving the movement of the operating table is used for explanation. Of course, in other embodiments of the present application, the motion device 10 for an operating table can also be used to drive the movement of other flat panels or components that need to switch positions.

[0033] The specific structure of a motion device 10 for an operating table according to an embodiment is introduced below.

[0034] See also Figures 1 to 3 In one embodiment, the motion device 10 for an operating table includes a base 100, a movable seat 200, and a drive unit 300. The base 100 is provided with at least three first mounting positions 110, and at least three first mounting positions 110 are not collinear. The movable seat 200 is provided with at least three second mounting positions 210, and at least three second mounting positions 210 are not collinear, and the movable seat 200 is used to be fixed to the operating table. There are at least three drive units 300, each drive unit 300 is movably connected to the base 100 through the corresponding first mounting position 110, each drive unit 300 is movably connected to the movable seat 200 through the corresponding second mounting position 210, each drive unit 300 can output linear motion, and the drive unit 300 can drive the movable seat 200 to move relative to the base 100, so that the movable seat 200 has at least one translational degree of freedom and at least one rotational degree of freedom.

[0035] The base 100 serves as a support and can be directly placed on the ground or fixed to the support mechanism of the surgical robot. The other components of the motion device 10 for the operating bed are arranged on the base 100, and the various components are carried by the base 100. The movable seat 200 is the top plate of the motion device 10 for the operating bed. The movable seat 200 and the base 100 are arranged relative to each other along the height direction of the motion device 10 of the operating bed. The movable seat 200 is connected to the bottom of the operating bed (not shown) to fix the motion device 10 for the operating bed to the operating bed. In addition, the movable seat 200 is located at the top and the base 100 is located at the bottom. The up and down positions here are represented by "1". Figure 1 The up, down, left, and right directions shown are taken as reference and will not be described in detail later.

[0036] The driving unit 300 is a power component of the motion device 10 for the operating table. At least three driving units 300 are arranged between the movable seat 200 and the base 100, and the number of the driving units 300 is equal to the number of the first mounting position 110 and the second mounting position 210, so that the movable seat 200 is supported on the base 100 by the driving units 300. Figure 1 In the perspective shown, the lower end of the driving unit 300 is movably connected to the base 100, and the upper end of the driving unit 300 is movably connected to the movable seat 200. The driving unit 300 can output linear motion to drive the movable seat 200 to move relative to the base 100, so that the movable seat 200 can have at least one translational degree of freedom and at least one rotational degree of freedom, thereby driving the operating table fixed to the movable seat 200 to achieve translation and rotation, meeting the needs of surgical operations.

[0037] It should be noted that:

[0038] like Figure 1As shown, a coordinate system is established with three mutually perpendicular axes XYZ. The movable seat can have the freedom to move along a certain linear direction, such as movement along the X-axis direction, the Y-axis direction, or the Z-axis direction, and can also have the freedom to rotate around a certain axis, such as rotation around the X-axis direction, the Y-axis direction, or the Z-axis direction. The freedom to move along a certain linear direction is called translational freedom, and the freedom to rotate around a certain axis is called rotational freedom.

[0039] Specifically, the surface of the base 100 facing the movable base 200 has at least three first mounting positions 110, and the at least three first mounting positions 110 are not collinear, that is, the at least three first mounting positions 110 are not on the same straight line. The surface of the movable base 200 facing the base 100 has at least three second mounting positions 210, and the at least three second mounting positions 210 are not collinear, that is, the at least three second mounting positions 210 are not on the same straight line.

[0040] The number of the first mounting positions 110 is equal to the number of the second mounting positions 210, and they are arranged in a one-to-one correspondence. The number of the first mounting positions 110 and the second mounting positions 210 is also equal to the number of the drive units 300. Figure 1 In the perspective shown, the lower end of the driving unit 300 is movably connected to the first mounting position 110, thereby realizing the movably connected driving unit 300 and the base 100, and the upper end of the driving unit 300 is movably connected to the second mounting position 210, thereby realizing the movably connected driving unit 300 and the movable seat 200. The movably connected here can be a rotating connection or a universal connection.

[0041] When the driving unit 300 outputs a linear motion with the same amplitude, the driving unit 300 can realize the movement of the movable seat 200 relative to the base 100 in the vertical direction to realize the lifting and lowering control of the operating table. Moreover, since at least three driving units 300 can drive the movable seat 200 to move at the same time, the amplitude of the linear motion output by each driving unit 300 can be different, and the driving unit 300 movably connects the base 100 and the movable seat 200. At this time, the structural form of the movable connection can also compensate for the linear motion output by the driving unit 300, so that the movable seat 200 can rotate or translate relative to the base 100 to change the position of the movable seat 200, so as to meet the needs of the operating table to move or rotate in the horizontal direction. At the same time, at least three driving units 300 are equivalent to being arranged between the base 100 and the movable seat 200 in a parallel manner, and at least three driving units 300 output power at the same time, which can greatly improve the bearing capacity of the movable seat 200.

[0042] In the motion device 10 for an operating bed of the above-mentioned embodiment, the base 100 has at least three non-collinear first mounting positions 110, the movable seat 200 has at least three non-collinear second mounting positions 210, and the opposite ends of the driving unit 300 are movably connected to the corresponding first mounting positions 110 and second mounting positions 210 respectively. Therefore, when the driving unit 300 outputs linear motion, the movable seat 200 can be moved in the vertical direction relative to the base 100 to meet the lifting and lowering needs of the operating bed. When the linear motion amplitudes output by different driving units 300 are different, the movable seat 200 can be rotated or translated to meet the translation or tilting needs of the operating bed. Due to the provision of at least three driving units 300, effective support for the movable seat 200 is achieved, and the carrying capacity of the movable seat 200 and the operating bed is improved. At the same time, the base 100, the movable seat 200 and the plurality of driving units 300 form a parallel mechanism, which also improves the rigidity of the motion device 10, can meet the needs of patients with large body weight or special surgical procedures, and ensure the stability and accuracy of the operation, thereby reducing the risk of the operation.

[0043] Optionally, the drive unit 300 is a linear motion module to output linear motion. The motor rotates, passes through a reducer and a transmission gear, and acts on the lead screw. It is worth noting that the linear motion module is a prior art, and its specific structure and working principle are not described here. Of course, in other embodiments of the present application, the drive unit 300 can also be a linear motor or other structure capable of outputting linear motion. Of course, the drive unit 300 can also be an electric push rod, a hydraulic push rod, a pneumatic push rod, etc.

[0044] See also Figures 1 to 3 In one embodiment, Figure 1 Taking the perspective as an example, the lower end of the drive unit 300 can be rotatably connected to the first mounting position 110, and the upper end of the drive unit 300 can be universally connected to the second mounting position 210. In other words, the lower end of the drive unit 300 can rotate relative to the base 100, and the upper end of the drive unit 300 can universally rotate relative to the movable seat 200. In this way, when at least three drive units 300 drive the movable seat 200, at least one translational degree of freedom and at least one rotational degree of freedom can be achieved, so that the lifting and deflection control of the movable seat 200 can be achieved, so that the position of the operating table can meet the needs of surgical operations.

[0045] See also Figures 1 to 3 In one embodiment, the driving unit 300 has a mounting end 310 and a driving end 320 that are arranged opposite to each other. The mounting end 310 is arranged at the end of the driving unit 300 facing the base 100 to be rotatably connected to the first mounting position 110, and the driving end 320 is arranged at the end of the driving unit 300 facing the movable seat 200 to be universally connected to the second mounting position 210.

[0046] The driving unit 300 has two opposite ends along its length direction. The end of the driving unit 300 facing the base 100 is the mounting end 310, and the end of the driving unit 300 facing the movable seat 200 is the driving end 320. The mounting end 310 is the end of the driving unit 300 that is rotatably connected to the base 100, and the driving end 320 is the end of the driving unit 300 that outputs power. In this way, after at least three driving units 300 output linear motion through the driving end 320, they can directly drive the movable seat 200 to move relative to the base 100. At the same time, the movable seat 200 can also drive the driving unit 300 to rotate universally relative to the base 100 through the mounting end 310 through a universal connection, so as to realize the lifting and deflection control of the movable seat 200, thereby realizing the adjustment of the position of the operating table, so that the position of the operating table can meet the needs of surgical operations.

[0047] See also Figures 1 to 3 In one embodiment, the motion device 10 also includes a rotating joint 400 and a universal joint 500. There are at least three rotating joints 400, and each driving unit 300 is installed at the first mounting position 110 through the corresponding rotating joint 400. There are at least three universal joints 500, and each driving unit 300 is installed at the second mounting position 210 through the corresponding universal joint 500, thereby realizing the movable connection between the driving unit 300 and the base 100 and the movable seat 200 respectively.

[0048] The rotating joint 400 is arranged at the first installation position 110 of the base 100, and the installation end 310 of the driving unit 300 is installed at the rotating joint 400. The driving unit 300 can be rotatably connected to the first installation position 110 through the cooperation between the installation end 310 and the rotating joint 400. The universal joint 500 is arranged at the second installation position 210 of the movable seat 200, and the driving end 320 of the driving unit 300 is universally connected to the universal joint 500. The driving unit 300 can be universally connected to the second installation position 210 through the cooperation between the driving end 320 and the universal joint 500.

[0049] When all driving units 300 output linear motions of the same amplitude, the driving unit 300 can drive the movable seat 200 to rise or fall relative to the base 100 through the driving end 320 via the universal joint 500; since the driving unit 300 can also rotate relative to the base 100 through the mounting end 310 via the rotating joint 400, when different driving units 300 output linear motions of different amplitudes, the movable seat 200 can be universally rotated relative to the driving unit 300 through the universal joint 500 to achieve horizontal translation or rotation of the movable seat 200, thereby achieving adjustment of the position and posture of the operating bed, so that the posture of the operating bed can meet the needs of surgical operations.

[0050] See also Figure 3 and Figure 4In one embodiment, the rotation joint 400 includes a support shaft 410 and a mounting seat 420, the driving unit 300 has a mounting end 310, the mounting end 310 is located at one end of the driving unit 300 facing the base 100, and the mounting seat 420 is arranged at the first mounting position 110; the support shaft 410 is fixedly connected or rotationally connected to one of the mounting end 310 and the mounting seat 420, and the support shaft 410 is rotationally connected to the other.

[0051] The mounting seat 420 is a mounting base of the rotating joint 400. The mounting seat 420 is arranged at the first mounting position 110 of the base 100. The support shaft 410 is partially installed in the mounting seat 420 and partially installed in the mounting end 310. Moreover, the driving unit 300 rotates relative to the mounting seat 420 through the support shaft 410 to achieve a rotatable connection between the driving unit 300 and the base 100. In this way, when the driving unit 300 outputs a linear motion, the mounting end 310 of the driving unit 300 can rotate relative to the mounting seat 420 through the support shaft 410, so that the driving unit 300 can rotate with a single degree of freedom relative to the mounting seat 420.

[0052] Optionally, the support shaft 410 is fixed to the mounting seat 420 and rotatably mounted on the mounting end 310, that is, the support shaft 410 and the mounting end 310 can rotate relative to each other. In this way, the mounting end 310 of the drive unit 300 can rotate around the support shaft 410, so that the drive unit 300 can rotate relative to the base 100. Of course, the support shaft 410 can also be rotatably mounted in the mounting seat 420, and the support shaft 410 is fixedly mounted on the mounting end 310. In this case, the mounting end 310 of the drive unit 300 can drive the mounting shaft to rotate in the mounting seat 420; or, the support shaft 410 can be rotatably mounted in the mounting seat 420, and the support shaft 410 can be rotatably mounted on the mounting end 310, so that the drive unit 300 can also rotate relative to the base 100.

[0053] See also Figure 3 and Figure 4 In one embodiment, the mounting seat 420 is provided with a mounting hole 421, one end of the support shaft 410 is passed through the mounting hole 421, and the rotating joint 400 also includes a limit member 430, the limit member 430 is fixedly connected to the support shaft 410, and the limit member 430 is also fixed to the mounting seat 420 to limit the rotation of the support shaft 410 relative to the mounting seat 420.

[0054] The mounting seat 420 is hollow, and the space inside it is a mounting hole 421, and one end of the support shaft 410 is arranged in the mounting hole 421. The limiter 430 is arranged at the end of the mounting seat 420, and the limiter 430 is also connected to the outer wall of the support shaft 410. Since the mounting seat 420 is a fixed component, after the limiter 430 is connected to the mounting seat 420, the limiter 430 also remains stationary, and the limiter 430 is also connected to the support shaft 410, so that the rotation limit of the support shaft 410 can be achieved to limit the rotation of the support shaft 410 relative to the mounting seat 420, that is, the support shaft 410 is fixed to the mounting seat 420 to play a supporting role for the drive unit 300, but the support shaft 410 can rotate relative to the mounting end 310, so that when the drive unit 300 outputs a linear motion, the drive unit 300 can rotate relative to the base 100.

[0055] That is, one end of the support shaft 410 is rotatably disposed in the mounting end 310, and the other end of the support shaft 410 is disposed in the mounting hole 421 of the mounting seat 420. After the support shaft 410 is fixed to the mounting seat 420 by the stopper 430, the support shaft 410 can be reliably fixed to the mounting seat 420. In this way, when the drive unit 300 outputs a linear motion, the mounting end 310 can rotate around the support shaft 410 to ensure the stability of the rotation of the drive unit 300.

[0056] Optionally, the position-limiting member 430 includes an arc-shaped clamping portion and a fixed end, and the arc-shaped clamping portion has an opening, and the two ends of the opening are fixed ends. When the position-limiting member 430 is installed on the support shaft 410, the clamping portion is sleeved on the outer wall of the support shaft 410, and then the two fixed ends are fixed so that the clamping portion clamps the connecting shaft. In this way, the position-limiting member 430 can be fixedly connected to the support shaft 410, and at the same time, the clamping portion is also fixed to the mounting seat 420 to achieve the limiting of the position-limiting member 430.

[0057] Optionally, the clamping portion has a plurality of fastening holes, the mounting seat 420 has screw holes corresponding to the plurality of fastening holes, and fasteners such as screws pass through the fastening holes and are fixed to the mounting seat 420 through the screw holes. Optionally, the plurality of screw holes are arranged at intervals around the outer circumference of the mounting hole 421 of the mounting seat 420 to achieve reliable fixation of the stopper 430 and the mounting seat 420.

[0058] Optionally, the mounting hole 421 passes through the mounting seat 420 along the axial direction of the support shaft 410. In this way, after the support shaft 410 is installed on the mounting seat 420, the end of the support shaft 410 can extend through the mounting hole 421.

[0059] Alternatively, if Figure 4As shown, the limit member 430 is fixed to the side of the mounting seat 420 away from the mounting end 310 , and the limit member 430 limits and fixes the support shaft 410 to the mounting seat 420 at the end of the support shaft 410 to avoid interference between the limit member 430 and the mounting end 310 .

[0060] Optionally, the limiting member 430 is a clamp.

[0061] See also Figure 3 and Figure 4 In one embodiment, the rotary joint 400 further includes a support bearing 440, the mounting end 310 is provided with a mounting portion 311, the outer ring of the support bearing 440 is provided on the mounting portion 311, and the inner ring of the support shaft 410 is sleeved on the support shaft 410. The mounting end 310 has an arc-shaped wall surface, and the space formed by the arc-shaped wall surface is the mounting portion 311. The support bearing 440 is provided between the support shaft 410 and the mounting end 310, and the outer ring of the support bearing 440 is fixedly installed in the arc-shaped wall surface of the mounting portion 311, that is, in the space formed by the arc-shaped wall surface, and the inner ring of the support bearing 440 is fixedly sleeved on the outer wall of the support shaft 410, and the rotatable connection between the mounting end 310 and the support shaft 410 is realized by the support bearing 440. Moreover, after the support bearing 440 is provided, the rotational friction between the support shaft 410 and the mounting end 310 can be reduced.

[0062] Optionally, the mounting portion 311 may be a through hole that passes through the mounting end 310. Optionally, the mounting end 310 includes two arc-shaped plates, which are symmetrically arranged and surround the mounting portion 311. Figure 4 As shown. In this way, the outer ring of the support bearing 440 can be installed in the mounting portion 311 surrounded by the two arc-shaped plates. Of course, in other embodiments of the present application, the mounting end 310 can also be other structural forms, as long as the mounting portion 311 can be provided to accommodate the outer ring of the support bearing 440.

[0063] See also Figure 3 and Figure 4 In one embodiment, the mounting seat 420 includes a mounting body 422, a first fixing portion 423 and a second fixing portion 424. The mounting body 422 is arranged in a ring-shaped structure, and the support shaft 410 is passed through the mounting body 422. The first fixing portion 423 and the second fixing portion 424 are both arranged in a plate-shaped structure. The first fixing portion 423 and the second fixing portion 424 are arranged on opposite sides of the mounting body 422 and are fixedly connected to the first mounting position 110.

[0064] The mounting body 422 is the main structure of the mounting seat 420. The mounting body 422 is arranged in an annular shape. The space inside the mounting body 422 is the mounting hole 421. The support shaft 410 is arranged through the mounting hole 421 of the mounting body 422. The first fixing portion 423 and the second fixing portion 424 are arranged on opposite sides of the mounting body 422 in the radial direction. The first fixing portion 423 and the second fixing portion 424 are arranged at the first mounting position 110 of the base 100 to effectively fix the mounting body 422 to the base 100, so as to indirectly fix the inner ring of the support bearing 440 to the base 100 through the mounting hole 421.

[0065] Optionally, the first fixing portion 423 and the second fixing portion 424 both have fixing holes, and fasteners such as screws are installed on the first mounting position 110 of the base 100 through the fixing holes. Optionally, the first fixing portion 423, the second fixing portion 424 and the mounting body 422 are an integrated structure to ensure the structural strength of the mounting base 420. Optionally, the first fixing portion 423 and the second fixing portion 424 are arranged in a plate shape.

[0066] See also Figure 3 and Figure 4 In one embodiment, each first mounting position 110 is provided with at least two rotating joints 400, so that each driving unit 300 can be connected to the base 100 through at least two rotating joints 400, and along the direction of the rotating axis O of the rotating joint 400, at least one rotating joint 400 is provided on the opposite sides of the mounting end 310.

[0067] That is to say, each mounting end 310 corresponds to at least two rotating joints 400, and at least two rotating joints 400 can be rotatably connected to the mounting end 310 and fixed to the first mounting position 110 of the base 100. In this way, the reliability of the connection between the driving unit 300 and the base 100 can be guaranteed, and the stability of the rotation of the driving unit 300 around the rotating joint 400 can be guaranteed.

[0068] Exemplarily, each mounting end 310 corresponds to two rotating joints 400, and the two rotating joints 400 are symmetrically arranged on both sides of the axial direction of the mounting end 310. In other words, the two rotating joints 400 can be rotatably connected to the mounting end 310 on both sides of the axial direction of the mounting end 310 to ensure the reliability of the connection between the drive unit 300 and the base 100, and to ensure the stability of the rotation of the drive unit 300 around the rotating joint 400. Of course, in other embodiments of the present application, each mounting end 310 can also correspond to other numbers of rotating joints 400. The mounting portion 311 is arranged to penetrate the mounting end 310 along the axial direction of the support shaft 410, so that the opposite sides of the mounting end 310 along the axial direction of the support shaft 410 can be assembled with the support bearings 440 of the corresponding rotating joints 400 respectively.

[0069] In one embodiment, the base 100 further includes an adapter plate 120. In at least two rotating joints 400 of the same mounting end 310, the first fixing portion 423 and the second fixing portion 424 of each rotating joint 400 are both disposed on the adapter plate 120 and fixed to the base 100 through the adapter plate 120. It can be understood that there are two adapter plates 120, which are symmetrically disposed on both sides of the mounting end 310 along the axial direction of the support shaft 410, the first fixing portion 423 of each rotating joint 400 is disposed on the adapter plate 120, and the second fixing portion 424 of each rotating joint 400 is disposed on another adapter plate 120, so as to ensure that the rotating joint 400 is reliably fixed to the base 100.

[0070] See also Figures 1 to 3 In one embodiment, the universal joint 500 includes a ball joint 520 and a connection seat 510, the ball joint 520 can be rotatably disposed on the connection seat 510, one of the ball joint 520 and the connection seat 510 is disposed at the driving end 320 of the driving unit 300, and the other is disposed at the second installation position 210 of the movable seat 200. In this way, the movable seat 200 can be universally rotated relative to the driving unit 300 through the cooperation of the ball joint 520 and the connection seat 510.

[0071] Exemplarily, the ball joint 520 is disposed at the second mounting position 210 of the base 100, the connection seat 510 is disposed at the driving end 320 of the drive unit 300, and the ball joint 520 can be universally rotatable on the connection seat 510. Of course, in other embodiments of the present application, the ball joint 520 can also be disposed at the driving end 320 of the drive unit 300, and the connection seat 510 can be disposed at the second mounting position 210 of the base 100. Optionally, the universal joint 500 can also be a ball joint or use multiple rotation pairs to cooperate to achieve the universal rotation function, which will not be repeated here.

[0072] See also Figures 1 to 3 In this embodiment, the number of the first mounting positions 110, the second mounting positions 210 and the driving unit 300 are all three, the three first mounting positions 110 are arranged in a first triangle, the three second mounting positions 210 are arranged in a second triangle, and the first triangle and the second triangle are similar triangles.

[0073] The three first installation positions 110 are arranged in a first triangle, which means that the installation points of the three first installation positions are connected to form a triangle, that is, the installation positions of the three installation positions 110 are respectively located at the three corners of the first triangle; the three second installation positions 210 are arranged in a second triangle in the same way and will not be repeated.

[0074] Since the first triangle and the second triangle are similar triangles, mathematical modeling and background calculations will be more convenient and the control difficulty will be reduced.

[0075] Further, the distances between any adjacent first mounting positions 110 are equal, and the distances between any second mounting positions 210 are equal. Since the three first mounting positions 110 are not collinearly arranged, and the distances between any adjacent first mounting positions 110 are equal, in this case, the three first mounting positions 110 are arranged in an equilateral triangle. Similarly, since the three second mounting positions 210 are not collinearly arranged, and the distances between any adjacent second mounting positions 210 are equal, in this case, the three second mounting positions 210 are arranged in an equilateral triangle, that is, the first triangle and the second triangle are both equilateral triangles. The equilateral triangle layout of the first mounting position 110 and the second mounting position 210 can make the mathematical modeling and background calculation of the drive unit 300 more convenient when driving the movable seat 200, reduce the control difficulty, and the setting of the three drive units 300 can also achieve stable support and drive control of the movable seat 200 with the least drive branch chain, thereby achieving the purpose of reducing equipment costs.

[0076] Furthermore, after the three drive units 300 are movably connected to the corresponding first mounting position 110 and the second mounting position 210, the distance between any two drive units 300 is also equal in any plane parallel to the base 100. In this way, the three drive units 300 are also arranged between the base 100 and the movable seat 200 in an equilateral triangle manner to stably support the movable seat 200 and ensure that the movable seat 200 is evenly stressed.

[0077] In this way, the three driving units 300 are evenly spaced around the center of the movable seat 200 to form three fulcrums. Any fulcrum has a long reach to its center of mass, and force arms are formed between the fulcrums to stably support the movable seat 200, which greatly improves the rigidity and stability of the operating bed. At the same time, it can also increase the rated load and improve the carrying capacity of the operating bed.

[0078] When the number of driving units 300 is three, and the driving units 300 are rotationally connected to the base 100 and universally connected to the movable seat 200, when the linear motion amplitudes output by the driving units 300 are the same, the lifting motion of the movable seat 200 relative to the base 100 can be realized, and when the linear motion amplitudes output by the driving units 300 are different, the deflection motion of the movable seat 200 relative to the base 100 can be realized.

[0079] Of course, in other embodiments of the present application, the number of the first mounting position 110, the second mounting position 210 and the drive unit 300 are all four. A set of the first mounting position 110, the second mounting position 210 and the drive unit 300 can be added to the above-mentioned triangle, or the four drive units 300 can be arranged in the form of a quadrilateral, such as a rectangle, as long as the position of the operating table can be adjusted. It is worth noting that the present application is only described in the form of a layout of three drive units 300, and the structural form of the four drive units 300 will not be repeated here.

[0080] In one embodiment, the first triangle and the second triangle are both isosceles triangles, and the height of the first triangle is greater than the height of the second triangle.

[0081] Since the first triangle and the second triangle are both isosceles triangles, and the first triangle and the second triangle are similar, the motion modeling of the movable seat 200 is more convenient, the calculation amount of background data is reduced, and the control difficulty is reduced; at the same time, since the height of the first triangle is greater than the height of the second triangle, the three sides of the first triangle are greater than the corresponding three sides of the second triangle, thereby making the connection between the three drive units 300 and the movable seat 200 closer than the connection between the three drive units 300 and the base 100, thereby providing more stable support and more effective driving for the movable seat 200.

[0082] Furthermore, the first triangle and the second triangle are both equilateral triangles. That is, the three first installation positions 110 are arranged to form a first equilateral triangle, and the three second installation positions 210 are arranged to form a second equilateral triangle. The distance between two adjacent first installation positions 110 is a first distance, that is, the side length of the first equilateral triangle, and the distance between two adjacent second installation positions 210 is a second distance, that is, the side length of the second equilateral triangle. Moreover, the side length of the first equilateral triangle is greater than the side length of the second equilateral triangle.

[0083] Thus, the area of ​​the first equilateral triangle is greater than the area of ​​the second equilateral triangle. After the three drive units 300 are connected to the corresponding first installation positions 110 and second installation positions 210, Figure 1 and Figure 3 In the direction shown, the three drive units 300 are arranged in a structure that is narrow at the top and wide at the bottom. The three drive units 300 can stably support the movable seat 200, increase the rated load, and improve the stability and rigidity of the operating table. At the same time, after the three drive units 300 are arranged in this way, the volume is small, and there is a certain space between the three drive units 300 for other arrangements.

[0084] See also Figure 2In one embodiment, the rotating joints 400 corresponding to the three first mounting positions 110 are respectively the first joint A1, the second joint B1 and the third joint C1, the rotating axis O of the first joint A1 is the first axis O1, the rotating axis O of the second joint B1 is the second axis O2, the rotating axis O of the third joint C1 is the third axis O3, the first axis O1 is parallel to the second axis O2, and the first axis O1 is perpendicular to the third axis O3.

[0085] The three driving units 300 are respectively the first unit A, the second unit B and the third unit C. The first unit A is provided with a first joint A1 at the lower end, the second unit B is provided with a second joint B1 at the lower end, and the third unit C is provided with a third joint C1 at the lower end. The first unit A rotates around the first axis O1 of the first joint A1, the second unit B rotates around the second axis O2 of the second joint B1, and the third unit C rotates around the third axis O3 of the third joint C1. After cooperating with the corresponding universal joint 500, the lifting and deflection control of the movable seat 200 can be realized, thereby realizing the adjustment of the position of the operating table, so that the position of the operating table can meet the needs of the surgical operation.

[0086] Moreover, among the three rotating joints 400 corresponding to the three driving units 300, the rotating axes O of two of the rotating joints 400 are arranged in parallel and perpendicular to the rotating axis O of the other rotating joint 400. In this way, when the driving unit 300 rotates around the rotating axis O, this layout can drive the movable seat 200 to deflect in this direction, so that the movable seat 200 can be lifted and lowered along the Z axis, rotated around the X axis, and rotated around the Y axis to meet the needs of surgical operations.

[0087] In the present application, when the driving unit 300 outputs linear motion, the length of the driving unit 300 will change, and the rotating joint 400 at the lower end of the driving unit 300 and the universal joint 500 at the upper end of the driving unit 300 will change accordingly. Under the motion compensation of the rotating joint 400 and the universal joint 500, the positions of the three universal joints 500 in the three-dimensional space will eventually change. According to the principle of determining a plane by three points, the position of the movable seat 200 can be changed, and the operating table can be lifted and lowered along the Z axis, rotated around the X axis, and rotated around the Y axis to meet the needs of surgical operations.

[0088] The motion device 10 for an operating bed of the present application can realize the vertical movement of the movable seat 200 relative to the base 100 when the driving unit 300 outputs linear motion, thereby meeting the lifting and lowering requirements of the operating bed. When the linear motion amplitudes output by different driving units 300 are different, the movable seat 200 can be rotated or translated, thereby meeting the translation or tilting requirements of the operating bed. Due to the provision of at least three driving units 300, effective support for the movable seat 200 is achieved, and the carrying capacity of the movable seat 200 and the operating bed is improved. At the same time, the base 100, the movable seat 200 and the plurality of driving units 300 form a parallel mechanism, which also improves the stiffness of the motion device 10, thereby ensuring the stiffness of the operating bed, being able to meet the requirements of patients with large body weight or special surgical procedures, and ensuring the stability and accuracy of the surgery, thereby reducing the risk of surgery.

[0089] The present application also provides a surgical robot, including an operating table and at least one motion device 10 for the operating table as in any of the above embodiments, wherein the movable seat 200 is connected to the operating table, and the motion device 10 can lift and / or rotate the operating table. After the surgical robot of the present application adopts the motion device 10 for the operating table of the above embodiment, the motion device 10 can be arranged at the bottom of the operating table, and the position of the operating table can be adjusted. At the same time, the rigidity and stability of the operating table can be ensured, thereby ensuring the stability and precision of the surgical robot arm.

[0090] Exemplarily, the surgical robot includes a motion device 10 for an operating bed, which is disposed in the middle area of ​​the bottom of the operating bed to stably support the operating bed. Of course, in other embodiments of the present application, the surgical robot may also include multiple motion devices 10 for an operating bed, which are evenly disposed at the bottom of the operating bed.

[0091] 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.

[0092] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A motion device for an operating table, characterized in that: include: A base, wherein the base is provided with at least three first installation positions, and at least three of the first installation positions are not collinear; A movable seat, wherein the movable seat is provided with at least three second mounting positions, and at least three of the second mounting positions are not collinear, and the movable seat is used to be fixed to the operating table; A driving unit, wherein at least three driving units are provided, each of the driving units is movably connected to the base via the corresponding first mounting position, each of the driving units is movably connected to the movable seat via the corresponding second mounting position, each of the driving units is capable of outputting linear motion, and the driving unit is capable of driving the movable seat to move relative to the base so that the movable seat has at least one translational degree of freedom and at least one rotational degree of freedom.

2. The motion device for an operating table according to claim 1, characterized in that: The motion device also includes a rotating joint and a universal joint. There are at least three rotating joints, and each of the driving units is installed at the first mounting position through the corresponding rotating joint. There are at least three universal joints, and each of the driving units is installed at the second mounting position through the corresponding universal joint.

3. The motion device for an operating table according to claim 2, characterized in that: The rotating joint includes a support shaft and a mounting seat, the driving unit has a mounting end, the mounting end is located at one end of the driving unit facing the base, and the mounting seat is arranged at the first mounting position; the supporting shaft is fixedly connected or rotationally connected to one of the mounting end and the mounting seat, and the supporting shaft is rotationally connected to the other.

4. The motion device for an operating table according to claim 3, characterized in that: The mounting seat is provided with a mounting hole, one end of the support shaft is passed through the mounting hole, and the rotation joint further comprises a limiter, the limiter is fixedly connected to the support shaft, and the limiter is also fixed to the mounting seat to limit the support shaft from rotating relative to the mounting seat; And / or, the rotary joint further comprises a support bearing, the mounting end is provided with a mounting portion, the outer ring of the support bearing is arranged on the mounting portion, and the inner ring of the support bearing is sleeved on the support shaft.

5. The motion device for an operating table according to claim 3, characterized in that: The mounting seat includes a mounting body, a first fixing portion and a second fixing portion. The mounting body is arranged in a ring-shaped structure, the support shaft is passed through the mounting body, the first fixing portion and the second fixing portion are arranged in a plate-shaped structure, the first fixing portion and the second fixing portion are arranged on opposite sides of the mounting body, and are fixedly connected to the first mounting position.

6. The motion device for an operating table according to claim 3, characterized in that: Each of the first mounting positions is provided with at least two rotating joints, so that each of the driving units can be connected to the base through at least two rotating joints, and along the rotation axis direction of the rotating joint, at least one rotating joint is provided on the opposite sides of the mounting end.

7. The motion device for an operating table according to any one of claims 2 to 6, characterized in that: The number of the first mounting positions, the second mounting positions and the driving units are all three, the three first mounting positions are arranged in a first triangle, the three second mounting positions are arranged in a second triangle, and the first triangle and the second triangle are similar triangles.

8. The motion device for an operating table according to claim 7, characterized in that: The first triangle and the second triangle are both isosceles triangles, and the height of the first triangle is greater than the height of the second triangle.

9. The motion device for an operating table according to claim 7, characterized in that: The three rotating joints corresponding to the first mounting positions are respectively the first joint, the second joint and the third joint, the rotation axis of the first joint is the first axis, the rotation axis of the second joint is the second axis, the rotation axis of the third joint is the third axis, the first axis is parallel to the second axis, and the first axis is perpendicular to the third axis.

10. A surgical robot, characterized in that: It comprises an operating bed and at least one movement device for the operating bed as described in any one of claims 1 to 9, wherein the movable seat is connected to the operating bed, and the movement device can lift and / or rotate the operating bed.

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