Medical console, walking device and brake assembly

Abstract

The utility model discloses a medical console, a walking device and a braking assembly, the braking assembly comprises a bottom plate, a pedal and a limiting piece, the pedal can move to a first position or a second position in the first direction relative to the bottom plate, the limiting piece comprises a first limiting part and a second limiting part, and the bottom plate is provided with a first fixing part; the first fixing part is in sliding fit with the second limiting part in the second direction, the pedal is provided with a first connecting part, the first connecting part is provided with a limiting groove, the limiting groove is of an irregular polygonal structure on a plane jointly limited by the first direction and the second direction, and the first limiting part is inserted into the limiting groove in a sliding mode; when the pedal moves in the first direction relative to the bottom plate, the first limiting part of the limiting piece slides along the limiting groove, the second limiting part slides in the second direction relative to the first fixing part, the height of the braking assembly can be effectively reduced, it is guaranteed that the braking assembly has enough treading stroke, and the braking assembly is simple in overall structure and convenient to operate.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a medical control console and a walking device and a brake assembly thereof. Background Art

[0002] With the development of technology, robots are widely used in surgical operations, such as laparoscopic surgery. Compared with traditional surgery, the use of surgical robots for surgical operations has the advantages of more precision, less invasiveness, and simplicity.

[0003] Most existing surgical robots have a master-slave structure, that is, the doctor performs the operation on the main console, and the control system maps the doctor's operation to the surgical instruments carried by the robot's mechanical arm, and performs the operation inside the patient's body. In order to facilitate the movement of surgical robots between operating rooms, the main console is generally equipped with casters and brake components. When the main console moves to a predetermined position, the user (such as a doctor) steps on the brake component to brake and fix the main console in this position for the operation.

[0004] The brake assembly of the existing surgical robot has problems such as a large overall height but a small pedal stroke, which to some extent affects the comfort of operation and needs further improvement. Summary of the invention

[0005] In view of this, the present application provides a medical control console, a walking device and a brake assembly to solve at least one or more of the above-mentioned technical problems.

[0006] On the one hand, the present application provides a brake assembly, comprising a base plate and a pedal arranged on the base plate, the pedal can be moved to a first position or a second position in a first direction relative to the base plate, a limiting member is arranged between the base plate and the pedal, the limiting member comprises a first limiting portion and a second limiting portion; the base plate is provided with a first fixing portion, the first fixing portion and the second limiting portion are slidably matched in the second direction, the second direction being perpendicular to the first direction; the pedal is provided with a first connecting portion, the first connecting portion is provided with a limiting groove, the limiting groove is an irregular polygonal structure on a plane jointly defined by the first direction and the second direction, the first limiting portion is slidably inserted into the limiting groove; when the pedal moves in the first direction relative to the base plate, the first limiting portion of the limiting member slides along the limiting groove, and the second limiting portion slides in the second direction relative to the first fixing portion.

[0007] On the other hand, the present application provides a walking device, including the above-mentioned brake assembly and casters connected to the pedal transmission of the brake assembly, the casters are wire-controlled casters and are arranged under the base plate, and the pedal is connected to one or more of the casters through a brake line.

[0008] On the other hand, the present application provides a medical control console, comprising the above-mentioned walking device and a frame arranged on the walking device, and the frame is provided with a controller and / or a viewfinder.

[0009] Compared with the prior art, in the medical control console, walking device, and brake assembly according to the embodiments of the present application, since the height of the limit member in the first direction is small, the brake assembly as a whole can have a smaller size in the first direction, and the pedal can have sufficient pedaling travel in the first direction, and the overall structure is simple and easy to operate.

[0010] In some embodiments, the groove depth of the limiting groove in the third direction is fixed, and the third direction refers to the direction perpendicular to the plane defined by the first direction and the second direction. Since the groove depth of the limiting groove is fixed, the first limiting part will not move or shake relative to the limiting groove in the direction of the groove depth during the movement of the limiting groove, and the use is smooth and stable, the structure is simple, and the service life of the first limiting part and the limiting groove can be improved.

[0011] In some embodiments, the first direction refers to a direction perpendicular to the base plate, and the first position is higher than the second position; an elastic member is also provided between the base plate and the pedal, and when the pedal moves downward to the second position relative to the base plate, the elastic member is deformed by force; when the elastic member recovers its deformation, it pushes the pedal to move upward to the first position relative to the base plate. By providing an elastic member, after releasing the pedal, the limiter can automatically move to the positioning point of the limiter slot and stop at the positioning point, so that the user does not need to step on the pedal all the time, which is easier and more convenient to use.

[0012] In some embodiments, the bottom plate is further provided with a second fixing portion, in which a first pivot is movably inserted; the pedal is further provided with a second connecting portion, in which a second pivot is movably inserted; a transmission member for connecting a brake line is provided between the second fixing portion and the second connecting portion, one end of the transmission member is connected to the second fixing portion through the first pivot, and the other end is rotatably connected to the second connecting portion through the second pivot, and the first pivot is arranged in parallel with the second pivot. The transmission member is pivotally connected to the second connecting portion and the second fixing portion, and the up and down movement of the pedal is converted into movement in the second direction through the transmission member, thereby pulling the brake line connected thereto to tighten or loosen it, thereby achieving braking and releasing the brake, and the structure is simple and the transmission efficiency is high.

[0013] In some embodiments, the second fixed portion is provided with a first slide groove, the first slide groove extends along the second direction, and the first pivot is movably inserted in the first slide groove; the second connecting portion is provided with a second slide groove, the second slide groove extends along the second direction, and the second pivot is movably inserted in the second slide groove; the end of the transmission member connected to the second connecting portion is provided with a third slide groove, and the second pivot is movably inserted in the third slide groove; when the pedal is in the first position, the second pivot is located at the end of the second slide groove close to the second fixed portion, the first pivot is located at the end of the first slide groove away from the second connecting portion, and the transmission member releases the brake line; when the pedal is in the second position, the second pivot is located at the end of the second slide groove away from the second fixed portion, the first pivot is located at the end of the first slide groove close to the second connecting portion, and the transmission member tightens the brake line. Through the arrangement of the first slide groove and the second slide groove, the pedal can move relative to the transmission member in the second direction when moving downward, thereby improving the flexibility of braking and releasing the brake operation.

[0014] In some embodiments, the second fixing portion is provided with a slot, and one end of the transmission member connected to the second fixing portion is configured as a cam, the cam is provided with a positioning surface and the positioning surface is embedded in the slot; when the pedal is in the first position, the positioning surface is vertical and abuts against the bottom of the slot; when the pedal is in the second position, the positioning surface is inclined and separated from the bottom of the slot.

[0015] In some embodiments, the pedal includes a plate-shaped body and a sliding rod extending downward from the center of the body, the first connecting portion extending downward from the edge of the body; the bottom plate is provided with a perforation and an escape hole, the sliding rod is connected to the perforation in a sliding manner, the first connecting portion is connected to the escape hole in a sliding manner, and the elastic member is sleeved on the sliding rod and sandwiched between the body of the pedal and the bottom plate. The sliding rod can guide the pedal to move up and down, and the arrangement of the elastic member can be facilitated.

[0016] In some embodiments, the first limiting portion of the limiting member is rod-shaped, the second limiting portion is block-shaped, the first fixed portion is provided with a first slide rail, and the first slide rail extends along the second direction; the second limiting portion is fixedly connected to a first slider, and the first slider slidably cooperates with the first slide rail to guide the movement of the limiting member relative to the base plate in the second direction; and / or the pedal further includes a third connecting portion, and the second slider is fixedly connected to the third connecting portion; the base plate further includes a third fixed portion, and the third fixed portion is provided with a second slide rail, and the second slide rail extends along the first direction; the second slider slidably cooperates with the second slide rail to guide the movement of the pedal relative to the base plate in the first direction. Through the cooperation of the slider and the slide rail, the movement of the limiting member in the second direction and the movement of the pedal in the first direction can be guided to avoid jamming and other situations that affect the normal use of the product.

[0017] In some embodiments, the limiting groove of the first connecting part includes a first positioning point and a second positioning point, wherein the first positioning point is higher than the second positioning point in the first direction; the limiting groove includes a first locking segment and a first unlocking segment extending upwardly and obliquely from the first positioning point to both sides, a second locking segment and a second unlocking segment extending upwardly and obliquely from the second positioning point to both sides, a third locking segment connected between the first locking segment and the second locking segment, and a third unlocking segment connected between the first unlocking segment and the second unlocking segment; the first locking segment, the second locking segment, and the third locking segment together constitute a locking path; the first unlocking segment, the second unlocking segment, and the third unlocking segment together constitute an unlocking path; when the first limiting part of the limiting member is at the first positioning point, the brake assembly is in a braking state; when the first limiting part is at the second positioning point, the brake assembly is released from the braking state; when the brake assembly is braking, the first limiting part moves from the second positioning point to the first positioning point along the locking path; when the brake assembly is released from braking, the first limiting part moves from the first positioning point to the second positioning point along the unlocking path. Through specific structural design, when the pedal is forced to move downward for braking and releasing the brake, the limit member moves in a predetermined direction. After the braking and releasing operations are completed, the limit member rotates a full circle along the limit groove and returns to its original position, which is convenient for the next operation. By setting two upper and lower positioning points, the pedal can be automatically positioned in the first position or the second position, so that the user does not need to step on the pedal all the time, which is easier and more convenient to use.

[0018] In some embodiments, the intersection of the upper edge of the first locking segment and the upper edge of the first unlocking segment is the first upper intersection, the intersection of the lower edge of the first locking segment and the lower edge of the first unlocking segment is the first lower intersection, and in the second direction, the first upper intersection is offset relative to the first lower intersection toward the side where the locking path is located; and / or, the intersection of the upper edge of the second locking segment and the upper edge of the second unlocking segment is the second upper intersection, the intersection of the lower edge of the second locking segment and the lower edge of the second unlocking segment is the second lower intersection, and in the second direction, the second upper intersection is offset relative to the second lower intersection toward the side where the unlocking path is located; and / or, the connection between the third locking segment and the first locking segment is the first stop point, which is used for the travel control of the pedal when the brake assembly is braking; the connection between the first unlocking segment and the third unlocking segment is the second stop point, which is used for the travel control of the pedal when the brake assembly is in contact braking. By setting the stop point, the user can clearly perceive the position of the limiter and determine when to release the pedal to avoid excessive stepping and affecting the use of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings used in the specific description of the embodiments. Obviously, the drawings used in the following specific description are only some embodiments of the present application. On the basis of these drawings, ordinary technicians in this field can obtain other drawings without any creative efforts.

[0020] Figure 1 It is a schematic structural diagram of a walking device in a non-braking state according to an embodiment of the present application.

[0021] Figure 2 for Figure 1 A side view of the running gear shown.

[0022] Figure 3 for Figure 1 A top view of the walking device shown.

[0023] Figure 4 for Figure 3 Cross-sectional view along line IV-IV.

[0024] Figure 5 for Figure 3 Cross-sectional view along line VV.

[0025] Figure 6 for Figure 1 A schematic diagram of the structure of the brake assembly of the walking device shown.

[0026] Figure 7 for Figure 6 Exploded view of brake assembly shown.

[0027] Figure 8 It is a schematic structural diagram of a walking device in a braking state according to an embodiment of the present application.

[0028] Fig. 9 for Figure 8 A top view of the walking device shown.

[0029] Fig.10 for Fig. 9 Section view along line XX.

[0030] Fig.11 for Fig. 9 Cross-sectional view along line XI-XI.

[0031] Fig.12 for Fig.10 A schematic diagram of the structure of the brake assembly of the walking device shown.

[0032] Fig.13 Schematic diagram of the motion trajectory of the limiter of the brake assembly.

[0033] Fig.14 Schematic diagram of the structure of a medical control console according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] In the description of the present invention, it should be understood that the terms "center", "first direction", "second direction", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The present application provides a brake assembly, which is preferably used in a walking device of a medical control console, such as Figure 1-13 As shown. The walking device enables the medical console to move conveniently in the operating room or between operating rooms, including forward, backward, lateral movement, turning, etc., to quickly move the medical console to the predetermined position. After reaching the predetermined position, the medical console can be fixed at this position by the brake assembly; then, the doctor performs the operation on the main console, and the control system maps the doctor's operation to the surgical instrument carried by the robot's mechanical arm, and performs the operation in the patient's body, which has the advantages of precise operation, small wound, and fast recovery, and can effectively reduce the patient's pain.

[0039] like Figure 6-7 As shown, in a specific embodiment, the brake assembly 100 provided in the present application includes a base plate 20 , a pedal 40 disposed on the base plate 20 , and a limiting member 60 acting between the base plate 20 and the pedal 40 .

[0040] As an operating component of the entire brake assembly 100, the pedal 40 can move in a first direction relative to the base plate 20 under the action of an external force to achieve braking or releasing the brakes on the wheels. Specifically, the first direction refers to a direction perpendicular to the base plate 20, usually an up and down direction. The pedal 40 can move between a first position and a second position along the first direction, wherein the first position is higher than the second position. When the pedal 40 is in the second position, the brake assembly 100 is in a braking state; when the pedal 40 is in the first position, the brake assembly 100 is released. To facilitate user operation, the movement of the pedal 40 in the first direction can be achieved by stepping on the foot, so that the user's hands can be completely freed. It should be understood that, according to different application scenarios and different usage requirements, the movement of the pedal 40 can also be achieved by other means, such as electric drive, etc., and is not limited to manual stepping.

[0041] The limiting member 60 includes a first limiting portion 61 and a second limiting portion 63, wherein the first limiting portion 61 is in sliding cooperation with the pedal 40, and the second limiting portion 63 is in sliding cooperation with the base plate 20. The limiting member 60 cooperates with the pedal 40 and the base plate 20, so that the pedal 40 can be locked in the first position or the second position. That is to say, after the pedal 40 is pressed down to brake the brake assembly 100, the pedal 40 is released but the pedal 40 can automatically remain in the second position until the pedal 40 is pressed down again to release the brake; and, after the pedal 40 is pressed down to release the brake assembly 100, the pedal 40 is released but the pedal 40 can automatically remain in the first position until the pedal 40 is pressed down again to brake. In this way, the brake assembly 100 of the present application does not need to press the pedal 40 all the time to brake or release the brake, which further facilitates the use of the user.

[0042] Some existing brake devices have a limiter that is a rocker structure arranged between the pedal and the base plate. The rocker structure is rotatably connected to the base plate. In order to meet the movement stroke of the rocker, the height of the pedal needs to be raised above the base plate. In order to match the height of the pedal, the base shell is set at the same height. Therefore, the solution of the prior art not only raises the height of the brake device, but also raises the height of the base shell.

[0043] like Figure 6-7As shown, the pedal 40 is provided with a first connecting portion 41, the first connecting portion 41 is provided with an annular limiting groove 42, and the first limiting portion 61 of the limiting member 60 is movably inserted into the limiting groove 42; the base plate 20 is provided with a first fixing portion 21, the first fixing portion 21 is provided with a first slide rail 22, the first slide rail 22 extends along the second direction, and the second limiting portion 63 of the limiting member 60 is slidably matched with the first slide rail 22. The second direction refers to the horizontal direction, usually the front-back direction. Through the cooperation of the first fixing portion 21 and the second limiting portion 63, the limiting member 60 is fixed relative to the base plate 20 in the first direction and can slide relatively in the second direction; and through the cooperation of the first connecting portion 41 and the first limiting portion 61, the up and down movement of the pedal 40 relative to the base plate 20 can drive the first limiting portion 61 to slide forward and backward along the limiting groove 42, thereby achieving braking and releasing the brake.

[0044] Since the displacement requirement of the stopper 60 relative to the base plate 20 in the first direction is small, the height of the stopper 60 in the first direction is small, and the brake assembly 100 as a whole can have a smaller size in the first direction, which can further reduce the height of the base shell (not shown). It can be understood that the base shell is a shell provided to protect the base plate 20 and the brake assembly 100 and other components disposed on the base plate 20 during use and transportation. For the sake of aesthetics, ease of use and installation, etc., the base shell is usually flush with the highest height of the pedal 40.

[0045] Please also see Fig.13 , the first connection part 41 extends vertically downward from the pedal 40, and the limiting groove 42 is roughly an irregular annular structure on the vertical plane. The bottom plate 20 is provided with an avoidance hole 23 at the position corresponding to the first connection part 41 to avoid the first connection part 41 moving up and down with the pedal 40. The top of the limiting groove 42 is provided with a first positioning point 42A, and the bottom is provided with a second positioning point 42B. When the pedal 40 moves up and down, the first limiting part 61 slides along the limiting groove 42 between the first positioning point 42A and the second positioning point 42B. When the pedal 40 moves to the first position, the first limiting part 61 is stopped at the second positioning point 42B of the limiting groove 42; when the pedal 40 moves to the second position, the first limiting part 61 is stopped at the first positioning point 42A of the limiting groove 42.

[0046] In this embodiment, the limiting groove 42 includes a first locking segment 421 and a first unlocking segment 422 extending upwardly obliquely from the first positioning point 42A toward the left and right sides, respectively, a second locking segment 423 and a second unlocking segment 424 extending upwardly obliquely from the second positioning point 42B toward the two sides, respectively, a third locking segment 425 connected between the first locking segment 421 and the second locking segment 423, and a third unlocking segment 426 connected between the first unlocking segment 422 and the second unlocking segment 424. The first locking segment 421, the second locking segment 423, and the third locking segment 425 together constitute a locking path for the first limiting portion 61 to move, such as Fig.13 As shown by the solid arrow; the first unlocking section 422, the second unlocking section 424, and the third unlocking section 426 together constitute an unlocking path for the first limiting portion 61 to move, such as Fig.13 Indicated by the dashed arrow.

[0047] The intersection of the upper edge of the first locking section 421 and the upper edge of the first unlocking section 422 is the first upper intersection 42C, and the intersection of the lower edge of the first locking section 421 and the lower edge of the first unlocking section 422 is the first lower intersection 42D. In the second direction, the first upper intersection 42C is offset relative to the first lower intersection 42D toward the side where the locking path is located. When the first limiting portion 61 is at the first positioning point 42A, it abuts against the first lower intersection 42D, and even if the pedal 40 is subjected to an upward force, it cannot move upward relative to the first limiting portion 61 / limiting member 60. At this time, if the pedal 40 is subjected to a downward force, the upper edge of the first unlocking section 422 will abut against the first limiting portion 61, prompting the first limiting portion 61 to move along the first unlocking section 422 toward the third unlocking section 426. In other words, when the first limiting portion 61 is at the first positioning point 42A, the pedal 40 can only move downward but not upward.

[0048] The intersection of the upper edge of the second locking segment 423 and the upper edge of the second unlocking segment 424 is the second upper intersection 42E, and the intersection of the lower edge of the second locking segment 423 and the lower edge of the second unlocking segment 424 is the second lower intersection 42F. In the second direction, the second upper intersection 42E is offset relative to the second lower intersection 42F toward the side where the unlocking path is located. When the first limiting portion 61 is at the second positioning point 42B, it abuts against the second lower intersection 42F, and even if the pedal 40 is subjected to an upward force, it cannot move upward relative to the first limiting portion 61 / limiting member 60. At this time, if the pedal 40 is subjected to a downward force, the upper edge of the second locking segment 423 will abut against the first limiting portion 61, prompting the first limiting portion 61 to move along the second locking segment 423 toward the third locking segment 425. In other words, when the first limiting portion 61 is at the second positioning point 42B, the pedal 40 can only move downward but not upward.

[0049] The connection between the third locking segment 425 and the first locking segment 421 is the first stop point 42G. When the pedal 40 moves downward to brake, the first limiter 61 moves upward from the second positioning point 42B along the second locking segment 423 and the third locking segment 425. When the first limiter 61 reaches the first stop point 42G, it abuts against the upper edge of the first locking segment 421. At this time, even if the pedal 40 continues to be subjected to a downward force, it cannot move downward relative to the first limiter 61 / limiter 60. On the contrary, if the pedal 40 is released and an upward force is applied to the pedal 40, the first limiter 61 will continue to move along the first locking segment 421 until it reaches the first positioning point 42A, completing the braking. During the braking process, the user can clearly sense whether the first limiter 61 reaches the first stop point 42G by whether the pedal 40 can continue to move downward, thereby determining when to release the pedal 40 and simplifying the operation.

[0050] Similarly, the connection between the first unlocking section 422 and the third unlocking section 426 is the second stop point 42H. In the process of the pedal 40 moving downward to release the brake, the first limit portion 61 moves upward from the first positioning point 42A along the first unlocking section 422. When the first limit portion 61 reaches the second stop point 42H, it abuts against the upper edge of the first unlocking section 422. At this time, even if the pedal 40 continues to be subjected to a downward force, it cannot move downward relative to the first limit portion 61 / limiting member 60. On the contrary, if the pedal 40 is released and an upward force is applied to the pedal 40, the first limit portion 61 will continue to move along the third unlocking section 426 and the second unlocking section 424 until it reaches the second positioning point 42B, and the brake is released. In the process of releasing the brake, the user can also clearly perceive whether the first limit portion 61 reaches the second stop point 42H by whether the pedal 40 can continue to move downward, thereby determining when to release the pedal 40, simplifying the operation.

[0051] Here, the path of the third locking segment 425 connected between the first locking segment 421 and the second locking segment 423, and the path of the third unlocking segment 426 connected between the first unlocking segment 422 and the second unlocking segment 424 are parallel to the first direction. When the pedal 40 moves in the first direction relative to the base plate 20, the second limiting portion 63 intermittently slides in the second direction relative to the first fixing portion 21 during the process of the pedal 40 moving to the first position or the second position. Specifically, when the first limiting portion 61 slides in the third locking segment 425 or the third unlocking segment 426, the second limiting portion 63 does not move in the second direction relative to the first fixing portion 21.

[0052] It should be noted that the limiting groove 42 is an irregular annular structure, which means that the projection of the limiting groove 42 in the plane defined by the first direction and the second direction is an irregular annular structure. However, the depths of the various parts of the limiting groove 42 in the third direction are consistent, and the third direction refers to the direction perpendicular to the plane defined by the first direction and the second direction, such as the left-right direction. Preferably, the bottom plane of the limiting groove 42 is perpendicular to the groove wall.

[0053] In this embodiment, an elastic member 80, such as a coil spring, is provided between the bottom plate 20 and the pedal 40. When the pedal 40 is pressed down to move downward relative to the bottom plate 20, the elastic member 80 is deformed by force; when the pedal 40 is released, the elastic member 80 recovers its deformation and exerts an upward force on the pedal 40, pushing the pedal 40 to move upward a certain distance relative to the bottom plate 20. By setting the elastic member 80, during the braking / releasing process, the pedal 40 is pressed down until it cannot move further downward, that is, until the first limit portion 61 moves to the first stop point 42G / the second stop point 42H; then the pedal 40 is released, and the pedal 40 automatically moves upward a certain distance under the action of the elastic restoring force, so that the first limit portion 61 continues to move to the first positioning point 42A / the second positioning point 42B, and the pedal 40 can reach and be locked in the first position / the second position. Preferably, the third locking section 425 and the third unlocking section 426 are straight sections, which can accelerate the movement of the first limit portion 61.

[0054] like Figure 7 As shown, a slide bar 44 extends downward from the center of the pedal 40, and a through hole 24 is provided at the bottom plate 20 corresponding to the slide bar 44. When the pedal 40 moves relative to the bottom plate 20, the slide bar 44 slides up and down in the through hole 24. Figure 4 As shown, when the pedal 40 is in the first position, the bottom end of the slide bar 44 is substantially flush with the bottom plate 20; Fig.10 As shown, when the pedal 40 moves down to the second position, the bottom end of the slide bar 44 extends outwards to a certain length relative to the bottom plate 20. In this way, the space below the bottom plate 20 can be effectively utilized, and the pedal 40 can have a larger stroke in the vertical direction without increasing the overall height. Preferably, a bearing 25 is provided in the through hole 24 of the bottom plate 20, and the slide bar 44 is inserted into the bearing 25, which can effectively reduce the friction between the slide bar 44 and the bottom plate 20.

[0055] In this embodiment, the pedal 40 is roughly in the shape of a square plate, the first connecting portion 41 is formed by extending downward from one side edge of the pedal 40, and the first slide rail 22 is provided on the side of the first fixing portion 21 facing the first connecting portion 41. The second limiting portion 63 of the limiting member 60 is roughly in the shape of a block, and a first slider 65 is fixedly connected to the side thereof facing the first fixing portion 21. The first slider 65 is slidably matched with the first slide rail 22 to guide the movement of the limiting member 60 in the second direction relative to the bottom plate 20. The first limiting portion 61 of the limiting member 60 is roughly in the shape of a shaft rod, which is vertically extended outward from the second limiting portion 63 and inserted into the limiting groove 42 of the first connecting portion 41. When completing a braking operation and a braking release operation, the first connecting portion 41 moves a full circle along the limiting groove 42 and returns to the original position. It is worth noting that when the first limiting portion 61 moves in the limiting groove 42 , it will not move or shake in the depth direction of the limiting groove. It is smooth and stable to use, has a simple structure, and can also improve the service life of the first limiting portion 61 and the limiting groove 42.

[0056] Some existing pedals connect brake wires in the vertical direction of the pedals, and pull the brake wires through the vertical displacement of the pedals to brake or release the brakes on the casters. Connecting the brake wires in this way causes the pedal 40 to be larger in the vertical direction as a whole.

[0057] The two opposite sides of the pedal 40 extend downward to form a second connecting portion 45, and the bottom plate 20 is provided with a second fixing portion 26 corresponding to each second connecting portion 45. A transmission member 30 is provided between each second connecting portion 45 and the corresponding second fixing portion 26, and each transmission member 30 is connected to a caster 210 through a brake line 200. Figure 1-3 shown.

[0058] The second fixed portion 26 is provided with a first slide groove 261, and the first slide groove 261 extends along the second direction; the second connecting portion 45 is provided with a second slide groove 46, and the second slide groove 46 also extends along the second direction. The first pivot 32 is movably inserted in the first slide groove 261; the second pivot 34 is movably inserted in the second slide groove 46. One end of the transmission member 30 is rotatably connected to the second fixed portion 26 through the first pivot 32, and the other end is rotatably connected to the second connecting portion 45 through the second pivot 34. One end of the brake line 200 is connected to the first pivot 32, and the other end is connected to the wire-controlled caster 210. When the pedal 40 moves up and down, the first pivot 32 is moved laterally in the second direction by the rotation of the transmission member 30, thereby driving the brake line 200 to move so that it is tightened or loosened, and the caster 210 is braked or released.

[0059] Specifically, when the pedal 40 moves between the first position and the second position, the transmission member 30 rotates a certain angle relative to the second connecting portion 45 and the second fixing portion 26. When the pedal 40 is in the first position, Figure 4 , Figure 5 As shown, the first pivot 32 is located at one end of the first slide groove 261 away from the second connecting portion 45, the second pivot 34 is located at one end of the second slide groove 46 close to the second fixing portion 26, the brake line 200 is in a relaxed state, and the caster 210 is in a non-braking state; when the pedal 40 is in the second position, as shown Figure 8-12 As shown, the first pivot 32 is located at one end of the first slide groove 261 close to the second connecting portion 45, and the second pivot 34 is located at one end of the second slide groove 46 away from the second fixing portion 26. The brake line 200 is tightened and the caster 210 is in a braking state.

[0060] In this embodiment, one end of the transmission member 30 connected to the second fixing portion 26 is configured as a cam mechanism, and a portion of its outer peripheral surface is cut to form a positioning surface 36, which is preferably a plane. The second fixing portion 26 is provided with a slot 263, the cam of the transmission member 30 is embedded in the slot 263, and the two ends of the first pivot 32 pass through the cam and are inserted into the first slide slot 261. When the pedal 40 is in the first position, as shown in FIG. Figure 4 As shown, the positioning surface 36 is vertical and abuts against the bottom of the slot 263; when the pedal 40 is in the second position, as shown in FIG. Fig.10 As shown, the positioning surface 36 is inclined and separated from the bottom of the slot 263. The pedal 40 in the first position can be further locked by setting the positioning surface 36. By setting a second connecting portion 45 on opposite sides of the pedal 40, and the end of the transmission member 30 connected to the second fixing portion 26 is configured as a cam mechanism, the height of the chassis can be lowered.

[0061] In this embodiment, the end of the transmission member 30 connected to the second connecting portion 45 is provided with a third slide groove 38, and the second pivot 34 is movably inserted into the third slide groove 38. When the transmission member 30 rotates relative to the second connecting portion 45 and the second fixing portion 26, the second pivot 34 can slide in the third slide groove 38 to a certain extent, so that the rotation of the transmission member 30 can be smoother. Preferably, the second slide groove 46 of the second connecting portion 45 and the first slide groove 261 of the second fixing portion 26 are not at the same height, such as Figure 5 As shown, when the pedal 40 is in the first position, the second slide groove 46 is higher than the first slide groove 261 in the first direction; Fig.11 As shown, when the pedal 40 is in the second position, the first slide groove 261 is higher than the second slide groove 46 in the first direction, which is conducive to the rotation of the transmission member 30 when the pedal 40 moves.

[0062] like Figure 7As shown, the pedal 40 further extends downward to form a third connection portion 48, wherein the first connection portion 41 and the third connection portion 48 are respectively located on two opposite sides of the pedal 40; and the two second connection portions 45 are respectively located on the other opposite sides of the pedal 40. The bottom plate 20 is provided with a third fixing portion 28 corresponding to the third connection portion 48, and the third fixing portion 28 is provided with a second slide rail 29, and the second slide rail 29 extends along the first direction; the third connection portion 48 is fixedly connected to a second slider 49, and the second slider 49 is slidably matched with the second slide rail 29 of the third fixing portion 28. The third connection portion 48 is fixedly connected to the second slider 49, and guides the pedal 40 to move relative to the bottom plate 20 in the first direction, so that the up and down movement of the pedal 40 is smoother and more stable, and the occurrence of jamming and the like is avoided.

[0063] The braking device provided in the present application can convert the movement of the pedal 40 in the first direction (i.e., up and down movement) into the movement in the second direction (i.e., forward and backward movement) through the transmission member 30, thereby driving the brake line 200 to achieve braking and releasing the brake; at the same time, through the cooperation of the limit member 60 with the limit groove 42 on the pedal 40 and the first slide rail 22 on the base plate 20, the pedal 40 can be locked in the first position (i.e., non-braking position) and the second position (i.e., braking position). The user does not need to press the pedal 40 all the time during operation, which is convenient for the user to use and simplifies the structure. The braking device as a whole can have a smaller height but maintain a sufficient pedaling stroke.

[0064] Some existing caster brakes use other structures for pressing casters, and the casters are pressed by external force, and the effect of limiting the rotation of the casters is achieved by increasing the friction force, and the structure is complex. The brake device 100 provided in the present application is combined with the caster 210 to form a walking device 300, and the caster 210 is preferably a wire-controlled caster. The brake line 200 can be directly connected to the wire-controlled caster. By pulling the brake line, the brake line pulls the internal structure of the wire-controlled caster, thereby braking the wire-controlled caster and limiting the rotation of the caster. The wire-controlled caster is connected to the pedal 40 of the brake device 100 through the brake line 200 and the transmission member 30, and the structure is simple. In the illustrated embodiment, the base plate 20 is a flat plate-shaped member with a certain strength, and the caster 210 is installed below the base plate 20 and is respectively located at the four corners of the base plate 20. Two pedals 40 are respectively arranged on both sides of the base plate 20, and each pedal 40 is connected to the two casters 210 on the same side thereof, so that the user can control the two pedals 40 respectively by two feet, thereby controlling the four casters 210. It should be understood that the number of casters 210 is not limited to four, and may be 3, 6, etc.; a single pedal 40 may control only a single caster 210, or may control multiple casters 210, and is not limited to the specific embodiment.

[0065] In some embodiments, the braking device may not be provided, and the walking device includes a self-driven wheel with a self-locking function, such as a Mecanum wheel. The rotation of the wheel is controlled by operating a control device such as a remote control, thereby driving the medical control panel to move automatically. After the medical control panel is quickly moved to a predetermined position, the remote control is operated to control the wheel to self-lock, so that the medical control panel can be fixed at this position.

[0066] like Fig.14 As shown, the present application also provides a medical control console, which includes the above-mentioned walking device 300 and a frame 400 arranged on the walking device 300, and the frame 400 is provided with a controller 500, a viewfinder 600, etc., wherein the viewfinder 600 is used to observe the situation of the surgical site, and the doctor performs specific surgical operations through the main operator (not shown in the figure) according to the observed situation, and these surgical operations are mapped to the surgical instruments carried by the robot's mechanical arm through the control system, and the surgical operations are performed in the patient's body; the controller 500 is used to perform auxiliary surgical operations, for example, the height and pitch angle of the viewfinder 600 can be controlled by the controller 500 to match it with the doctor's height, operating habits, etc., so as to improve the comfort of the surgical operation. During the entire surgical process, the position of the medical control console can be fixed by the brake assembly 40, or it can be adjusted as needed, which is convenient to operate as a whole, can reduce the doctor's operation to a certain extent, and ensure the doctor's comfort and convenience when performing surgical operations.

[0067] Finally, it should be noted that the above only describes the preferred embodiments of the present application and does not constitute a limitation on the scope of protection of the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, it is obvious to those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified or some technical features can be equivalently replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be within the scope of protection of the present application.

Claims

1. A brake assembly, characterized in that: The invention comprises a bottom plate and a pedal arranged on the bottom plate, wherein the pedal can move relative to the bottom plate to a first position or a second position in a first direction. A limiting member is arranged between the bottom plate and the pedal, and the limiting member comprises a first limiting portion and a second limiting portion; The bottom plate is provided with a first fixing portion, and the first fixing portion and the second limiting portion are slidably matched in a second direction, and the second direction is perpendicular to the first direction; The pedal is provided with a first connecting portion, the first connecting portion is provided with a limiting groove, the limiting groove is an irregular polygonal structure on a plane defined by the first direction and the second direction, and the first limiting portion is slidably inserted into the limiting groove; When the pedal moves relative to the base plate in the first direction, the first limiting portion of the limiting member slides along the limiting groove, and the second limiting portion slides relative to the first fixing portion in the second direction.

2. The brake assembly according to claim 1, characterized in that: The groove depth of the limiting groove in the third direction is fixed, and the third direction refers to a direction perpendicular to the plane defined by the first direction and the second direction.

3. The brake assembly according to claim 1, characterized in that: The first direction refers to a direction perpendicular to the bottom plate, and the first position is higher than the second position; An elastic member is also provided between the base plate and the pedal. When the pedal moves downward to the second position relative to the base plate, the elastic member is deformed by force; when the elastic member recovers its deformation, it pushes the pedal to move upward to the first position relative to the base plate.

4. The brake assembly according to claim 1, characterized in that: The base plate is also provided with a second fixed portion, in which the first pivot is movably inserted; the pedal is also provided with a second connecting portion, in which the second pivot is movably inserted; a transmission member for connecting the brake line is provided between the second fixed portion and the second connecting portion, one end of the transmission member is connected to the second fixed portion through the first pivot, and the other end is rotatably connected to the second connecting portion through the second pivot, and the first pivot and the second pivot are arranged in parallel.

5. The brake assembly according to claim 4, characterized in that: The second fixing portion is provided with a first slide groove, the first slide groove extends along the second direction, and the first pivot is movably inserted in the first slide groove; the second connecting portion is provided with a second slide groove, the second slide groove extends along the second direction, and the second pivot is movably inserted in the second slide groove; the end of the transmission member connected to the second connecting portion is provided with a third slide groove, and the second pivot is movably inserted in the third slide groove; When the pedal is in the first position, the second pivot is located at one end of the second slide slot close to the second fixing portion, the first pivot is located at one end of the first slide slot away from the second connecting portion, and the transmission member releases the brake line; When the pedal is in the second position, the second pivot is located at an end of the second slide slot away from the second fixing portion, the first pivot is located at an end of the first slide slot close to the second connecting portion, and the transmission member tightens the brake line.

6. The brake assembly according to claim 5, characterized in that: The second fixing portion is provided with a slot, and one end of the transmission member connected to the second fixing portion is configured as a cam, the cam is provided with a positioning surface and the positioning surface is embedded in the slot; When the pedal is in the first position, the positioning surface is vertical and abuts against the bottom of the slot; When the pedal is at the second position, the positioning surface is inclined and separated from the bottom of the slot.

7. The brake assembly according to claim 3, characterized in that: The pedal includes a plate-shaped body and a sliding rod extending downward from the center of the body, and the first connecting portion extends downward from the edge of the body; the bottom plate is provided with a through hole and an avoidance hole, the sliding rod is slidably connected to the through hole, the first connecting portion is slidably connected to the avoidance hole, and the elastic member is sleeved on the sliding rod and clamped between the body of the pedal and the bottom plate.

8. The brake assembly according to claim 1, characterized in that The first limiting part of the limiting member is rod-shaped, and the second limiting part is block-shaped. The first fixing portion is provided with a first slide rail, and the first slide rail extends along the second direction; the second limiting portion is fixedly connected with a first slider, and the first slider is slidably matched with the first slide rail to guide the movement of the limiting member relative to the bottom plate in the second direction; and / or, The pedal also includes a third connecting portion, to which a second slider is fixedly connected; the base plate also includes a third fixing portion, to which a second slide rail is provided, and the second slide rail extends along the first direction; the second slide rail slidably cooperates with the second slide rail to guide the pedal to move in the first direction relative to the base plate.

9. The brake assembly according to any one of claims 1 to 8, characterized in that: The limiting groove of the first connecting portion includes a first positioning point and a second positioning point, wherein the first positioning point is higher than the second positioning point in the first direction; The limiting groove includes a first locking segment and a first unlocking segment extending upwardly and obliquely from the first positioning point toward both sides, a second locking segment and a second unlocking segment extending upwardly and obliquely from the second positioning point toward both sides, a third locking segment connected between the first locking segment and the second locking segment, and a third unlocking segment connected between the first unlocking segment and the second unlocking segment; The first locking segment, the second locking segment, and the third locking segment together constitute a locking path; the first unlocking segment, the second unlocking segment, and the third unlocking segment together constitute an unlocking path; When the first limiting portion of the limiting member is at the first positioning point, the brake assembly is in a braking state; when the first limiting portion is at the second positioning point, the brake assembly is released from the braking state; When the brake assembly is braking, the first limiting portion moves from the second positioning point to the first positioning point along the locking path; when the brake assembly is releasing the brake, the first limiting portion moves from the first positioning point to the second positioning point along the unlocking path.

10. The brake assembly according to claim 9, characterized in that The intersection of the upper edge of the first locking segment and the upper edge of the first unlocking segment is a first upper intersection point, and the intersection of the lower edge of the first locking segment and the lower edge of the first unlocking segment is a first lower intersection point. In the second direction, the first upper intersection point is offset relative to the first lower intersection point toward the side where the locking path is located; and / or The intersection of the upper edge of the second locking segment and the upper edge of the second unlocking segment is a second upper intersection point, and the intersection of the lower edge of the second locking segment and the lower edge of the second unlocking segment is a second lower intersection point. In the second direction, the second upper intersection point is offset relative to the second lower intersection point toward the side where the unlocking path is located; and / or The connection between the third locking segment and the first locking segment is a first stop point, which is used for controlling the stroke of the pedal when the brake assembly is braking; the connection between the first unlocking segment and the third unlocking segment is a second stop point, which is used for controlling the stroke of the pedal when the brake assembly is in contact braking.

11. A walking device, characterized in that: It comprises the brake assembly according to any one of claims 1 to 10 and a caster connected to the pedal transmission of the brake assembly, wherein the caster is a wire-controlled caster and is arranged below the base plate, and the pedal is connected to one or more of the casters via a brake line.

12. A medical control console, characterized in that: It comprises the walking device according to claim 11 and a frame arranged on the walking device, wherein the frame is provided with a controller and / or a viewfinder.

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