Pedal mechanism, master control trolley and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a pedal mechanism, a master control trolley and a surgical robot system, and the pedal mechanism comprises a base, a telescopic mechanism and a pedal assembly. The base comprises a containing groove, the telescopic mechanism is arranged in the containing groove, the pedal assembly is movably arranged in the containing groove and used for receiving input of a user, the pedal assembly is detachably connected with the telescopic mechanism, and the pedal assembly is used for being driven by the telescopic mechanism to move between the near end and the far end of the containing groove. The pedal assembly is detachably connected with the telescopic mechanism, so that the pedal assembly can be used as an independent structure which can be completely detachably connected and is mounted on the base or integrally detached from the base. Compared with a traditional non-detachable structure, a user can conveniently and independently maintain or replace the pedal assembly, the whole base does not need to be disassembled for maintenance, and the maintenance process is simple and saves time.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a pedal mechanism, a main control trolley, and a surgical robot system. Background Art

[0002] A surgical robot system typically consists of a main control cart for the surgeon and an operating table located on the patient's side. During surgery using a surgical robot system, the surgeon sits at the remote main control cart, observing the lesion area in real time via a display. Using teleoperation, the surgeon manipulates the handheld manipulator at the main control cart to control the surgical instruments on the operating table and perform various surgical procedures. The main control cart also offers other human-machine interaction methods, such as touch screens, buttons, and foot switches. Foot switches, when the surgeon's hands are occupied, conveniently enable the surgeon to perform pre-defined auxiliary control functions, such as high-frequency power output and control mode switching. Therefore, foot switches are essential and frequently used during surgery.

[0003] Currently available surgical robot systems feature a foot switch mounted on a foot pedal, which is slidably mounted on the base of a main control trolley. The foot switch is fixed to the foot pedal. During operation, the foot switch is easily damaged due to frequent use, and the foot pedal is also prone to wear and tear due to frequent extension and retraction. Because the main control trolley includes many electrical components and cables, the foot pedal is generally not removable from the base of the main control trolley. When the foot switch and foot pedal need to be repaired or replaced, the entire base must be disassembled for repair or replacement, a cumbersome and time-consuming process. Summary of the Invention

[0004] In view of the above problems, the present invention aims to provide a pedal mechanism, comprising:

[0005] a base, including a receiving slot;

[0006] a telescopic mechanism, disposed in the accommodating groove;

[0007] A foot pedal assembly is movably disposed in the receiving groove for receiving user input. The foot pedal assembly is detachably connected to the telescopic mechanism and is capable of moving between the proximal end and the distal end of the receiving groove under the drive of the telescopic mechanism.

[0008] In some embodiments, the foot pedal assembly includes at least one first cable connector;

[0009] The base includes at least one second cable connector, and the at least one first cable connector is detachably engaged with the at least one second cable connector, respectively.

[0010] In some embodiments, it further includes:

[0011] A connecting piece is fixedly connected to the telescopic mechanism, and the connecting piece is detachably connected to the distal end of the foot pedal assembly.

[0012] In some embodiments, the connecting member includes a connecting main plate and an accommodating cavity located on a proximal side of the connecting main plate, the connecting main plate includes a first opening, and the telescopic mechanism at least partially extends from the first opening into the accommodating cavity and is fixedly connected to the accommodating cavity;

[0013] The foot pedal assembly includes a mounting plate located at a distal end, the mounting plate includes a second opening, the accommodating cavity extends into the foot pedal assembly from the second opening, and the connecting main board is detachably connected to the mounting plate.

[0014] In some embodiments, the telescopic mechanism comprises:

[0015] a driving portion, disposed at a distal end of the base; and

[0016] A telescopic rod is extended from the distal end to the proximal end of the base, the distal end of the telescopic rod is coupled to the driving part, and the proximal end of the telescopic rod extends into the accommodating cavity from the first opening and is fixedly connected to the accommodating cavity.

[0017] In some embodiments, the base comprises:

[0018] at least one first sliding guide disposed on a first side of the receiving groove; and

[0019] at least one second sliding guide disposed on a second side of the receiving slot opposite to the first side;

[0020] The foot pedal assembly includes:

[0021] at least one first guide member disposed on a first side of the footrest assembly, the at least one first guide member cooperating with the at least one first sliding guide member; and

[0022] At least one second guide member is arranged on the second side of the foot pedal assembly, and the at least one second guide member cooperates with the at least one second sliding guide member. The at least one first guide member and the at least one second guide member are used to slide along the at least one first sliding guide member and the at least one second sliding guide respectively under the drive of the telescopic mechanism.

[0023] In some embodiments, the at least one first sliding guide comprises a plurality of first guide grooves arranged at intervals, and the at least one second sliding guide comprises a plurality of second guide grooves arranged at intervals;

[0024] The at least one first guide member includes a plurality of first guide rods spaced apart along the height direction, and the at least one second guide member includes a plurality of second guide rods spaced apart along the height direction, and the plurality of first guide rods are respectively slidably disposed in the plurality of first guide grooves, and the plurality of second guide rods are respectively slidably disposed in the plurality of second guide grooves.

[0025] In some embodiments, radial dimensions of distal ends of the first guide rod and the second guide rod gradually decrease.

[0026] In some embodiments, the base comprises:

[0027] a base body; and

[0028] The first mounting body and the second mounting body are respectively arranged on both sides of the base body and extend toward the proximal end along the base body. The first mounting body and the second mounting body and the base body form the accommodating groove with the proximal opening. The at least one first sliding guide is arranged on the inner side of the first mounting body, and the at least one second sliding guide is arranged on the inner side of the second mounting body. The at least one first sliding guide and the at least one second sliding guide are symmetrically arranged.

[0029] In some embodiments, the foot pedal assembly includes:

[0030] Pedal body;

[0031] at least one foot switch disposed on the pedal body; and

[0032] The first side plate and the second side plate are respectively arranged on both sides of the pedal body and extend along the height direction of the pedal body. The at least one first guide member is arranged on the outer side of the first side plate and extends along the length direction of the first side plate. The at least one second guide member is arranged on the outer side of the second side plate and extends along the length direction of the second side plate. The at least one first guide member and the at least one second guide member are symmetrically arranged.

[0033] In some embodiments, the pedal body includes a first surface and a second surface located at different heights and arranged sequentially from the distal end to the proximal end;

[0034] The at least one foot switch comprises:

[0035] a first set of foot switches disposed on the first surface; and

[0036] A second set of foot switches is provided on the second surface.

[0037] In some embodiments, the first surface has a first angle with a horizontal plane, the second surface has a second angle with the horizontal plane, and the first angle is greater than or equal to the second angle; and / or

[0038] The bottom surface of the pedal body forms the first angle with the horizontal plane, or the bottom surface of the pedal body is parallel to the horizontal plane.

[0039] In some embodiments, the at least one foot switch further comprises:

[0040] A third group of foot switches is provided on the first side panel and / or the second side panel.

[0041] In some embodiments, further comprising:

[0042] a plurality of limit switches, respectively arranged in the base at intervals along the telescopic direction of the telescopic mechanism, the plurality of limit switches being configured to be triggered by the telescopic mechanism to detect the telescopic distance of the telescopic mechanism; and / or

[0043] At least one alarm switch, disposed in the base, for issuing an alarm message or interrupting the telescopic movement of the telescopic mechanism when detecting that the telescopic distance of the telescopic mechanism exceeds the travel; and / or

[0044] An infrared distance measuring sensor is arranged in the base and is used to detect the telescopic distance of the telescopic mechanism.

[0045] The present disclosure also provides a main control vehicle, comprising:

[0046] base; and

[0047] The pedal mechanism as described in any embodiment of the present disclosure is arranged at the bottom of the base.

[0048] The present disclosure also provides a surgical robot system, comprising:

[0049] The pedal mechanism as described in any embodiment of the present disclosure;

[0050] Slave actuator; and

[0051] A controller is communicatively connected with the pedal mechanism and the slave actuator.

[0052] Some embodiments of the present disclosure have one or more of the following beneficial effects: 1. By detachably connecting the foot pedal assembly to the telescopic mechanism, the foot pedal assembly can be installed on the base or removed as a whole from the base as an independent structure that can be completely detachably connected. Compared with the traditional non-detachable structure, it is convenient for users to repair or replace the foot pedal assembly separately without having to disassemble the entire base for repair, making the repair process simple and time-saving; 2. By detachably connecting the foot pedal assembly to the connector, the foot pedal assembly can be quickly removed and installed, and the connection is more stable and reliable; 3. By arranging the foot switch of the foot pedal assembly on surfaces at different heights, it is possible to avoid confusion when the user steps on the foot switch; 4. By making the first surface and the second surface have an inclined angle with the horizontal plane, the foot switch can be made more suitable for the user to step on, increasing the comfort of operation; 5. By providing a detachable cable connector, when the foot pedal assembly is removed from the base, complete electrical separation can be quickly achieved, which is simple to operate and saves installation and disassembly time. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0054] Figure 1 A schematic structural diagram of a pedal mechanism according to some embodiments of the present disclosure is shown;

[0055] Figure 2 A schematic structural diagram of a base according to some embodiments of the present disclosure is shown;

[0056] Figure 3 A schematic diagram showing the structure of a connector at an angle according to some embodiments of the present disclosure is shown;

[0057] Figure 4 A schematic structural diagram showing a connector according to some embodiments of the present disclosure at another angle;

[0058] Figure 5 A schematic structural diagram of a foot pedal assembly according to some embodiments of the present disclosure is shown;

[0059] Figure 6 A partial structural schematic diagram of a foot pedal assembly according to some embodiments of the present disclosure is shown;

[0060] Figure 7 shows a top view of a pedal mechanism according to some embodiments of the present disclosure;

[0061] Figure 8 A schematic structural diagram showing a foot pedal assembly in an initial position according to some embodiments of the present disclosure;

[0062] Figure 9 A schematic structural diagram showing a foot pedal assembly in a maximum travel position according to some embodiments of the present disclosure;

[0063] Figure 10 A schematic structural diagram of a surgical robot system according to some embodiments of the present disclosure is shown.

[0064] List of reference numerals:

[0065] 100. Pedal mechanism;

[0066] 110, base; 111, receiving groove; 112, first sliding guide; 1121, first guide groove; 114, base body; 1141, protrusion; 115, first mounting body; 116, second mounting body; 1161, mounting protrusion;

[0067] 120. Telescopic mechanism; 121. Driving unit; 122. Telescopic rod;

[0068] 130. Foot pedal assembly; 131. Mounting plate; 1312. Second opening; 1313. Third opening; 132. First guide member; 1321. First guide rod; 133. Second guide member; 1331. Second guide rod; 134. Pedal body; 1341. First surface; 1342. Second surface; 135. First side panel; 136. Second side panel; 137. Foot switch; 137a-c. First and third foot switch groups; 138. Support plate; 139. Storage space;

[0069] 140, connector; 141, connecting main board; 1411, first opening; 142, accommodating cavity; 1421, connecting side board; 1422, connecting back board; 1423, cover board;

[0070] 150, limit switch; 151, first set of limit switches; 152, second set of limit switches; 161, infrared distance sensor; 162, induction element; 170, trigger element;

[0071] 1000, surgical robot system; 300, main control trolley; 310, base; 330, main manipulator; 500, operating trolley; 520, robotic arm; 530, surgical instrument; 531, tool arm body; 532, slave end actuator. DETAILED DESCRIPTION

[0072] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0073] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of this disclosure. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0074] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "coupled" should be interpreted broadly. For example, they can refer to fixed or removable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal connections between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on the specific circumstances. In this disclosure, the end closest to the operator (e.g., a physician) is defined as the proximal end, near portion, or rear end, and the end opposite to the proximal end, near portion, or rear end is defined as the distal end, far portion, or front end. Alternatively, the end closest to the operator (e.g., a surgical patient) is defined as the distal end, far portion, or front end, and the end opposite to the distal end, far portion, or front end is defined as the proximal end, near portion, or rear end, and the end opposite to the distal end, far portion, or front end is defined as the proximal end, near portion, or rear end. Those skilled in the art will appreciate that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0075] The present disclosure provides a pedal mechanism. Figure 1 FIG. 1 shows a schematic structural diagram of a pedal mechanism 100 according to some embodiments of the present disclosure. Figure 2 FIG. 1 shows a schematic structural diagram of the base 110 according to some embodiments of the present disclosure. Figure 1 and Figure 2As shown, the pedal mechanism 100 may include a base 110, a telescopic mechanism 120 and a pedal assembly 130. The base 110 may include a receiving slot 111, and the telescopic mechanism 120 is disposed in the receiving slot 111. The foot pedal assembly 130 is movably disposed in the receiving slot 111 for receiving user input. The foot pedal assembly 130 is detachably connected to the telescopic mechanism 120, and the foot pedal assembly 130 is configured to move between the proximal end and the distal end of the receiving slot 111 under the drive of the telescopic mechanism 120. For example, the user's input may be received through a foot switch (such as foot switch 137), a contact sensing device, etc. on the foot pedal assembly 130 to help the user realize preset control functions, such as high-frequency power output, control mode switching, etc. In the present disclosure, the proximal end and the distal end may include, for example, Figure 1 As shown by the arrows in the figure, the horizontal and vertical directions can include Figure 2 In the present disclosure, the height direction may be a direction extending up and down, the distance direction (or longitudinal direction) may be a direction extending front to back, and the lateral direction may be a direction extending left to right.

[0076] It should be understood that the detachable connection between the footrest assembly 130 and the telescopic mechanism 120 allows the footrest assembly 130 to be installed on the base 110 or completely removed from the base 110 as a completely detachable independent structure. Compared with traditional non-detachable structures, the footrest assembly 130 can be easily repaired or replaced by the user without having to disassemble the entire base 110 for maintenance, making the maintenance process simple and time-saving.

[0077] In some embodiments, as Figure 2 As shown, the telescopic mechanism 120 may include a drive unit 121 and a telescopic rod 122. The drive unit 121 may be disposed at the distal end of the base 110, and the telescopic rod 122 may extend from the distal end of the base 110 toward the proximal end. The distal end of the telescopic rod 122 is coupled to the drive unit 121. The drive unit 121 is configured to drive the telescopic rod 122 to extend and retract, thereby moving the footrest assembly 130 between the proximal and distal ends of the base 110 (e.g., longitudinally) to adjust the distance between the footrest assembly 130 and the distal end of the base 110. It should be understood that the drive unit 121 may employ any suitable structure and technology capable of driving the telescopic rod 122 to extend and retract, including, but not limited to, a motor, a hydraulic cylinder, and the like.

[0078] It should be understood that during actual use, the user sits at the proximal end of the base 110, facing the distal end of the base 110, with both feet placed on the foot pedal assembly 130. The position of the foot pedal assembly 130 can be adjusted to meet the usage requirements of users of different heights. For example, a shorter user can extend the foot pedal assembly 130 further from the distal end of the base 110 to facilitate user input, such as stepping on the foot switch 137 on the foot pedal assembly 130. A taller user can retract the foot pedal assembly 130 further from the distal end of the base 110 to facilitate user input. By adjusting the foot pedal assembly 130 to a position that is convenient for the user to step on, the user's operating comfort is enhanced.

[0079] In some embodiments, as Figure 2 As shown, the pedal mechanism 100 may further include a connector 140. The connector 140 is fixedly connected to the telescopic mechanism 120 and detachably connected to the distal end of the footrest assembly 130. For example, the connector 140 may be fixedly connected to the distal end of the telescopic rod 122 of the telescopic mechanism 120. The telescopic rod 122 extends and retracts, driving the connector 140 to move, which in turn drives the footrest assembly 130 to extend and retract longitudinally. The detachable connection between the footrest assembly 130 and the connector 140 allows for quick removal and installation of the footrest assembly 130, and provides a more stable and reliable connection. For example, during disassembly, the footrest assembly 130 need only be detached from the connector 140 to quickly remove the footrest assembly 130 from the base 110. It should be understood that, in the present disclosure, detachable connection may include detachable connection via various suitable means, such as bolted connection, snap-fit connection, etc. In the present disclosure, fixed connection may include fixed connection via various suitable means or may include integral molding.

[0080] Figure 3 A schematic structural diagram of the connector 140 at an angle according to some embodiments of the present disclosure is shown. Figure 4 A schematic structural diagram of the connector 140 according to some embodiments of the present disclosure is shown at another angle. Figure 5 1 is a schematic structural diagram of a footrest assembly 130 according to some embodiments of the present disclosure. Figure 3 In some embodiments, the cover plate 1423 is omitted. Figure 3 and Figure 4As shown, the connector 140 may include a connecting main plate 141 and a receiving cavity 142 located proximal to the connecting main plate 141. The connecting main plate 141 may include a first opening 1411, and the telescopic mechanism 120 at least partially extends from the first opening 1411 into the receiving cavity 142 and is fixedly connected to the receiving cavity 142. For example, the proximal end of the telescopic rod 122 extends from the first opening 1411 into the receiving cavity 142 and is fixedly connected to the receiving cavity 142.

[0081] like Figure 5 As shown, the pedal assembly 130 may include a mounting plate 131 at a distal end. The mounting plate 131 includes a second opening 1312 , and the accommodating cavity 142 extends into the pedal assembly 130 from the second opening 1312 . The connecting main plate 141 is detachably connected to the mounting plate 131 .

[0082] In some embodiments, as Figure 3 and Figure 4 As shown, the accommodating cavity 142 of the connecting member 140 may include two connecting side plates 1421 and a connecting back plate 1422. The two connecting side plates 1421 are located on the proximal side of the connecting main plate 141 and are arranged opposite to each other. The distal ends of the two connecting side plates 1421 are respectively fixedly connected to the connecting main plate 141, and the proximal ends of the two connecting side plates 1421 are respectively fixedly connected to the connecting back plate 1422. The connecting back plate 1422, the two connecting side plates 1421 and the connecting main plate 141 form the accommodating cavity 142. The telescopic rod 122 of the telescopic mechanism 120 can extend into the accommodating cavity 142 from the first opening 1411 and be fixedly connected to the two connecting side plates 1421 or the connecting back plate 1422. For example, a pin can be passed through the telescopic rod 122, and the two ends of the pin are respectively connected to the two connecting side plates 1421. For another example, the distal end of the telescopic rod 122 may include a protrusion protruding laterally or longitudinally, and the protrusion is fixedly connected to the two connecting side plates 1421 or the connecting back plate 1422. In some embodiments, Figure 4 As shown, the accommodating cavity 142 of the connector 140 may further include a cover plate 1423 disposed on the top. The cover plate 1423 may be connected to the connecting main plate 141 and the two connecting side plates 1421 to form the accommodating cavity 142 into a completely or partially closed cavity.

[0083] In some embodiments, as Figure 3 and Figure 4 As shown, the connecting main plate 141 can extend outward from the first opening 1411, for example, to both sides or the upper side of the first opening 1411. The extended portion is used to detachably connect to the mounting plate 131 of the foot pedal assembly 130, thereby increasing the connection area and making the connection between the connector 140 and the foot pedal assembly 130 more stable and reliable.

[0084] In some embodiments, as Figure 2As shown, the base 110 may include at least one first sliding guide 112 and at least one second sliding guide (not shown). The at least one first sliding guide 112 is disposed on a first side of the receiving groove 111, and the at least one second sliding guide is disposed on a second side of the receiving groove 111 opposite to the first side. Figure 5 As shown, the footrest assembly 130 may further include at least one first guide member 132 and at least one second guide member 133. The at least one first guide member 132 is disposed on a first side of the footrest assembly 130 and cooperates with the at least one first sliding guide 112. The at least one second guide member 133 is disposed on a second side of the footrest assembly 130 and cooperates with the at least one second sliding guide. The at least one first guide member 132 and the at least one second guide member 133 are configured to slide along the at least one first sliding guide 112 and the at least one second sliding guide, respectively, under the drive of the telescoping mechanism 120. It should be understood that, in the present disclosure, the guide member may include various suitable guide structures, such as guide rods, sliders, etc. The sliding guide may include various suitable sliding guide structures, such as guide grooves, guide holes, and slide rails. The provision of the guide member and the sliding guide prevents shaking of the footrest assembly 130 during telescoping motion, ensuring more stable and reliable operation.

[0085] In some embodiments, as Figure 2 As shown, at least one first sliding guide member 112 may include a plurality of first guide grooves 1121 spaced apart, and at least one second sliding guide member may include a plurality of second guide grooves spaced apart. At least one first guide member 132 may include a plurality of first guide rods 1321 spaced apart in the height direction, and at least one second guide member 133 may include a plurality of second guide rods 1331 spaced apart in the height direction. The plurality of first guide rods 1321 may be slidably disposed in the plurality of first guide grooves 1121, and the plurality of second guide rods 1331 may be slidably disposed in the plurality of second guide grooves. Figure 5Two first guide rods 1321 and two second guide rods 1331 are shown. The above is merely an example; it should be understood that the number of first guide rods 1321 and second guide rods 1331 can also vary. For example, the plurality of first guide grooves 1121 can include two or more groups of first guide grooves spaced apart in the distal direction, each group of first guide grooves including two first guide grooves spaced apart in the height direction. For another example, the plurality of first guide grooves 1121 can include two first guide grooves spaced apart in the height direction, each first guide groove extending in the distal direction. It should be understood that the plurality of second guide grooves can have a similar configuration to the plurality of first guide grooves 1121, and further description will not be given here. It should be understood that the openings of the first guide grooves 1121 and the second guide grooves can face the interior of the base. For example, the first guide grooves 1121 and the second guide grooves can be arcuate grooves to mate with the first guide rods 1321 and the second guide rods 1331. In the present disclosure, the inner side of the base (or the mounting body, or the side plate) may be the side facing the center of the base, and conversely, the outer side of the base may be the side away from the center of the base.

[0086] In some embodiments, the distal radial dimensions of the first guide rod 1321 and the second guide rod 1331 gradually decrease so that the guide rods can quickly pass through the guide grooves during installation, saving installation time.

[0087] In some embodiments, as Figure 2 As shown, the base 110 may include a base body 114, a first mounting body 115, and a second mounting body 116. The first mounting body 115 and the second mounting body 116 are respectively disposed on opposite sides of the base body 114 and extend proximally along the base body 114. The first mounting body 115 and the second mounting body 116 form a receiving groove 111 with a proximal opening with the base body 114. At least one first sliding guide 112 is disposed on the inner side of the first mounting body 115, and at least one second sliding guide is disposed on the inner side of the second mounting body 116. The at least one first sliding guide 112 and the at least one second sliding guide are symmetrically disposed.

[0088] In some embodiments, the height of the first mounting body 115 and the second mounting body 116 along the proximal extension of the base body 114 is greater than the height of the base body 114. For example, the first sliding guide 112 and the second sliding guide can be respectively disposed on the extensions of the first mounting body 115 and the second mounting body 116.

[0089] In some embodiments, as Figure 2As shown, the outer sides of the first and second mounting bodies 115, 116 are each provided with mounting protrusions 1161 extending along their lengths. These protrusions 1161 facilitate mounting the base 110 to an external device (e.g., a surgical trolley base). It should be understood that the shape and dimensions of the distal end of the base body 114 can be designed based on the structure of the external device. For example, the distal end of the base body 114 can include a protrusion 1141 whose lateral dimensions are smaller than those of the base body 114. This facilitates insertion of the distal end of the base body 114 into a recess in the external device for complete assembly.

[0090] In some embodiments, as Figure 5 As shown, the foot pedal assembly 130 may include a pedal body 134, at least one foot switch 137, a first side plate 135, and a second side plate 136. The at least one foot switch 137 is disposed on the pedal body 134. The first and second side plates 135, 136 are disposed on opposite sides of the pedal body 134 and extend along the height of the pedal body 134. At least one first guide member 132 is disposed on the outside of the first side plate 135 and extends along its length. At least one second guide member 133 is disposed on the outside of the second side plate 136 and extends along its length. The at least one first guide member 132 and the at least one second guide member 133 are symmetrically arranged. In the present disclosure, the inner side of a side plate may be the side facing the foot switch 137 or the side facing the center of the pedal body 134. Conversely, the outer side of a side plate may be the side facing away from the foot switch 137 or the side facing away from the center of the pedal body 134.

[0091] Figure 6 FIG. 1 shows a partial structural diagram of a foot pedal assembly 130 according to some embodiments of the present disclosure. Figure 7 FIG. 1 shows a top view of a pedal mechanism 100 according to some embodiments of the present disclosure. For clarity of illustration, Figure 6 In some embodiments, the first side plate 135 is hidden. Figure 6 As shown, the pedal body 134 may include a first surface 1341 and a second surface 1342 disposed at different heights in a direction from distal to proximal. The at least one foot switch 137 may include a first group of foot switches 137a and a second group of foot switches 137b, wherein the first group of foot switches 137a is disposed on the first surface 1341 and the second group of foot switches 137b is disposed on the second surface 1342.

[0092] In some embodiments, as Figure 6 and Figure 7As shown, the first group of foot switches 137a may include a plurality of foot switches 137a (e.g., three) arranged transversely along the first surface 1341 and spaced apart from each other. The second group of foot switches 137b may include a plurality of foot switches 137b (e.g., three) arranged transversely along the second surface 1342 and spaced apart from each other. Figure 7 As shown, the first group of foot switches 137a and the second group of foot switches 137b can be aligned in the longitudinal direction. In some embodiments, the first group of foot switches 137a and the second group of foot switches 137b can be offset in the longitudinal direction. It should be understood that the number of the first group of foot switches 137a and the second group of foot switches 137b can be one or more, and is not limited here. The above embodiments are merely examples and are not limited thereto. When the user's hands are occupied, the user can achieve high-frequency electrical energy output from the end actuator by stepping on the first group of foot switches 137a or the second group of foot switches 137b, such as electrocoagulation, electrocution, etc.

[0093] In some embodiments, as Figure 7 As shown, the at least one foot switch 137 may further include a third set of foot switches 137c. The third set of foot switches 137c is disposed on the first side panel 135 and / or the second side panel 136. It should be understood that the third set of foot switches 137c may be one or more. For example, a user may kick at least one of the third set of foot switches 137c to control a preset function, such as switching controller authority between multiple slave actuators. In some embodiments, a touch switch may be provided on the first side panel 135 and / or the second side panel 136. The touch switch is configured to receive a touch from the user's left or right foot to activate or deactivate the control, thereby controlling the preset function.

[0094] In some embodiments, at least two of the first and second sets of foot switches 137a, 137b may include different appearance features. For example, the appearance features may include, but are not limited to, at least one of the following: color, shape, or surface texture. It should be understood that different color appearance features may include, but are not limited to, red, orange, yellow, green, cyan, blue, purple, white, black, and gray. Different shape appearance features may include, but are not limited to, partial or complete shape differences, such as a sole shape that roughly matches the shape of a foot, or rectangular or elliptical shapes of varying sizes. Different surface texture appearance features may include, but are not limited to, wavy shapes, horizontal stripes, vertical stripes, zigzag shapes, or a combination of these. For example, the first set of foot switches 137a may include foot switches 137a with a first appearance feature (e.g., blue) for high-frequency electrical energy output, such as electrocoagulation. Alternatively, the second set of foot switches 137b may include foot switches 137b with a second appearance feature (e.g., yellow) for high-frequency electrical energy output, such as electrocution. By providing foot switches 137 with different appearance features, it is convenient for the operator to distinguish the functions of different foot switches 137 to avoid misoperation.

[0095] In some embodiments, as Figure 6 As shown, the first surface 1341 and the second surface 1342 can be at different heights, forming a step between them. For example, the foot pedal assembly 130 may include a support plate 138 extending in the height direction, with the proximal end of the first surface 1341 and the distal end of the second surface 1342 connected to the top and bottom ends of the support plate 138, respectively, to form a step. The provision of a step prevents the user from getting confused when stepping on the foot switches 137 on different surfaces. It should be understood that the first surface 1341 and the second surface 1342 can be parallel to each other or at an angle, and the first surface 1341 and the second surface 1342 can be parallel to the horizontal plane or at an angle to the horizontal plane.

[0096] In some embodiments, as Figure 6 As shown, the abutment plate 138 can extend in the height direction at an angle to the second surface 1342 and be connected to the proximal end of the first surface 1341. It should be understood that the abutment plate 138 can also extend in the height direction perpendicular to the second surface 1342. The abutment plate 138 can be spaced apart from the mounting plate 131, and the distal ends of the first surface 1341 and the second surface 1342 are respectively connected to the top and bottom ends of the mounting plate 131. The abutment plate 138, the mounting plate 131, the first surface 1341, the second surface 1342, the first side plate 135 and the second side plate 136 form a placement space 139, and the accommodating cavity 142 extends into the placement space 139 from the second opening 1312. In some embodiments, a plurality of reinforcement plates can be spaced apart in the placement space 139 to increase the strength of the footrest assembly 130.

[0097] In some embodiments, the first surface 1341 has a first angle with the horizontal plane, and the second surface 1342 has a second angle with the horizontal plane, wherein the first angle is greater than or equal to the second angle. It should be understood that the first surface 1341 and the second surface 1342 can each be inclined at different angles toward the proximal end. For example, the second angle can be 5°, and the difference between the first and second angles can be between 0 and 20°. By providing the first surface 1341 and the second surface 1342 with an inclined angle with the horizontal plane, the first group of foot switches 137a and the second group of foot switches 137b can be more suitable for users to step on, thereby increasing operational comfort.

[0098] In some embodiments, the bottom surface of the pedal body 134 can have a first angle with the horizontal plane, or the bottom surface of the pedal body 134 can be parallel to the horizontal plane. It should be understood that the top surface of the pedal body 134 can form the first surface 1341. The top and bottom surfaces of the pedal body 134 can be parallel or at an angle.

[0099] In some embodiments, the foot pedal assembly 130 may include at least one first cable connector (not shown), and the base 110 may include at least one second cable connector (not shown), with the at least one first cable connector and the at least one second cable connector each being detachably engageable. For example, the first and second cable connectors may be male and female, and can be engaged or disengaged by plugging and unplugging, for example, to connect or disconnect the foot pedal assembly 130 from the base 110. The provision of a detachable cable connector allows for quick and complete electrical disconnection when removing the foot pedal assembly 130 from the base 110, simplifying operation and reducing installation and removal time.

[0100] In some embodiments, as Figure 5 As shown, the mounting plate 131 may include at least one third opening 1313 for allowing at least one first cable connector to extend from the at least one third opening 1313 to engage with a second cable connector. For example, the at least one third opening 1313 may include two third openings 1313, one located on either side of the second opening 1312. The at least one first cable connector may include two first cable connectors, and the at least one second cable connector may include two second cable connectors, with the two first cable connectors extending from the two third openings 1313, respectively, to engage with the two second cable connectors. The above is merely an example and is not intended to be limiting. It should be understood that the number of third openings 1313, as well as the number of first and second cable connectors, may also vary.

[0101] Figure 8 A schematic structural diagram showing a foot pedal assembly 130 in an initial position according to some embodiments of the present disclosure is shown. Figure 9FIG. 1 is a schematic diagram showing a structure of the foot pedal assembly 130 in a maximum travel position according to some embodiments of the present disclosure. Figure 7 and Figure 9 As shown, the pedal mechanism 100 may further include a plurality of limit switches 150. The plurality of limit switches 150 are spaced apart in the base 110 along the extension direction of the telescopic mechanism 120, and the plurality of limit switches 150 are used to be triggered by the telescopic mechanism 120 to detect the extension distance of the telescopic mechanism 120.

[0102] In some embodiments, as Figure 7 and Figure 9 As shown, the pedal mechanism 100 may further include at least one trigger member 170. At least one trigger member 170 is connected to the connecting member 140 and extends toward the distal end. The telescopic mechanism 120 drives the connecting member 140 to move when telescoping, so as to drive the trigger member 170 to telescope and trigger the limit switch 150. For example, the plurality of limit switches 150 may include a first group of limit switches 151 and a second group of limit switches 152 that are aligned and spaced along the longitudinal direction. The first group of limit switches 151 and the second group of limit switches 152 may respectively define the initial position and the maximum stroke position of the telescopic mechanism 120. For example, when the telescopic mechanism 120 is in the initial position, the trigger member 170 triggers the first group of limit switches 151, and when the telescopic mechanism 120 moves proximally to the maximum stroke position, the trigger member 170 triggers the second group of limit switches 152. It should be understood that, as Figure 8 As shown, in the initial position, the proximal edge of the footrest assembly 130 does not extend beyond the proximal edge of the base 130. Figure 9 As shown, in the maximum travel position, the proximal edge of the footrest assembly 130 may be aligned with the proximal edge of the base 130 or slightly extend beyond the proximal edge of the base 130 .

[0103] In some embodiments, as Figure 7 As shown, the first set of limit switches 151 may include two first limit switches 151, one disposed on each side of the telescopic mechanism 120. The second set of limit switches 152 may include two second limit switches 152, one disposed on each side of the telescopic mechanism 120. The at least one trigger member may include two trigger members 170, one disposed on each side of the telescopic mechanism 120. The two trigger members 170 are used to trigger the first limit switch 151 and the second limit switch 152 on the corresponding side, respectively. The above is merely an example and is not intended to be limiting. It should be understood that the first set of limit switches 151 and the second set of limit switches 152 may each include one limit switch.

[0104] In some embodiments, the pedal mechanism 100 may further include at least one alarm switch disposed in the base for issuing an alarm or interrupting the telescopic movement of the telescopic mechanism 120 when detecting that the telescopic distance of the telescopic mechanism 120 exceeds the travel range.

[0105] In some embodiments, as Figure 9 As shown, the pedal mechanism 100 may further include an infrared distance sensor 161. The infrared distance sensor 161 may be disposed within the base 110, and the connector 140 may be provided with a sensing element 162 corresponding to the infrared distance sensor 161. When the telescopic mechanism 120 is extended or retracted, the connector 140 is moved, thereby moving the sensing element 162. The infrared distance sensor 161 detects the distance between itself and the sensing element 162 to monitor the telescopic distance of the telescopic mechanism 120 in real time.

[0106] In some embodiments, as Figure 9 As shown, the pedal mechanism 100 may further include at least one drag chain 180. The first and second cable connectors may be provided on the drag chain 180, and the at least one drag chain 180 may reciprocate longitudinally along the base 110. The provision of the drag chain prevents cables from being damaged by bending or entangled, thereby protecting the cables and extending the service life of the pedal mechanism.

[0107] The present disclosure also provides a main control trolley. Figure 10 FIG. 1 shows a schematic diagram of a surgical robot system 1000 according to some embodiments of the present disclosure. Figure 10 As shown, the master console cart 300 may include a base 310 and a pedal mechanism 100 as in any embodiment of the present disclosure, and the pedal mechanism 100 is disposed at the bottom of the base 310 .

[0108] In some embodiments, as Figure 10 As shown, the master control trolley 300 may further include at least one master operator 330. The at least one master operator 330 may be symmetrically arranged on the base 310 so as to be operated by the left and right hands of the operator, respectively.

[0109] In some embodiments, as Figure 10 As shown, the surgical robot system 1000 includes the pedal mechanism 100 of any embodiment of the present disclosure, a slave actuator 532, and a controller. The controller is in communication with the pedal mechanism 100 and the slave actuator 532. For example, the slave actuator 532 may include, but is not limited to, clamps, bending shears, grasping forceps, electric hooks, endoscopes, etc.

[0110] It should be understood that the controller can be in communication with one or more foot switches 137 of the pedal mechanism 100, and can be used to control one or more slave actuators 532 to perform operations in response to the operator stepping on one or more foot switches 137. It should be understood that the operations can include high-frequency power output and / or control mode switching. For example, controlling a slave actuator to perform high-frequency power output (e.g., electrocoagulation with forceps, electrocuting with shears, etc.) can also control the switching of control rights between multiple slave actuators 532, switching of function selection modes, etc.

[0111] In some embodiments, as Figure 10 As shown, the surgical robot system 1000 may also include a surgical trolley 500. The surgical trolley 500 may include at least one robotic arm 520. In some embodiments, at least one surgical instrument 530 may be provided at the distal end of the at least one robotic arm 520. In some embodiments, at least one surgical instrument 530 may include a tool arm body 531 and a slave end actuator 532 (for example, clamps, bending scissors, endoscopes, etc.). It should be understood that the robotic arm 520 may include multiple active joints (for example, multiple translation joints and / or multiple rotation joints) and connecting rods, and form a remote motion center at the distal end of the robotic arm 520. The robotic arm 520 is used to adjust the position and posture of one or more surgical instruments 530 (for example, the slave end actuator 532). As shown in FIG. Figure 10 As shown, the surgical trolley 500 may include a robotic arm 520. It should be understood that the surgical trolley 500 may also include multiple robotic arms 520. This is not limited to the specific embodiment. Those skilled in the art will understand that the surgical robot system 1000 provided in this embodiment may be any suitable surgical robot, including a laparoscopic surgical robot.

[0112] In some embodiments, the master control trolley 300 is communicatively connected to the surgical trolley 500, for example, via wired or wireless transmission. At least one master operator 330 on the master control trolley 300 can be used to receive operations performed by the operator. During surgery, the operator can control the surgical instruments 530 included in the surgical trolley 500 by operating at least one master operator 330 on the master control trolley 300 to perform surgical operations. The surgical trolley 500 is typically located on the patient's side and responds to control commands from the master control trolley 300 to perform surgical operations on the patient. In some embodiments, the operator can operate the slave actuator 532 (e.g., high-frequency power output and / or control mode switching) by stepping on the foot switch 137 on the foot mechanism 100 while both hands are occupied.

[0113] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A pedal mechanism, characterized in that: include: a base, including a receiving slot; a telescopic mechanism, disposed in the accommodating groove; A foot pedal assembly is movably disposed in the receiving groove for receiving user input. The foot pedal assembly is detachably connected to the telescopic mechanism and is capable of moving between the proximal end and the distal end of the receiving groove under the drive of the telescopic mechanism.

2. The pedal mechanism according to claim 1, characterized in that: The foot pedal assembly includes at least one first cable connector; The base includes at least one second cable connector, and the at least one first cable connector is detachably engaged with the at least one second cable connector, respectively.

3. The pedal mechanism according to claim 1, wherein: Also includes: A connecting piece is fixedly connected to the telescopic mechanism, and the connecting piece is detachably connected to the distal end of the foot pedal assembly.

4. The pedal mechanism according to claim 3, characterized in that: The connecting member includes a connecting main plate and an accommodating cavity located on the proximal side of the connecting main plate, the connecting main plate includes a first opening, and the telescopic mechanism at least partially extends from the first opening into the accommodating cavity and is fixedly connected to the accommodating cavity; The foot pedal assembly includes a mounting plate located at a distal end, the mounting plate includes a second opening, the accommodating cavity extends into the foot pedal assembly from the second opening, and the connecting main board is detachably connected to the mounting plate.

5. The pedal mechanism according to claim 4, wherein: The telescopic mechanism comprises: a driving portion, disposed at a distal end of the base; and A telescopic rod is extended from the distal end to the proximal end of the base, the distal end of the telescopic rod is coupled to the driving part, and the proximal end of the telescopic rod extends into the accommodating cavity from the first opening and is fixedly connected to the accommodating cavity.

6. The pedal mechanism according to claim 1, wherein: The base comprises: at least one first sliding guide disposed on a first side of the receiving groove; and at least one second sliding guide disposed on a second side of the receiving slot opposite to the first side; The foot pedal assembly includes: at least one first guide member disposed on a first side of the footrest assembly, the at least one first guide member cooperating with the at least one first sliding guide member; and At least one second guide member is arranged on the second side of the foot pedal assembly, and the at least one second guide member cooperates with the at least one second sliding guide member. The at least one first guide member and the at least one second guide member are used to slide along the at least one first sliding guide member and the at least one second sliding guide respectively under the drive of the telescopic mechanism.

7. The pedal mechanism according to claim 6, characterized in that: The at least one first sliding guide comprises a plurality of first guide grooves arranged at intervals, and the at least one second sliding guide comprises a plurality of second guide grooves arranged at intervals; The at least one first guide member includes a plurality of first guide rods spaced apart along the height direction, and the at least one second guide member includes a plurality of second guide rods spaced apart along the height direction, and the plurality of first guide rods are respectively slidably disposed in the plurality of first guide grooves, and the plurality of second guide rods are respectively slidably disposed in the plurality of second guide grooves.

8. The pedal mechanism according to claim 7, characterized in that: The radial dimensions of the distal ends of the first guide rod and the second guide rod gradually decrease.

9. The pedal mechanism according to claim 6, wherein: The base comprises: a base body; and The first mounting body and the second mounting body are respectively arranged on both sides of the base body and extend toward the proximal end along the base body. The first mounting body and the second mounting body and the base body form the accommodating groove with the proximal opening. The at least one first sliding guide is arranged on the inner side of the first mounting body, and the at least one second sliding guide is arranged on the inner side of the second mounting body. The at least one first sliding guide and the at least one second sliding guide are symmetrically arranged.

10. The pedal mechanism according to claim 9, characterized in that: The foot pedal assembly includes: Pedal body; at least one foot switch disposed on the pedal body; and The first side plate and the second side plate are respectively arranged on both sides of the pedal body and extend along the height direction of the pedal body. The at least one first guide member is arranged on the outer side of the first side plate and extends along the length direction of the first side plate. The at least one second guide member is arranged on the outer side of the second side plate and extends along the length direction of the second side plate. The at least one first guide member and the at least one second guide member are symmetrically arranged.

11. The pedal mechanism according to claim 10, characterized in that: The pedal body includes a first surface and a second surface which are sequentially arranged in a direction from the distal end to the proximal end and are located at different heights; The at least one foot switch comprises: a first set of foot switches disposed on the first surface; as well as A second set of foot switches is provided on the second surface.

12. The pedal mechanism according to claim 11, wherein: A first angle is formed between the first surface and a horizontal plane, a second angle is formed between the second surface and the horizontal plane, and the first angle is greater than or equal to the second angle; and / or The bottom surface of the pedal body has the first included angle with the horizontal plane, or the bottom surface of the pedal body is parallel to the horizontal plane.

13. The pedal mechanism according to claim 11, characterized in that: The at least one foot switch further comprises: A third group of foot switches is provided on the first side panel and / or the second side panel.

14. The pedal mechanism according to claim 1, wherein: Also includes: a plurality of limit switches, respectively arranged in the base at intervals along the telescopic direction of the telescopic mechanism, the plurality of limit switches being configured to be triggered by the telescopic mechanism to detect the telescopic distance of the telescopic mechanism; and / or At least one alarm switch is provided in the base, and is used to issue an alarm message or interrupt the telescopic movement of the telescopic mechanism when it is detected that the telescopic distance of the telescopic mechanism exceeds the travel; and / or An infrared distance measuring sensor is arranged in the base and is used to detect the telescopic distance of the telescopic mechanism.

15. A main control vehicle, characterized in that: include: base; as well as The pedal mechanism according to any one of claims 1 to 14, wherein the pedal mechanism is arranged at the bottom of the base.

16. A surgical robot system, characterized in that: include: The pedal mechanism according to any one of claims 1 to 14; Slave end actuator; as well as A controller is communicatively connected with the pedal mechanism and the slave actuator.

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