Surgical robot

Abstract

The surgical robot comprises a trolley and a mechanical arm, the mechanical arm is installed on the trolley, the surgical robot is characterized by further comprising an extension structure and a linear motion mechanism, the extension structure is connected with the mechanical arm and the linear motion mechanism, and the linear motion mechanism is installed on the trolley; and the linear motion mechanism is used for adjusting and controlling the spatial position of the mechanical arm through the extension structure. The flexibility and the applicability of the surgical robot are improved, and the accuracy, the safety and the stability are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and in particular to a surgical robot. Background Art

[0002] In the current field of medical robotics, surgical robots, as important tools for precision medicine, have greatly improved the quality of surgery, and their performance is directly related to the success rate of surgery. However, traditional surgical robots have significant limitations in terms of height adjustment and position flexibility of the robotic arms. For example, in neurosurgery, oral implant surgery, and spinal surgery, robots often face problems with insufficient height and extension of the robotic arms, which restrict their working range. During surgery, the robotic arms struggle to accurately and stably reach the predetermined surgical position. This is especially true for patients of varying body shapes, lesion locations, and conditions, where the flexibility and adaptability of the robotic arms are particularly limited.

[0003] Traditional surgical methods rely on the doctor's personal experience and intuition to plan the positioning of the robotic arm, which makes it difficult to ensure the accuracy and safety of the surgery. Utility Model Content

[0004] In order to solve the above technical problems, the present application provides a surgical robot to solve or alleviate the problems existing in the above-mentioned prior art.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] A surgical robot comprises a robotic arm and a trolley, wherein the robotic arm is mounted on the trolley. The surgical robot is characterized in that the surgical robot further comprises: an extension structure and a linear motion mechanism, wherein the extension structure is connected to the robotic arm and the linear motion mechanism respectively; the linear motion mechanism is mounted on the trolley and is used to adjust and control the spatial position of the robotic arm through the extension structure.

[0007] Preferably, the linear motion mechanism includes a driving mechanism, a transmission assembly and a lifting assembly; the driving mechanism is used to provide driving force; the transmission assembly is connected to the driving mechanism to receive the driving force and convert it into a lifting action on the lifting assembly; the lifting assembly is connected to the transmission assembly to generate linear motion under the action of the lifting action to adjust the reachable height of the robotic arm in the vertical direction.

[0008] Preferably, the robotic arm includes one or more rotary joints and one or more connecting arms, and the rotary joints and / or connecting arms are combined and connected to each other to form a motion chain with multiple degrees of freedom, so that the robotic arm can move freely in space.

[0009] Preferably, the plurality of rotary joints include: a first rotary joint, a second rotary joint, a third rotary joint, a fourth rotary joint, a fifth rotary joint, and a sixth rotary joint; the plurality of connecting arms include: a first connecting arm, a second connecting arm, and a third connecting arm;

[0010] The first rotary joint is connected to the extension structure through a robotic arm base, the second rotary joint is connected to the first rotary joint, the first connecting arm is connected to the second rotary joint, the third rotary joint is connected to the first connecting arm, the second connecting arm is connected to the third rotary joint, the fourth rotary joint is connected to the second connecting arm, the third connecting arm is connected to the fourth rotary joint, the fifth rotary joint is connected to the third connecting arm, and the sixth rotary joint is connected to the fifth rotary joint;

[0011] The first rotary joint can drive the second rotary joint to rotate, the second rotary joint can drive the first connecting arm to rotate, the third rotary joint can drive the second connecting arm to rotate, the fourth rotary joint can drive the third connecting arm to rotate, and the fifth rotary joint can drive the sixth rotary joint to rotate.

[0012] Preferably, the driving mechanism includes a driving motor and a driving gear; the driving gear is mounted on an output shaft of the driving motor, and the driving gear is connected to the transmission assembly to generate driving force and transmit it to the transmission assembly.

[0013] Preferably, the transmission assembly includes one or a combination of a mechanical transmission assembly, a pneumatic transmission assembly, and a hydraulic transmission assembly.

[0014] Preferably, the transmission assembly includes: a crawler belt, a driven gear, and a screw rod; the driven gear is connected to the driving gear through the crawler belt; the screw rod is vertically arranged and connected to the driven gear to rotate under the action of the driving force.

[0015] Preferably, the lifting assembly includes: a guide groove, a slider, and a lifting column; the guide groove is installed in a direction parallel to the screw, the slider is slidably installed on the guide groove, and is rotationally connected to the screw through a threaded structure, so that when the screw rotates, the slider is driven to move linearly along the guide groove; the lifting column is fixed on the slider to generate corresponding lifting and lowering movements with the slider.

[0016] Preferably, the surgical robot further comprises a connecting member, wherein the connecting member is fixedly connected to the slider and the lifting column respectively, so that the lifting column is fixed on the slider.

[0017] Preferably, the connecting member includes a mounting plate and a mounting groove, the mounting plate is fixed on the mounting groove, and the mounting plate is fixed on the slider; the lifting column is fixed inside the mounting groove.

[0018] Preferably, the mounting plate is fixed to the mounting groove in such a manner that the plane on which the mounting plate is located forms a preset angle with the bottom surface of the mounting groove, and a first screw hole is provided on the mounting plate so that the connecting member can be passed through and fixed to the slider by a first bolt; the mounting groove is a circular groove-shaped structure with a second screw hole on the bottom surface, so that the lifting column is fixed inside the mounting groove by the second bolt.

[0019] Preferably, the extension structure includes one or a combination of a plate structure, a tubular structure, a frame structure, a channel steel structure, a telescopic structure, and a special-shaped structure.

[0020] Preferably, the extension structure is fixed to the robot arm base to be connected to the robot arm, and is fixed to the lifting column in the direction of the extension structure toward the surgical target to be connected to the linear motion mechanism for adjusting the reachable position of the robot arm in the horizontal direction.

[0021] Preferably, a trolley frame is installed on the trolley, the linear motion mechanism is fixed on the trolley and fixed to the trolley frame to provide stable support, and movable universal wheels are provided at the bottom of the trolley.

[0022] Preferably, the end of the robotic arm is connected to a surgical instrument assembly to perform a set surgical task.

[0023] The present application also provides a surgical robot, which includes two sets of robotic arms, an extension structure, and a linear motion mechanism installed on a trolley.

[0024] The present application provides a surgical robot comprising a trolley and a robotic arm, wherein the robotic arm is mounted on the trolley. The surgical robot further comprises an extension structure and a linear motion mechanism, wherein the extension structure is connected to the robotic arm and the linear motion mechanism, respectively, and the linear motion mechanism is mounted on the trolley; the linear motion mechanism is used to adjust and control the spatial position of the robotic arm via the extension structure. This improves the flexibility and applicability of the surgical robot and enhances its accuracy, safety, and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings that constitute part of this application are used to provide a further understanding of this application and make other features, objects and advantages of this application more apparent. The illustrative embodiment drawings of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0026] Figure 1is a schematic structural diagram of a surgical robot according to an embodiment of the present application;

[0027] Figure 2 is a schematic structural diagram of a robotic arm according to an embodiment of the present application;

[0028] Figure 3 is a partial structural diagram of a linear motion mechanism according to an embodiment of the present application;

[0029] Figure 4 is a structural diagram of a lifting column according to an embodiment of the present application;

[0030] Figure 5 is a structural diagram of a connecting member according to an embodiment of the present application;

[0031] Among them, the numbers in the figure represent:

[0032] 1. Robotic arm; 11. First rotary joint; 12. Second rotary joint; 121. First connecting arm; 13. Third rotary joint; 131. Second connecting arm; 14. Fourth rotary joint; 141. Third connecting arm; 15. Fifth rotary joint; 16. Sixth rotary joint; 17. Robotic arm base; 2. Extension structure; 21. Extension plate; 3. Linear motion mechanism; 31. Drive mechanism; 311. Drive motor; 312. Drive gear; 32. Transmission assembly; 321. Track; 322. Driven gear; 323. Screw; 33. Lifting assembly; 331. Guide groove; 332. Slider; 333. Lifting column; 34. Connector; 341. Mounting plate; 342. Mounting groove; 4. Trolley; 41. Trolley frame; 42. Universal wheel. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the present invention, the following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the term "including" in the specification and claims of this application and the above-mentioned drawings is intended to cover non-exclusive inclusions. In this application, the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe this application and its embodiments, and are not used to limit the indicated components to having specific directions. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0035] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] Figure 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present application; Figure 2 is a schematic structural diagram of a robotic arm according to an embodiment of the present application; Figure 3 is a partial structural diagram of a linear motion mechanism according to an embodiment of the present application; Figure 4 is a structural diagram of a lifting column according to an embodiment of the present application; Figure 5 is a structural diagram of a connecting member according to an embodiment of the present application;

[0037] like Figures 1 to 5 As shown, the present application provides a surgical robot, comprising a robotic arm 1 and a trolley 4, wherein the robotic arm 1 is mounted on the trolley 4, and is characterized in that the surgical robot further comprises: an extension structure 2 and a linear motion mechanism 3, wherein the extension structure 2 is connected to the robotic arm 1 and the linear motion mechanism 3 respectively; the linear motion mechanism 3 is mounted on the trolley 4 and is used to adjust and control the spatial position of the robotic arm 1 through the extension structure 2. The linear motion mechanism 3 comprises a drive mechanism 31, a transmission assembly 32, and a lifting assembly 33; the drive mechanism 31 is used to provide a driving force; the transmission assembly 32 is connected to the drive mechanism 31 to receive the driving force and convert it into a lifting action for the lifting assembly 33; the lifting assembly 33 is connected to the transmission assembly 32 to generate a linear motion under the action of the lifting action, so as to adjust the reachable height of the robotic arm 1 in the vertical direction. The flexibility and applicability of the surgical robot are improved, and the accuracy, safety, and stability are improved.

[0038] Preferably, the robotic arm 1 includes one or more rotary joints and one or more connecting arms, and the rotary joints and / or connecting arms are combined and connected to each other to form a motion chain with multiple degrees of freedom, so that the robotic arm 1 can move freely in space.

[0039] In one embodiment, the plurality of rotary joints include: a first rotary joint 11, a second rotary joint 12, a third rotary joint 13, a fourth rotary joint 14, a fifth rotary joint 15, and a sixth rotary joint 16; the plurality of connecting arms include: a first connecting arm 121, a second connecting arm 131, and a third connecting arm 141;

[0040] The first rotary joint 11 is connected to the extension structure 2 through a robotic arm base 17, the second rotary joint 12 is connected to the first rotary joint 11, the first connecting arm 121 is connected to the second rotary joint 12, the third rotary joint 13 is connected to the first connecting arm 121, the second connecting arm 131 is connected to the third rotary joint 13, the fourth rotary joint 14 is connected to the second connecting arm 131, the third connecting arm 141 is connected to the fourth rotary joint 14, the fifth rotary joint 15 is connected to the third connecting arm 141, and the sixth rotary joint 16 is connected to the fifth rotary joint 15;

[0041] The first rotary joint 11 can drive the second rotary joint 12 to rotate, the second rotary joint 12 can drive the first connecting arm 121 to rotate, the third rotary joint 13 can drive the second connecting arm 131 to rotate, the fourth rotary joint 14 can drive the third connecting arm 141 to rotate, and the fifth rotary joint 15 can drive the sixth rotary joint 16 to rotate.

[0042] In this embodiment, the robotic arm 1 includes multiple rotary joints and multiple connecting arms, forming a motion chain with rich degrees of freedom. The robotic arm 1 is capable of complex spatial motion, including but not limited to pitch, yaw, and roll, and can flexibly adapt to various surgical scenarios, whether it is penetrating narrow anatomical spaces or performing delicate operations in open areas. Secondly, each rotary joint can be independently controlled, allowing the doctor or operating system to fine-tune the position and posture of the robotic arm 1 to achieve high-precision surgical operations. Furthermore, the modular connection between the joints and connecting arms of the robotic arm 1 allows the structure of the robotic arm 1 to be flexibly adjusted. During upgrades or repairs, joints can be replaced or added individually to adapt to new surgical needs or technological advances. At the same time, through the coordinated work of multiple rotary joints, the robotic arm 1 can be quickly adjusted to the optimal surgical position, reducing surgical preparation time and operation time, and improving the efficiency of the surgical process. Furthermore, each joint of the robotic arm 1 has a precise range of motion limit, avoiding the risk of damage to the instrument or injury to the patient caused by excessive movement, ensuring the safety and controllability of the surgical process. Finally, the high degree of freedom and precise control capability of the robotic arm 1 reduces the burden on doctors to manually adjust instruments during surgery, allowing them to focus more on the surgical operation itself, improving the quality of surgery and the doctor's job satisfaction.

[0043] Preferably, the driving mechanism 31 includes a driving motor 311 and a driving gear 312; the driving gear 312 is mounted on the output shaft of the driving motor 311, and the driving gear 312 is connected to the transmission assembly 32 to generate driving force and transmit it to the transmission assembly.

[0044] In this embodiment, the drive motor 311 serves as the drive mechanism 31 and can efficiently convert electrical energy into mechanical energy, resulting in less loss during the energy conversion process, and is therefore more energy-efficient. Furthermore, the motor is equipped with a sophisticated controller that enables precise adjustment of speed and torque. Compared to other types of drive mechanisms 31, the motor and gear combination often has higher reliability and lower maintenance requirements. Gear transmission provides stable force transmission while reducing the possibility of wear and failure. Furthermore, the combination of the drive motor 311 and the gear can be designed to be very compact, saving space. The motor's start and stop response speed is fast, allowing for rapid changes in speed and direction, which is very important in applications requiring rapid adjustment or response. Furthermore, the motor and gear combination can be selected and configured according to different load and speed requirements, facilitating system integration and subsequent performance improvements. Finally, compared to other power sources, the motor and gear combination generates less noise and vibration during operation, which is conducive to creating a quiet working environment, particularly in noise-sensitive applications.

[0045] Preferably, the transmission assembly 32 includes: a track 321, a driven gear 322, and a screw 323; the driven gear 322 is connected to the driving gear 312 through the track 321; the screw 323 is vertically arranged and connected to the driven gear 322 to rotate under the action of the driving force.

[0046] In this embodiment, the design of the track 321 connected to the gear improves the stability of the entire system and effectively prevents slipping. The driven gear 322 is connected to the driving gear 312 via the track 321, ensuring the precise and efficient transmission of driving force while reducing energy loss and noise. In addition, the screw 323 is connected to the driven gear 322. When the driven gear 322 rotates, the screw 323 can produce precise movement. This integrated design reduces the number of components in the transmission chain, reduces overall complexity, reduces potential failure points, and improves system reliability and ease of maintenance. Through the precise matching of the gears and screw 323, the transmission assembly 32 can achieve efficient energy conversion and reduce unnecessary energy consumption.

[0047] Preferably, the lifting assembly 33 includes: a guide groove 331, a slider 332, and a lifting column 333; the guide groove 331 is installed in a direction parallel to the screw 323, and the slider 332 is slidably installed on the guide groove 331, and is rotationally connected to the screw 323 through a threaded structure, so that when the screw 323 rotates, it drives the slider 332 to move linearly along the guide groove 331; the lifting column 333 is fixed on the slider 332 to generate corresponding lifting actions with the slider 332.

[0048] In this embodiment, the parallel installation of the guide groove 331 is consistent with the direction of the screw 323, providing a stable linear motion track for the slider 332, preventing shaking and deviation during movement, and ensuring the overall stability and reliability of the system. In addition, the lifting column 333 is fixed on the slider 332. As the slider 332 moves linearly, the lifting column 333 can achieve a wide range of vertical stroke adjustment to meet the needs of different heights. In addition, the lifting assembly 33 driven by the screw 323 has higher energy conversion efficiency and lower loss. The vertical guiding design of the guide groove 331 and the screw 323 makes the entire lifting assembly 33 compact and takes up little space. At the same time, the modular design of the guide groove 331, the slider 332 and the lifting column 333 makes each component easy to disassemble and replace, reducing the difficulty of maintenance and improving the efficiency of system maintenance.

[0049] Preferably, the surgical robot further includes a connecting member 34 , which is fixedly connected to the slider 332 and the lifting column 333 , respectively, so that the lifting column 333 is fixed on the slider 332 .

[0050] Preferably, the connecting member 34 includes a mounting plate 341 and a mounting groove 342 , the mounting plate 341 is fixed on the mounting groove 342 , the mounting plate 341 is fixed on the slider 332 , and the lifting column 333 is fixed inside the mounting groove 342 .

[0051] Preferably, the mounting plate 341 is fixed to the mounting groove 342 in such a manner that the plane on which it is located forms a preset angle with the bottom surface of the mounting groove 342, and a first screw hole is provided on the mounting plate 341 so that the connecting member 34 can be passed through and fixed to the slider 332 by a first bolt; the mounting groove 342 is a circular groove structure with a second screw hole on the bottom surface, so that the lifting column 333 is fixed inside the mounting groove 342 by the second bolt, so that the lifting column 333 is fixed to the slider 332.

[0052] In this embodiment, the mounting plate 341 is fixed at a preset angle to the bottom surface of the mounting slot 342, ensuring a secure connection between the lifting column 333 and the slider 332. This prevents displacement deviation caused by an unstable connection during vertical movement, thereby enhancing the overall rigidity and reliability of the system. Furthermore, the bolts that secure the mounting plate 341 to the slider 332 and the lifting column 333 to the mounting slot 342 ensure that the lifting column 333 can be precisely aligned at any height, improving operational accuracy. Furthermore, the combined design of the mounting plate 341 and mounting slot 342 makes the connector 34 a self-contained module, facilitating quick assembly and disassembly, simplifying maintenance and replacement, reducing maintenance costs and downtime, and improving production efficiency. Furthermore, the circular groove-like structure of the mounting slot 342 not only reduces the overall size of the connector 34 but also provides ample space for bolts and other fixing elements, making the entire system more compact and conserving valuable working space. Finally, the screw holes provided on the bottom surface of the mounting groove 342 enhance the connection strength with the lifting column 333, ensuring the durability of the connection after bearing loads or running for a long time, and reducing the potential safety hazards caused by loose connection or fatigue fracture.

[0053] Preferably, the extension structure 2 is fixed to the robot arm base 17 to be connected to the robot arm 1, and is fixed on the lifting column 333 in the direction of the extension structure 2 toward the surgical target to be connected to the linear motion mechanism 3, for adjusting the reachable position of the robot arm 1 in the horizontal direction.

[0054] Preferably, the extension structure 2 includes one or a combination of a plate structure, a tubular structure, a frame structure, a channel steel structure, a telescopic structure, and a special-shaped structure.

[0055] In one possible design, a plate-like structure, optionally with reinforcing ribs for increased rigidity and stability, can be secured to the robotic arm base 17 and the lifting columns 333 of the linear motion mechanism via welding, bolting, or riveting. This plate-like structure is simple, easy to manufacture and install, provides stable support, and reduces vibration and deflection during robotic arm movement. Furthermore, by adjusting the connection between the plate-like structure and the lifting columns 333, the horizontal position of the robotic arm can be easily adjusted.

[0056] In one possible design, a tubular structure is employed. Composed of hollow circular or square tubes, the tubular structure exhibits high strength and low weight. The tubular structure is assembled through welding, flange connections, or threaded connections and secured to the robotic arm base 17 and lifting column 333. The hollow tubular structure reduces overall weight, facilitates robot movement and manipulation, and can withstand significant bending and torsional forces. The length and shape of the tubular structure can be adjusted as needed to accommodate varying surgical environments and operational requirements.

[0057] One possible design employs a frame structure composed of multiple rods and nodes, forming a stable support structure. The rods and nodes are assembled into a single frame through welding, bolting, or riveting, and then secured to the robotic arm base 17 and lifting column 333. This frame structure provides excellent stability and rigidity, ensuring precise operation of the robotic arm during complex surgeries. It can also support heavy robotic arms and surgical tools, and can be designed in various shapes and sizes to suit surgical requirements.

[0058] In one possible design, a channel steel structure is employed, using the channel steel as the primary load-bearing member. The channel steel is welded or bolted together to form an integral structure and fixed to the manipulator base 17 and the lifting column 333. The channel steel structure is fixedly connected to the manipulator base 17 and the lifting column 333. Channel steel is relatively inexpensive and suitable for large-scale production. Furthermore, channel steel has a high section modulus and can withstand large loads. It is also easy to cut, weld, and drill, making it convenient for processing and installation.

[0059] In one possible design, a telescopic structure is employed to adjust the length as needed. It typically consists of multiple overlapping tubular components, driven by slide rails, ball screws, or pneumatic / hydraulic cylinders. The structure is secured to the manipulator base 17 and the lifting column 333. One end of the telescopic structure is connected to the manipulator base 17, and the other end is connected to the lifting column 333 via a connector. The structure also contains a drive mechanism to achieve telescopic movement. The telescopic structure allows the manipulator's reach to be adjusted according to surgical requirements. When not in use, it can be shortened to reduce space usage and accommodate surgeries at varying heights and distances.

[0060] In one possible design, a special-shaped structure is used, which refers to a non-standard shaped structure designed according to specific surgical requirements. It is custom designed and manufactured according to specific needs and may include complex curves, slopes or special shapes. The special-shaped structure is firmly connected to the robot arm base 17 and the lifting column 333.

[0061] Preferably, the extension structure 2 is an extension plate 21, which is in a "Z" shape, and one end of the extension plate 21 is fixed to the robot arm base 17 to be connected to the robot arm 1; the other end of the extension plate 21 is fixed to the lifting column 333 to be connected to the linear motion mechanism 3, and the extension plate 21 is provided with reinforcing ribs to increase the structural strength of the extension plate 21.

[0062] In this embodiment, the "Z"-shaped design, through its unique curved shape, provides additional structural support, helping to distribute and resist the various forces and torques generated during the operation of the robotic arm 1. This makes the entire connection structure more stable and reduces the risk of loosening or damage caused by vibration or load fluctuations. Furthermore, in environments with limited space, traditional linear connections may not be able to effectively adapt to complex layouts or height requirements. The "Z"-shaped extension plate 21, on the other hand, allows for flexible adjustment of the connection angle and height, thereby optimizing the spatial layout, allowing the robotic arm 1 to operate efficiently in a more compact space while ensuring a smooth connection with the linear motion mechanism 3. Furthermore, different work scenarios and task requirements often require specific positioning and angles for the robotic arm 1. The design of the "Z"-shaped extension plate 21 allows for adjustment of the relative position between the robotic arm 1 and the lifting column 333 based on actual needs, increasing the system's flexibility and adaptability, facilitating rapid deployment and adjustment in different work scenarios. Furthermore, the bolted connection at both ends of the "Z"-shaped extension plate 21 not only makes installation simple and quick, but also facilitates future maintenance and replacement. When the extension plate 21 needs to be replaced or adjusted, it can be done by simply loosening the bolts, reducing maintenance costs and time. Furthermore, because the "Z"-shaped extension plate 21 provides a stable support structure, it helps reduce precision loss caused by vibration or instability during operation of the robot arm 1. Finally, the stable connection structure and optimized layout design help reduce safety hazards caused by improper operation or unexpected situations of the robot arm 1. By ensuring a stable connection between the robot arm 1 and the linear motion mechanism 3, the risk of accidents can be reduced and operational safety can be improved.

[0063] Preferably, a trolley frame 41 is installed on the trolley 4 , and the linear motion mechanism 3 is fixed on the trolley 4 and fixed to the trolley frame 41 to provide stable support. A movable universal wheel 42 is provided at the bottom of the trolley 4 .

[0064] In this embodiment, the linear motion mechanism 3 is fixed to the trolley 4 and tightly connected to the trolley frame 41 to form a stable support structure. This design places the center of gravity of the robot in the middle of the trolley 4, ensuring that even when the robotic arm 1 is in its maximum extension during surgery, the system remains stable, reducing vibration caused by external disturbances and improving the accuracy and safety of surgical operations. In addition, the movable universal wheels 42 provided at the bottom of the trolley 4 allow the surgical robot to be easily moved within the operating room without the need for additional manpower or equipment assistance. This not only saves labor costs but also improves the efficiency of the operating room, allowing the surgical robot to quickly respond to the needs of different operating rooms and enhancing the flexibility and response speed of the system. In addition, the integrated design of the trolley 4 integrates the linear motion mechanism 3, the robotic arm 1, and the extension structure 2 onto a single platform, reducing the floor space occupied. This allows the surgical robot to operate efficiently even in operating rooms with limited space, optimizing the space management and layout of the operating room. At the same time, the mobile surgical robot can be easily moved between different departments, improving the utilization rate of the equipment. For large medical institutions, this can reduce duplicate investment, ensure the rational allocation of resources, and meet the surgical needs of different departments. The flexible mobility of the Trolley 4 allows surgical teams to work together more efficiently, eliminating the need to wait for equipment to be repositioned or adjusted. This reduces surgical preparation time, speeds up the surgical process, and supports seamless collaboration between teams.

[0065] Preferably, the surgical robot further includes an industrial computer and a display. The display is mounted on the trolley frame via a display bracket and is electrically connected to the industrial computer. The industrial computer is electrically connected to the robotic arm 1 to control the movement of the robotic arm 1 .

[0066] In this embodiment, the industrial computer serves as the system's core control unit, responsible for receiving user commands, processing data, and sending control signals to the robotic arm 1 and other actuators. The display provides real-time video footage of the surgical scene, the motion status of the robotic arm 1, system parameters, and other information, enabling the surgeon to intuitively understand the surgical progress and make immediate adjustments as needed. Furthermore, the high-definition images and precise data feedback on the display allow the surgeon to more accurately determine the surgical position, depth, and angle, thereby guiding the robotic arm 1 for precise manipulation. This helps reduce human error and improve surgical accuracy and safety. Furthermore, the design of the display stand allows the display to be adjusted in angle and height according to surgical needs, providing the surgeon with a more comfortable viewing and operating experience. The electrical connection between the industrial computer and the robotic arm 1 also simplifies the operating process, allowing the surgeon to remotely control the robotic arm 1 using input devices such as a keyboard, mouse, or touchscreen. Furthermore, the industrial computer typically utilizes a high-performance, industrial-grade processor and a stable operating system, offering high anti-interference capabilities and the ability to operate stably over long periods of time. This enables the surgical robot system to maintain stable performance and reliable operation in complex and changing surgical environments. Furthermore, the integrated design of the display and industrial computer supports remote collaboration and teaching. Doctors can transmit surgical footage in real time to remote experts or students via the network for remote consultation, teaching, and guidance. This helps improve the efficient utilization of medical resources and promotes the inheritance and development of medical technology. Finally, the industrial computer and display are independent modules, making maintenance and upgrades easy. When the system requires software updates, hardware upgrades, or troubleshooting, operations can be performed on the industrial computer and display independently without affecting the operation of the entire surgical robot system.

[0067] Preferably, the end of the robotic arm 1 is connected to a surgical instrument assembly to perform a set surgical task.

[0068] In this embodiment, the robotic arm 1 is capable of performing extremely delicate movements, and its distal end can stably control surgical instruments for precise manipulation. The connection between the robotic arm 1 and the surgical instrument assembly allows for rapid replacement of different surgical tools without manual adjustment or repositioning, thereby saving surgical preparation time and improving the efficiency of the surgical process. Furthermore, the robotic arm 1 replaces the surgeon's manual labor, reducing the physical and mental strain of prolonged surgeries and minimizing the effects of hand tremors, allowing the surgeon to focus more on surgical strategy and decision-making.

[0069] Preferably, there are two guide grooves 331 and they are arranged parallel to each other, and the slider 332 is slidably installed on the guide groove 331 so that the slider 332 can move along the guide groove 331.

[0070] In this embodiment, the two parallel guide grooves 331 provide a stable guide path for the slider 332, limiting the lateral deviation and rotation of the slider 332 during movement. Compared with a single guide groove 331, the dual guide groove 331 design can disperse the weight of the slider 332 and the load, thereby improving the load-bearing capacity of the entire system. In addition, the design of the parallel guide grooves 331 helps ensure uniform contact between the slider 332 and the guide grooves 331, reducing wear and noise caused by poor contact or excessive local pressure, which not only extends the service life of the equipment but also improves the comfort of the working environment. In addition, due to the parallelism and stability of the guide grooves 331, the position and speed of the slider 332 during movement can be more accurately controlled, which helps to achieve high-precision positioning and repeatable operations.

[0071] Preferably, the surgical robot further includes a radiator, and the radiator is used to dissipate heat from the industrial computer.

[0072] In this embodiment, the industrial computer serves as the core control unit of the surgical robot system. Its operational stability and reliability are crucial to the performance of the entire system. Under prolonged, high-load operation, the industrial computer generates a significant amount of heat. Without effective heat dissipation measures, high temperatures can lead to hardware failures, performance degradation, or even system crashes. Therefore, the presence of a heat sink ensures that the industrial computer operates within an appropriate temperature range, thereby guaranteeing the stable operation of the entire surgical robot system. Furthermore, high temperatures are one of the main causes of aging and damage in electronic devices. By dissipating the heat generated by the industrial computer through a heat sink, the internal temperature can be lowered, reducing thermal stress on hardware components and thus extending their service life. This is particularly important for surgical robot systems, as stable hardware performance and long lifespan ensure the safety and continuity of surgery. Furthermore, in high-temperature environments, the performance of electronic devices is often affected, such as by reduced processor speeds and increased memory latency. The effective operation of the heat sink can maintain a low internal temperature within the industrial computer, thereby avoiding or mitigating these performance degradations. Therefore, the heat sink can indirectly improve the overall performance of the surgical robot system, ensuring the smoothness and accuracy of surgical operations. Finally, the presence of the radiator enables the industrial computer to maintain a stable operating state in various complex working environments. Whether it is a high temperature, humid or dusty environment, the radiator can effectively dissipate heat to ensure the normal operation of the industrial computer. This high reliability and adaptability are crucial for surgical robot systems because no accidents or failures are allowed during the operation.

[0073] Preferably, the transmission assembly 32 includes one or a combination of a mechanical transmission assembly, a pneumatic transmission assembly, and a hydraulic transmission assembly.

[0074] In this embodiment, both pneumatic transmission and hydraulic transmission have high transmission accuracy and controllability. By precisely adjusting the pressure, flow and other parameters of the pneumatic or hydraulic systems, precise control of the robotic arm 1 or other actuators can be achieved. In addition, hydraulic transmission is particularly good at providing large torque output, which is very beneficial for surgical robot systems that need to overcome large resistance or carry heavy loads. In addition, both pneumatic and hydraulic transmission systems can achieve smooth power transmission. Due to the incompressibility of its liquid, hydraulic transmission can provide a more stable transmission effect; while pneumatic transmission, through the compressibility of gas, achieves a buffering effect on shock and vibration to a certain extent. This stability helps to reduce vibration and noise during surgery. Furthermore, pneumatic and hydraulic transmissions do not generate pollutants such as metal debris or oil stains during operation, which is particularly important for the surgical environment because the operating room needs to maintain a high degree of cleanliness and sterility.

[0075] Preferably, the surgical robot also includes a UPS uninterruptible power supply for providing backup power.

[0076] In this embodiment, during surgery, a power outage could cause the surgical robot system to suddenly shut down, seriously threatening surgical safety and the patient's health. A UPS (uninterruptible power supply) can immediately take over power when the main power supply fails, ensuring the surgical robot system continues to operate stably, thereby ensuring continuity and smooth progress of the surgery. Furthermore, surgical robot systems typically involve the transmission and processing of large amounts of data, such as surgical images, patient data, and operating instructions. Power outages can cause this data to be lost or corrupted, complicating post-operative analysis and recording. The presence of a UPS can provide sufficient power supply time during power outages, allowing the system to safely complete data storage and backup, reducing the risk of data loss. Furthermore, as a backup power source, the UPS is integral to the overall reliability of the surgical robot system. Its presence increases the system's resilience to power fluctuations and reduces system failures and downtime caused by power issues. Furthermore, during surgery, if an emergency such as a power outage occurs, the presence of a UPS can provide medical staff with valuable emergency response time. Finally, backup power systems, including a UPS, are crucial components of medical device safety. By configuring a UPS, the surgical robot system can remain stable during power outages, providing patients with safer and more reliable surgical treatment.

[0077] Preferably, the surgical robot further includes a brake assembly, which is installed in the linear motion mechanism 3 . The brake assembly can trigger the brake when the power is off to maintain the stability of the robotic arm 1 .

[0078] In this embodiment, the linear motion mechanism 3 is a key component of the surgical robot, used to adjust the vertical position of the robotic arm 1. Because the vertical movement of the robotic arm 1 involves significant mass and potential energy, if power is lost and control is lost, its fall could cause serious harm to the patient, medical staff, or the equipment itself. The installation of the brake assembly ensures that the robotic arm 1 is securely locked at its current height even in a power outage, preventing accidental falls and thus enhancing the safety of vertical movement. Furthermore, during surgery, the stability of the robotic arm 1 is crucial to the success of the procedure. The instant activation of the brake assembly upon power outage ensures that the robotic arm 1 does not lose balance or experience unstable movement due to the sudden power outage, thereby maintaining the continuity and stability of the surgical process and providing a better operating environment for medical staff. Furthermore, the robotic arm 1 and its linear motion mechanism 3 may suffer damage due to inertia or gravity during a sudden power outage. The timely intervention of the brake assembly can effectively prevent this from occurring, protecting the delicate mechanical structure and transmission system from unnecessary impact and wear, thereby extending the service life of the equipment. In addition, in emergency situations such as power outages, the system needs to be able to respond quickly to ensure safety. The automatic triggering function of the brake component enables the surgical robot system to automatically enter safety mode at the moment of power outage, reducing the need for human intervention and response time, and improving the system's emergency response capabilities.

[0079] In another embodiment of the present application, two sets of the robotic arms 1 , extension structures 2 , and linear motion mechanisms 3 are installed on a trolley 4 to perform two surgeries simultaneously.

[0080] For example, during spinal surgery, by equipping two surgical robots, each consisting of a robotic arm 1, an extension structure 2, and a linear motion mechanism 3, on a trolley 4, the hospital can perform surgery on two patients at the same time. The spatial position of the robotic arms can be controlled by adjusting the linear motion mechanism in conjunction with the extension structure, so that each robotic arm is directly above its corresponding patient, ensuring that the surgical position is within the optimal working range of the robotic arm. This effectively alleviates the resource shortage problem in the operating room, shortens the waiting time for patients, reduces the space occupied by the operating room, and makes the operating room layout more compact and efficient. In addition, this design also provides a unique platform for medical teaching and skills training. By observing two parallel surgical operations on site, students and interns can learn surgical skills more intuitively, improving teaching effectiveness and practical ability.

[0081] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A surgical robot comprising a robotic arm (1) and a trolley (4), wherein the robotic arm (1) is mounted on the trolley (4), and is characterized in that: The surgical robot further comprises: an extension structure (2) and a linear motion mechanism (3); the extension structure (2) is connected to the robotic arm (1) and the linear motion mechanism (3), respectively; the linear motion mechanism (3) is mounted on the trolley (4) and is used to adjust and control the spatial position of the robotic arm (1) through the extension structure (2).

2. The surgical robot according to claim 1, characterized in that: The linear motion mechanism (3) comprises a driving mechanism (31), a transmission assembly (32) and a lifting assembly (33); the driving mechanism (31) is used to provide a driving force; the transmission assembly (32) is connected to the driving mechanism (31) to receive the driving force and convert it into a lifting action for the lifting assembly (33); the lifting assembly (33) is connected to the driving assembly (32) to generate linear motion under the action of the lifting action.

3. The surgical robot according to claim 1, wherein: The robotic arm (1) comprises one or more rotary joints and one or more connecting arms, wherein the rotary joints and / or connecting arms are combined and connected to each other to form a motion chain with multiple degrees of freedom, so that the robotic arm (1) can move freely in space.

4. The surgical robot according to claim 2, characterized in that: The driving mechanism (31) includes a driving motor (311) and a driving gear (312); the driving gear (312) is mounted on an output shaft of the driving motor (311), and the driving gear (312) is connected to the transmission assembly (32) to generate a driving force and transmit the driving force to the transmission assembly (32).

5. The surgical robot according to claim 2, characterized in that: The transmission assembly (32) comprises one or a combination of a mechanical transmission assembly, a pneumatic transmission assembly, and a hydraulic transmission assembly.

6. The surgical robot according to claim 4, characterized in that: The transmission assembly (32) includes: a crawler belt (321), a driven gear (322), and a screw rod (323); the driven gear (322) is connected to the driving gear (312) via the crawler belt (321); the screw rod (323) is vertically arranged and connected to the driven gear (322) to rotate under the action of the driving force.

7. The surgical robot according to claim 6, characterized in that: The lifting assembly (33) includes: a guide groove (331), a slider (332), and a lifting column (333); the guide groove (331) is installed in a direction parallel to the screw rod (323); the slider (332) is slidably installed on the guide groove (331) and is rotationally connected to the screw rod (323) through a threaded structure, so that when the screw rod (323) rotates, the slider (332) is driven to move linearly along the guide groove (331); the lifting column (333) is fixed on the slider (332) to generate corresponding lifting actions along with the slider (332).

8. The surgical robot according to claim 7, characterized in that: The surgical robot further comprises a connecting member (34), which is fixedly connected to the slider (332) and the lifting column (333) respectively, so that the lifting column (333) is fixed on the slider (332).

9. The surgical robot according to claim 1, characterized in that: The extension structure (2) includes one or a combination of a plate structure, a tubular structure, a frame structure, a channel steel structure, a telescopic structure, and a special-shaped structure.

10. A surgical robot, characterized in that: The robot comprises two sets of mechanical arms (1), an extension structure (2), and a linear motion mechanism (3) as described in any one of claims 1 to 9, which are mounted on a trolley (4).

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