Telescopic device and surgical robot

Abstract

The utility model provides a telescopic device and a surgical robotic.The telescopic device comprises a base, a first telescopic part, a second telescopic part, a transmission belt and a driving mechanism, a mounting space is defined in the base, a guide channel is formed in the base, the first telescopic part is telescopically connected to the base, and the second telescopic part is telescopically connected to the first telescopic part; the driving mechanism comprises a lead screw, a sliding part and a connecting part, the lead screw is rotatably arranged in the mounting space, the sliding part is in threaded connection with the lead screw, the connecting part is arranged on the sliding part, and the connecting part penetrates through the guide channel and is connected with the telescopic parts; when the lead screw is driven to rotate, the sliding part is promoted to slide, and the connecting part is used for driving the first telescopic part to slide. The telescopic device is simple in structure, the installation requirement of the driving mechanism is lowered, the disassembly and assembly difficulty of the driving mechanism is lowered, and the production efficiency of the telescopic device is improved.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more specifically, to a telescopic device and a surgical robot. Background Technology

[0002] With the development of technology, surgical robots have become a highly efficient and stable surgical device. A typical surgical robot consists of a doctor's console, a patient-side trolley, and a display device. The patient-side trolley includes a telescopic mechanism used to operate the actuators during surgery.

[0003] The prior art has a telescopic device, which includes a base and a telescopic part. The telescopic part of the telescopic device is driven to extend and retract by a ball screw mechanism. The mechanism generally includes a screw set on the base and a nut threadedly connected to the screw. The nut is slidably connected to the base through a slide rail to constrain the rotation of the nut. The nut is fixedly connected to the telescopic part. When the screw is driven to rotate, it drives the nut to move in the telescopic direction.

[0004] However, in the aforementioned existing technologies, the nut needs to achieve threaded connection with the screw, sliding connection with the base, and fixed connection with the telescopic part. This structure is difficult to install and disassemble, requires high installation accuracy, and is not conducive to improving the production efficiency of the telescopic device. Utility Model Content

[0005] This application provides a telescopic device to reduce the installation requirements of the drive mechanism, reduce the difficulty of disassembling and assembling the drive mechanism, and improve the production efficiency of the telescopic device.

[0006] In a first aspect, embodiments of this application provide a telescopic device, comprising: a base defining an installation space, the base having a guide channel communicating with the installation space; a first telescopic part, the first telescopic part being telescopically connected to the base along the extension direction of the guide channel; a second telescopic part, the second telescopic part being telescopically connected to the first telescopic part; and a transmission belt movably wound around the first telescopic part, the transmission belt near the base being fixed to the base, and the transmission belt near the second telescopic part being fixed to the second telescopic part, wherein when the first telescopic part extends or retracts relative to the base, the base belt... The drive belt moves, causing the second telescopic part to extend or retract relative to the first telescopic part; the drive mechanism is used to drive the first telescopic part to slide, and the drive mechanism includes a lead screw, a sliding part, and a connecting part. The lead screw is rotatably disposed in the installation space and extends along the extension direction of the guide channel. The sliding part is threadedly connected to the lead screw, and the connecting part is disposed on the sliding part and passes through the guide channel and is connected to the telescopic part; when the lead screw is driven to rotate, the lead screw causes the sliding part to slide along the extension direction of the guide channel, so that the connecting part drives the first telescopic part to slide along the extension direction of the guide channel.

[0007] Beneficial effects: Since the lead screw is set in the installation space of the base, the sliding part is threadedly connected to the lead screw, and the connecting part is connected to the first telescopic part through the guide channel. The first telescopic part itself is connected to the base through the slide rail structure. Therefore, when the connecting part is connected to the first telescopic part through the guide channel, the sliding part is constrained in its rotational freedom and is restricted to only sliding. This eliminates the need to set a slide rail structure between the sliding part and the base to constrain the rotation of the sliding part, simplifies the structure of the drive mechanism, reduces the installation requirements of the drive mechanism, reduces the difficulty of disassembling and assembling the drive mechanism, and helps to improve the production efficiency of the telescopic device.

[0008] In one possible implementation, the drive mechanism further includes a drive motor disposed in the mounting space, the output shaft of the drive motor being connected to a lead screw to drive the lead screw to rotate.

[0009] Beneficial effects: The installation space provides space for the drive motor, which in turn enables the electric drive screw to rotate.

[0010] In one possible implementation, the output shaft of the drive motor has a connecting hole that is open axially toward the output shaft; the end of the lead screw is provided with a connecting shaft that extends axially and is connected to the hub of the connecting hole.

[0011] Beneficial effects: The connection between the connecting shaft and the connecting hole hub is simple and convenient, and the transmission is reliable.

[0012] In one possible implementation, the drive mechanism further includes: a first bearing disposed on the drive motor and sleeved on the output shaft of the drive motor, for rotatably supporting the output shaft of the drive motor.

[0013] Beneficial effect: The first bearing can be set as a radial bearing, which rotates radially to support the output shaft of the drive motor, so that its operation is more stable.

[0014] In one possible implementation, the drive mechanism further includes a brake, disposed in the mounting space and sleeved on the output shaft of the drive motor, for braking the output shaft of the drive motor.

[0015] Beneficial effects: The brake brakes the output shaft of the drive motor, making the lead screw stop responding promptly and further improving the extension and retraction accuracy of the first telescopic part.

[0016] In one possible implementation, the brake has a brake body fixed to the drive motor and a brake disc rotatably mounted on the brake body; the brake disc is fixedly mounted on the output shaft of the drive motor, and when the brake is applied, it causes the brake disc to decelerate, thereby braking the output shaft of the drive motor.

[0017] Beneficial effects: The brake disc of the brake is directly connected to the output shaft of the drive motor, making the torque transmission between the brake disc and the output shaft more direct, and the installation structure more compact.

[0018] In one possible implementation, the sliding part has a sliding body and a connecting plate. The sliding body is threadedly connected to a lead screw, and the connecting plate protrudes from one end of the sliding body. The connecting part has a connecting body and a connecting protrusion. The connecting protrusion is formed outside the connecting body. The connecting body is sleeved on the outside of the sliding body and abuts against the connecting plate. The connecting plate and the connecting body are fixed by fasteners. The connecting protrusion is formed outside the connecting body and passes through a guide channel for connecting with the telescopic part.

[0019] Beneficial effects: The connecting part is set separately from the connecting body and the connecting protrusion, which makes the installation simple, convenient and efficient, and helps to improve production efficiency.

[0020] In one possible implementation, the telescopic device further includes a second bearing disposed in the installation space and sleeved on the middle of the lead screw for rotatably supporting the lead screw.

[0021] Beneficial effect: The second bearing can be set as a thrust bearing to bear the axial load of the lead screw and prevent the lead screw from sliding axially.

[0022] In one possible implementation, the telescopic device further includes a third bearing disposed in the installation space and sleeved on the end of the lead screw for rotating support of the lead screw.

[0023] Beneficial effect: The third bearing can be set as a radial bearing, which rotates to support the lead screw at the end of the lead screw, so that its operation is more stable.

[0024] Secondly, embodiments of this application provide a surgical robot that includes a telescopic device according to any of the foregoing claims.

[0025] The telescopic device provided in this application embodiment has a lead screw set in the installation space of the base, a sliding part threadedly connected to the lead screw, and a connecting part connected to the first telescopic part through a guide channel. The first telescopic part itself is connected to the base through a slide rail structure. Therefore, when the connecting part is connected to the first telescopic part through the guide channel, the sliding part is restricted to only sliding, that is, the rotation of the sliding part is constrained. This eliminates the need to set a slide rail structure between the sliding part and the base to constrain the rotation of the sliding part, simplifies the structure of the drive mechanism, reduces the installation requirements of the drive mechanism, reduces the difficulty of disassembling and assembling the drive mechanism, and helps to improve the production efficiency of the telescopic device. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0027] Figure 1 This is a schematic diagram of the telescopic device in one embodiment of this application. Figure 1 ;

[0028] Figure 2 This is a schematic diagram of the telescopic device in one embodiment of this application. Figure 2 ;

[0029] Figure 3 This is a cross-sectional view of the telescopic device in a retracted state according to one embodiment of this application;

[0030] Figure 4 This is a cross-sectional view of the telescopic device in an extended state according to one embodiment of this application;

[0031] Figure 5 This is a schematic diagram of the drive mechanism in a telescopic device according to one embodiment of this application;

[0032] Figure 6 This is an exploded view of the sliding part in a telescopic device according to one embodiment of this application;

[0033] Figure 7 This is a schematic diagram showing the installation relationship between the output shaft and the brake in a telescopic device according to one embodiment of this application.

[0034] Explanation of reference numerals in the attached figures:

[0035] 100, Base; 110, Installation space; 120, Guide channel; 200, First telescopic part; 210, Mounting hole; 220, Second telescopic part; 230, Transmission belt; 310, Lead screw; 312, Connecting shaft; 322, Sliding part; 322a, Sliding body; 322b, Connecting plate; 324, Connecting part; 324a, Connecting body; 324b, Connecting protrusion; 326, Fastener; 330, Drive motor; 340, Output shaft; 342, Connecting hole; 350, First bearing; 360, Brake; 362, Brake body; 364, Brake disc; 400, Second bearing; 500, Third bearing; 610, First fixing member; 620, Second fixing member.

[0036] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0037] Existing technology includes a telescopic device comprising a base and a telescopic section, which is driven by a ball screw mechanism. This mechanism typically includes a screw mounted on the base and a nut threadedly connected to the screw. The nut is slidably connected to the base via a slide rail to constrain its rotation, and is fixedly connected to the telescopic section. When the screw is driven to rotate, it drives the nut to move in the telescopic direction. However, in the aforementioned prior art, the nut must achieve threaded connection with the screw, slidable connection with the base, and fixed connection with the telescopic section. This structure makes installation and disassembly difficult, requires high installation precision, and is detrimental to improving the production efficiency of the telescopic device.

[0038] Based on the deficiencies in the prior art, this application provides a telescopic device. The first telescopic part of the telescopic device is connected to the base through a slide rail structure. Therefore, when the connecting part is connected to the first telescopic part through the guide channel, the sliding part is restricted to only sliding, that is, the rotation of the sliding part is constrained. This eliminates the need to set a slide rail structure between the sliding part and the base to constrain the rotation of the sliding part, simplifies the structure of the drive mechanism, reduces the installation requirements of the drive mechanism, reduces the difficulty of disassembling and assembling the drive mechanism, and helps to improve the production efficiency of the telescopic device.

[0039] The following is combined with Figures 1 to 7 This application describes the structure and working principle of the telescopic device according to embodiments of the present application.

[0040] This application provides a telescopic device, which may include a base 100, a first telescopic part 200, a second telescopic part 220, a transmission belt 230, and a drive mechanism.

[0041] A mounting space 110 is defined within a base 100, and a guide channel 120 communicating with the mounting space 110 is provided in the base 100. A first telescopic part 200 is slidably connected to the base 100 along the extending direction of the guide channel 120. A second telescopic part 220 is telescopically connected to the first telescopic part 200. A transmission belt 230 is movably wound around the first telescopic part 200, with the transmission belt 230 near the base 100 fixed to the base 100 and the transmission belt 230 near the second telescopic part 220 fixed to the second telescopic part 220. When the first telescopic part 200 extends or retracts relative to the base 100, the base 100 drives the transmission belt 230 to move, and the transmission belt 230 drives the second telescopic part 220 to extend or retract relative to the first telescopic part 200. A drive mechanism is used to drive the first telescopic part 200 to slide.

[0042] In this embodiment, the first telescopic part 200 can be driven to extend and retract by a drive mechanism (the structure of the drive mechanism will be described in detail below), and the second telescopic part 220 can be driven to extend and retract by a transmission belt 230.

[0043] Since the first telescopic portion 200 is telescopically connected to the base 100, and the second telescopic portion 220 is telescopically connected to the first telescopic portion 200, the first telescopic portion 200 also has a connection portion with the base 100 in its extended state. Similarly, the second telescopic portion 220 also has a connection portion with the first telescopic portion 200 in its extended state. Therefore, the transmission belt 230 wound around the first telescopic portion 200 can be connected to the base 100 and the second telescopic portion 220.

[0044] by Figure 3 and Figure 4 The orientation is described below. A transmission belt 230 is movably wound around the first telescopic section 200. The transmission belt 230 near the base 100 is fixed to the base 100 by a first fixing member 610 (denoted as the first fixing point), and the transmission belt 230 near the second telescopic section 220 is fixed to the second telescopic section 220 by a second fixing member 620 (denoted as the second fixing point). Therefore, when the first telescopic section 200 is driven to extend to the right, the first telescopic section 200 as a whole moves to the right. Under the anchoring action of the first fixing point, the transmission belt 230 rotates clockwise, while under the action of the second fixing point, the transmission belt 230 drives the second telescopic section 220 to move to the right.

[0045] Conversely, when the first telescopic part 200 is driven to retract to the left, the first telescopic part 200 moves to the left as a whole. Under the anchoring action of the first fixed point, the transmission belt 230 is caused to rotate counterclockwise. Under the action of the second fixed point, the transmission belt 230 will cause the second telescopic part 220 to retract to the left.

[0046] Therefore, the telescopic device in this embodiment can drive the first telescopic part 200 and the second telescopic part 220 to extend and retract synchronously using a single drive mechanism.

[0047] Furthermore, excluding the factor of the transmission belt 230 slipping on the first telescopic section 200, the distance the first telescopic section 200 is driven by the drive mechanism is the same as the distance the second telescopic section 220 is driven by the transmission belt 230. That is to say, when the telescopic device is extending or retracting, the first telescopic section 200 and the second telescopic section 220 extend and retract synchronously in both time and distance.

[0048] In this embodiment, the driving mechanism may include a sliding portion 322 and a connecting portion 324 of the lead screw 310. The lead screw 310 is rotatably disposed in the mounting space 110 and extends along the extension direction of the guide channel 120. The sliding portion 322 is threadedly connected to the lead screw 310. The connecting portion 324 is disposed on the sliding portion 322, passes through the guide channel 120, and is connected to the first telescopic portion 200. When the lead screw 310 is driven to rotate, it causes the sliding portion 322 to slide along the extension direction of the guide channel 120, so that the connecting portion 324 drives the first telescopic portion 200 to slide along the extension direction of the guide channel 120.

[0049] In this embodiment, the base 100 serves as a fixed component, and the first telescopic part 200 serves as one of the first telescopic components for transporting objects. In addition, other telescopic parts 200 can be connected to the first telescopic part 200 to extend the telescopic distance.

[0050] Both the base 100 and the first telescopic part 200 can be configured as long strips. A slide rail can be provided on the base 100 along the length direction, and a slide groove can be provided on the first telescopic part 200 along the length direction. The slide groove cooperates with the slide rail to realize the sliding connection between the base 100 and the first telescopic part 200.

[0051] The guide channel 120 is configured to extend along the length of the base 100, so that the first telescopic part 200 can be restricted by the slide rail and groove structure to slide along the extension direction of the guide channel 120.

[0052] Because the connecting part 324 is connected to the sliding part 322 and the first telescopic part 200, the sliding part 322 is restricted in its rotational freedom by the first telescopic part 200, and is limited to sliding only along the extension direction of the guide channel 120. Thus, when the lead screw 310 is driven to rotate, it can drive the sliding part 322 to slide along the extension direction of the guide channel 120, thereby using the connecting part 324 to drive the first telescopic part 200 to slide along the extension direction of the guide channel 120.

[0053] When connecting the first telescopic part 200 and the connecting part 324, a mounting hole 210 can be opened on the first telescopic part 200, and the connecting part 324 extends from the guide channel 120 and extends into the mounting hole 210, and then the two are fastened together by fasteners.

[0054] Furthermore, the width of the guide channel 120 is set to match the width of the connecting portion 324. That is, the width of the guide channel 120 further restricts the sliding portion 322 to slide only along the extension direction of the guide channel 120, which can constrain the sliding trajectory of the sliding portion 322, thereby making the sliding of the first telescopic portion 200 more stable.

[0055] In this embodiment, since the lead screw 310 is set in the installation space 110 of the base 100, the sliding part 322 is threadedly connected to the lead screw 310, and the connecting part 324 is connected to the first telescopic part 200 through the guide channel 120. The first telescopic part 200 itself is connected to the base 100 through a slide rail structure. Therefore, when the connecting part 324 is connected to the first telescopic part 200 through the guide channel 120, the sliding part 322 is constrained in its rotational freedom, and is restricted to only sliding. This eliminates the need to set a slide rail structure between the sliding part 322 and the base 100 to constrain the rotation of the sliding part 322, simplifies the structure of the drive mechanism, reduces the installation requirements of the drive mechanism, reduces the difficulty of disassembling and assembling the drive mechanism, and helps to improve the production efficiency of the telescopic device.

[0056] In some embodiments, the drive mechanism may further include a drive motor 330, which is disposed in the mounting space 110. The output shaft 340 of the drive motor 330 is connected to the lead screw 310 to drive the lead screw 310 to rotate.

[0057] In some specific embodiments, the output shaft 340 of the drive motor 330 and the lead screw 310 can be coaxially and fixedly connected. In this embodiment, the output shaft 340 and the lead screw 310 can be directly connected by a hole-shaft connection, or they can be connected by a coupling.

[0058] Furthermore, the output shaft 340 of the drive motor 330 is provided with a connecting hole 342, which is open axially toward the output shaft 340. The end of the lead screw 310 is provided with a connecting shaft 312 extending axially, and the connecting shaft 312 is connected to the hub of the connecting hole 342.

[0059] The connection between the connecting shaft 312 and the connecting hole 342 can take various forms. For example, the connection between the connecting shaft 312 and the connecting hole 342 can be force-closed (i.e., interference fit), or it can be form-closed, such as a form-fit connection (D-type shaft and D-type hole fit). Both methods prevent the output shaft 340 of the drive motor 330 from rotating relative to the lead screw 310, thus transmitting torque. Those skilled in the art can also use other structures based on this, which will not be listed here.

[0060] In some other specific embodiments, the output shaft 340 of the drive motor 330 can also be connected to the lead screw 310 via a reduction mechanism to achieve a speed reduction effect. In this embodiment, a driving gear can also be provided on the output shaft 340, and a driven gear can be provided on the lead screw 310. The driving gear and the driven gear mesh (the diameter of the driving gear is smaller than that of the driven gear) to achieve a speed reduction connection between the output shaft 340 of the drive motor 330 and the lead screw 310.

[0061] In some embodiments, the drive mechanism may further include a first bearing 350, which is disposed on the drive motor 330 and sleeved on the output shaft 340 of the drive motor 330, for rotatably supporting the output shaft 340 of the drive motor 330.

[0062] In this embodiment, the first bearing 350 can be configured as a radial bearing. The outer ring of the first bearing 350 can be fixed inside the motor housing of the drive motor 330, and the inner ring of the first bearing 350 can be sleeved on the output shaft 340 of the drive motor 330 to support the output shaft 340 of the drive motor 330 in the radial direction, so that its operation is more stable.

[0063] In some embodiments, the drive mechanism may further include a brake 360, which is disposed in the mounting space 110 and sleeved on the output shaft 340 of the drive motor 330, for braking the output shaft 340 of the drive motor 330, so that the lead screw 310 stops rotating in a timely manner, further improving the extension accuracy of the first telescopic part 200.

[0064] In some specific embodiments, the brake 360 ​​has a brake body 362 fixed to the drive motor 330 and a brake disc 364 rotatably disposed on the brake body 362. The brake disc 364 is fixedly sleeved on the output shaft 340 of the drive motor 330. When the brake 360 ​​brakes, it causes the brake disc 364 to decelerate, thereby braking the output shaft 340 of the drive motor 330.

[0065] Furthermore, the brake 360 ​​can be an electromagnetic brake. When the drive motor 330 is energized, a magnetic field is generated between the brake body 362 and the brake disc 364, causing the brake disc 364 to separate from the brake body 362, allowing the output shaft 340 to operate normally. Once the drive motor 330 is de-energized, the brake 360 ​​also stops working, and the brake disc 364 is pressed against the brake body 362 by the restoring force, achieving braking.

[0066] In some embodiments, the sliding part 322 has a sliding body 322a and a connecting plate 322b. The sliding body 322a is threadedly connected to the lead screw 310, and the connecting plate 322b protrudes from one end of the sliding body 322a. The connecting part 324 has a connecting body 324a and a connecting protrusion 324b. The connecting body 324a is sleeved on the outside of the sliding body 322a and abuts against the connecting plate 322b. The connecting plate 322b and the connecting body 324a are fixed by fasteners 326. The connecting protrusion 324b is formed on the outside of the connecting body 324a and passes through the guide channel 120 for connection with the first telescopic part 200.

[0067] During installation, the connecting body 324a of the connecting part 324 can be pre-placed in the installation space 110, with the connecting protrusion 324b extending from the guide channel 120. Then, the sliding body 322a of the sliding part 322 is threadedly connected to the lead screw 310. Finally, the connecting body 324a of the connecting part 324 is slid onto the sliding body 322a of the sliding part 322 and abuts against the connecting plate 322b, and is fixed using fasteners 326. This installation method is simple, convenient, and efficient, which helps to improve production efficiency.

[0068] It should be noted that the above installation process is only described in order to facilitate the description of the technical effects of this embodiment, and does not mean that it is necessary to strictly follow the above steps for installation.

[0069] In some embodiments, the telescopic device may further include a second bearing 400, which is disposed in the mounting space 110 and sleeved on the middle of the lead screw 310 for rotatably supporting the lead screw 310 so that the lead screw 310 runs more smoothly.

[0070] Furthermore, the second bearing 400 is configured as a thrust bearing. The thrust bearing is used to bear the axial load of the lead screw 310 and prevent the lead screw 310 from sliding axially. Furthermore, the thrust bearing can be a thrust roller bearing, thrust ball bearing, etc., which are well known to those skilled in the art, and will not be described in detail here.

[0071] In some embodiments, the telescopic device may further include a third bearing 500, which is disposed in the mounting space 110 and sleeved on the end of the lead screw 310 for rotatably supporting the lead screw 310.

[0072] Furthermore, the third bearing 500 is configured as a radial bearing. The radial bearing is used to bear the radial load of the lead screw 310 and prevent the lead screw 310 from wobbling radially. Furthermore, this radial bearing can be a rolling bearing, deep groove ball bearing, etc., which are well known to those skilled in the art, and will not be described in detail here.

[0073] Furthermore, the third bearing 500 can be configured as one or two. When one third bearing 500 is configured, it can be located at the free end of the lead screw 310 away from the drive motor 330. When two third bearings 500 are configured, they can be located at both ends of the lead screw 310.

[0074] This application also provides a surgical robot that can be configured for suturing, stapler suturing, grasping, applying electrosurgical energy, and many other instruments commonly known to those skilled in the art. It consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates an input device on the surgeon's console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. The patient-side trolley typically includes a telescopic mechanism and an actuator, the telescopic mechanism being used to extend or retract the actuator to perform corresponding maneuvers.

[0075] Finally, it should be noted that other embodiments of this utility model will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This utility model is intended to cover any variations, uses, or adaptations of this utility model that follow the general principles of this utility model and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this utility model is limited only by the appended claims.

Claims

1. A telescopic device, characterized in that, include: A base (100) defines an installation space (110) within the base (100), and the base (100) has a guide channel (120) that communicates with the installation space (110); The first telescopic part (200) is telescopically connected to the base (100) along the extension direction of the guide channel (120); The second telescopic part (220) is telescopically connected to the first telescopic part (200); A transmission belt (230) is movably wound around the first telescopic part (200). The transmission belt (230) near the base (100) is fixed to the base (100), and the transmission belt (230) near the second telescopic part (220) is fixed to the second telescopic part (220). When the first telescopic part (200) extends or retracts relative to the base (100), the base (100) drives the transmission belt (230) to move, and the transmission belt (230) drives the second telescopic part (220) to extend or retract relative to the first telescopic part (200). A driving mechanism is used to drive the first telescopic part (200) to slide. The driving mechanism includes a lead screw (310), a sliding part (322), and a connecting part (324). The lead screw (310) is rotatably disposed in the mounting space (110) and extends along the extension direction of the guide channel (120). The sliding part (322) is threadedly connected to the lead screw (310). The connecting part (324) is disposed on the sliding part (322) and passes through the guide channel (120) and is connected to the first telescopic part (200). When the lead screw (310) is driven to rotate, the lead screw (310) causes the sliding part (322) to slide along the extension direction of the guide channel (120), so that the connecting part (324) drives the first telescopic part (200) to slide along the extension direction of the guide channel (120).

2. The telescopic device according to claim 1, characterized in that, The drive mechanism also includes: A drive motor (330) is disposed in the mounting space (110), and the output shaft (340) of the drive motor (330) is connected to the lead screw (310) to drive the lead screw (310) to rotate.

3. The telescopic device according to claim 2, characterized in that, The output shaft (340) of the drive motor (330) is provided with a connecting hole (342), which is open in the axial direction of the output shaft (340); The end of the lead screw (310) is provided with a connecting shaft (312) extending axially, and the connecting shaft (312) is connected to the hub of the connecting hole (342).

4. The telescopic device according to claim 2, characterized in that, The drive mechanism also includes: A first bearing (350) is disposed on the drive motor (330) and sleeved on the output shaft (340) of the drive motor (330) for rotatably supporting the output shaft (340) of the drive motor (330).

5. The telescopic device according to claim 2, characterized in that, The drive mechanism also includes: A brake (360) is disposed in the mounting space (110) and sleeved on the output shaft (340) of the drive motor (330) for braking the output shaft (340) of the drive motor (330).

6. The telescopic device according to claim 5, characterized in that, The brake (360) has a brake body (362) fixed to the drive motor (330) and a brake disc (364) rotatably disposed on the brake body (362); The brake disc (364) is fixedly sleeved on the output shaft (340) of the drive motor (330). When the brake (360) brakes, it causes the brake disc (364) to decelerate, thereby braking the output shaft (340) of the drive motor (330).

7. The telescopic device according to any one of claims 1 to 6, characterized in that, The sliding part (322) has a sliding body (322a) and a connecting plate (322b). The sliding body (322a) is threadedly connected to the lead screw (310), and the connecting plate (322b) protrudes from one end of the sliding body (322a). The connecting part (324) has a connecting body (324a) and a connecting protrusion (324b). The connecting body (324a) is sleeved on the outside of the sliding body (322a) and abuts against the connecting plate (322b). The connecting plate (322b) is fixed to the connecting body (324a) by a fastener (326). The connecting protrusion (324b) is formed on the outside of the connecting body (324a) and passes through the guide channel (120) for connecting with the telescopic part (200).

8. The telescopic device according to any one of claims 1 to 6, characterized in that, Also includes: The second bearing (400) is disposed in the mounting space (110) and sleeved on the middle part of the lead screw (310) for rotatably supporting the lead screw (310).

9. The telescopic device according to any one of claims 1 to 6, characterized in that, Also includes: A third bearing (500) is disposed in the mounting space (110) and sleeved on the end of the lead screw (310) for rotatably supporting the lead screw (310).

10. A surgical robot, characterized in that, Includes the telescopic device according to any one of claims 1 to 9.

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