Display adjusting device for medical console and surgical robot

Abstract

The utility model relates to a display adjusting device for a medical console and a surgical robot. The displayer adjusting device comprises a supporting column, a movable seat, a first driving assembly, a supporting seat, a second driving assembly and a mounting assembly, and the movable seat is arranged on the supporting column and can move in the first direction; the first driving assembly is arranged on the movable seat, the supporting seat is in transmission connection with the first driving assembly, the first driving assembly can drive the supporting seat to move relative to the movable seat in the second direction, and the second direction is different from the first direction; the second driving assembly and the mounting assembly are both arranged on the supporting seat, the mounting assembly can rotatably connect the display to the supporting seat, and the second driving assembly can drive the display to rotate relative to the supporting seat. According to the display adjusting device for the medical console, multi-degree-of-freedom movement of the display can be realized, so that the display has a multi-degree-of-freedom adjusting function in a limited space, and the display can be in an optimal observation visual angle.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a display adjustment device for a medical control panel and a surgical robot. Background Technology

[0002] In the field of surgical robotics, monitors are used to display the patient's surgical site and its real-time operational status, assisting doctors in assessing the patient's condition and performing surgical procedures. If the monitor's position relative to the doctor is unsuitable, it can prevent the doctor from clearly and easily obtaining the image details, affecting their judgment and operation. Furthermore, an unsuitable position forces the doctor to turn their head, body, or tilt their head forward to view the monitor, which can easily lead to fatigue over time. Additionally, different types of surgeries are typically performed by different doctors with varying body types, requiring the monitor's position to be adapted to the different body shapes of the doctors.

[0003] Therefore, in the field of surgical robots, there is a need for a display adjustment device for medical control consoles that enables the display to have multi-degree-of-freedom adjustment capabilities within a limited space, in order to meet the aforementioned multiple requirements. Summary of the Invention

[0004] Therefore, it is necessary to provide a display adjustment device and surgical robot for a medical control panel, which can realize multi-degree-of-freedom pose adjustment of the display, which is beneficial to placing the display in the optimal viewing angle.

[0005] According to one aspect of this application, an embodiment of this application provides a display adjustment device for a medical console, comprising:

[0006] pillar;

[0007] A movable seat is provided on the support column and is movable in a first direction;

[0008] A first drive assembly and a support base, wherein the first drive assembly is disposed on the movable base, and the support base is connected to the first drive assembly in a transmission manner, and the first drive assembly is capable of driving the support base to move relative to the movable base in a second direction, the second direction being different from the first direction;

[0009] A second drive assembly and a mounting assembly are both disposed on the support base. The mounting assembly is capable of rotatably connecting the display to the support base, and the second drive assembly is capable of driving the display to rotate relative to the support base.

[0010] In some embodiments, the first driving assembly includes a first driving member and a first transmission member, the first driving member being disposed on the movable seat and the first transmission member being connected to the first driving member; the support seat being slidably disposed on the movable seat and connected to the first transmission member; the first driving member is capable of driving the first transmission member to move, so that the first transmission member can drive the support seat to slide relative to the movable seat in the horizontal direction along the second direction.

[0011] In some embodiments, the first transmission member includes a first link and a second link. One end of the first link is fixedly connected to the output end of the first drive member, and the first drive member is capable of driving the first link to rotate about a first axis. The other end of the first link is rotatably connected to one end of the second link about a second axis, and the second axis is parallel to the first axis. The other end of the second link is rotatably connected to the support base.

[0012] In some embodiments, the support base includes a base plate and two support plates, the two support plates being connected to opposite sides of the base plate; the mounting assembly includes a connecting shaft and a connecting seat, the connecting shaft being connected to the two support plates, the connecting seat being sleeved on the connecting shaft, and the connecting seat being capable of mounting the display; wherein at least one of the connecting shaft and the connecting seat is rotatable relative to the base plate.

[0013] In some embodiments, the connecting shaft is fixedly connected to both support plates; the mounting assembly further includes a rotating member, a connecting sleeve, and a spacer; the connecting seat is rotatably connected to the connecting shaft via the rotating member; the connecting sleeve is sleeved on the connecting shaft and connected to the base plate; the spacer is connected to the connecting shaft and located between the connecting sleeve and the rotating member.

[0014] In some embodiments, at least two connecting sleeves are provided, and the at least two connecting sleeves are spaced apart along the axial direction of the connecting shaft; and / or, the rotating member is provided on at least one side of the connecting sleeve along the axial direction of the connecting shaft; and / or, the mounting assembly further includes a mounting plate, the mounting plate being fixed to the connecting seat, and the mounting plate being capable of being fixed to the display.

[0015] In some embodiments, the second driving assembly includes a second driving member and a second transmission member. The second driving member is disposed on the support base. The second transmission member includes a third link and a fourth link. One end of the third link is fixedly connected to the output end of the second driving member, and the other end of the third link is rotatably connected to one end of the fourth link about a third axis. The other end of the fourth link is rotatably connected to the mounting assembly or the display. The second driving member can drive the third link to rotate about a fourth axis, which is parallel to the third axis, so that the third link can drive the fourth link to move and the fourth link can drive the mounting assembly and / or the display to rotate relative to the support base.

[0016] In some embodiments, the second drive assembly further includes a limiting member disposed on the second drive member or the support base, the limiting member being able to stop the third link to limit the rotation angle of the third link.

[0017] In some embodiments, the movable seat includes an annular plate and a seat plate. The annular plate is sleeved on the support column and slides with the support column. The seat plate is connected to the annular plate, and the support seat is movable relative to the seat plate. The display adjustment device further includes a third drive assembly. The third drive assembly is disposed on the support column, connected to the annular plate, and is capable of driving the annular plate to move the seat plate up and down along the first direction.

[0018] According to another aspect of this application, embodiments of this application also provide a surgical robot, including: a display adjustment device for a medical console as described in any of the preceding claims; and a display connected to the mounting assembly and rotatable relative to the support.

[0019] The aforementioned display adjustment device and surgical robot for medical control console, by setting a movable seat that can move along a first direction, a support seat that can move relative to the movable seat along a second direction, and a display that is rotatably connected to the support seat, can realize multi-degree-of-freedom movement of the display. This allows the display to have multi-degree-of-freedom adjustment functions within a limited space, enabling multi-degree-of-freedom pose adjustment of the display. This is beneficial for placing the display at the optimal viewing angle, allowing for clearer viewing of image details on the display. It is suitable for people of different heights, enabling operators to operate instruments in a more comfortable posture, and greatly improving operational efficiency. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of a display adjustment device for a medical console and its cooperation with a display, according to some embodiments of this application.

[0021] Figure 2 This is a three-dimensional structural diagram of a display adjustment device for a medical console, in cooperation with a display, from another perspective, according to some embodiments of this application.

[0022] Figure 3 This is a three-dimensional structural diagram of a display adjustment device for a medical console according to some embodiments of this application, after omitting the support column and cooperating with the display.

[0023] Figure 4 This is a top view of a display adjustment device for a medical console according to some embodiments of this application, after omitting the support pillar and cooperating with the display.

[0024] Figure 5 This is a left view of a display adjustment device for a medical console according to some embodiments of this application, after omitting the support pillar and cooperating with the display.

[0025] Figure 6 This is a three-dimensional structural diagram of a display adjustment device for a medical console according to some embodiments of this application, omitting the support pillar.

[0026] Figure 7 This is a perspective view of the display adjustment device for a medical console according to some embodiments of this application, with the support pillar omitted.

[0027] Figure 8 This is a perspective view of a display adjustment device for a medical console according to some embodiments of this application, omitting the support column and mounting plate.

[0028] Figure 9 This is a perspective view of a display adjustment device for a medical console according to some embodiments of this application, omitting the support column, mounting plate, and connecting base.

[0029] Figure 10 This is a schematic diagram illustrating the structure of the movable seat, support seat, second drive assembly, and mounting assembly in some embodiments of this application.

[0030] Figure 11 This is a schematic diagram of the structure of a second driving component according to some embodiments of this application.

[0031] Figure 12 This is an exploded structural diagram of the second transmission component according to some embodiments of this application.

[0032] Figure 13 This is a three-dimensional structural diagram of a surgical robot according to some embodiments of this application.

[0033] Figure 14 This is a three-dimensional structural diagram of a surgical robot according to some embodiments of this application from another perspective.

[0034] The reference numerals in the detailed embodiments are as follows:

[0035] 100. Display adjustment device; 10. Support column; 20. Movable seat; 21. Seat plate; 211. Through hole; 22. Guide component; 23. Sliding component; 24. Annular plate; 25. Reinforcing plate; 30. First drive assembly; 31. First drive component; 32. First transmission component; 321. First connecting rod; 322. Second connecting rod; 33. First fixed seat; 40. Support seat; 41. Base plate; 42. Support plate; 50. Second drive assembly; 51. Second drive component; 52. Second transmission component; 521. Third connecting rod; 5211. Locking hole; 522. Fourth connecting rod; 52 3. Push-pull seat; 524. Spherical bearing; 525. Connecting bolt; 53. Limiting component; 54. Second fixed seat; 60. Mounting assembly; 61. Connecting shaft; 62. Connecting seat; 63. Mounting plate; 64. Rotating component; 65. Connecting sleeve; 66. Partition; 661. Washer; 662. Spring; 67. Snap ring; 68. Tightening screw; 70. Third drive assembly; 71. Lifting rail; 72. Lifting slider; 200. Display; 300. Mobile chassis; 400. Control box; 500. Cable chain; X, second direction; Y, third direction; Z, first direction. Detailed Implementation

[0036] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0037] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0038] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0039] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0040] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0041] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0042] This application provides a display adjustment device 100 for a medical console, including a support column 10, a movable base 20, a first drive assembly 30, a support base 40, a second drive assembly 50, and a mounting assembly 60. The movable base 20 is disposed on the support column 10 and is movable in a first direction, for example, it can be raised or lowered along the support column 10. The first drive assembly 30 is disposed on the movable base 20, and the support base 40 is tractively connected to the first drive assembly 30. The first drive assembly 30 can drive the support base 40 to move relative to the movable base 20 in a second direction. The second direction is different from the first direction; for example, the second direction can be perpendicular to the first direction or at an acute angle. The second drive assembly 50 and the mounting assembly 60 are both disposed on the support base 40. The mounting assembly 60 can rotatably connect a display 200 to the support base 40, and the second drive assembly 50 can drive the display 200 to rotate relative to the support base 40.

[0043] The display adjustment device 100 for a medical control panel according to this application embodiment, by setting a movable base 20 that can move along a first direction, a support base 40 that can move relative to the movable base 20 along a second direction, and a display 200 that is rotatably connected to the support base 40, can realize multi-degree-of-freedom movement of the display 200, such as up and down, forward and backward, and rotation. This allows the display 200 to have multi-degree-of-freedom adjustment function within a limited space, enabling multi-degree-of-freedom pose adjustment of the display 200. This is beneficial for placing the display 200 at the optimal viewing angle, making it easier to clearly see the image details on the display 200. It is suitable for people of different heights, allowing operators to operate the instruments in a more comfortable posture, greatly improving operating efficiency.

[0044] like Figures 1 to 5 As shown, the X direction is the second direction, the Y direction is the third direction, and the Z direction is the first direction, and the X, Y, and Z directions are perpendicular to each other. Specifically, with... Figure 1 Taking the perspective shown as an example: the X direction is roughly the direction of movement of the support seat 40 relative to the movable seat 20 in the horizontal direction; the Z direction is roughly the direction of rise and fall of the movable seat 20 relative to the support column 10 in the direction of gravity; and the Y direction is the direction perpendicular to both the X and Z directions.

[0045] The support column 10 serves as the mounting base for the display adjustment device 100 of the medical console, used for mounting and supporting other components or assemblies; the structure and dimensions of the support column 10 are not limited herein. Optionally, the extension direction of the support column 10 is a first direction, for example... Figure 1 The Z-direction is shown. The movable seat 20 can be raised and lowered along the support column 10 to adjust the height of the display 200 to accommodate doctors of different heights. The support seat 40 is located on the movable seat 20, and the support seat 40 can be raised and lowered relative to the movable seat 20 along the second direction, as shown. Figure 1The X-direction movement shown allows the monitor 200 to be adjusted in the doctor's forward / backward direction to accommodate doctors of different body types. For example, an obese doctor may find the monitor 200 too far from their eyes when seated, so the monitor 200 can be adjusted in the X-direction towards the doctor; conversely, a slender doctor may find the monitor 200 too close to their eyes when seated, so the monitor 200 can be adjusted in the X-direction away from the doctor. The monitor 200 can be rotatably mounted on the support 40 via the mounting assembly 60; the rotation axis of the monitor 200 can be set as needed, for example, the rotation axis of the monitor 200 can be parallel to a third direction, such as... Figure 1 The Y direction shown can also be other directions. Since the monitor 200 is mounted on the support base 40, when the support base 40 moves horizontally relative to the movable base 20, the monitor 200 can move with the support base 40; at the same time, the support base 40 is mounted on the movable base 20, and when the movable base 20 rises and falls along the support column 10, the support base 40 rises and falls with the movable base 20, thereby realizing the adjustment of the monitor 200's position in the horizontal direction, the position adjustment in the vertical direction, and the adjustment of the rotation angle, thus adapting to different doctors.

[0046] In use, the movable base 20 moves up and down along the support column 10, which can drive the entire display 200 to move up and down on the medical control panel, thereby realizing the up and down adjustment of the display 200; the first drive component 30 drives the support base 40 to move in the horizontal direction, which can drive the entire display 200 to move back and forth in the horizontal direction, thereby realizing the front and back adjustment of the display 200; the second drive component 50 drives the display 200 to rotate relative to the support base 40, thereby realizing the rotation adjustment of the display 200 around the axis.

[0047] In some embodiments, see Figures 2 to 5 , combined Figures 6 to 9 The first drive assembly 30 includes a first drive member 31 and a first transmission member 32. The first drive member 31 is disposed on the movable seat 20, and the first transmission member 32 is connected to the first drive member 31. A support seat 40 is slidably disposed on the movable seat 20 and is connected to the first transmission member 32. The first drive member 31 can drive the first transmission member 32 to move, so that the first transmission member 32 can drive the support seat 40 to slide relative to the movable seat 20 in the horizontal direction along a second direction.

[0048] The first driving component 31 serves as the power output source and can be a servo motor to provide power. The support base 40 is slidably supported on the movable base 20. For example, the motor drives the first transmission component 32 to move the support base 40 along the second direction. By setting the support base 40 and the movable base 20 in a sliding engagement, the structure is simple, the support and movement are stable and reliable, and the horizontal position adjustment of the display 200 is effectively realized, improving operating efficiency.

[0049] The output end of the first driving member 31 can be rotatably connected to the first transmission member 32, which in turn is rotatably connected to the display 200. The first driving member 31 outputs rotational motion, thereby causing the first transmission member 32 to drive the display 200 to rotate relative to the support base 40. In other embodiments, the first driving member 31 can also output linear motion, which can also drive the display 200 to rotate, and will not be described in detail here.

[0050] In some embodiments, see Figure 10 The movable seat 20 includes a seat plate 21, a guide member 22, and a slider 23. The seat plate 21 can be raised and lowered relative to the support column 10. The guide member 22 extends along a second direction and is disposed on the seat plate 21. The slider 23 is slidably connected to the guide member 22. The support seat 40 is connected to the slider 23. The slider 23 drives the support seat 40 to slide horizontally along the guide member 22, thereby realizing the sliding of the support seat 40 relative to the movable seat 20 along the second direction. For example, the guide member 22 can be a linear guide rail, the slider 23 can be a slider, and the support seat 40 is fixedly connected to the slider. Through the guide member 22 and the slider 23, the sliding movement of the support seat 40 relative to the movable seat 20 can be guided and limited. The movement of the support seat 40 is not easily deviated from the direction, and is smooth and stable, thereby adjusting the front and rear position of the display 200 stably and reliably, improving operating efficiency. In other embodiments, the guide member 22 can be disposed on the support seat 40, and the slider 23 can be disposed on the seat plate 21.

[0051] In some embodiments, the number of guide members 22 can be multiple, such as two, three, or four; the multiple guide members 22 are parallel to each other and spaced apart along a third direction; each guide member 22 is slidably connected to at least one slider 23. The bottom of the support base 40 is connected to the slider 23 on the multiple guide members 22, thereby slidably supporting the support base 40 on the multiple guide members 22.

[0052] In some embodiments, see Figures 3 to 6 The first transmission component 32 includes a first connecting rod 321 and a second connecting rod 322. One end of the first connecting rod 321 is fixedly connected to the output end of the first driving component 31, and the first driving component 31 can drive the first connecting rod 321 to rotate around a first axis. The other end of the first connecting rod 321 is rotatably connected to one end of the second connecting rod 322 around a second axis, and the second axis is parallel to the first axis. The other end of the second connecting rod 322 is rotatably connected to the support base 40.

[0053] For example, both the first and second axes are parallel to a third direction. For example, the first link 321 and the second link 322 can be rotatably connected via bearings, which helps reduce the resistance to relative rotation between the first link 321 and the second link 322. In some embodiments, the first link 321 and the second link 322 can be rotatably connected via ball bearings; ball bearings can tolerate a certain degree of eccentricity, which helps alleviate problems such as difficulty in ensuring perfect parallelism between the first link 321 and the second link 322 after assembly due to errors caused by objective manufacturing factors, resulting in awkward movement such as relative swaying and jamming of the first link 321 and the second link 322. The first drive component 31, for example, the output shaft of a motor drives the first link 321 to rotate. The first link 321 and the second link 322 are hinged via ball bearings, and the support base 40 slides back and forth on the movable base 20 via linear guides on the movable base 20.

[0054] By using a linkage mechanism for transmission, the structure is compact, saving the space occupied by the first drive component 30, and thus saving the overall space occupied by the display adjustment device 100 used in the medical control panel. This allows the display 200 to have the freedom of forward and backward movement within a limited space, enabling the adjustment of the forward and backward position of the display 200. This allows the operator to operate the instrument in a more comfortable posture, improving operational efficiency.

[0055] In some embodiments, see Figures 3 to 5 , Figures 7 to 10 The support base 40 includes a base plate 41 and two support plates 42, which are connected to opposite sides of the base plate 41. The mounting assembly 60 includes a connecting shaft 61 and a connecting seat 62, with the connecting shaft 61 connected to the two support plates 42 and the connecting seat 62 sleeved on the connecting shaft 61. The connecting seat 62 is capable of mounting the display 200; wherein at least one of the connecting shaft 61 and the connecting seat 62 is rotatable relative to the base plate 41.

[0056] For example, two support plates 42 are vertically connected to the base plate 41, and both support plates 42 extend along the second direction, i.e., the direction in which the support base 40 moves relative to the movable base 20. In some embodiments, the two support plates 42 are respectively located on opposite sides of the movable base 20 in the third direction, and the support plates 42 can abut against the movable base 20; thus, the movable base 20 can limit the support base 40 in the third direction, making it difficult for the support base 40 to deviate from the movable base 20, thus ensuring stability and reliability. The connecting shaft 61 can be rotatably connected to the two support plates 42, allowing the connecting shaft 61 to rotate relative to the base plate 41, while the connecting seat 62 is non-rotatably connected to the connecting shaft 61, with the connecting shaft 61 driving the connecting seat 62 to rotate relative to the base plate 41. Alternatively, the connecting shaft 61 can be non-rotatably connected to the two support plates 42, while the connecting seat 62 is rotatably connected to the connecting shaft 61, allowing the connecting seat 62 to rotate relative to the base plate 41. Of course, it is also possible that the connecting seat 62 is rotatably connected to the connecting shaft 61, and the connecting shaft 61 is rotatably connected to the two support plates 42, allowing both the connecting shaft 61 and the connecting seat 62 to rotate relative to the base plate 41. It can be understood that the central axis of the connecting shaft 61 is the axis of rotation of the display 200 relative to the support base 40; for example, the connecting shaft 61 is perpendicular to the connection to the two support plates 42, meaning the connecting shaft 61 is positioned along a third direction.

[0057] In this way, the connecting base 62 can drive the display 200 mounted on it to rotate relative to the base plate 41, that is, the display 200 can rotate relative to the support base 40, so that the display 200 can be rotatably connected to the support base 40, giving the display 200 a degree of freedom to rotate around an axis, and allowing the rotation posture of the display 200 to be adjusted. This helps the operator to operate the instrument in a more comfortable posture and improves the operating efficiency.

[0058] In some embodiments, see Figures 3 to 6 The mounting assembly 60 also includes a mounting plate 63, which is fixed to the connector 62 and can be fixed to the display 200.

[0059] The mounting plate 63 can be a flat plate or a curved plate, such as an arc plate, and is not limited thereto. One side of the mounting plate 63 is fixedly connected to the connector 62, and the opposite side of the mounting plate 63 is fixed to the display 200, thereby mounting the display 200 onto the mounting assembly 60. In some embodiments, the shape of the side of the mounting plate 63 facing away from the connector 62 is adapted to the shape of the mounting surface of the display 200. In some embodiments, the mounting plate 63 can be integrally formed with the connector 62. The connector 62 can be two or three spaced apart.

[0060] By setting the mounting plate 63 to fix the monitor 200, the fixing area of ​​the monitor 200 is larger, the force is distributed and evenly distributed, the fixing of the monitor 200 is more stable and reliable, and the load-bearing capacity is higher, and the adjustment of the rotation posture of the monitor 200 is more stable.

[0061] In some embodiments, see Figure 3 , Figure 4 , Figure 8 , Figure 9 and Figure 10 The connecting shaft 61 is fixedly connected to both support plates 42. At this time, the connecting shaft 61 and the two support plates 42 are fixed, and the connecting seat 62 can rotate relative to the base plate 41. The mounting assembly 60 also includes a rotating member 64, a connecting sleeve 65, and a spacer 66. The connecting seat 62 is rotatably connected to the connecting shaft 61 via the rotating member 64, allowing the connecting seat 62 to rotate relative to the base plate 41. The connecting sleeve 65 is sleeved on the connecting shaft 61 and connected to the base plate 41. The spacer 66 is connected to the connecting shaft 61 and located between the connecting sleeve 65 and the rotating member 64.

[0062] The connecting seat 62 is rotatably mounted on the connecting shaft 61 by the rotating component 64, which helps ensure the smooth rotation of the connecting seat 62, making the rotation of the display 200 smoother and adjusting the rotation posture of the display 200 more stable. For example, the rotating component 64 can be an oil-free bushing or a bearing. The connecting sleeve 65 can be fixedly connected to the connecting shaft 61 or movably sleeved on the connecting shaft 61, without limitation. Since the connecting shaft 61 is fixed to the support plate 42 of the support base 40, the connecting shaft 61 and the support base 40 will not move relative to each other, and the connecting sleeve 65 is connected to the base plate 41 of the support base 40, there is no relative movement among the connecting shaft 61, the connecting sleeve 65, and the support base 40. By setting the connecting sleeve 65, the connection between the connecting shaft 61 and the support base 40 is strengthened, and the load-bearing capacity of the connecting shaft 61 is improved. By setting the partition 66, the rotating component 64 and the connecting seat 62 can be prevented from moving axially along the connecting shaft 61 to the position of the connecting sleeve 65. For example, the partition 66 may include a gasket 661 and a spring 662. The spring 662 abuts between the connecting sleeve 65 and the gasket 661. The gasket 661 abuts against the rotating member 64 under the elastic force of the spring 662, thereby preventing the connecting sleeve 65 and the rotating member 64 from getting close to each other, thus separating the connecting seat 62 and the connecting sleeve 65.

[0063] By setting the rotating part 64, the connecting sleeve 65 and the partition 66, the rotation of the connecting seat 62 can be made more stable, the load-bearing capacity of the connecting shaft 61 can be increased, and the interference between the connecting seat 62 and the connecting sleeve 65 can be prevented. This achieves a balance between the load-bearing capacity of the display 200 and the stability of the rotation posture adjustment of the display 200, thus meeting the actual use requirements.

[0064] In some embodiments, see Figures 3 to 5 , Figures 8 to 10 The mounting assembly 60 also includes a retaining ring 67. Both ends of the connecting shaft 61 are provided with annular grooves extending circumferentially along the connecting shaft 61. When the two ends of the connecting shaft 61 pass through the support plate 42, the retaining ring 67 can be engaged in the annular grooves to limit the connecting shaft 61 and prevent the connecting shaft 61 from moving axially relative to the support plate 42.

[0065] In some embodiments, see Figure 8 and Figure 9 The mounting assembly 60 also includes a clamping screw 68. The clamping screw 68 can be screwed into the support plate 42 and clamped against the outer peripheral surface of the connecting shaft 61 to fix the connecting shaft 61 relative to the support plate 42.

[0066] In some embodiments, see Figures 8 to 9 At least two connecting sleeves 65 are provided, and the at least two connecting sleeves 65 are spaced apart along the axial direction of the connecting shaft 61.

[0067] For example, the number of connecting sleeves 65 can be two, three, or four. By arranging multiple connecting sleeves 65 at intervals along the axial direction of the connecting shaft 61, the connection between the connecting shaft 61 and the support base 40 can be further strengthened, and the force on the connecting shaft 61 can be evenly distributed, which is conducive to further improving the load-bearing capacity of the connecting shaft 61. This allows for the installation of displays 200 that are heavier or larger, fully meeting the usage requirements.

[0068] In some embodiments, see Figure 8 and Figure 9 The connecting sleeve 65 has a rotating member 64 on at least one side along the axial direction of the connecting shaft 61.

[0069] A rotating member 64 can be provided on one side of the connecting sleeve 65, or rotating members 64 can be provided on both opposite sides of the connecting sleeve 65. By providing rotating members 64 on both axial sides of the connecting sleeve 65, the forces at both ends of the connecting sleeve 65 can be balanced, which helps to extend the service life of the connecting sleeve 65.

[0070] In some embodiments, see Figures 3 to 6 , Figure 10 and Figure 11The second drive assembly 50 includes a second drive member 51 and a second transmission member 52. The second drive member 51 is disposed on the support base 40. The second transmission member 52 includes a third link 521 and a fourth link 522. One end of the third link 521 is fixedly connected to the output end of the second drive member 51. The other end of the third link 521 is rotatably connected to one end of the fourth link 522 about a third axis. The other end of the fourth link 522 is rotatably connected to the mounting assembly 60 or the display 200. The second drive member 51 can drive the third link 521 to rotate about a fourth axis, which is parallel to the third axis, so that the third link 521 can drive the fourth link 522 to move, and the fourth link 522 can drive the mounting assembly 60 and / or the display 200 to rotate relative to the support base 40.

[0071] The second driving member 51, as a power output source, can be a servo motor to provide power. For example, both the third and fourth axes are parallel to the third axis, that is, both the third and fourth axes are perpendicular to the extension direction of the support column 10 and the direction of movement of the support base 40 relative to the movable base 20. The fourth link 522 can be rotatably connected to the mounting assembly 60, and the fourth link 522 drives the mounting assembly 60 to rotate relative to the support base 40, thereby driving the display 200 to rotate relative to the support base 40; the fourth link 522 can also be rotatably connected to the display 200, and the fourth link 522 directly drives the display 200 to rotate relative to the support base 40. In some embodiments, the second transmission member 52 further includes a push-pull seat 523, which is rotatably connected to the end of the fourth link 522 away from the third link 521; the side of the push-pull seat 523 opposite to the fourth link 522 can be fixedly connected to the mounting plate 63 of the mounting assembly 60 or the display 200. When the rotation angle of the display 200 needs to be adjusted, the output shaft of the drive motor drives the third link 521 to rotate. The third link 521 is hinged to the fourth link 522, and the fourth link 522 is rotatably connected to the display 200. Thus, under the action of the third link 521 and the fourth link 522, the display 200 rotates around the connecting shaft 61.

[0072] By using a linkage mechanism for transmission, the structure is more compact, saving space occupied by the second drive component 50, and thus saving the overall space occupied by the display adjustment device 100 used in the medical control panel. This allows the display 200 to have the freedom of rotation within a limited space, enabling the adjustment of the rotational posture of the display 200. This allows the operator to operate the instrument in a more comfortable posture, improving operational efficiency.

[0073] In some embodiments, see Figure 12 The third link 521 is provided with a locking hole 5211; the second transmission component 52 also includes a spherical bearing 524 and a connecting bolt 525.

[0074] The connecting bolt 525 includes an end, a smooth section, and a threaded section. During assembly, the spherical plain bearing 524 is fitted into the bearing hole of the third connecting rod 521 and mates with the smooth section of the connecting bolt 525. After assembly, the end of the connecting bolt 525 is located on the side of the third connecting rod 521 opposite to the fourth connecting rod 522, the smooth section mates with the inner hole of the spherical plain bearing 524, and the threaded section is threadedly connected to the fourth connecting rod 522, thereby rotatably connecting the third connecting rod 521 and the fourth connecting rod 522 through the spherical plain bearing 524. Simultaneously, a screw can be threaded into the locking hole 5211 of the third connecting rod 521, with the screw pressing against the outer circumferential surface of the spherical plain bearing 524 to fix the spherical plain bearing 524 relative to the third connecting rod 521.

[0075] By setting the spherical bearing 524, it is beneficial to reduce the resistance to the relative rotation of the third link 521 and the fourth link 522. Moreover, the spherical bearing 524 can tolerate a certain degree of eccentricity, which helps to alleviate the problem of uneven movement caused by the difficulty in ensuring that the third link 521 and the fourth link 522 are perfectly parallel after assembly due to errors caused by objective manufacturing factors.

[0076] In some embodiments, see Figure 6 , Figure 10 and Figure 11 The second drive assembly 50 also includes a limiting member 53 disposed on the second drive member 51 or the support base 40. The limiting member 53 is used to stop the third link 521 to limit the rotation angle of the third link 521.

[0077] When the second driving member 51 drives the third link 521 to rotate to a set angle, the third link 521 abuts against the limiting member 53, and the limiting member 53 prevents the third link 521 from continuing to rotate. In this way, the limiting member 53 restricts the swing amplitude of the third link 521, thereby limiting the rotation angle of the display 200 to adjust its rotational posture, preventing damage to the display 200 from impacts, and improving safety. For example, the limiting member 53 can be a limiting pin.

[0078] In some embodiments, see Figures 3 to 6 , Figure 10 and Figure 11 The second drive assembly 50 also includes a second fixed base 54. The second fixed base 54 is fixedly mounted on the base plate 41 of the support base 40; the second drive member 51 is mounted on the second fixed base 54, and the third connecting rod 521 is rotatably connected to the output shaft of the second drive member 51; the limiting member 53 is disposed on the second fixed base 54.

[0079] In some embodiments, see Figures 1 to 6The movable seat 20 includes an annular plate 24 and a seat plate 21. The annular plate 24 is sleeved on the support column 10 and slides in cooperation with the support column 10. The seat plate 21 is connected to the annular plate 24, and the support seat 40 is movable relative to the seat plate 21. The display adjustment device 100 for the medical console also includes a third drive assembly 70. The third drive assembly 70 is disposed on the support column 10, connected to the annular plate 24, and is capable of driving the annular plate 24 to move the seat plate 21 up and down in a first direction.

[0080] The annular plate 24 has an annular structure. For example, it can be formed by multiple plates surrounding the support column 10 without interfering with it. Alternatively, it can be an integral annular structure fitted around the outer periphery of the support column 10 without interfering with it. The annular plate 24 is fixedly connected to the base plate 21, and the support seat 40 is supported on the base plate 21. When the annular plate 24 moves up and down relative to the support column 10, it drives the support seat 40 to move up and down. In some embodiments, the base plate 21 may also have a through hole 211, and the base plate 21 surrounds the support column 10 through the through hole 211 without contacting the support column 10. The movable seat 20 is driven to move up and down along the support column 10 by the third drive component 70. The movable seat 20 drives the display 200 to move up and down, realizing the vertical adjustment of the display 200. When the movable seat 20 moves up and down relative to the support column 10, if the display 200 tilts or shifts due to one side being too heavy, the annular structure can play a certain guiding role and prevent the display 200 from tipping over. In this way, the lifting and lowering movement of the movable seat 20 is smooth and stable, and it is not easy to deviate or tilt, so that the vertical position of the monitor 200 is stable and reliable, improving operating efficiency, effectively preventing the monitor 200 from tipping over, and improving safety.

[0081] In some embodiments, the first drive assembly 30 further includes a first fixed base 33, which is fixedly connected to the outer side of the front plate of the annular plate 24; a first drive member 31 is mounted on the first fixed base 33, and a first connecting rod 321 is connected to the output end of the first drive member 31.

[0082] In some embodiments, see Figure 2 , Figure 6 and Figure 7 The movable seat 20 also includes a reinforcing plate 25, which is connected to the front plate of the annular plate 24 and the seat plate 21. The reinforcing plate 25 serves to strengthen the connection between the annular plate 24 and the seat plate 21, making the connection more secure and reliable.

[0083] In some embodiments, see Figure 1 and Figure 2The third drive assembly 70 includes a lifting rail 71 and a lifting slider 72. The lifting rail 71 is arranged parallel to the extension direction of the support column 10, and the lifting slider 72 is slidably connected to the lifting rail 71. The inner side of the front plate of the annular plate 24 is fixedly connected to the lifting slider 72. The lifting slider 72 drives the annular plate 24 to slide along the lifting rail 71, thereby realizing the lifting and lowering movement of the movable seat 20 along the support column 10. The up and down movement of the display 200 is achieved by the third drive assembly 70. The third drive assembly 70 may also include a third drive component. For example, the third drive component can adopt a motor and ball screw structure. The rotational motion of the motor is converted into the linear motion of the screw base through the ball screw structure, thereby realizing the up and down movement of the display 200 as a whole on the display adjustment device 100 used for the medical control panel. The ball screw structure is relatively mature and can be directly purchased or designed and manufactured in-house to make the overall structure compact. In this way, the third drive assembly 70 can play a better guiding and anti-tipping role.

[0084] See Figure 13 and Figure 14 Based on the same inventive concept as the above embodiments, this application also provides a surgical robot, which includes a display adjustment device 100 for a medical console and a display 200 as in any of the above embodiments. The display 200 is connected to the mounting assembly 60 of the display adjustment device 100 for the medical console and is rotatable relative to the support base 40.

[0085] The surgical robot may also include a mobile chassis 300, a control box 400, and a cable chain 500. The display adjustment device 100 for the medical control panel and the control box 400 are mounted on the mobile chassis 300. The bottom of the mobile chassis 300 may be equipped with multiple casters to facilitate the movement and transportation of the surgical robot. One end of the cable chain 500 is fixedly connected to the control box 400 or the support column 10, and the other end is connected to the movable seat 20 of the display adjustment device 100. The cable chain 500 is used for cable routing to electrically connect the control box 400 and the display 200, which can prevent the cables from getting tangled when the movable seat 20 is raised or lowered.

[0086] The surgical robot in this application embodiment, by employing the display adjustment device 100 for the medical control panel in the above embodiment, can realize multi-degree-of-freedom movement of the display 200, such as up and down, forward and backward, and rotation. This allows the display 200 to have multi-degree-of-freedom adjustment function within a limited space, enabling multi-degree-of-freedom pose adjustment of the display 200. This is beneficial for placing the display 200 at the optimal viewing angle, making it easier to clearly see the image details on the display 200. It is suitable for people of different heights, allowing operators to operate instruments in a more comfortable posture, greatly improving operational efficiency.

[0087] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A display adjustment device for a medical control panel, characterized in that, include: pillar; A movable seat is provided on the support column and is movable in a first direction; A first drive assembly and a support base, wherein the first drive assembly is disposed on the movable base, and the support base is connected to the first drive assembly in a transmission manner, and the first drive assembly is capable of driving the support base to move relative to the movable base in a second direction, the second direction being different from the first direction; A second drive assembly and a mounting assembly are both disposed on the support base. The mounting assembly is capable of rotatably connecting the display to the support base, and the second drive assembly is capable of driving the display to rotate relative to the support base.

2. The display adjustment device for a medical control panel according to claim 1, characterized in that, The first driving assembly includes a first driving member and a first transmission member. The first driving member is disposed on the movable seat, and the first transmission member is connected to the first driving member. The support seat is slidably disposed on the movable seat, and the support seat is connected to the first transmission member. The first driving member can drive the first transmission member to move, so that the first transmission member can drive the support seat to slide relative to the movable seat in the horizontal direction along the second direction.

3. The display adjustment device for a medical control panel according to claim 2, characterized in that, The first transmission component includes a first connecting rod and a second connecting rod. One end of the first connecting rod is fixedly connected to the output end of the first driving component, and the first driving component can drive the first connecting rod to rotate around a first axis. The other end of the first connecting rod is rotatably connected to one end of the second connecting rod around a second axis, and the second axis is parallel to the first axis. The other end of the second connecting rod is rotatably connected to the support base.

4. The display adjustment device for a medical control panel according to claim 1, characterized in that, The support base includes a base plate and two support plates, the two support plates being connected to opposite sides of the base plate; The mounting assembly includes a connecting shaft and a connecting seat. The connecting shaft is connected to the two support plates, and the connecting seat is sleeved on the connecting shaft. The connecting seat is capable of mounting the display. At least one of the connecting shaft and the connecting seat is rotatable relative to the base plate.

5. The display adjustment device for a medical control panel according to claim 4, characterized in that, The connecting shaft is fixedly connected to both of the support plates; The mounting assembly further includes a rotating component, a connecting sleeve, and a spacer. The connecting seat is rotatably connected to the connecting shaft via the rotating component. The connecting sleeve is sleeved on the connecting shaft and connected to the base plate. The spacer is connected to the connecting shaft and located between the connecting sleeve and the rotating component.

6. The display adjustment device for a medical control panel according to claim 5, characterized in that, The connecting sleeve is provided in at least two, and the at least two connecting sleeves are spaced apart along the axial direction of the connecting shaft; And / or, the rotating member is provided on at least one side of the connecting sleeve along the axial direction of the connecting shaft; And / or, the mounting assembly further includes a mounting plate fixed to the connector and capable of being fixed to the display.

7. The display adjustment device for a medical control panel according to any one of claims 1-6, characterized in that, The second drive assembly includes a second drive member and a second transmission member. The second drive member is disposed on the support base. The second transmission member includes a third link and a fourth link. One end of the third link is fixedly connected to the output end of the second drive member, and the other end of the third link is rotatably connected to one end of the fourth link about a third axis. The other end of the fourth link is rotatably connected to the mounting assembly or the display. The second drive member can drive the third link to rotate about a fourth axis, which is parallel to the third axis, so that the third link can drive the fourth link to move, and the fourth link can drive the mounting assembly and / or the display to rotate relative to the support base.

8. The display adjustment device for a medical control panel according to claim 7, characterized in that, The second drive assembly further includes a limiting member disposed on the second drive member or the support base, the limiting member being able to stop the third link to limit the rotation angle of the third link.

9. The display adjustment device for a medical control panel according to any one of claims 1-6, characterized in that, The movable seat includes an annular plate and a seat plate. The annular plate is sleeved on the support column and slides with the support column. The seat plate is connected to the annular plate. The support seat can move relative to the seat plate. The display adjustment device also includes a third drive assembly. The third drive assembly is located on the support column. The third drive assembly is connected to the annular plate and can drive the annular plate to move the seat plate up and down along the first direction.

10. A surgical robot, characterized in that, include: Display adjustment device for a medical console as described in any one of claims 1 to 9; as well as A display, which is connected to the mounting assembly and is rotatable relative to the support.

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