Display device adjusting mechanism and surgical robot

Abstract

The utility model relates to the technical field of surgical robots, and discloses a display device adjusting mechanism and a surgical robot. The display device adjusting mechanism comprises a mounting piece, an adapter pipe and a driving piece. The mounting piece is connected with a display device; one end of the adapter in the first direction is connected to the supporting mechanism, the other end is rotationally connected to the mounting part through a rotating shaft, and a through hole is formed in one side of the adapter in the second direction and communicates with a central through hole of the adapter; one end of the driving part is rotationally connected to the mounting part, the other end of the driving part penetrates through the penetrating hole and is rotationally connected with the inner side wall of the other side of the adapter pipe in the second direction, and the driving part can stretch out and draw back so that the mounting part can rotate around a rotating shaft which extends in the third direction. The display device adjusting mechanism and the surgical robot are simple in structure, small in size, high in structural strength and good in durability.

Description

TECHNICAL FIELD

[0001] The utility model relates to surgical robot technical field especially, relate to a display device adjusting mechanism and surgical robot. BACKGROUND

[0002] Surgical robot is widely used in medical field. Surgical robot includes patient side trolley and master console. Master console includes base, display device and master arm. Display device is used to present the image of surgical position. Input handle is arranged on master arm. Patient side trolley includes holding arm, and surgical instrument is installed on holding arm. In the process of operation, the doctor can control the surgical instrument on holding arm to operate through input handle.

[0003] Supporting mechanism is arranged on the base, and the supporting mechanism is connected to the display device, which can realize the lifting and front-back movement of the display device. The display device and the supporting mechanism are connected through the adjusting mechanism, and the adjusting mechanism can adjust the angle of the display device. In the prior art, for example, the display adjusting mechanism of the master console and the minimally invasive surgical robot disclosed in CN116576357A are usually complex in structure and large in size.

[0004] Therefore, there is an urgent need for a display device adjusting mechanism and surgical robot to solve the above-mentioned problems. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a display device adjusting mechanism and surgical robot, which is simple in structure, small in size, and can improve the structural strength of the display device adjusting mechanism and the connection reliability between the display device and the supporting mechanism, ensuring the safety of the operation.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] The display device adjusting mechanism comprises:

[0008] The mounting piece is used to connect with the display device;

[0009] The adapter pipe is connected to the supporting mechanism at one end in the first direction, and the other end is rotationally connected to the mounting piece through the rotating shaft. The adapter pipe is provided with a through hole on one side in the second direction, and the through hole is communicated with the center through hole of the adapter pipe;

[0010] The driving piece is rotationally connected to the mounting piece at one end, and the other end is rotationally connected to the inner side wall of the other side in the second direction of the adapter pipe through the through hole. The driving piece can be telescopic, so that the mounting piece can rotate around the rotating shaft. The rotating shaft extends in the third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0011] As an alternative technical solution of the display device adjusting mechanism, the mounting member comprises a side arm, a middle part of the side arm is rotationally connected to the rotating shaft, one end of the side arm along the length direction is connected to the display device, the other end protrudes to be provided with a protruding part, the protruding part is connected to the end part of the driving member, the size of the side arm along the width direction is greater than the size of the protruding part along the width direction.

[0012] As an alternative technical solution of the display device adjusting mechanism, the adapter pipe is fixedly connected with a cable electrically connected with the display device on the side wall of the through hole;

[0013] The distance between the first side of the driving member along the third direction and the side wall of the corresponding side of the adapter pipe is less than the distance between the second side of the driving member along the third direction and the side wall of the corresponding side of the adapter pipe, and the cable is arranged on the second side of the driving member.

[0014] As an alternative technical solution of the display device adjusting mechanism, the mounting member comprises two side arms, the two side arms are oppositely arranged along the third direction, the adapter pipe is located between the two side arms, the rotating shaft is arranged in the adapter pipe, two ends of the rotating shaft are respectively rotationally connected to the two side arms, and the side arms are connected to the display device.

[0015] The display device adjusting mechanism further comprises a connecting member arranged between the two side arms, the driving member is connected to the connecting member, the connecting member is connected to the side arm close to the first side of the driving member, and the connecting member is spaced apart from the other side arm to form a cable assembly space for the cable.

[0016] As an alternative technical solution of the display device adjusting mechanism, the connecting member comprises a support part, a first end of the support part is connected to the side arm, a second end of the support part away from the first end extends towards the other side arm, a through slot is arranged on the side wall of the side of the driving member towards the second end, the through slot penetrates the support part along the second direction, and the through slot is spaced apart from the second end to form a connecting part, the connecting part is arranged between and rotationally connected to the two connecting lugs of the end part of the driving member.

[0017] As an alternative technical solution of the display device adjusting mechanism, the connecting member further comprises a connecting plate, one end face of the connecting plate is connected to the side arm, the other end of the connecting plate is connected to the first end of the support part, and the side wall of the support part away from the through slot is flush with the side wall of the connecting plate.

[0018] As an optional technical scheme of the display device adjusting mechanism, the mounting member comprises two side arms arranged opposite to each other along the third direction and a connecting arm connected between the two side arms, the end of the adapter pipe is located between the two side arms, the rotating shaft is arranged in the adapter pipe, and two ends of the rotating shaft are rotationally connected with the two side arms respectively, and the connecting arm is connected with the display device on a side opposite to the adapter pipe.

[0019] The end of the adapter pipe is provided with an avoiding arc surface, the avoiding arc surface is located on a side of the adapter pipe close to the connecting arm, and the avoiding arc surface is connected between an end surface of the adapter pipe and a side wall on the side close to the connecting arm; and / or the connecting arm is provided with an avoiding inclined surface, the avoiding inclined surface is located on a side of the connecting arm away from the support mechanism, and the avoiding inclined surface is connected between a side wall on the side of the connecting arm away from the support mechanism and an end surface on the side close to the adapter pipe.

[0020] As an optional technical scheme of the display device adjusting mechanism, the mounting member is rotationally connected with the rotating shaft at a middle part of the mounting member, the rotating shaft is fixedly connected with the adapter pipe, and the driving member is rotationally connected with one end of the mounting member.

[0021] The display device adjusting mechanism further comprises an elastic member, one end of the elastic member is connected with the driving member at the same end of the mounting member, and the other end of the elastic member is connected with the adapter pipe.

[0022] As an optional technical scheme of the display device adjusting mechanism, the mounting member comprises a side arm, a middle part of the side arm is rotationally connected with the rotating shaft, one end of the side arm along a length direction is connected with the display device, the other end of the side arm protrudes and is provided with a protruding part, the protruding part is connected with an end part of the elastic member, and a size of the side arm along a width direction is greater than a size of the protruding part along the width direction.

[0023] The surgical robot comprises the display device adjusting mechanism.

[0024] The display device adjusting mechanism has the following beneficial effects:

[0025] The display device adjusting mechanism provided by the utility model has simple structure, and does not need to set transmission gear and motor and other structures near the rotating shaft, so that the size along the rotating shaft is reduced, the width of the display device is reduced, the comfort level of the doctor when moving the display device by the handles on both sides of the display device is higher, the fatigue degree of the doctor is reduced, and the safety of the operation is improved; meanwhile, compared with the connection of the plate-shaped structure and the supporting mechanism, the connecting pipe and the supporting mechanism are connected in the embodiment, the possibility of bending deformation or damage of the connecting pipe is smaller, the connecting strength between the display device adjusting mechanism and the supporting mechanism is improved, the durability of the display device adjusting mechanism is improved, the cost of replacement and maintenance is reduced, the possibility of falling of the display device in the operation process is avoided, and the safety of the operation is improved; in addition, the driving part is inserted into the center through hole of the connecting pipe through the through hole on one side of the connecting pipe and connected with the other side wall of the connecting pipe, the compactness between the driving part and the connecting pipe is improved, the size of the display device adjusting mechanism is reduced, the miniaturization of the master control console is facilitated, and the display device adjusting mechanism is convenient to transport and place.

[0026] The utility model provides a surgical robot, it includes above -mentioned display device adjusting mechanism. The structure of display device adjusting mechanism is simplified, the connecting reliable degree between display device and supporting mechanism is improved, the durability of surgical robot is improved, the cost of replacement and maintenance is reduced, the safety of operation is improved, and, the size of display device adjusting mechanism is reduced, the miniaturization of master control console is facilitated, so that the size of surgical robot is reduced, and the surgical robot is convenient to transport and place. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is the structure schematic diagram of the master control console provided by the utility model embodiment;

[0028] Figure 2 It is the structure schematic diagram of display device and display device adjusting mechanism provided by the utility model embodiment;

[0029] Figure 3 It is Figure 2 Structure schematic diagram of A place in;

[0030] Figure 4 It is the sectional view of part structure of master control console provided by the utility model embodiment;

[0031] Figure 5 It is the structure schematic diagram of display device adjusting mechanism provided by the utility model embodiment;

[0032] Figure 6Is the structure schematic diagram of the fixed plate and display device adjusting mechanism provided by the embodiment of the utility model,

[0033] Figure 7 Is the structure schematic diagram of the mounting provided by the embodiment of the utility model.

[0034] In the figure,

[0035] 100, master console;10, display device;101, fixed plate;20, support mechanism;201, stand;202, crossbeam;30, sliding block;40, crossbeam shell;

[0036] 1, mounting;11, side arm;111, convex part;12, connecting arm;121, avoiding slope;13, containing piece;131, recess;132, third connecting hole;14, embedded block;141, first connecting hole;142, second connecting hole;

[0037] 2, adapter pipe;21, perforation;22, avoiding arc surface;

[0038] 3, driving piece;31, connecting lug;4, rotating shaft;5, elastic piece;51, matching piece;

[0039] 6, connecting piece;61, connecting plate;62, support part;63, through slot;64, connecting part;7, cable. DETAILED DESCRIPTION

[0040] In order to make the technical problems solved by the utility model, the technical scheme adopted and the technical effects reached more clear, the technical scheme of the embodiment of the utility model will be described in further detail below in conjunction with the drawings, obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the scope of protection of the utility model.

[0041] In the description of the utility model, unless another explicit provision and limitation, the term "link", "connect", "fix" should be broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be the communication of two elements or the interaction of two elements. For the person skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances.

[0042] In the present utility model, unless otherwise expressly provided and limited, the first feature is "on" or "under" the second feature, which can include direct contact between the first and second features, or indirect contact between the first and second features through another feature therebetween. Moreover, the first feature "on", "above" and "on the surface of" the second feature includes the first feature directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "under", "below" and "under" the second feature includes the first feature directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0043] The technical scheme of the present utility model will be further illustrated below in combination with the drawings and through specific embodiments.

[0044] The present embodiment provides a surgical robot. Specifically, the surgical robot comprises a patient-side cart and a master console 100 as shown. Figure 1 The master console 100 comprises a base, a display device 10 and a master arm. The display device 10 is used to present the image of the surgical position. The input handle is arranged on the master arm. The patient-side cart comprises an instrument holding arm, and a surgical instrument is installed on the instrument holding arm. During the operation, the surgeon can control the surgical instrument on the instrument holding arm to perform the surgical operation through the input handle.

[0045] The surgical robot further comprises a display device adjusting mechanism. The display device adjusting mechanism is arranged between the display device 10 and the base, and is used to adjust the angle of the display device. As shown in Figure 1 and Figure 2 The base is provided with a support mechanism 20, and the display device adjusting mechanism is connected between the support mechanism 20 and the display device 10. The support mechanism 20 comprises a column 201 and a cross beam 202. The column 201 extends in the height direction, and the cross beam 202 is arranged in the front-rear direction. The rear end of the cross beam 202 is connected to the top end of the column 201, and the bottom end of the column 201 is connected to the base. The column 201 can be telescoped in the height direction to adjust the height position of the display device 10. The cross beam 202 is provided with a sliding rail extending in the front-rear direction, and a sliding block 30 is slidingly arranged on the sliding rail. The sliding block 30 is connected to the display device adjusting mechanism. The front-rear position of the display device 10 is adjusted.

[0046] Specifically, as shown in Figures 1-7As shown, the display device adjusting mechanism comprises a mounting member 1, an adapter pipe 2, a driving member 3 and a rotating shaft 4. The mounting member 1 is used to connect with the display device 10. One end of the adapter pipe 2 along a first direction is connected to the support mechanism 20, and the other end of the adapter pipe 2 along the first direction is rotatably connected to the mounting member 1 through the rotating shaft 4. A through hole 21 is formed on one side of the adapter pipe 2 along a second direction, and the through hole 21 is in communication with a central through hole of the adapter pipe 2. One end of the driving member 3 is rotatably connected to the mounting member 1, and the other end of the driving member 3 passes through the through hole 21 and is rotatably connected to an inner side wall of the other side of the adapter pipe 2 along the second direction. The driving member 3 is telescopic, so that the mounting member 1 can rotate around the rotating shaft 4. The rotating shaft 4 extends along a third direction. The first direction, the second direction and the third direction are perpendicular to each other.

[0047] In the embodiment, the axial direction of the adapter pipe 2 extends along the first direction, that is, the central through hole of the adapter pipe 2 penetrates through the adapter pipe 2 along the first direction.

[0048] The display device adjusting mechanism provided by the embodiment comprises the mounting member 1, the adapter pipe 2, the driving member 3 and the rotating shaft 4. In the telescopic process of the driving member 3, the mounting member 1 can be driven to rotate around the rotating shaft 4, so that the display device 10 is rotated to adjust the angle of the display device 10. The display device adjusting mechanism provided by the embodiment has a simple structure, and does not need to be provided with a transmission gear and a motor and the like near the rotating shaft 4, so that the size along the axial direction of the rotating shaft 4 is reduced, the width of the display device 10 is reduced, the comfort of the doctor when moving the display device 10 by using the handles on both sides of the display device 10 is higher, the fatigue degree of the doctor is reduced, and the safety of the operation is improved. Meanwhile, compared with being connected with the support mechanism 20 by using a plate-shaped structure, the adapter pipe 2 is connected with the support mechanism 20 in the embodiment, so that the possibility of bending deformation or damage of the adapter pipe 2 is smaller, the connection strength between the display device adjusting mechanism and the support mechanism 20 is improved, the durability of the display device adjusting mechanism is improved, the cost of replacement and maintenance is reduced, the possibility of the display device 10 falling during the operation is avoided, and the safety of the operation is improved. In addition, the driving member 3 extends into the central through hole of the adapter pipe 2 through the through hole 21 formed on one side of the adapter pipe 2 and is connected with the side wall on the other side of the adapter pipe 2, so that the structural compactness between the driving member 3 and the adapter pipe 2 is also improved, the volume of the display device adjusting mechanism is reduced, the miniaturization of the master console 100 is facilitated, and transportation and placement are facilitated.

[0049] The operation robot provided by the embodiment comprises the above display device adjusting mechanism. The structure of the display device adjusting mechanism is simplified, the connection reliability between the display device 10 and the support mechanism 20 is improved, the durability of the operation robot is improved, the cost of replacement and maintenance is reduced, the safety of the operation is improved, the volume of the display device adjusting mechanism is reduced, the miniaturization of the master console 100 is facilitated, and the volume of the operation robot is reduced, so that transportation and placement are facilitated.

[0050] In the embodiment, the first direction is set as the front-rear direction of the console 100, the second direction is set as the height direction of the console 100, and the third direction is set as the left-right direction of the console 100. During the surgery, the doctor is located in front of the console 100, and the side of the console 100 away from the doctor is the rear side. The left-right direction of the console 100 is the left-right direction of the doctor, and the height direction of the console 100 is the vertical direction. Specifically, the front end of the adapter pipe 2 is connected to the mounting member 1, and the rear end of the adapter pipe 2 is connected to the sliding block 30. The upper side of the adapter pipe 2 is provided with the above-mentioned perforation 21, and the driving member 3 is connected to the inner side wall of the lower side of the adapter pipe 2 after passing through the perforation 21. In other embodiments, the first direction, the second direction, and the third direction can also be other directions, which are not limited herein.

[0051] In the embodiment, the driving member 3 is an electric push rod, the extension direction of the driving member 3 is perpendicular to the third direction, and the extension direction of the driving member 3 is inclined to the first direction and the second direction. One end of the driving member 3 along the extension direction is rotationally connected to the mounting member 1, and the other end of the driving member 3 along the extension direction is rotationally connected to the adapter pipe 2. The rotation axis between the driving member 3 and the mounting member 1 extends along the third direction, and the rotation axis between the driving member 3 and the adapter pipe 2 extends along the third direction. Specifically, the two ends of the driving member 3 along the extension direction are respectively provided with two connecting ears 31, and the two connecting ears 31 located at the same end of the driving member 3 are rotationally provided with a rotation axis, and the rotation axis is fixedly connected to the mounting member 1 or the adapter pipe 2.

[0052] Preferably, the rotation shaft 4 is fixedly connected to the adapter pipe 2, and the mounting member 1 is rotationally connected to the rotation shaft 4. Further, the mounting member 1 comprises a side arm 11. The side arm 11 is plate-shaped, the middle part of the side arm 11 along the length direction is rotationally connected to the rotation shaft 4, and the side arm 11 is perpendicular to the rotation shaft 4. One end of the side arm 11 along the length direction is connected to the display device 10, and the other end of the side arm 11 along the length direction is provided with a protruding part 111. The protruding part 111 is connected to the end of the driving member 3, and the size of the side arm 11 along the width direction is greater than the size of the protruding part 111 along the width direction. If the size of the side arm 11 along the width direction is the same as the size of the protruding part 111 along the width direction, in the process of rotating the mounting member 1, the rotating space required by the mounting member 1 is larger, the edge corner of the protruding part 111 is easy to interfere with other structures, a larger installation space is required, by reducing the width size of the protruding part 111, the rotating space required by the mounting member 1 is reduced, the possibility of interference between the protruding part 111 and other structures is reduced, the occupied space of the display device adjusting mechanism is reduced, and the volume of the console 100 is reduced.

[0053] In the embodiment, the protruding part 111 is located above the adapter pipe 2, and the end of the side arm 11 for connecting with the display device 10 is located below the adapter pipe 2.

[0054] Specifically, the main console 100 comprises a beam housing 40. The beam housing 40 extends along the front-rear direction, and the display device adjusting mechanism and the beam 202 of the supporting mechanism 20 are both arranged in the beam housing 40. The front end of the beam housing 40 is located above the display device 10. By reducing the width dimension of the protrusion 111, the possibility of interference between the protrusion 111 and the top of the beam housing 40 is reduced, and thus the volume of the beam housing 40 is reduced, thereby reducing the volume of the main console 100.

[0055] In the embodiment, the length direction of the side arm 11 is vertically arranged when the driving member 3 is in the initial state. The tilting up and down of the display device 10 can be achieved by the extension and contraction of the driving member 3. Specifically, when the driving member 3 is extended, the display device 10 can be tilted down; when the driving member 3 is contracted, the display device 10 can be tilted up. Therefore, the side arm 11 can be rotated clockwise and counterclockwise around the rotating shaft 4. Preferably, the protrusion 111 is spaced apart from the opposite sides of the side arm 11 along the width direction, further reducing the possibility of interference between the edge corner of the protrusion 111 and the top of the beam housing 40, thereby reducing the volume of the beam housing 40, and thus reducing the volume of the main console 100.

[0056] In the embodiment, the protrusion 111 is integrally formed with the side arm 11.

[0057] Preferably, the mounting member 1 is in a U shape. Specifically, the mounting member 1 comprises two side arms 11 and a connecting arm 12 connected between the two side arms 11. The two side arms 11 are oppositely arranged along the third direction, and the front end of the adapter pipe 2 is located between the two side arms 11. The rotating shaft 4 is arranged in the adapter pipe 2, and the two ends of the rotating shaft 4 pass through the adapter pipe 2 and are respectively connected with the two side arms 11. The lower ends of the two side arms 11 are respectively connected with the two ends of the connecting arm 12. The connecting arm 12 is in a plate shape, and the connecting arm 12 is vertically arranged with the side arm 11. The side of the connecting arm 12 opposite to the adapter pipe 2 is connected with the display device 10, i.e., the display device 10 is connected with the bottom of the connecting arm 12. The structure of the above mounting member 1 has high structural strength, the connecting area between the mounting member 1 and the display device 10 is large, the connection reliability between the display device adjusting mechanism and the display device 10 is improved, the durability of the display device adjusting mechanism is ensured, the cost of replacement and maintenance is reduced, the possibility of the display device 10 falling during the operation is avoided, and the safety of the operation is improved. Moreover, the front end of the adapter pipe 2 is arranged between the two side arms 11, which improves the structural compactness between the mounting member 1 and the adapter pipe 2, and reduces the volume of the display device adjusting mechanism.

[0058] In the embodiment, the display device 10 is provided with a fixing plate 101, the fixing plate 101 is located below the connecting arm 12, and the fixing plate 101 is connected with the bottom of the connecting arm 12.

[0059] It can be understood that, during the rotation of the mounting member 1, the mounting member 1 rotates relative to the adapter pipe 2 due to the fixed connection between the rotation shaft 4 and the adapter pipe 2. The end of the adapter pipe 2 is arranged between the two side arms 11, and the connecting arm 12 can interfere with the end of the adapter pipe 2 during the rotation of the mounting member 1. As a preferred solution, the end of the adapter pipe 2 is provided with an avoiding arc surface 22, which is located on the side of the adapter pipe 2 close to the connecting arm 12 and is connected between the end surface of the adapter pipe 2 and the side wall on the side close to the connecting arm 12. That is, the avoiding arc surface 22 is arranged at the front end of the adapter pipe 2 and is connected between the lower end surface and the front end surface of the adapter pipe 2. The arrangement of the avoiding arc surface 22 avoids the interference between the end of the adapter pipe 2 and the mounting member 1, so that a large avoiding space is not required between the adapter pipe 2 and the connecting arm 12, thereby facilitating the reduction of the distance between the adapter pipe 2 and the connecting arm 12, and improving the compactness of the structure between the mounting member 1 and the adapter pipe 2, and reducing the size of the display device adjusting mechanism.

[0060] Further, the connecting arm 12 is provided with an avoiding inclined surface 121, which is located on the side of the connecting arm 12 away from the support mechanism 20 and is connected between the side wall on the side of the connecting arm 12 away from the support mechanism 20 and the end surface toward the adapter pipe 2. That is, the avoiding inclined surface 121 is arranged at the front end of the connecting arm 12 and is connected between the upper end surface and the front end surface of the connecting arm 12. The avoiding inclined surface 121 can avoid the end of the adapter pipe 2, further avoiding the interference between the adapter pipe 2 and the mounting member 1, so that a large avoiding space is not required between the adapter pipe 2 and the connecting arm 12, thereby facilitating the reduction of the distance between the adapter pipe 2 and the connecting arm 12, and improving the compactness of the structure between the mounting member 1 and the adapter pipe 2, and reducing the size of the display device adjusting mechanism.

[0061] In the embodiment, the end of the adapter pipe 2 is provided with the avoiding arc surface 22, and the connecting arm 12 is provided with the avoiding inclined surface 121. In some embodiments, only one of the avoiding arc surface 22 and the avoiding inclined surface 121 can be provided, which is not limited herein.

[0062] As a preferred solution, the bottom protrusion of the connecting arm 12 is provided with a receiving member 13, and a groove 131 is formed in the receiving member 13. A fitting block 14 is detachably arranged in the groove 131, and the fitting block 14 is detachably connected with the fixing plate 101. With the above arrangement, during the assembly of the display device 10 and the display device adjusting mechanism, the components of the display device adjusting mechanism except the fitting block 14 can be assembled first, and the components of the display device 10 can be assembled, then the fitting block 14 is connected with the fixing plate 101, and finally the fitting block 14 is arranged in the groove 131 and detachably connected with the receiving member 13. The assembly process between the display device 10 and the display device adjusting mechanism is simplified, and the display device 10 and the display device adjusting mechanism can be placed separately during transportation, which is convenient for transportation.

[0063] Specifically, a first connecting hole 141 is formed in the fitting block 14, and a fastener is threaded through the first connecting hole 141 and connected with the fixing plate 101, so as to achieve the detachable connection between the fitting block 14 and the fixing plate 101. A second connecting hole 142 is also formed in the fitting block 14, and a third connecting hole 132 is formed in the receiving member 13. When the fitting block 14 is arranged in the groove 131, the second connecting hole 142 and the third connecting hole 132 can be in communication. A fastener is threaded through the third connecting hole 132 and connected with the second connecting hole 142, so as to achieve the detachable connection between the fitting block 14 and the receiving member 13.

[0064] In this embodiment, the fastener is a bolt or a screw. The first connecting hole 141 is arranged perpendicular to the fixing plate 101, and the second connecting hole 142 is arranged parallel to the fixing plate 101, so as to facilitate the connection between the fitting block 14 and the receiving member 13 through the fastener after the fitting block 14 is connected with the fixing plate 101.

[0065] Specifically, the side wall of the adapter pipe 2 in which the through hole 21 is formed is fixedly connected with the cable 7, that is, the outer side wall of the upper side of the adapter pipe 2 is fixedly connected with the cable 7, and the cable 7 extends in the front-rear direction. One end of the cable 7 is electrically connected with the display device 10, and the other end can extend into the base and be connected with other electrical elements or a power supply module, which is not limited here.

[0066] Preferably, the distance between the first side of the driving member 3 along the third direction and the side wall of the corresponding side of the adapter pipe 2 is less than the distance between the second side of the driving member 3 along the third direction and the side wall of the corresponding side of the adapter pipe 2, and the cable 7 is arranged on the second side of the driving member 3. With the above arrangement, the driving member 3 and the cable 7 are arranged in the left-right direction, which facilitates the arrangement of the cable 7 on the display device adjusting mechanism, improves the structural compactness of the main console 100, and facilitates the determination of the arrangement position of the cable 7, thereby simplifying the process of assembling the wiring.

[0067] Preferably, the display device adjusting mechanism further comprises a connecting piece 6. The driving piece 3 is rotationally connected to the connecting piece 6. The connecting piece 6 is arranged between the two side arms 11. Specifically, the connecting piece 6 is connected to the side arm 11 close to the first side of the driving piece 3 along the third direction, and the connecting piece 6 is arranged apart from the other side arm 11 to form a cable assembly interval for the cable 7 to pass through. That is, the cable 7 can pass into or out of the opening of the mounting 1 through the cable assembly interval. With the above arrangement, the cable 7 can pass through the cable assembly interval, which facilitates the movement of the cable 7 during assembly or maintenance, improves the convenience of assembly and maintenance, avoids the interference of the cable 7 with other structures during movement, reduces the possibility of damage to the cable 7, and reduces maintenance costs.

[0068] That is, taking the direction shown in the figure as an example, the third direction is the left-right direction of Figure 6 Figure 6 The distance between the left side of the driving piece 3 and the left side wall of the adapter pipe 2 is less than the distance between the right side of the driving piece 3 and the right side wall of the adapter pipe 2, and the cable 7 is arranged on the right side of the driving piece 3. The connecting piece 6 is connected to the side arm 11 close to the left side of the driving piece 3. The connecting piece 6 is arranged apart from the side arm 11 on the right side of the driving piece 3 to form a cable assembly interval for the cable 7 to pass through.

[0069] Further, the connecting piece 6 comprises a support portion 62, a first end of the support portion 62 is connected to the side arm 11, a second end of the support portion 62 away from the first end extends towards the other side arm 11 and is arranged apart from the other side arm 11 to form a cable assembly interval. A through slot 63 is formed on the side wall of the driving piece 3 towards the second end of the support portion 62. The through slot 63 penetrates the support portion 62 along the second direction, and the through slot 63 is arranged apart from the second end of the support portion 62 to form a connecting portion 64. The connecting portion 64 is arranged between and rotationally connected to the two connecting lugs 31 at the front end of the driving piece 3. With the above arrangement, interference between the support portion 62 and the driving piece 3 can be avoided, and the driving piece 3 can smoothly rotate relative to the connecting piece 6 during extension and retraction, thereby ensuring that the display device adjusting mechanism can reliably achieve the function of adjusting the angle of the display device 10.

[0070] It can be understood that the support portion 62 is located on the front side of the driving piece 3, the front end of the driving piece 3 is connected to the support portion 62, and the through slot 63 is formed on the rear side of the support portion 62. The through slot 63 is arranged apart from the front end face of the support portion 62.

[0071] Specifically, a rotating shaft is arranged in the through slot 63, and the rotating shaft 63 is fixedly connected to the support portion 62. The rotating shaft is rotationally connected to the two connecting lugs 31 at the front end of the driving piece 3.

[0072] ​In the embodiment, the connecting piece 6 is connected with the protruding part 111 on the side arm 11. Specifically, the connecting piece 6 further comprises a connecting plate 61. One end surface of the connecting plate 61 is connected with the protruding part 111, and the first end of the supporting part 62 is connected with the other end surface of the connecting plate 61. The supporting part 62 is integrally arranged with the connecting plate 61. Preferably, the end surface of the front end of the supporting part 62 is flush with the connecting plate 61, which facilitates processing, while ensuring that the size of the supporting part 62 in the front-rear direction is large, improving the structural strength of the supporting part 62, reducing the possibility of deformation and damage of the supporting part 62, improving the connection strength between the driving piece 3 and the mounting piece 1, improving the durability of the display device adjusting mechanism, reducing the cost of replacement and maintenance, avoiding the possibility of the display device 10 falling during the operation, and improving the safety of the operation.

[0073] As a preferred solution, the display device adjusting mechanism further comprises an elastic piece 5, one end of the elastic piece 5 is connected with the driving piece 3 at the same end of the mounting piece 1, and the other end of the elastic piece 5 is connected with the adapter pipe 2. It can be understood that, without the elastic piece 5, the display device 10 may have a downward rotating trend relative to the adapter pipe 2 due to the gravity of the display device 10. The elastic piece 5 can provide a pulling force to the display device 10, making the display device 10 have an upward rotating trend, at least balancing part of the gravity of the display device 10, reducing the size of the pushing force or pulling force required by the driving piece 3, thereby facilitating the reduction of the volume of the driving piece 3, and thus the volume of the display device adjusting mechanism; at the same time, in the case of damage of the driving piece 3, the elastic piece 5 can also reduce the possibility of rapid downward rotation of the display device 10, improve the reliability of the master console 100 during use, and improve the safety of the operation.

[0074] In the embodiment, the elastic piece 5 is a spring. In other embodiments, the elastic piece 5 can also be a rubber column, a gas spring or other structures, which are not limited here.

[0075] As a preferred solution, the protruding part 111 is arranged on each of the two side arms 11. The protruding part 111 of one of the side arms 11 is connected with the connecting piece 6. The protruding part 111 of the other side arm 11 is connected with the end of the elastic piece 5, and the size of the side arm 11 in the width direction is greater than the size of the protruding part 111 in the width direction. By reducing the width size of the protruding part 111, the rotating space required by the mounting piece 1 is reduced, the possibility of interference between the protruding part 111 and other structures is reduced, the occupied space of the display device adjusting mechanism is reduced, and the volume of the master console 100 is reduced.

[0076] Further, the sizes and relative positions of the two protruding parts 111 on the side arms 11 are the same, which facilitates production and processing.

[0077] In the embodiment, the elastic member 5 is provided with hooks at two ends, and the two hooks are respectively hooked on two matching members 51. One matching member 51 is arranged on the mounting member 1, and the other matching member 51 is arranged on the side wall of the adapter pipe 2. Specifically, the matching member 51 is connected to the side of the protruding portion 111 opposite to the other side arm 11. The extending direction of the elastic member 5 is arranged perpendicularly to the third direction, and the extending direction of the elastic member 5 is inclined to the first direction and the second direction.

[0078] Obviously, the above embodiments of the present application are merely exemplary and are not intended to limit the embodiments of the present application. For those skilled in the art, other different forms of changes or modifications can be made on the basis of the above description. Here, it is not necessary and impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A display device adjustment mechanism, characterized by, The application relates to a display device adjusting mechanism. The display device adjusting mechanism comprises a mounting member, an adapter pipe, a driving member and a display device. The mounting member is connected with the display device. One end of the adapter pipe is connected with the supporting mechanism along a first direction, and the other end is rotatably connected with the mounting member through a rotating shaft.

2. The display device adjustment mechanism of claim 1, wherein The adapter pipe is provided with a through hole on one side along a second direction.

3. The display device adjustment mechanism of claim 1, wherein, The through hole is communicated with a central through hole of the adapter pipe. One end of the driving member is rotatably connected with the mounting member, and the other end is rotatably connected with the inner side wall of the other side of the adapter pipe along the second direction through the through hole.

4. The display device adjustment mechanism of claim 3, wherein, The driving member can be extended and contracted, so that the mounting member can rotate around the rotating shaft. The rotating shaft extends along a third direction.

5. The display device adjustment mechanism of claim 4, wherein, The first direction, the second direction and the third direction are perpendicular to each other.

6. The display device adjustment mechanism of claim 5, wherein, The mounting member comprises side arms.

7. A display device adjustment mechanism according to any one of claims 1 to 6, wherein The middle part of the side arms is rotatably connected with the rotating shaft. One end of the side arms along the length direction is connected with the display device. The other end of the side arms is provided with a protruding part. The protruding part is connected with the end of the driving member. The size of the side arms along the width direction is greater than the size of the protruding part along the width direction. The side wall of the adapter pipe provided with the through hole is fixedly connected with a cable electrically connected with the display device. The distance between the first side of the driving member along the third direction and the side wall of the corresponding side of the adapter pipe is less than the distance between the second side of the driving member along the third direction and the side wall of the corresponding side of the adapter pipe. The cable is arranged on the second side of the driving member. The mounting member comprises two side arms. The two side arms are oppositely arranged along the third direction. The adapter pipe is located between the two side arms. The rotating shaft is arranged in the adapter pipe. The two ends of the rotating shaft are rotatably connected with the two side arms respectively. The side arms are connected with the display device. The display device adjusting mechanism further comprises a connecting member arranged between the two side arms. The driving member is connected with the connecting member. The connecting member is connected with the side arm close to the first side of the driving member. The connecting member is spaced apart from the other side arm to form a cable assembly space for the cable. The connecting member comprises a supporting part. The first end of the supporting part is connected with the side arm. The second end of the supporting part away from the first end extends towards the other side arm. The second end is provided with a through slot on the side wall of the side of the driving member. The through slot penetrates the supporting part along the second direction. The through slot is spaced apart from the second end to form a connecting part. The connecting part is arranged between and rotatably connected with the two connecting ears of the end of the driving member. The connecting member further comprises a connecting plate. One end of the connecting plate is connected with the side arm. The other end of the connecting plate is connected with the first end of the supporting part. The side wall of the side of the supporting part away from the through slot is flush with the side wall of the connecting plate. The mounting member comprises two side arms oppositely arranged along the third direction and a connecting arm connected between the two side arms. The end of the adapter pipe is located between the two side arms. The rotating shaft is arranged in the adapter pipe. The two ends of the rotating shaft are rotatably connected with the two side arms respectively. The connecting arm is connected with the display device away from one side of the adapter pipe. The end of the adapter pipe is provided with a relief arc surface, which is located on the side of the adapter pipe close to the connecting arm, and is connected between the end surface of the adapter pipe and the side wall on the side close to the connecting arm; and / or the connecting arm is provided with a relief inclined surface, which is located on the side of the connecting arm away from the support mechanism, and is connected between the side wall on the side away from the support mechanism and the end surface on the side close to the adapter pipe.

8. A display device adjustment mechanism according to any one of claims 1 to 6, wherein The middle part of the mounting member is rotationally connected with the rotating shaft, the rotating shaft is fixedly connected with the adapter pipe, and the driving member is rotationally connected with one end of the mounting member; The display device adjusting mechanism further comprises an elastic member, one end of the elastic member is connected with the driving member on the same end of the mounting member, and the other end of the elastic member is connected with the adapter pipe.

9. The display device adjustment mechanism of claim 8, wherein, The mounting member comprises a side arm, the middle part of the side arm is rotationally connected with the rotating shaft, one end of the side arm along the length direction is connected with the display device, the other end of the side arm protrudes and is provided with a protruding part, the protruding part is connected with the end part of the elastic member, and the size of the side arm along the width direction is greater than the size of the protruding part along the width direction.

10. A surgical robot, characterised in that, The display device adjusting mechanism comprises any one of claims 1-9.

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