Surgical robot trolley and reversing device thereof

Abstract

The utility model discloses a surgical robot trolley and a reversing device thereof, and relates to the technical field of medical instruments, and the reversing device comprises a fixing seat, a reversing device, a driving device and a driving device, and the surgical robot reversing device is installed on the surgical robot trolley through the fixing seat; the rotary support is connected with the fixed seat, and the rotary support is provided with a rotary part capable of rotating around the axis of the rotary support; the bearing platform is connected with the rotating part, and the bearing platform is used for bearing a surgical robot; and the limiting assembly is connected between the bearing platform and the fixed seat, and the limiting assembly is used for limiting the rotary part. The bearing platform and the surgical robot are driven by the rotating part to rotate relative to the fixing seat, so that pose adjustment of the surgical robot is achieved, the surgical robot can be transferred to the surgical bed in the correct posture that the execution end faces the surgical bed all the time when the surgical robot is transferred along with the surgical robot trolley, and the surgical preparation time is saved.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a surgical robot trolley and its reversing device. Background Technology

[0002] In interventional or other surgical procedures, when surgical robots are used, the robot often needs to be fixed to the operating table so that its end effector can move with the table as it moves. However, mounting existing surgical robots to the operating table is quite laborious.

[0003] As an improvement, one approach is to first fix a surgical robot reversing device to the operating table, and then dock the transport trolley carrying the surgical robot with the surgical robot reversing device to transport the surgical robot. However, when using a surgical robot reversing device, the initial installation posture of the surgical robot may be reversed when the transport trolley transports the surgical robot onto the operating table from different sides. Utility Model Content

[0004] The purpose of this invention is to provide a surgical robot trolley and its reversing device, which at least solves the problem in the prior art that the initial installation posture may be reversed when the surgical robot is transferred onto the operating table.

[0005] The above-mentioned objectives of this utility model can be achieved by the following technical solutions:

[0006] This utility model provides a surgical robot reversing device, which is used to install on a surgical robot trolley and includes: a fixed base, through which the surgical robot reversing device is installed on the surgical robot trolley; a rotary support connected to the fixed base, the rotary support having a rotating part capable of rotating about its own axis; a support platform connected to the rotating part, the support platform being used to support the surgical robot; and a limiting assembly connected between the support platform and the fixed base, the limiting assembly being used to limit the rotating part; the surgical robot reversing device. It has a reset locking state, a reversing state, and a transition locking state. In the reset locking state, the support platform is in the initial installation position relative to the fixed base. In the reversing state, the support platform can rotate relative to the fixed base. In the transition locking state, the support platform is in the target reversing position relative to the fixed base. When the surgical robot reversing device is installed on the surgical robot trolley and the surgical robot reversing device is in the transition locking state, the execution end of the surgical robot carried on the support platform is located on the side closer to the operating table when the surgical robot trolley is transferred.

[0007] Furthermore, the surgical robot reversing device also includes a partition flange, and the carrying platform is connected to the rotating part through the partition flange.

[0008] Furthermore, the surgical robot reversing device also includes a damping shaft, which passes through the central hole of the rotating part and connects between the bearing platform and the fixed seat. The fixed seat is provided with a damping hole that mates with a shaft segment with a retaining edge on the damping shaft.

[0009] Preferably, the support platform includes a support plate, an optical axis seat, and an optical axis. The support plate is connected to the rotating part, the optical axis seat is symmetrically connected to both sides of the support plate, and an optical axis for mounting a surgical robot is connected to the optical axis seat.

[0010] Preferably, the limiting assembly includes a limiting seat, a pin seat, and a spring pin. The limiting seat is connected to the fixed seat, the pin seat is connected to both sides of the support plate, and the spring pin can be elastically inserted into the pin hole of the limiting seat and threadedly connected to the pin seat.

[0011] Preferably, the two ends of the optical axis extend longitudinally along the axis to form transition sections extending out of the support plate.

[0012] Preferably, the support plate is rectangular and has a first side, a second side, a third side and a fourth side connected circumferentially in sequence. The first side and the third side are arranged opposite to each other, and the second side and the fourth side are arranged opposite to each other. The optical axis seat is symmetrically connected to the first side and the third side, and the pin seat is symmetrically connected to the second side and the fourth side.

[0013] Another objective of this invention is to provide a surgical robot trolley, comprising: a trolley body; a surgical robot reversing device as described above; the surgical robot reversing device being mounted on the top of the trolley body.

[0014] Specifically, the surgical robot trolley has a switching state. In the switching state, the side of the trolley body closest to the operating table is the switching side, and the surgical robot reversing device is located close to the switching side.

[0015] Specifically, a clamping mechanism is provided on the operating table. The diameter of the optical axis is the same as the diameter of the optical axis clamped on the clamping mechanism, and the distance between the two optical axes is the same as the distance between the two clamped optical axes on the clamping mechanism. In the transition state, the bearing platform extends out of the transition side, and the two optical axes are respectively aligned with the two clamped optical axes on the clamping mechanism.

[0016] The features and advantages of this utility model are as follows: The surgical robot reversing device provided by this utility model includes a fixed seat, a rotary support, a carrying platform, and a limiting assembly. The surgical robot reversing device is fixedly connected to the surgical robot trolley through the fixed seat. A rotary support is fixedly connected to the fixed seat. The carrying platform for carrying the surgical robot is connected to the rotary part of the rotary support so that the carrying platform and the surgical robot can rotate relative to the fixed seat through the rotary part, thereby realizing the position and posture adjustment of the surgical robot. In this way, when the surgical robot is transferred with the surgical robot trolley, it can always be transferred to the operating table in the correct posture with the execution end facing the operating table, saving surgical preparation time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a perspective view of the surgical robot reversing device provided in the embodiments of this utility model;

[0019] Figure 2 This is a diagram showing the composition of the surgical robot reversing device provided in this embodiment of the present invention;

[0020] Figure 3 This is a perspective view of the surgical robot trolley provided in the embodiments of this utility model;

[0021] Figure 4 This is a perspective view of the operating table provided in the embodiments of this utility model;

[0022] Figure 5 This is a perspective view of the clamping mechanism on the operating table provided in the embodiments of this utility model.

[0023] Explanation of icon numbers:

[0024] 100. Surgical robot reversing device;

[0025] 110. Fixing base; 111. Damping hole;

[0026] 120. Slewing bearing; 121. Countersunk hole; 122. Threaded connection hole;

[0027] 130. Bearing platform; 131. Support plate; 132. Optical axis seat; 133. Optical axis;

[0028] 140. Limit assembly; 141. Limit seat; 142. Pin seat; 143. Spring pin;

[0029] 150. Spacing flange; 151. First through hole; 152. Second through hole;

[0030] 160. Damping shaft; 161. Threaded fixing hole;

[0031] 200. The trolley itself;

[0032] 300. Operating table;

[0033] 310. Clamping mechanism; 311. Clamping optical axis; 312. Limiting plate. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] like Figures 1 to 5As shown, this utility model provides a surgical robot reversing device 100, which is used to be installed on a surgical robot trolley. The device includes: a fixed base 110, through which the surgical robot reversing device 100 is installed on the surgical robot trolley; a rotary support 120 connected to the fixed base 110, the rotary support 120 having a rotating part capable of rotating around its own axis; a carrying platform 130 connected to the rotating part, the carrying platform 130 being used to carry the surgical robot; and a limiting assembly 140 connected between the carrying platform 130 and the fixed base 110, the limiting assembly 140 being used to limit the rotation of the rotating part; and a hand... The surgical robot reversing device 100 has a reset locking state, a reversing state, and a transition locking state. In the reset locking state, the support platform 130 is in the initial installation position relative to the fixed seat 110. In the reversing state, the support platform 130 can rotate relative to the fixed seat 110. In the transition locking state, the support platform 130 is in the target reversing position relative to the fixed seat 110. When the surgical robot reversing device 100 is installed on the surgical robot trolley and is in the transition locking state, the execution end of the surgical robot carried on the support platform 130 is located on the side closer to the operating table 300 when the surgical robot trolley is transferred. In this way, the surgical robot is connected to the surgical robot trolley through the surgical robot reversing device 100. During the transfer process with the surgical robot trolley, the surgical robot can adjust its posture so that its execution end faces the operating table 300 through the surgical robot reversing device 100, so that the surgical robot can always be transferred to the operating table 300 in the correct posture, ensuring the rapid and accurate transfer of the surgical robot and saving surgical preparation time.

[0036] Specifically, such as Figure 1 and Figure 2As shown, the surgical robot reversing device 100 includes a fixed base 110, a rotary support 120, a carrying platform 130, and a limiting assembly 140. The surgical robot reversing device 100 is fixedly connected to the surgical robot carriage through the fixed base 110. The rotary support 120 is fixedly connected to the fixed base 110 through a countersunk hole 121. The carrying platform 130, which carries the surgical robot, is connected to the rotary part of the rotary support 120. The rotary part drives the carrying platform 130 and the surgical robot to rotate relative to the fixed base 110, thereby adjusting the posture of the surgical robot. This ensures that the surgical robot is always transported to the operating table 300 with its execution end facing the operating table 300 when it is transferred with the surgical robot carriage, saving surgical preparation time. A limiting assembly 140 is provided between the carrying platform 130 and the fixed base 110 to keep the relative position of the surgical robot and the surgical robot carriage fixed during the movement to the operating table 300 side, avoiding adverse effects on the equipment due to relative movement between the two during the movement. The operating table 300 is equipped with a clamping mechanism 310 for receiving the surgical robot. The clamping mechanism 310 is equipped with a transfer interface, and the surgical robot reversing device 100 is equipped with a corresponding storage interface that connects to the transfer interface.

[0037] In specific operation, the surgical robot reversing device 100 can be adjusted from the reset locked state to the reversing state and then to the transfer locked state before the surgical robot carriage moves to the operating table 300 side, so that the surgical robot changes direction to the correct transfer posture in advance, depending on the transfer target position. Alternatively, the surgical robot reversing device 100 can be adjusted from the reset locked state to the reversing state and then to the transfer locked state after the surgical robot carriage moves to the operating table 300 side, so that the surgical robot changes direction to the correct transfer posture at the transfer target position. Then, the surgical robot can be transferred to the operating table 300 in the correct installation posture by docking the storage interface of the surgical robot reversing device 100 with the transfer interface of the clamping mechanism 310. In this embodiment, in order to realize the automatic adjustment of the surgical robot posture, a drive assembly for driving the rotation of the rotary support 120 and a detection component for detecting the posture of the surgical robot relative to the operating table 300 can also be configured on the surgical robot carriage.

[0038] According to a preferred embodiment of the present invention, such as Figure 2As shown, the support platform 130 includes a support plate 131, an optical axis seat 132, and an optical axis 133. The support plate 131 is connected to the rotating part, and the optical axis seat 132 is symmetrically connected to both sides of the support plate 131. The optical axis 133 for mounting the surgical robot is connected to the optical axis seat 132. By connecting the support plate 131 to the rotating part, the support platform can rotate with the rotating part, thereby adjusting the surgical robot mounted on the support platform to the correct orientation for transfer. The optical axis seat 132 is provided with mounting holes to facilitate flexible installation when connecting the optical axis seat 132 to the support plate 131.

[0039] According to a preferred embodiment of the present invention, the two ends of the optical axis 133 extend longitudinally along the axis to form transition sections extending out of the support plate 131. This transition section forms a storage interface that mates with the transition interface of the clamping mechanism 310, so as to quickly transfer the surgical robot to the clamping mechanism 310 of the operating table 300.

[0040] According to one embodiment of this utility model, the surgical robot reversing device 100 further includes a partition flange 150, and the supporting platform 130 is connected to the rotating part through the partition flange 150. Specifically, as shown... Figure 2 As shown, the partition flange 150 is provided with a first through hole 151, and the rotating part is provided with a corresponding threaded connection hole 122. Screws pass through the support plate 131, the first through hole 151, and the threaded connection hole 122 to connect the support plate 131, the partition flange 150, and the rotating support 120 together. By providing the partition flange 150 between the bearing platform 130 and the rotating part, the outer ring of the crossed roller bearing of the rotating part is isolated from the bearing platform 130, avoiding friction damage that could affect its service life.

[0041] According to one embodiment of the present invention, such as Figure 2 As shown, the surgical robot reversing device 100 also includes a damping shaft 160. The damping shaft 160 passes through the central hole of the rotating part and connects between the support platform 130 and the fixed seat 110. The fixed seat 110 is provided with a damping hole 111 that mates with a shaft section with a flange on the damping shaft 160. By setting the damping shaft 160, a damping force is provided to the rotating part, thereby controlling the rotation speed of the rotating part and preventing the rotating speed from being too fast. After the support platform 130 carrying the surgical robot changes to the correct position, a sudden stop due to inertia would cause a large impact force, resulting in damage to the equipment. The damping force can be adjusted by adjusting the clamping force of the connecting friction surfaces of the two connecting shaft sections of the damping shaft 160 to better control the rotation speed of the rotating part. In this embodiment, the partition flange 150 is provided with a second through hole 152, and the damping shaft 160 is provided with a corresponding threaded fixing hole 161. The screw passes through the second through hole 152 and the threaded fixing hole 161 to achieve a fixed connection between the damping shaft 160 and the partition flange 150.

[0042] According to a preferred embodiment of the present invention, such as Figure 2 As shown, the limiting assembly 140 includes a limiting seat 141, a pin seat 142, and a spring pin 143. The limiting seat 141 is connected to the fixed seat 110, the pin seat 142 is connected to both sides of the support plate 131, and the spring pin 143 can be elastically inserted into the pin hole of the limiting seat 141 and threadedly connected to the pin seat 142. By inserting the spring pin 143 through one of the pin seats 142 into the pin hole of the limiting seat 141 and threadedly connecting it to the pin seat 142, the locking and limiting of the carrying platform 130 and the fixed seat 110 can be achieved, thereby ensuring the stability of the surgical robot during the process of moving with the surgical robot trolley to the transfer target position.

[0043] According to a preferred embodiment of the present invention, such as Figure 1 and Figure 2 As shown, the support plate 131 is rectangular and has a first side, a second side, a third side, and a fourth side connected circumferentially. The first and third sides are arranged opposite each other, as are the second and fourth sides. Optical shaft seats 132 are symmetrically connected to the first and third sides, and pin seats 142 are symmetrically connected to the second and fourth sides. When the surgical robot reversing device 100 is in the initial installation position, i.e., the reset and locked state, the spring pin 143 passes through one of the pin seats 142 and elastically inserts into the pin hole of the limiting seat 141 and is threadedly connected to the pin seat 142, thereby achieving the locking and limiting of the bearing platform 130 and the fixed seat 110 in the initial installation position. Pull out the spring pin 143 on the pin seat 142 and rotate the bearing platform 130 180° through the rotating part until the spring pin 143 passes through another pin seat 142 and elastically inserts into the pin hole of the limiting seat 141 and is threadedly connected to the pin seat 142. This achieves a 180° reversal of the bearing platform 130. At this time, the surgical robot reversing device 100 is in the transition locking state. It should be noted that, due to space limitations in the operating room, when the surgical robot trolley moves to one side of the operating table 300, if the surgical robot's actuator on the trolley is already in the correct orientation facing the operating table 300, the transition process can begin without reversing the robot's orientation. In this case, the reset and locking state of the surgical robot reversing device 100 is the transition locking state. If the surgical robot's actuator on the trolley is in a reverse orientation away from the operating table 300, the support platform needs to be rotated 180° to reorient the surgical robot to the correct orientation facing the operating table 300. During this process, the surgical robot reversing device 100 changes from the reset and locking state through the reversing state to the transition locking state. Preferably, two limiting seats 141 are symmetrically connected to the fixed base 110. In the initial installation position, the two limiting seats 141 correspond to two pin seats 142, and spring pins 143 are inserted into the pin holes of both limiting seats 141.

[0044] In this embodiment, the direction of the surgical robot's execution end on the support platform 130 is the direction of the line connecting the second and fourth sides of the support plate 131. After the surgical robot reversing device 100 is installed on the surgical robot trolley, the second side of the support plate 131 is parallel to the side of the surgical robot trolley closest to the operating table 300 when it reaches the transfer target position. Therefore, the surgical robot, arriving at the transfer target position with the surgical robot trolley, will only exhibit two postures: the correct posture with its execution end facing the operating table 300 and the reverse posture away from the operating table 300. Thus, the surgical robot can be adjusted from the reverse posture to the correct posture simply by rotating the support platform 180°. That is, the angle the support platform needs to rotate to adjust the surgical robot to the correct posture with its execution end facing the operating table 300 is determined by the specific orientation of the surgical robot's execution end relative to the surgical robot trolley at the transfer target position.

[0045] like Figure 3 As shown, another objective of this utility model is to provide a surgical robot trolley, comprising: a trolley body 200; a surgical robot reversing device 100 as described above; the surgical robot reversing device 100 is mounted on the top of the trolley body 200.

[0046] Specifically, the surgical robot trolley has a transfer state. In the transfer state, the side of the trolley body 200 closest to the operating table 300 is the transfer side, and the surgical robot reversing device 100 is located close to the transfer side. This facilitates the rapid transfer of the surgical robot from the surgical robot reversing device 100 to the operating table 300.

[0047] Specifically, refer to Figure 4 and Figure 5As shown, the operating table 300 is equipped with a clamping mechanism 310. The diameter of the optical axis 133 is the same as the diameter of the clamping optical axis 311 on the clamping mechanism 310, and the distance between the two optical axes 133 is the same as the distance between the two clamping optical axes 311 on the clamping mechanism 310. In the transition state, the supporting platform 130 extends out of the transition side, and the two optical axes 133 are respectively aligned with the two clamping optical axes 311 on the clamping mechanism 310. Specifically, the two clamping optical axes 311 on the clamping mechanism 310 form a transition interface that docks with the two optical axes 133. By aligning the two optical axes 133 with the two clamping optical axes 311, the surgical robot reversing device 100 and the clamping mechanism 310 can be quickly docked, thereby facilitating the rapid transfer of the surgical robot. In this embodiment, the clamping mechanism 310 is installed through the operating table 300, meaning that both ends of the two clamping optical shafts 311 form adapter interfaces. During the transfer of the surgical robot, the surgical robot reversing device 100 and the clamping mechanism 310 can be quickly connected from either side of the operating table 300, thereby enabling the surgical robot to be installed on either side of the operating table 300. This solves the problem of difficulty in correctly positioning and installing the surgical robot when operating room space is limited. Preferably, a limiting piece 312 is connected to the end of the two clamping optical shafts 311 located on one side of the operating table 300 to limit the movement of the surgical robot transferred to the clamping mechanism 310. This limiting piece 312 can be moved to the end of the two clamping optical shafts 311 located on the other side of the operating table 300 as needed for on-site transfer.

[0048] Based on the above description, the surgical robot carriage and its reversing device provided in this embodiment of the present invention have the following beneficial effects:

[0049] The surgical robot reversing device 100 provided in this embodiment includes a fixed base 110, a rotary support 120, a carrying platform 130, and a limiting assembly 140. The surgical robot reversing device 100 is fixedly connected to the surgical robot trolley via the fixed base 110. The rotary support 120 is fixedly connected to the fixed base 110. The carrying platform 130, which carries the surgical robot, is connected to the rotary part of the rotary support 120. The rotary part drives the carrying platform 130 and the surgical robot to rotate relative to the fixed base 110, thereby achieving positional adjustment of the surgical robot and enabling it to move freely. When the surgical robot trolley is transferred, it can always be transported onto the operating table 300 in the correct posture with the execution end facing the operating table 300, saving surgical preparation time. By setting a partition flange 150 between the carrying platform 130 and the rotating part, the outer ring of the crossed roller bearing of the rotating part and the carrying platform 130 are isolated to avoid friction damage that affects the service life. A limit assembly 140 is set between the carrying platform 130 and the fixed seat 110 to keep the relative position of the surgical robot and the surgical robot trolley fixed during the movement to the side of the operating table 300, so as to avoid adverse effects on the equipment due to relative movement between the two during the movement.

[0050] The surgical robot trolley provided in this embodiment of the utility model has the surgical robot reversing device 100 set close to the transfer side of the trolley body, so as to facilitate the quick transfer of the surgical robot to the operating table 300 and further save surgical preparation time.

[0051] The above descriptions are merely a few embodiments of this utility model. Those skilled in the art can make various modifications or variations to the embodiments of this utility model based on the content disclosed in the application documents without departing from the spirit and scope of this utility model.

Claims

1. A reversing device for a surgical robot, the reversing device being mounted on a surgical robot trolley, characterized in that, include: A fixed base is provided, through which the surgical robot reversing device is mounted on the surgical robot trolley; A slewing support is connected to the fixed base, and the slewing support has a rotating part that can rotate about its own axis; A support platform, connected to the rotary unit, is used to support the surgical robot; A limiting assembly is connected between the bearing platform and the fixed base, and the limiting assembly is used to limit the rotation part; The surgical robot reversing device has a reset locking state, a reversing state, and a transition locking state. In the reset locking state, the supporting platform is in the initial installation position relative to the fixed base. In the reversing state, the carrying platform can rotate relative to the fixed seat; in the transition locking state, the carrying platform is in the target reversing position relative to the fixed seat. When the surgical robot reversing device is installed on the surgical robot trolley and the surgical robot reversing device is in the transition locking state, the execution end of the surgical robot carried on the carrying platform is located on the side closer to the operating table when the surgical robot trolley is transitioned.

2. The surgical robot reversing device according to claim 1, characterized in that, The surgical robot reversing device also includes a partition flange, and the carrying platform is connected to the rotating part through the partition flange.

3. The surgical robot reversing device according to claim 1, characterized in that, The surgical robot reversing device also includes a damping shaft, which passes through the central hole of the rotating part and connects between the bearing platform and the fixed seat. The fixed seat is provided with a damping hole that mates with a shaft section with a retaining edge on the damping shaft.

4. The surgical robot reversing device according to claim 1, characterized in that, The support platform includes a support plate, an optical axis seat, and an optical axis. The support plate is connected to the rotating part, and the optical axis seat is symmetrically connected to both sides of the support plate. An optical axis for mounting a surgical robot is connected to the optical axis seat.

5. The surgical robot reversing device according to claim 4, characterized in that, The limiting assembly includes a limiting seat, a pin seat, and a spring pin. The limiting seat is connected to the fixed seat, the pin seat is connected to both sides of the support plate, and the spring pin can be elastically inserted into the pin hole of the limiting seat and threadedly connected to the pin seat.

6. The surgical robot reversing device according to claim 4, characterized in that, The two ends of the optical axis extend longitudinally along the axis to form transition sections that extend out of the support plate.

7. The surgical robot reversing device according to claim 5, characterized in that, The support plate is rectangular and has a first side, a second side, a third side and a fourth side connected in a circumferential direction. The first side and the third side are arranged opposite to each other, and the second side and the fourth side are arranged opposite to each other. The optical axis seat is symmetrically connected to the first side and the third side, and the pin seat is symmetrically connected to the second side and the fourth side.

8. A surgical robot trolley, characterized in that, include: The trolley itself; The surgical robot reversing device as described in claim 4; The surgical robot reversing device is mounted on top of the trolley body.

9. The surgical robot trolley according to claim 8, characterized in that, The surgical robot trolley has a switching state. In the switching state, the side of the trolley body closest to the operating table is the switching side, and the surgical robot reversing device is located close to the switching side.

10. The surgical robot trolley according to claim 9, characterized in that, The operating table is equipped with a clamping mechanism. The diameter of the optical axis is the same as the diameter of the optical axis clamped on the clamping mechanism, and the distance between the two optical axes is the same as the distance between the two clamped optical axes on the clamping mechanism. In the transition state, the bearing platform extends out of the transition side, and the two optical axes are respectively aligned with the two clamped optical axes on the clamping mechanism.

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