A surgical robot

Abstract

This utility model relates to the field of medical device technology and provides a surgical robot, comprising: a main body including a control motherboard; a telescopic mechanism mounted on the main body and electrically connected to the control motherboard; a head frame mounted on the end of the telescopic mechanism, used to fix the human head; and a robotic arm mounted on the main body and electrically connected to the control motherboard. The robotic arm and the telescopic mechanism are respectively mounted on different surfaces of the main body, and the robotic arm is used to load surgical instruments. This utility model integrates the telescopic mechanism and robotic arm onto the main body through an integrated design, improving the coordination between surgical instruments and the head frame in head manipulation, reducing the space occupied during surgery, and enhancing the flexibility and accuracy of head manipulation by controlling the movement of the telescopic mechanism and robotic arm through the control motherboard, ensuring the successful completion of the surgery.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to a surgical robot. Background Technology

[0002] In neurosurgery, precision and safety are critical considerations. Traditionally, the patient's head is stabilized by fixation devices that are directly mounted on the operating table or a special support. However, this method has some obvious limitations, such as occupying operating table space, affecting the flexibility of the operating area, and poor coordination with the use of surgical instruments.

[0003] These issues not only increase the time and complexity of surgical preparation, but may also pose potential risks to patient safety. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a fixation device that supports precise surgery on the patient's head.

[0005] To solve the above problems, this utility model provides the following technical solution:

[0006] A surgical robot comprising:

[0007] The main body includes the control motherboard;

[0008] A telescopic mechanism is installed on the main body and electrically connected to the control motherboard;

[0009] A headrest, installed at the end of the telescopic mechanism, is used to fix the human head.

[0010] A robotic arm is mounted on the main body and electrically connected to the control motherboard. The robotic arm and the telescopic mechanism are respectively mounted on different surfaces of the main body. The robotic arm is used to load surgical instruments.

[0011] In one embodiment, the telescopic mechanism includes a multi-stage telescopic arm and an electric push rod;

[0012] The multi-stage telescopic arm includes at least two nested segments;

[0013] The electric actuator is connected to at least one of the segments and is electrically connected to the control mainboard.

[0014] In one embodiment, the main body includes a housing, and the housing is provided with a switch that is electrically connected to the control motherboard;

[0015] The switching device includes a first switch and a second switch. The first switch is used to control the extension and retraction of the electric push rod, and the second switch is used to control the electric push rod to close.

[0016] In one embodiment, the telescopic mechanism further includes a locking member fixed to one of the segments and detachably fixed to an adjacent segment.

[0017] In one embodiment, one end of the electric actuator is mounted on the main body, and the other end passes through at least one segment and is fixedly connected to the segment.

[0018] In one embodiment, the robotic arm includes a base, a first rotating arm, a second rotating arm, a third rotating arm, and a fourth rotating arm, wherein the base is mounted on the main body, and the surgical instrument is connected to the end of the fourth rotating arm;

[0019] A first motor is provided between the first rotating arm and the base to drive the first rotating arm to rotate relative to the base; a second motor is provided between the second rotating arm and the first rotating arm to drive the second rotating arm to rotate relative to the first rotating arm; a third motor is provided between the third rotating arm and the second rotating arm to drive the third rotating arm to rotate relative to the second rotating arm; and a fourth motor is provided between the fourth rotating arm and the third rotating arm to drive the fourth rotating arm to rotate relative to the third rotating arm.

[0020] In one embodiment, the headframe includes a first adjusting member, a second adjusting member, a third adjusting member, and a fourth adjusting member;

[0021] The first adjusting member is installed on the segment along a first direction, the second adjusting member is installed on the second adjusting member along a second direction, the third adjusting member is installed on the second adjusting member along a second direction, and the fourth adjusting member is installed on the third adjusting member along a third direction;

[0022] The first direction is perpendicular to the second direction, and the third direction is perpendicular to both the first and second directions.

[0023] In one embodiment, the first adjusting member and the second adjusting member form a first angle, the second adjusting member and the third adjusting member form a second angle, and the third adjusting member and the fourth adjusting member form a third angle.

[0024] The angles of the first included angle, the second included angle, and the third included angle are in the range of 0 to 15°.

[0025] In one embodiment, the first adjusting member is provided with a connection interface, and the segment is provided with a limiting slot. The first adjusting member is fixed to the limiting slot through the connection interface, thereby being detachably and fixedly connected to the segment.

[0026] In one embodiment, the housing has an opening opposite to the direction of movement of the electric push rod, and the opening is provided with a sealing cover, which is pivotally connected to the housing and can be opened or closed by pivoting.

[0027] The beneficial effects of this utility model are as follows: By integrating the telescopic mechanism and the robotic arm onto the main body through an integrated design, the space occupied by the surgery is reduced, and the control board can control the movement of the telescopic mechanism and the robotic arm, thereby improving the coordination between the head frame mounted on the telescopic mechanism and the surgical instruments mounted on the robotic arm. By controlling the telescopic mechanism to adjust to an appropriate length through the control board, the head frame is moved to the correct position so that the patient's head can be accurately clamped; and by controlling the robotic arm to move to a designated position through the control board, the surgical instruments can accurately reach the area to be operated on, ensuring that the surgery can be completed smoothly. Attached Figure Description

[0028] Figure 1 This is a perspective view of one embodiment of a surgical robot according to the present invention;

[0029] Figure 2 This is a schematic diagram of one embodiment of a surgical robot according to the present invention;

[0030] Figure 3 for Figure 2 Exploded view of one embodiment of the robotic arm;

[0031] Figure 4 for Figure 2 A cross-sectional view of one embodiment of the telescopic mechanism;

[0032] Figure 5 for Figure 2 A schematic diagram of one embodiment of the telescopic mechanism;

[0033] Figure 6 This is a schematic diagram of the head frame of one embodiment of a surgical robot according to the present invention.

[0034] Figure label:

[0035] 100. Fixing device; 110. Main body; 111. Control main board;

[0036] 112. Telescopic mechanism; 1111. Multi-stage telescopic boom; 1112. Electric push rod; 1211. Segment; 1211a. Limiting latch;

[0037] 113. Headframe; 1131. First adjusting component; 1131a. Connecting interface; 1132. Second adjusting component; 1133. Third adjusting component; 1134. Fourth adjusting component; 113a. First included angle; 113b. Second included angle; 113c. Third included angle;

[0038] 114. Robotic arm; 1141. Base; 1142. First rotating arm; 1143. Second rotating arm; 1144. Third rotating arm; 1145. Fourth rotating arm; 1146. First motor; 1147. Second motor; 1148. Third motor; 1149. Fourth motor;

[0039] 115. Outer casing; 115a. Opening; 1151. First switch; 1152. Second switch; 1153. Closing cover;

[0040] 116. Surgical instruments;

[0041] 1171. Pin; 1172. Engaging part. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0043] Furthermore, the terms "first" and "second" are used 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 as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] For ease of description of the first, second, and third directions in the embodiments of this application, the first direction is the left-right direction in the figures, the second direction is the up-down direction in the figures, and the third direction is the front-back direction in the figures. The x-axis arrow direction is referred to as the "right" direction, the y-axis arrow direction as the "up" direction, and the z-axis arrow direction as the "back" direction, but these are not the sole limitations in the actual application of this application.

[0045] Please refer to Figure 1-6As shown, this embodiment provides a surgical robot 100, which includes a main body 110, a telescopic mechanism 112, a head frame 113, and a robotic arm 114. The main body 110 houses a control motherboard 111, serving as the control center for the entire head fixation device 100. The telescopic mechanism 112 is mounted on the main body 110 and electrically connected to the control motherboard 111, receiving commands from the control motherboard 111 via electrical signals to execute telescopic movements. Furthermore, the head frame 113 is mounted at the end of the telescopic mechanism 112 and is designed to clamp the human head. The robotic arm 114 is mounted on the main body 110 and electrically connected to the control motherboard 111. The robotic arm 114 is used to load surgical instruments 116. The robotic arm 114 and the telescopic mechanism 112 are respectively mounted on different surfaces of the main body 110 and move according to commands issued by the control motherboard 111, allowing the surgical instruments 116 to move to the head position for precise head surgery.

[0046] According to the above scheme, the robotic arm 114 and the telescopic mechanism 112 are respectively mounted on different surfaces of the main body. This layout helps optimize space utilization and improve operational efficiency. Since the robotic arm 114 and the telescopic mechanism 112 occupy different sides, they do not interfere with each other when moving, thus avoiding possible collisions or obstructions and ensuring that surgical instruments can reach the surgical area without obstacles. Furthermore, this layout facilitates the operation of medical personnel, as they can make fine adjustments to the position of the robotic arm 114 without interfering with the adjustment of the telescopic mechanism 112. Secondly, placing the robotic arm 114 and the telescopic mechanism 112 on different surfaces enhances the stability and safety of the entire fixation device 100. The telescopic mechanism 112 is responsible for adjusting the position of the head frame to hold the patient's head, while the robotic arm 114 is used for loading and positioning surgical instruments. The separate layout reduces the risk of the entire system failing due to the failure of a single component. In addition, this layout also helps improve the flexibility and adaptability of the system. Since the robotic arm 114 and the telescopic mechanism 112 do not interfere with each other, they can independently respond to different commands issued by the control board, achieving more complex coordinated actions.

[0047] Understandably, in this embodiment, the overall operation of the fixation device is controlled by a control motherboard. This control motherboard can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more application-specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs) configured to implement this embodiment. The choice of which type of control motherboard to use depends on the specific application requirements and design considerations, but its core functions and working principles remain consistent and are not limited here. Furthermore, the control motherboard receives instructions from medical personnel input through the control panel. These instructions include head position parameters, telescopic mechanism movement parameters, head frame position parameters, and locking parameters. The processor built into the control motherboard is responsible for parsing these instructions and calculating the specific angle positions required for each adjustment component according to a preset algorithm. Whether it is a CPU, ASIC, or FPGA, the core task of the processor is to efficiently execute these calculations to ensure that the instructions can be quickly converted into specific control actions. Understandably, this embodiment mainly focuses on combining the robotic arm and telescopic mechanism, as well as the head frame and medical devices through structural design to achieve precise clamping of the human head, thereby providing more comprehensive support for head surgery.

[0048] According to the above scheme, specifically, during the surgical preparation stage, medical personnel first place the patient on the operating table and ensure the patient is in the correct position. Then, the control motherboard 111 automatically detects the status of all components, including the positions of the telescopic mechanism 112, the head frame 113, and the robotic arm 114, as well as the operating status of each motor. After initialization, a signal is sent to the telescopic mechanism 112, causing it to adjust to an appropriate length, thereby moving the head frame 113 to the correct position to effectively clamp the patient's head. Simultaneously, the robotic arm 114 also operates according to the predetermined parameters included in the control motherboard 111. According to the program or real-time operation requirements, the surgical instruments 116 mounted on it move to the designated position under the command of the control motherboard 111, ensuring that the surgical instruments 116 can accurately reach the part that needs to be operated on. The control motherboard 111 coordinates the movement of the telescopic mechanism 112 and the robotic arm 114, so that the head frame 113 can accurately position the patient's head. Through the integrated design, the telescopic mechanism and the robotic arm are mounted on the main body, reducing the space occupied by the operation and enabling the control motherboard to control the movement of the telescopic mechanism and the robotic arm, thereby improving the coordination between the head frame mounted on the telescopic mechanism and the surgical instruments mounted on the robotic arm, ensuring that the operation can be completed smoothly.

[0049] Please refer to Figure 1-2As shown, preferably, the telescopic mechanism 112 includes a multi-stage telescopic arm 1111 and an electric push rod 1112; wherein the multi-stage telescopic arm 1111 includes two nested segments 1211, which can slide relative to each other to change the overall length when needed, and the electric push rod 1112 is connected to one or more of the segments 1211 and electrically connected to the control board 111, and drives the extension or retraction of the telescopic arm by receiving electrical signals from the control board 111.

[0050] Specifically, when the control motherboard 111 issues a command, the electric push rod 1112 starts according to the received signal, pushing or pulling the segment 1211 connected to it, thereby realizing the change of the length of the entire telescopic arm. It can be understood that since one segment 1211 is nested within another segment 1211, the segment 1211 can be limited by the slide groove in the nested segment 1211 and can move along the extension direction of the slide groove. That is, the relative movement between each segment 1211 is completed through the designed slide groove, ensuring smoothness and stability during the telescopic process. The control motherboard 111 directly controls the operation of the electric push rod 1112 through electrical connection, so that the telescopic mechanism 112 can respond to real-time surgical needs and adjust to the required position. This design enables the telescopic mechanism 112 and other components, such as the robotic arm 114 and the head frame 113, to work together, ensuring that they can accurately position and perform predetermined tasks. Throughout the process, the control motherboard 111 continuously monitors the status of the telescopic mechanism 112 and sends corresponding control commands according to the actual situation.

[0051] like Figure 1As shown, preferably, the main body 110 includes a housing 115, and the housing 115 is provided with a switch that is electrically connected to the control main board 111; further, the switch specifically includes two independent switches: a first switch 1151 and a second switch 1152; wherein the first switch 1151 directly controls the extension and retraction movement of the electric push rod 1112. When the operator activates the first switch 1151, a signal is transmitted to the control main board 111, which then sends a command to the electric push rod 1112 to perform the extension or retraction action. The second switch 1152 is used to control the electric push rod 1112 to enter the emergency stop state. When the second switch 1152 is triggered, it sends a signal to the control board 111, causing the electric push rod 1112 to stop its current action and enter an inactive mode. Specifically, during the surgical preparation stage, medical personnel can operate the first switch 1151 to adjust the position of the electric push rod 1112, thereby adjusting the position of the electric push rod 1112 to achieve the purpose of extending and retracting the segment 1211 until the head frame 113 reaches the correct position to clamp the patient's head. After the position adjustment is completed, if it is necessary to fix the current position or end the extension and retraction operation, the medical personnel can trigger the second switch 1152, which will cause the electric push rod 1112 to stop working and remain in the current position. The control board 111 monitors the status of the two switches in real time through electrical connection and executes corresponding actions according to the received signals to ensure that the whole process proceeds smoothly according to the predetermined program. In addition, the control board 111 can also receive feedback information from other components (such as the robotic arm 114) to coordinate the actions between various parts to meet the specific needs of the surgical operation.

[0052] like Figure 4As shown, preferably, the telescopic mechanism 112, in addition to the multi-stage telescopic arm 1111 and the electric push rod 1112, also includes a locking member. The locking member is fixed to one of the segments 1211 and is designed to be detachably fixed to adjacent segments 1211. Specifically, when the telescopic arm is adjusted to the required length, in order to further ensure that the multi-stage telescopic arm 1111 can be fixed more precisely, after the operator presses the second switch 1152, the locking member can also ensure that the relative positions between each segment 1211 remain unchanged, thereby improving the overall stability of the telescopic arm. In actual operation, when the electric push rod... After the push rod 1112 drives the telescopic arm to the predetermined position, the operator can activate the locking mechanism to fix the current state. The locking component typically includes a mechanical structure. In this embodiment, a pin 1171 and a locking part 1172 are provided to form a stable connection between the two segments 1211. Understandably, the control board 111 monitors the status of the locking component via electrical connection to ensure that locking or unlocking actions are triggered at appropriate times. For example, during the surgical preparation stage, the control board 111 instructs the electric push rod 1112 to adjust the length of the telescopic arm. After reaching the target position, the locking component is immediately triggered to fix the telescopic arm. If the position of the patient's head needs to be fine-tuned during the operation, the control board 111 can instruct the electric push rod 1112 to work again and control the locking component to release in time for necessary adjustments. After completion, the locking component is reactivated to ensure the new position is stable. This process ensures that the telescopic mechanism 112 can be flexibly adjusted and reliably fixed as needed during the operation.

[0053] Please refer to Figure 4-5 As shown, specifically, in this embodiment, a fixed pin 1171 is provided on one segment 1211. This pin 1171 can move up and down under motor control, while adjacent segments 1211 are equipped with corresponding engaging parts 1172, allowing the two to quickly engage or disengage. This design ensures that when the telescopic arm length needs to be adjusted, the pin 1171 is located within the wall of one of the segments 1211, allowing the segment 1211 to be easily unlocked and repositioned for fine-tuning. When no further adjustment is needed, the pin 1171 is moved upward by the motor to engage with the engaging part 1172, thus ensuring that the position of the telescopic arm remains fixed. In some embodiments, a pin 1171 may be configured on one segment 1211, while multiple engaging portions 1172 may be configured on another segment 1211; in other embodiments, multiple pins 1171 may be configured on one segment 1211, while a single engaging portion 1172 may be configured on another segment 1211. It is understood that the advantage of this structural design is that, through the one-to-many design, two adjacent segments 1211 can be locked together by one pin 1171 and the other engaging portion 1172 during the extension and retraction process, regardless of their extension and retraction length.

[0054] Preferably, this embodiment uses a scheme in which one segment 1211 is equipped with a pin 1171 and another segment 1211 is equipped with multiple engaging parts 1172, thereby reducing design costs.

[0055] Specifically, in some embodiments, the locking element employs an eccentric wheel structure to lock and unlock adjacent segments 1211. The eccentric wheel is mounted on one segment 1211 and designed to rotate, with a protruding claw on its edge. Adjacent segments 1211 have matching grooves to receive the claw. Understandably, in the initial state, when the telescopic arm is in a free-moving state, the claw of the eccentric wheel does not contact the groove on the adjacent segment 1211. When it is necessary to fix the multi-stage telescopic arm 1111, the control board 111 sends a command to the drive motor via electrical connection. The motor drives the eccentric wheel to rotate. As the eccentric wheel rotates, the claw on it gradually approaches and eventually embeds into the groove of the adjacent segment 1211, fixing the position of the eccentric wheel and preventing it from reversing. At this time, the relative movement between the two segments 1211 is restricted, and the multi-stage telescopic arm 1111 remains at its current length.

[0056] like Figure 4 As shown, preferably, one end of the electric push rod 1112 is installed inside the main body 110, while the other end passes through at least one segment 1211 of the telescopic arm and is fixedly connected to that segment 1211. Specifically, the electric push rod 1112 is fixed to the main body 110 through a mechanical interface to ensure its stability and installation accuracy; the other end of the electric push rod 1112 passes through the innermost segment 1211 of the telescopic arm and is fixedly connected to that segment 1211, so that the electric push rod 1112 can pass through all segments 1211 at the other end and be connected to each segment 1211 respectively, so that when the electric push rod 1112 moves, it can drive different segments 1211 to move, so as to achieve the purpose of telescopically extending and retracting the multi-stage telescopic arm 1111.

[0057] Please refer to Figure 1-3As shown, preferably, in this embodiment, the robotic arm 114 consists of a base 1141, a first rotating arm 1142, a second rotating arm 1143, a third rotating arm 1144, and a fourth rotating arm 1145. The base 1141 is mounted on the main body 110, serving as the supporting foundation for the entire robotic arm 114. The surgical instrument 116 is connected to the end of the fourth rotating arm 1145, ensuring that it can move flexibly in three-dimensional space to reach the required operating position. Specifically, the relative movement between the various parts of the robotic arm 114 is achieved through a series of motor drives: a first motor 1146 is provided between the first rotating arm 1142 and the base 1141. The first motor 1146 is mounted on the base 1141 and connected to the first rotating arm 1142, driving the first rotating arm 1142 to adjust its angle relative to the base 1141 through rotational motion; furthermore, a second motor is provided between the second rotating arm 1143 and the first rotating arm 1142. 1147, the second motor 1147 is fixed on the first rotating arm 1142, driving the second rotating arm 1143 to rotate relative to the first rotating arm 1142, thereby changing the relative angle between them; furthermore, a third motor 1148 is provided between the third rotating arm 1144 and the second rotating arm 1143, the third motor 1148 is located on the second rotating arm 1143, responsible for driving the third rotating arm 1144 to rotate relative to the second rotating arm 1143, further extending the range of motion of the robotic arm 114; in addition, a fourth motor 1149 is provided between the fourth rotating arm 1145 and the third rotating arm 1144. This fourth motor 1149 is mounted on the third rotating arm 1144, used to drive the fourth rotating arm 1145 to rotate relative to the third rotating arm 1144, ultimately determining the specific position and orientation of the surgical instrument 116.

[0058] According to the above scheme, it is understandable that during the surgical preparation stage, the control motherboard 111 sends instructions to each motor via electrical connection to adjust the position of the robotic arm 114 according to the preset program. For example, when it is necessary to move the surgical instrument 116 to a specific operating point on the patient's head, the control motherboard 111 first activates the first motor 1146, causing the first rotating arm 1142 to rotate relative to the base 1141 to a predetermined angle. Then, the second, third, and fourth motors 1149 are activated in sequence to gradually adjust the angles of the subsequent rotating arms until the surgical instrument 116 accurately reaches the target position. After positioning is completed, the control motherboard 111 continuously monitors the working status of each motor to ensure that the robotic arm 114 remains stable. If it is necessary to fine-tune the position of the surgical instrument 116 during the operation, the control motherboard 111 can send instructions to the corresponding motors again to execute the necessary rotation actions and reposition the surgical instrument 116.

[0059] The control motherboard 111 communicates with each motor via electrical connection, sending commands according to preset programs or real-time operational needs. When the position of the robotic arm 114 needs to be adjusted, the control motherboard 111 sends an electrical signal to the corresponding motor. Upon receiving the signal, the motor starts and executes the predetermined rotational movement. The rotation angle and speed of each motor are precisely controlled by the control motherboard 111, ensuring that the robotic arm 114 can accurately move to the designated position according to the surgical plan. In addition, the control motherboard 111 continuously monitors the working status of each motor to ensure that the movement of the robotic arm 114 is smooth and meets the surgical requirements.

[0060] Please refer to Figure 2 and Figure 6 As shown, preferably, the head frame 113 is designed to include a first adjusting member 1131, a second adjusting member 1132, and a third adjusting member 1133. These adjusting members allow the head frame 113 to be adjusted in three mutually perpendicular directions to ensure that the patient's head can be precisely fixed and adapted to different surgical needs. Specifically, the first adjusting member 1131 is mounted on the outermost segment 1211 of the telescopic arm along a first direction, which can be horizontal, allowing the head frame 113 to make slight left and right movements. The second adjusting member 1132 is mounted on the first adjusting member 1131 along a second direction, which is perpendicular to the first direction, for example, a vertical direction, so that the head frame 113 can be adjusted in the vertical dimension. The third adjustment member 1133 is installed on the second adjustment member 1132 along a third direction, which is perpendicular to both the first and second directions, typically the front-back direction, so that the head frame 113 can move in the depth dimension. Understandably, in actual operation, medical personnel can send instructions to each motor through the control motherboard 111 to precisely adjust the position of the head frame 113. The control motherboard 111 sends electrical signals to each motor according to a preset program or real-time needs, driving the corresponding adjustment member to move. For example, in the surgical preparation stage, the medical personnel first activate the relevant buttons on the control panel to move the first adjustment member 1131 to the predetermined position along the first direction; then, the second adjustment member 1132 and the third adjustment member 1133 are adjusted in sequence until the head frame 113 is completely in line with the position and angle required for the surgery; after positioning is completed, the control motherboard 111 locks all adjustment members to ensure that the head frame 113 remains stable throughout the entire surgical procedure.

[0061] If a minor adjustment to the patient's head position is required, medical personnel can issue commands again through the control panel. The mainboard 111 receives these commands and coordinates the actions of each motor to readjust the position of the head frame 113. This process ensures that the head frame 113 can be flexibly adjusted according to the specific requirements of the surgery and can be quickly fixed when needed to support the precise operation of the surgical instruments 116.

[0062] like Figure 6As shown, preferably, the first adjusting member 1131 and the second adjusting member 1132 form a first included angle 113a, the second adjusting member 1132 and the third adjusting member 1133 form a second included angle 113b, and the third adjusting member 1133 and the fourth adjusting member 1134 form a third included angle 113c; the angles of the first included angle 113a, the second included angle 113b, and the third included angle 113c are within the range of 0° to 15°; specifically, the angle range of all these included angles is limited to between 0° and 15°, ensuring fine and precise position adjustment capability; it can be understood that... To achieve this multi-angle adjustment function, the bottom end of the first adjusting member 1131 is mounted on the segment 1211 via a hinge structure. The hinge between the first adjusting member 1131 and the second adjusting member 1132 is provided with a gear and a knob. By rotating the knob, the size of the first included angle 113a can be precisely controlled. Similarly, the third adjusting member 1133 is mounted on the second adjusting member 1132 via a similar hinge and is used to adjust the second included angle 113b. The fourth adjusting member 1134 is also mounted on the third adjusting member 1133 using the same principle and is used to adjust the third included angle 113c.

[0063] Preferably, the first adjusting member 1131 is provided with a connecting interface 1131a, and the segment 1211 is provided with a limiting slot 1211a. The first adjusting member 1131 is fixed to the limiting slot 1211a through the connecting interface 1131a, thereby detachably and fixedly connected to the segment 1211. Optionally, in this embodiment, a fixing screw is provided. The fixing screw passes through the connecting interface 1131a and the limiting slot 1211a in sequence, thereby installing the first adjusting member 1131 on the outermost segment 1211. When it is necessary to remove the first adjusting member 1131 from the segment, the fixing screw is removed from the connecting interface 1131a and the limiting slot 1211a by using a screwdriver, thereby realizing the detachable connection between the connecting interface 1131a and the limiting slot 1211a.

[0064] Please refer to Figure 5-6 As shown, preferably, the outer casing 115 has an opening 115a opposite to the moving direction of the electric push rod 1112, and a closing cover 1153 is provided at the opening 115a. The closing cover 1153 is pivotally connected to the outer casing 115 and can open or close the opening 115a by pivoting. It can be understood that the purpose of providing the opening 115a is to allow the electric push rod 1112 to extend or retract outward through the opening 115a, and the closing cover 1153 can open or close the opening 115a to close the electric push rod 1112 inside the outer casing 115.

[0065] In summary, this utility model provides a surgical robot that integrates a telescopic mechanism and a robotic arm onto the main body through an integrated design, reducing the space occupied during surgery. The control board can control the movement of the telescopic mechanism and the robotic arm, thereby improving the coordination between the headstock mounted on the telescopic mechanism and the surgical instruments mounted on the robotic arm. By controlling the telescopic mechanism to an appropriate length via the control board, the headstock can be moved to the correct position for precise clamping of the patient's head. Furthermore, by controlling the robotic arm to a designated position via the control board, the surgical instruments can accurately reach the area to be operated on, ensuring the successful completion of the surgery.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A surgical robot, characterized in that, include: The main body includes the control motherboard; A telescopic mechanism is installed on the main body and electrically connected to the control motherboard; A headrest, installed at the end of the telescopic mechanism, is used to fix the human head. A robotic arm is mounted on the main body and electrically connected to the control motherboard. The robotic arm and the telescopic mechanism are respectively mounted on different surfaces of the main body. The robotic arm is used to load surgical instruments.

2. The surgical robot according to claim 1, characterized in that: The telescopic mechanism includes a multi-stage telescopic arm and an electric push rod; The multi-stage telescopic arm includes at least two nested segments; The electric actuator is connected to at least one of the segments and is electrically connected to the control mainboard.

3. The surgical robot according to claim 2, characterized in that: The main body includes a housing, and the housing is provided with a switch that is electrically connected to the control motherboard; The switching device includes a first switch and a second switch. The first switch is used to control the extension and retraction of the electric push rod, and the second switch is used to control the electric push rod to close.

4. The surgical robot according to claim 2, characterized in that: The telescopic mechanism also includes a locking element, which is fixed to one of the segments and detachably fixed to the adjacent segments.

5. The surgical robot according to claim 2, characterized in that: One end of the electric push rod is mounted on the main body, and the other end passes through at least one segment and is fixedly connected to the segment.

6. The surgical robot according to claim 1, characterized in that: The robotic arm includes a base, a first rotating arm, a second rotating arm, a third rotating arm, and a fourth rotating arm. The base is mounted on the main body, and the surgical instruments are connected to the end of the fourth rotating arm. A first motor is provided between the first rotating arm and the base to drive the first rotating arm to rotate relative to the base; a second motor is provided between the second rotating arm and the first rotating arm to drive the second rotating arm to rotate relative to the first rotating arm; a third motor is provided between the third rotating arm and the second rotating arm to drive the third rotating arm to rotate relative to the second rotating arm; and a fourth motor is provided between the fourth rotating arm and the third rotating arm to drive the fourth rotating arm to rotate relative to the third rotating arm.

7. The surgical robot according to claim 2, characterized in that: The headframe includes a first adjusting member, a second adjusting member, a third adjusting member, and a fourth adjusting member; The first adjusting member is installed on the segment along a first direction, the second adjusting member is installed on the second adjusting member along a second direction, the third adjusting member is installed on the second adjusting member along a second direction, and the fourth adjusting member is installed on the third adjusting member along a third direction; The first direction is perpendicular to the second direction, and the third direction is perpendicular to both the first and second directions.

8. The surgical robot according to claim 7, characterized in that: The first adjusting member and the second adjusting member form a first angle, the second adjusting member and the third adjusting member form a second angle, and the third adjusting member and the fourth adjusting member form a third angle; The angles of the first included angle, the second included angle, and the third included angle are in the range of 0 to 15°.

9. The surgical robot according to claim 7, characterized in that: The first adjusting member is provided with a connection interface, and the segment is provided with a limiting slot. The first adjusting member is fixed to the limiting slot through the connection interface, thereby being detachably and fixedly connected to the segment.

10. The surgical robot according to claim 3, characterized in that: The housing has an opening opposite to the direction of movement of the electric push rod, and the opening is provided with a sealing cover. The sealing cover is pivotally connected to the housing and can be opened or closed by pivoting.

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