A surgeon console and surgical robotic system

Abstract

The utility model discloses a doctor control platform relates to medical instrument technical field, including bearing bottom board and footboard bottom board, be provided with brake switch mechanism, first brake mechanism, second brake mechanism, synchronous reel, first directional wheel, second directional wheel on the bearing bottom board, the connection of brake switch mechanism and synchronous reel, synchronous reel is connected with first brake mechanism and second brake mechanism respectively, the footboard bottom board is hinged with bearing bottom board, and the output of synchronous reel is connected with footboard bottom board, the doctor control platform of the utility model sets up brake switch mechanism on bearing bottom board, and links two brake mechanisms and footboard bottom board through synchronous reel, can pass through control brake switch mechanism to link control two directional wheel brake and put down footboard bottom board, and the operation is convenient, guarantees the effect of brake simultaneously, makes surgical robot system can guarantee the flexibility of doctor control platform also can guarantee the stability in the operation process.

Description

[0001] Related applications

[0002] This application claims priority to Chinese Patent Application No. CN202510706328.3, filed on May 29, 2025, entitled "Doctor's Control Panel and Surgical Robot System", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This utility model relates to the field of medical device technology, and in particular to a doctor's control panel and surgical robot system. Background Technology

[0004] In surgical robot systems, doctors control the robot and end effector through a console to perform surgical procedures. To ensure flexibility, existing doctor consoles are usually mobile. While mobile consoles offer relatively high freedom of movement, they may wobble. Consoles with brakes on the wheels require manual release and locking before and after each movement. This is especially cumbersome for consoles with brakes on multiple wheels, where each brake needs to be operated sequentially for each manual release and locking. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a doctor's control panel and surgical robot system. The doctor's control panel features a brake switch mechanism on its support base plate. By linking two brake mechanisms and a foot pedal base plate with a synchronous drum, the brake switch mechanism can be controlled to brake the two directional wheels and lower the foot pedal base plate. This design ensures convenient operation while maintaining effective braking. Consequently, the surgical robot system guarantees both the flexibility of the doctor's control panel and the stability during surgery.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] On the one hand, this utility model provides a doctor's control panel, including a support base plate and a foot pedal base plate;

[0008] The supporting base plate is provided with a brake switch mechanism, a first brake mechanism, a second brake mechanism, a synchronous drum, a first directional wheel, and a second directional wheel. The brake switch mechanism is connected to the input end of the synchronous drum, and the output end of the synchronous drum is connected to the first brake mechanism and the second brake mechanism respectively. The first brake mechanism is the brake mechanism for the first directional wheel, and the second brake mechanism is the brake mechanism for the second directional wheel.

[0009] The foot pedal base plate is hinged to the supporting base plate, and a lifting mechanism is provided between the supporting base plate and the foot pedal base plate. The lifting mechanism is used to drive the foot pedal base plate to rotate around the supporting base plate to achieve lifting. The output end of the synchronous drum is connected to the lifting mechanism.

[0010] In this invention, the first and second directional wheels on the support base plate can move freely in the released state. Simultaneously, the foot pedal base plate is lifted from the ground by a synchronous drum-driven lifting mechanism. At this time, the operating table can move freely. When fixation is required, the doctor can step on the brake switch mechanism. The brake switch mechanism drives the synchronous drum to rotate. The rotation of the synchronous drum simultaneously drives the first and second brake mechanisms to brake the first and second directional wheels respectively. At the same time, the rotation of the synchronous drum drives the lifting mechanism to operate, and the foot pedal base plate then rotates around the support base plate, causing the foot pedal base plate to fall to the ground. At this time, the doctor can step on the foot pedal base plate and then operate the surgical robot to perform surgical operations on the robot operating system on the doctor's control panel. At this time, the first and second directional wheels are braked, and the mobility of the support base plate is maximally restricted.

[0011] In a further technical solution, the brake switch mechanism includes a brake pedal and a brake cam. The brake cam is rotatably connected to the supporting base plate. One end of the brake cam is located below the brake pedal, and the other end of the brake cam is connected to the synchronous drum.

[0012] When the brake pedal is activated, it drives the brake cam to rotate around the supporting base plate, which in turn drives the synchronous drum to rotate, resulting in a stable transmission structure.

[0013] In a further technical solution, the brake switch mechanism also includes a self-locking rocker arm and a self-locking limiting component. One end of the self-locking rocker arm is connected to the brake pedal, and the other end of the self-locking rocker arm passes through the supporting base plate and is rotatably provided with a self-locking wheel. The self-locking limiting component is located below the supporting base plate and cooperates with the self-locking wheel.

[0014] A first spring is provided between the brake pedal and the supporting base plate.

[0015] By setting a self-locking lever and a self-locking limit component, when the automatic pedal is pressed, the self-locking limit component limits the self-locking wheel, so that the brake pedal remains in a low position and cannot be reset, thus ensuring braking stability and eliminating the need to keep the brake pedal pressed at all times.

[0016] In a further technical solution, the self-locking limiting component is provided with a movement groove for the movement of the self-locking wheel. The movement groove is an annular groove and includes a portion of an outward inclined ramp and a portion of an inward inclined ramp in the direction of movement of the brake pedal. The outward inclined ramp and the inward inclined ramp meet at the highest point of the movement groove, and the lowest point of the movement groove includes an upward groove that meets the outward inclined ramp and the inward inclined ramp.

[0017] By setting a movement groove, when the brake pedal is moved, the self-locking wheel moves in the movement groove via the self-locking lever. When the brake pedal is depressed, the self-locking wheel moves along the outward-sloping ramp in the movement groove until it reaches the groove at the lowest point of the movement groove. At this point, the brake pedal is released, and the self-locking wheel moves upward under the action of the first spring and locks itself in the groove, thus achieving self-locking. When release is needed, the brake pedal is depressed again, and the self-locking wheel continues to move along the movement groove, entering the inward-sloping ramp. The self-locking wheel returns to its initial position through the inward-sloping ramp, at which point the brake pedal resets, completing the brake release.

[0018] The structural design of the motion groove ensures the direction and position of the self-locking wheel's movement, guaranteeing the self-locking effect and simplifying operation.

[0019] In a further technical solution, the brake switch mechanism further includes a first brake line, a second brake line, and a third brake line. The first brake line is connected between the brake cam and the synchronous drum, the second brake line is connected between the synchronous drum and the first brake mechanism, and the third brake line is connected between the synchronous drum and the second brake mechanism.

[0020] Power is transmitted between the various parts via brake cables, resulting in a simple, stable, and lightweight transmission structure.

[0021] In a further technical solution, the first braking mechanism includes a wedge block, a brake lever, and a pressing assembly. The wedge block is connected to a synchronous drum, and the surface of the wedge block includes an inclined surface. One end of the brake lever passes through the wedge block, the supporting base plate, and is opposite to the first directional wheel. A brake pad is provided at one end of the brake lever facing the first directional wheel. The other end of the brake lever extends above the inclined surface of the wedge block and is rotatably provided with a brake roller. The pressing assembly contacts the brake roller and applies downward pressure to the brake roller.

[0022] By setting up a wedge block, a brake lever, and a pressing assembly, the wedge block, when driven by the synchronous drum, can drive the brake roller to move on the inclined surface of the wedge block. The pressing assembly applies downward pressure to the brake lever through the brake roller to achieve braking, resulting in stable braking and simple release.

[0023] In a further technical solution, the pressing assembly includes a spring rod, which is rotatably connected to the bearing base plate. One end of the spring rod contacts the upper surface of the brake roller, and a second spring is provided between the other end of the spring rod and the bearing base plate.

[0024] The second spring provides preload to the spring rod, ensuring that the pressing assembly can continuously apply pressure to the brake roller.

[0025] In a further technical solution, the lifting mechanism includes a first slider and a second slider. The first slider and the second slider are respectively connected to a synchronous drum through a first linkage line and a second linkage line. The bottom of the bearing base plate is respectively provided with a first slide rail and a second slide rail. The first slider and the second slider are respectively slidably connected to the first slide rail and the second slide rail.

[0026] The first slider and the second slider are respectively provided with a first roller and a second roller, and the foot plate is respectively provided with a first waist-shaped hole and a second waist-shaped hole, and the first roller and the second roller are respectively located in the first waist-shaped hole and the second waist-shaped hole.

[0027] The synchronous drum drives the first and second sliders to move along the first and second slide rails, and carries the first and second rollers. Through the first and second oblong holes, the foot pedal base plate rotates around the supporting base plate, realizing the raising and lowering of the foot pedal base plate. The drive structure is simple and the control is stable.

[0028] In a further technical solution, both the first linkage line and the second linkage line are connected to the first slider and the second slider respectively after the steering wheel changes direction.

[0029] By changing the direction of the wiring, it can be arranged in a neater manner, which facilitates the overall layout of the structure.

[0030] A surgical robot system includes a doctor's console as described in any of the above-described technical solutions.

[0031] The doctor's control panel of this utility model has a brake switch mechanism set on the support base plate. By linking two brake mechanisms and the foot pedal base plate through a synchronous drum, the brake switch mechanism can be controlled to brake the two directional wheels and lower the foot pedal base plate. The operation is convenient and the braking effect is guaranteed. This allows the surgical robot system to ensure both the flexibility of the doctor's control panel and the stability during the operation.

[0032] The beneficial effects are:

[0033] 1. The doctor's control panel of this utility model has a brake switch mechanism set on the support base plate. By linking two brake mechanisms and the foot pedal base plate through a synchronous drum, the brake switch mechanism can be controlled to control the brakes of the two directional wheels and lower the foot pedal base plate. The operation is convenient and the braking effect is guaranteed. This allows the surgical robot system to ensure both the flexibility of the doctor's control panel and the stability during the operation.

[0034] 2. When the brake pedal is activated, it drives the brake cam to rotate around the supporting base plate, and at the same time, it drives the synchronous drum to rotate, making the transmission structure stable.

[0035] 3. By setting a self-locking lever and a self-locking limit component, when the automatic pedal is pressed, the self-locking limit component limits the self-locking wheel, so that the brake pedal remains in a low position and cannot be reset, thus ensuring the stability of braking and eliminating the need to keep the brake pedal pressed at all times.

[0036] 4. The structural design of the motion groove ensures the direction and position of the self-locking wheel's movement, guaranteeing the self-locking effect and simplifying operation.

[0037] 5. Power transmission between parts is achieved through brake cables, resulting in a simple, stable, and lightweight transmission structure.

[0038] 6. By setting up a wedge block, a brake lever, and a pressing assembly, the wedge block, when driven by the synchronous drum, can drive the brake roller to move on the inclined surface of the wedge block. The pressing assembly applies downward pressure to the brake lever through the brake roller to achieve braking, resulting in stable braking and simple release.

[0039] 7. The second spring provides preload to the spring rod, ensuring that the pressing assembly can continuously apply pressure to the brake roller.

[0040] 8. The synchronous drum drives the first and second sliders to move along the first and second slide rails, and carries the first and second rollers. Through the first and second oblong holes, the foot pedal base plate rotates around the supporting base plate, realizing the raising and lowering of the foot pedal base plate. The drive structure is simple and the control is stable.

[0041] 9. By changing the direction of the wiring, it can be arranged in a neater manner, which facilitates the overall layout of the structure. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of the doctor's control panel according to an embodiment of the present invention;

[0043] Figure 2 This is a structural schematic diagram of the supporting base plate and foot pedal base plate of the doctor's control panel according to one of the embodiments of this utility model.

[0044] Figure 3This is a structural schematic diagram of the supporting base plate and foot pedal base plate of the doctor's control panel according to another perspective of this utility model embodiment;

[0045] Figure 4 This is a schematic diagram of the braking switch mechanism of the doctor's control panel according to an embodiment of the present invention. Figure 1 ;

[0046] Figure 5 This is a schematic diagram of the braking switch mechanism of the doctor's control panel according to an embodiment of the present invention. Figure 2 ;

[0047] Figure 6 This is a partial structural schematic diagram of the self-locking limiting component of the doctor's control panel according to an embodiment of the present utility model;

[0048] Figure 7 This is a schematic diagram of the transmission structure of the synchronous drum of the doctor's control panel according to an embodiment of the present invention;

[0049] Figure 8 yes Figure 7 A magnified schematic diagram of the partial structure at point A in the middle;

[0050] Figure 9 This is a schematic diagram of the linkage lifting structure of the footrest base of the doctor's control panel according to an embodiment of the present invention. Figure 1 ;

[0051] Figure 10 This is a schematic diagram of the linkage lifting structure of the footrest base of the doctor's control panel according to an embodiment of the present invention. Figure 2 ;

[0052] Figure 11 This is a schematic diagram of the transmission structure of the synchronous drum connecting the various lines of the doctor's control panel according to an embodiment of this utility model.

[0053] 1. Support base plate; 11. First slide rail; 12. Second slide rail; 2. Foot pedal base plate; 21. First oblong hole; 22. Second oblong hole; 3. Brake switch mechanism; 31. Brake pedal; 32. Brake cam; 33. Fixed seat; 34. First brake cable; 35. First steering wheel; 36. Second steering wheel; 37. First spring; 38. Self-locking rocker arm; 39. Self-locking wheel; 310. Self-locking limit plate; 311. Movement groove; 312. Groove; 313. Third steering wheel; 4. First braking mechanism; 41. Wedge block; 42. Brake roller; 43. Brake pressure... 44. Brake pad; 45. Spring pressure rod; 46. Pressure rod seat; 47. Pressure rod pivot; 48. Second spring; 5. Second braking mechanism; 6. Synchronous drum; 61. Second brake line; 62. Third brake line; 63. First linkage line; 64. Second linkage line; 65. Fifth steering wheel; 66. Sixth steering wheel; 67. First slider; 68. First roller; 69. Seventh steering wheel; 610. Eighth steering wheel; 611. Second slider; 612. Second roller; 7. First directional wheel; 8. Second directional wheel; 9. First omnidirectional wheel; 10. Second omnidirectional wheel. Detailed Implementation

[0054] The present invention will be further described below with reference to the accompanying drawings:

[0055] Example:

[0056] like Figure 1 As shown, a doctor's control panel includes a support base plate 1 and a footrest base plate 2; Figure 2 and Figure 3 As shown, the supporting base plate 1 is provided with a brake switch mechanism 3, a first brake mechanism 4, a second brake mechanism 5, a synchronous drum 6, a first directional wheel 7, and a second directional wheel 8. The brake switch mechanism 3 is connected to the input end of the synchronous drum 6, and the output end of the synchronous drum 6 is connected to the first brake mechanism 4 and the second brake mechanism 5 respectively. The first brake mechanism 4 is the brake mechanism for the first directional wheel 7, and the second brake mechanism 5 is the brake mechanism for the second directional wheel 8.

[0057] The foot pedal base plate 2 is hinged to the supporting base plate 1. A lifting mechanism is provided between the supporting base plate 1 and the foot pedal base plate 2. The lifting mechanism is used to drive the foot pedal base plate 2 to rotate around the supporting base plate 1 to achieve lifting. The output end of the synchronous drum 6 is connected to the lifting mechanism.

[0058] In this invention, the first directional wheel 7 and the second directional wheel 8 on the supporting base plate 1 can move freely in the released state. At the same time, the foot pedal 2 is lifted off the ground by the lifting mechanism driven by the synchronous drum 6. At this time, the operating table can move freely. When fixation is required, the doctor can step on the brake switch mechanism 3. The brake switch mechanism 3 drives the synchronous drum 6 to rotate. The rotation of the synchronous drum 6 simultaneously drives the first brake mechanism 4 and the second brake mechanism 5 to brake the first directional wheel 7 and the second directional wheel 8 respectively. At the same time, the rotation of the synchronous drum 6 drives the lifting mechanism to act, and the foot pedal 2 then rotates around the supporting base plate, causing the foot pedal 2 to fall to the ground. In this embodiment, the foot pedal 2 falls to the ground by its own weight. When it needs to be lifted off the ground, the lifting mechanism drives the foot pedal 2 to rise. At this time, the doctor can step on the foot pedal 2 and then operate the surgical robot to perform surgical operations on the robot operating system on the doctor's control panel. At this time, the first directional wheel 7 and the second directional wheel 8 are braked, so the mobility of the supporting base plate 1 is greatly restricted.

[0059] In this embodiment, a first universal wheel 9 and a second universal wheel 10 are also included. Together with the first directional wheel 7 and the second directional wheel 8, there are a total of four wheels under the support base plate 1 to ensure smooth movement. In addition to the two directional wheels, two universal wheels are added to make the movement more flexible.

[0060] In this embodiment, the supporting base plate 1 is U-shaped and surrounds the foot pedal base plate 2, making the structure more compact and increasing the area of ​​the foot pedal base plate 2. More foot switches can be installed on the foot pedal base plate 2 for surgical control.

[0061] In another embodiment, such as Figure 4 and Figure 5 As shown, the brake switch mechanism 3 includes a brake pedal 31 and a brake cam 32. The brake cam 32 is rotatably connected to the support base plate 1. The middle part of the brake cam 32 is located below the brake pedal 31, and the other end of the brake cam 32 is connected to the synchronous drum 6.

[0062] Specifically, a fixed seat 33 is fixedly installed on the supporting base plate 1. The fixed seat 33 has a hole. The middle part of the brake cam 32 is located at the hole and can rotate around the fixed seat 33 by inserting a pin.

[0063] When the brake pedal 31 is activated, it drives the brake cam 32 to rotate around the supporting base plate 1. At the same time, the rotation drives the synchronous drum 6 to rotate, and the transmission structure is stable.

[0064] In another embodiment, such as Figure 4 and Figure 5As shown, the brake switch mechanism 3 also includes a self-locking rocker arm 38 and a self-locking limiting component. One end of the self-locking rocker arm 38 is connected to the brake pedal 31, and the other end of the self-locking rocker arm 38 passes through the bearing base plate 1 and is rotatably provided with a self-locking wheel 39. The self-locking limiting component is located below the bearing base plate 1 and cooperates with the self-locking wheel 39.

[0065] A first spring 37 is provided between the brake pedal 31 and the supporting base plate 1.

[0066] When braking, the brake pedal 31 is pressed, which drives the self-locking lever 38 to drive the self-locking wheel 39 downward. When the self-locking wheel 39 reaches its lowest position, the self-locking limit assembly limits the self-locking wheel 39, preventing it from returning. At this time, the brake pedal 31 remains in the low position, and the brake pedal 31 keeps the drive of the first braking mechanism 4 and the second braking mechanism 5 effective. Thus, the first braking mechanism 4 and the second braking mechanism 5 always brake the first directional wheel 7 and the second directional wheel 8.

[0067] In this embodiment, the release design of the self-locking limiting component is to press the brake pedal 31 again. Then, the self-locking limiting component makes limiting contact with the self-locking wheel 39. Under the reset action of the first spring 37, the brake pedal 31 resets and moves upward, driving the self-locking rocker arm 38 and the self-locking wheel 39 to reset upward. At the same time as the brake pedal 31 resets, the first braking mechanism 4 and the second braking mechanism 5 are also reset, that is, the first braking mechanism 4 and the second braking mechanism 5 release the brake on the first directional wheel 7 and the second directional wheel 8.

[0068] By setting a self-locking lever 38 and a self-locking limit component, when the automatic pedal is pressed, the self-locking limit component limits the self-locking wheel 39, so that the brake pedal 31 remains in a low position and cannot be reset, thus ensuring the stability of braking and eliminating the need to keep the brake pedal 31 pressed at all times.

[0069] In another embodiment, such as Figure 6 As shown, the self-locking limiting assembly has a movement groove 311 for the movement of the self-locking wheel 39. The movement groove 311 is an annular groove. The movement groove 311 includes a portion of an outward inclined ramp and a portion of an inward inclined ramp in the direction of movement of the brake pedal 31. The outward inclined ramp and the inward inclined ramp meet at the highest point of the movement groove 311. The lowest point of the movement groove 311 includes an upward groove 312, which meets the outward inclined ramp and the inward inclined ramp.

[0070] In this embodiment, the self-locking limiting component specifically includes a self-locking limiting plate 310, which is vertically arranged and fixedly connected to the lower surface of the bearing base plate 1, and the motion groove 311 is formed on the self-locking limiting plate 310.

[0071] In this embodiment, one end of the self-locking lever 38 is rotatably connected to the brake pedal 31 to enable the self-locking lever 38 to swing with the horizontal displacement of the self-locking wheel 39.

[0072] By setting the motion groove 311, when the brake pedal 31 moves, the self-locking wheel 39 moves in the motion groove 311 via the self-locking lever 38. When the brake pedal 31 is depressed, the self-locking wheel 39 moves along the outward slope in the motion groove 311 until it reaches the groove 312 at the lowest point of the motion groove 311. At this time, the brake pedal 31 is released, and the self-locking wheel 39 moves upward under the action of the first spring 37 and locks itself in the groove 312, thus achieving self-locking. When release is needed, the brake pedal 31 is depressed again, and the self-locking wheel 39 continues to move along the motion groove 311 and enters the inward slope. The self-locking wheel 39 returns to its initial position through the inward slope, and the brake pedal 31 is reset, completing the brake release.

[0073] The structural design of the motion groove 311 ensures the direction and position of the movement of the self-locking wheel 39, guaranteeing the self-locking effect and making operation simple.

[0074] In another embodiment, such as Figure 4 , Figure 7 and Figure 11 As shown, the brake switch mechanism 3 also includes a first brake line 34, a second brake line 61 and a third brake line 62. The first brake line 34 is connected between the brake cam 32 and the synchronous drum 6, the second brake line 61 is connected between the synchronous drum 6 and the first brake mechanism 4, and the third brake line 62 is connected between the synchronous drum 6 and the second brake mechanism 5.

[0075] Power is transmitted between the various parts via brake cables, resulting in a simple, stable, and lightweight transmission structure.

[0076] In this embodiment, since the parts are not suitable for direct straight connection, the direction of the brake line is changed by setting a steering wheel to realize the arrangement of the brake line.

[0077] In this embodiment, the first brake line 34 passes sequentially around the first steering wheel 35, the second steering wheel 36, and the third steering wheel 313 and connects to the synchronous drum 6, performing three changes of direction.

[0078] from Figure 11 As can be seen, in this embodiment, the first braking mechanism 4 and the second braking mechanism 5 are arranged on both radial sides of the synchronous drum 6, so there is no need to set a steering wheel to steer the braking line.

[0079] In another embodiment, such as Figure 8As shown, the first braking mechanism 4 includes a wedge block 41, a brake lever 43, and a pressing assembly. The wedge block 41 is connected to the synchronous drum 6 via a second brake line 61. The surface of the wedge block 41 includes an inclined surface. One end of the brake lever 43 passes through the wedge block 41, the bearing base plate 1, and is opposite to the first directional wheel 7. A brake pad 44 is provided at one end of the brake lever 43 facing the first directional wheel 7. The other end of the brake lever 43 extends above the inclined surface of the wedge block 41 and is rotatably provided with a brake roller 42. The pressing assembly contacts the brake roller 42 and applies downward pressure to the brake roller 42.

[0080] In this embodiment, a guide structure is also provided between the wedge block 41 and the supporting base plate 1 to guide the movement of the wedge block 41 and ensure that the movement direction of the wedge block 41 is accurate.

[0081] By setting up a wedge block 41, a brake lever 43, and a pressing assembly, the wedge block 41 can drive the brake roller 42 to move on the inclined surface of the wedge block 41 when it is driven by the synchronous drum 6. The pressing assembly applies downward pressure to the brake lever 43 through the brake roller 42 to achieve braking, which is stable and easy to release.

[0082] In another embodiment, such as Figure 8 As shown, the pressing assembly includes a spring rod 45, which is rotatably connected to the bearing base plate 1. One end of the spring rod 45 contacts the upper surface of the brake roller 42, and a second spring 48 is provided between the other end of the spring rod 45 and the bearing base plate 1.

[0083] Specifically, a pressure rod seat 46 is fixedly provided on the bearing base plate 1. The pressure rod seat 46 is provided with a hole. A part of the spring pressure rod 45 is located in the pressure rod seat 46. By inserting the pressure rod shaft 47 into the hole, the spring pressure rod 45 can rotate around the pin.

[0084] The second spring 48 provides preload to the spring rod 45, ensuring that the pressing assembly can continuously apply pressure to the brake roller 42.

[0085] The braking and release process is explained in detail below: The second brake line 61 is in a pre-wound state on the synchronous drum 6. That is, when the synchronous drum 6 is driven to rotate by the brake cam 32, the second brake line 61 is loosened. When the synchronous drum 6 returns to its original position, the second brake line 61 is tightened and wound around the synchronous drum 6. When the brake pedal 31 is pressed, the brake cam 32 drives the synchronous drum 6 to rotate, the second brake line 61 is loosened, and the spring pressure rod 45 is pushed by the second spring 48, forcing the brake roller 42 to move downward. At this time, the wedge block 41 moves away from the second brake line 61, and when the brake roller 42 moves downward until the brake pad 44 of the brake pressure rod 43 contacts the first directional wheel 7, the first directional wheel 7 is braked. When the brake pedal 31 is pressed again, the brake pedal 31 resets, the synchronous drum 6 resets, the second brake line 61 is tightened, causing the wedge block 41 to move in the direction of the second brake line 61. The wedge block 41 lifts the brake roller 42, causing the brake pad 44 of the brake lever 43 to separate from the first directional wheel 7. At this time, the brake on the first directional wheel 7 is released.

[0086] In this embodiment, the structure and principle of the second braking mechanism 5 are the same as those of the first braking mechanism 4.

[0087] In another embodiment, such as Figure 7 , Figure 9 , Figure 10 and Figure 11 As shown, the lifting mechanism includes a first slider 67 and a second slider 611, which are connected to a synchronous drum via a first linkage line 63 and a second linkage line 64, respectively. A first slide rail 11 and a second slide rail 12 are respectively provided on the bottom of the supporting base plate 1, and the first slider 67 and the second slider 611 are slidably connected to the first slide rail 11 and the second slide rail 12, respectively.

[0088] The first slider 67 and the second slider 611 are respectively provided with a first roller 68 and a second roller 612. The foot plate 2 is respectively provided with a first waist-shaped hole 21 and a second waist-shaped hole 22. The first roller 68 and the second roller 612 are respectively located in the first waist-shaped hole 21 and the second waist-shaped hole 22.

[0089] The first oblong hole 21 and the second oblong hole 22 are both inclined relative to the horizontal direction of the foot pedal plate 2.

[0090] In this embodiment, the first linkage line 63 passes through the fourth steering wheel, the fifth steering wheel 65, and the sixth steering wheel 66 in sequence before changing direction and connecting to the first slider 67. The second linkage line 64 passes through the seventh steering wheel 69 and the eighth steering wheel 610 in sequence before changing direction and connecting to the second slider 611.

[0091] The synchronous drum 6 drives the first slider 67 and the second slider 611 to move along the first slide rail 11 and the second slide rail 12, and drives the first roller 68 and the second roller 612 to rotate the foot pedal 2 around the supporting base plate 1 through the first waist-shaped hole 21 and the second waist-shaped hole 22, so as to realize the raising and lowering of the foot pedal 2. The drive structure is simple and the control is stable.

[0092] In this embodiment, the first linkage wire 63 and the second linkage wire 64 are pre-wound on the synchronous drum 6. That is, when the brake pedal 31 is pressed, the synchronous drum 6 moves, and the first linkage wire 63 and the second linkage wire 64 are unwound. When the first linkage wire 63 and the second linkage wire 64 are unwound, the foot pedal 2, due to its own weight, applies pressure to the first roller 68 and the second roller 612 through the first oblong hole 21 and the second oblong hole 22, causing the first roller 68 and the second roller 612 to move, which in turn drives the first slider 67 and the second slider 611 to move. When the brake pedal 31 is reset and the synchronous drum 6 is reset, the first linkage wire 63 and the second linkage wire 64 are pre-wound on the synchronous drum 6. The first linkage line 63 and the second linkage line 64 are pulled and wound tightly on the synchronous drum 6. The first linkage line 63 and the second linkage line 64 pull the first slider 67 and the second slider 611 to move along the first slide rail 11 and the second slide rail 12, so that the first roller 68 and the second roller 612 move in the first waist-shaped hole 21 and the second waist-shaped hole 22 respectively. Because the first waist-shaped hole 21 and the second waist-shaped hole 22 are inclined on the foot pedal base plate 2, the movement of the first roller 68 and the second roller 612 in the first waist-shaped hole 21 and the second waist-shaped hole 22 can drive the foot pedal base plate 2 to rotate around the supporting base plate 1 and thus lift it off the ground.

[0093] In another embodiment, a surgical robot system includes a doctor's console as described in any of the above embodiments.

[0094] The doctor's control panel of this utility model has a brake switch mechanism 3 set on the supporting base plate 1, and two brake mechanisms and foot pedal base plate 2 are linked by the synchronous drum 6. By controlling the brake switch mechanism 3, the two directional wheels can be braked and the foot pedal base plate 2 can be lowered. The operation is convenient and the braking effect is guaranteed. This allows the surgical robot system to ensure both the flexibility of the doctor's control panel and the stability during the operation.

[0095] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A doctor's control panel, characterized in that, Including the load-bearing base plate and the footrest base plate; The supporting base plate is provided with a brake switch mechanism, a first brake mechanism, a second brake mechanism, a synchronous drum, a first directional wheel, and a second directional wheel. The brake switch mechanism is connected to the input end of the synchronous drum, and the output end of the synchronous drum is connected to the first brake mechanism and the second brake mechanism respectively. The first brake mechanism is the brake mechanism for the first directional wheel, and the second brake mechanism is the brake mechanism for the second directional wheel. The foot pedal base plate is hinged to the supporting base plate, and a lifting mechanism is provided between the supporting base plate and the foot pedal base plate. The lifting mechanism is used to drive the foot pedal base plate to rotate around the supporting base plate to achieve lifting. The output end of the synchronous drum is connected to the lifting mechanism.

2. The doctor's control panel according to claim 1, characterized in that, The brake switch mechanism includes a brake pedal and a brake cam. The brake cam is rotatably connected to the support base plate. One end of the brake cam is located below the brake pedal, and the other end of the brake cam is connected to the synchronous drum.

3. The doctor's control panel according to claim 2, characterized in that, The brake switch mechanism also includes a self-locking rocker arm and a self-locking limiting component. One end of the self-locking rocker arm is connected to the brake pedal, and the other end of the self-locking rocker arm passes through the bearing base plate and is rotatably provided with a self-locking wheel. The self-locking limiting component is located below the bearing base plate and cooperates with the self-locking wheel. A first spring is provided between the brake pedal and the supporting base plate.

4. The doctor's control panel according to claim 3, characterized in that, The self-locking limiting component has a movement groove for the self-locking wheel to move. The movement groove is an annular groove. The movement groove includes a portion of an outward inclined ramp and a portion of an inward inclined ramp in the direction of movement of the brake pedal. The outward inclined ramp and the inward inclined ramp meet at the highest point of the movement groove. The lowest point of the movement groove includes an upward groove that meets the outward inclined ramp and the inward inclined ramp.

5. The doctor's control panel according to claim 2, characterized in that, The brake switch mechanism further includes a first brake line, a second brake line, and a third brake line. The first brake line is connected between the brake cam and the synchronous drum, the second brake line is connected between the synchronous drum and the first brake mechanism, and the third brake line is connected between the synchronous drum and the second brake mechanism.

6. The doctor's control panel according to claim 1 or 5, characterized in that, The first braking mechanism includes a wedge block, a brake lever, and a pressing assembly. The wedge block is connected to a synchronous drum. The surface of the wedge block includes an inclined surface. One end of the brake lever passes through the wedge block and the supporting base plate, and is opposite to the first directional wheel. A brake pad is provided at the end of the brake lever facing the first directional wheel. The other end of the brake lever extends above the inclined surface of the wedge block and is rotatably provided with a brake roller. The pressing assembly contacts the brake roller and applies downward pressure to the brake roller.

7. The doctor's control panel according to claim 6, characterized in that, The pressing assembly includes a spring rod, which is rotatably connected to the supporting base plate. One end of the spring rod contacts the upper surface of the brake roller, and a second spring is provided between the other end of the spring rod and the supporting base plate.

8. The doctor's control panel according to claim 1, characterized in that, The lifting mechanism includes a first slider and a second slider. The first slider and the second slider are respectively connected to a synchronous drum through a first linkage line and a second linkage line. The bottom of the bearing base plate is respectively provided with a first slide rail and a second slide rail. The first slider and the second slider are slidably connected to the first slide rail and the second slide rail respectively. The first slider and the second slider are respectively provided with a first roller and a second roller, and the foot plate is respectively provided with a first waist-shaped hole and a second waist-shaped hole, and the first roller and the second roller are respectively located in the first waist-shaped hole and the second waist-shaped hole.

9. The doctor's control panel according to claim 8, characterized in that, The first and second linkage lines are both connected to the first and second sliders respectively after the steering wheel changes direction.

10. A surgical robot system, characterized in that, Including a doctor's control panel as described in any one of claims 1-9.

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