Power box output assembly, power box, slide table assembly, and surgical robot

Abstract

A power box output assembly, a power box, a slide table assembly, and a surgical robot. The power box assembly comprises transmission members (1), output members (2), and elastic members (3). Each transmission member (1) is connected to a corresponding motor shaft; each output member (2) is sleeved on the corresponding transmission member (1); each elastic member (3) is arranged between the corresponding transmission member (1) and the corresponding output member (2), one end of the elastic member (3) abuts against the corresponding transmission member (1), and the other end of the elastic member (3) abuts against the corresponding output member (2); each limiting fitting mechanism is provided between the corresponding transmission member (1) and the corresponding output member (2), and by means of surface-to-surface contact, the limiting fitting mechanism prevents the transmission member (1) from being separated from the output member (2) in the axial direction, and prevents the transmission member (1) and the output member (2) from rotating relative to each other in the circumferential direction.

Description

Power box output assembly, power box, slide assembly and surgical robot

[0001] This disclosure claims priority from application number 202311174679.1 filed with the China Patent Office on September 12, 2023; the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the technical field of medical devices, and in particular to a power box output assembly, a power box, a slide assembly, and a surgical robot. Background Art

[0003] Minimally invasive surgery, also known as endoscopic surgery, utilizes an endoscopic imaging system and a surgical robot to access the patient's body through natural orifices or small incisions. Currently, master-slave surgical robots are widely used in minimally invasive surgery. These robots consist of a master control arm and a slave manipulator arm. The master console receives the surgeon's operating signals, which are then processed by the control system and generated as control signals for the slave manipulator arm, which then performs the surgical operation.

[0004] Summary of the Invention

[0005] On the one hand, the present disclosure provides a power box output assembly, which includes a transmission member, an output member and an elastic member. The transmission member is detachably fixedly connected to the motor shaft of the motor, and the output member is sleeved on the transmission member; the elastic member is arranged between the transmission member and the output member, one end of the elastic member presses against the transmission member, and the other end of the elastic member presses against the output member to push the output member away from the transmission member; a limited position matching mechanism is provided between the transmission member and the output member to prevent the transmission member and the output member from separating axially, and to prevent the transmission member and the output member from rotating relative to each other in the circumferential direction.

[0006] On the other hand, the present disclosure provides a power box, which includes a motor, a housing, and the above-mentioned power box output assembly. Multiple motors are arranged in the housing, and the motor shaft of each motor is connected to a transmission member.

[0007] On the other hand, the present disclosure provides a slide assembly, which includes a slide and the above-mentioned power box; the power box is installed on the slide, and the slide is provided with a driving device for driving the power box to slide linearly on the slide.

[0008] On the other hand, the present disclosure provides a surgical robot, which includes a master control arm and a slave manipulator arm. The master control arm is signal-connected to the slave manipulator arm, and the end of the slave manipulator arm is the above-mentioned slide assembly; the power box is detachably connected to the instrument box to transmit the rotational motion force of different motors to the instrument box.

[0009] By referring to the detailed description of one or more embodiments below, those skilled in the art will be able to more fully understand the inventive content of the present disclosure and realize its additional beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic diagram of a power box;

[0011] FIG2 is a schematic diagram showing the structure at section A in FIG1 ;

[0012] Figure 3 is a schematic structural diagram of a transmission member;

[0013] FIG4 is a structural diagram showing the position of the mounting holes;

[0014] Figure 5 is a structural diagram showing the position of the motor shaft hole;

[0015] FIG6 is a schematic structural diagram of an output member;

[0016] FIG7 is a schematic structural diagram showing the position of the notch;

[0017] FIG8 is a structural diagram showing the position of the top plate;

[0018] FIG9 is an enlarged schematic diagram of area B in FIG8 ;

[0019] FIG10 is an enlarged schematic diagram of the E region in FIG2 ;

[0020] Figure 11 is a schematic diagram of the top plate;

[0021] Figure 12 is a schematic diagram of the support plate structure;

[0022] Figure 13 is a schematic diagram of the slide assembly structure.

[0023] In the figure: 1. Transmission member; 11. Main shaft; 111. Motor shaft hole; 112. Mounting hole; 12. First limiting ring; 121. Sliding groove; 122. Limiting groove; 13. Second limiting ring; 131. Threaded hole; 2. Output member; 21. Limiting protrusion; 22. Cover body; 23. Flange ring; 231. Positioning hole; 232. Notch; 3. Elastic member; 4. Support column; 5. Top plate; 51. Third limiting ring; 52. Second limiting hole; 6. Fixing protrusion; 61. First limiting hole; 7. Fixing bolt; 91. Housing; 92. Motor; 10. Power box; 20. Slide. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present disclosure will be described below with reference to the accompanying drawings in the embodiments of the present disclosure.

[0025] In some places in this specification, many specific technical details are described. However, it should be understood that the embodiments of the present disclosure can be implemented without these specific technical details. Such detailed descriptions should not be construed as limiting, and the scope of protection of the present disclosure is defined solely by the claims. In other places, well-known structures, circuits, and other details are not shown in detail to avoid misunderstanding the main points of the present disclosure.

[0026] In this specification, the accompanying drawings illustrate schematic diagrams of several embodiments of the present disclosure. However, the drawings are merely illustrative, and it should be understood that other embodiments or combinations may be utilized, and that mechanical structures, physical components, electrical components, and process steps may be varied without departing from the spirit and scope of the present disclosure.

[0027] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present disclosure. Spatially relative terms, such as "below", "lower", "above", "upper", etc., may be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for ease of explanation. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation except for the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation above and below. The device can be oriented in other ways (e.g., rotated 90 ° or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0028] As used herein, "several," the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components but do not preclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0029] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part," and "item" are used interchangeably.

[0030] The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe medical devices, including end effectors, that are configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used with embodiments of the present disclosure further provide an articulated support for the surgical tool (sometimes referred to as a "wrist") that allows the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. Instruments may also contain stored (e.g., on a PCBA within the instrument) information that is either permanent or updateable by the surgical system. Accordingly, the system can provide one-way or two-way information communication between the instrument and one or more system components.

[0031] The term "mating" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. In addition, the terms "removably coupled" or "removably mating" can be interpreted as meaning a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0032] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition would only occur if a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0033] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0034] Laparoscopic surgical robots typically consist of a surgeon's control platform, a patient operating platform, and an imaging platform. The surgeon, seated at the surgeon's control platform, views a 2D or 3D image of the surgical area transmitted by a laparoscope placed inside the patient's body. The surgeon then controls the movements of a robotic arm on the patient operating platform, as well as the surgical instruments or laparoscope attached to it. The robotic arm simulates a human arm, and the surgical instruments simulate a human hand. Together, they provide the surgeon with a range of movements that mimic the human wrist while filtering out inherent hand tremors.

[0035] The patient surgical platform includes a chassis, a column, a robotic arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each robotic arm. The surgical instrument and / or laparoscope is detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that are operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the relevant surgical instrument around a center of motion on the surgical instrument that remains stationary relative to the patient. The center of motion is typically located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point."

[0036] The imaging platform typically includes a video image capture function (most commonly an endoscope) and one or more video displays for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes optical devices that transmit images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope. The video images are then transmitted to the imaging platform's host computer through steps such as photoelectric conversion. Subsequently, the processed images are displayed on the video display for observation by the assistant through image processing.

[0037] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset degree of control. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity compensation manipulators, etc. These input devices collect the surgeon's operating signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0038] Typically, the force generated by the remote motor is transmitted through a transmission system, transferring the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device controlling the manipulator may be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresence surgery will be familiar with such systems and their components.

[0039] The surgical instrument manipulator usually drives the movement of the terminal surgical instrument through a power box arranged thereon. As shown in Figure 1-2, in some embodiments of the present disclosure, the power box may include a motor 92, a shell 91 and a power box output assembly. Multiple motors 92 can be arranged in the shell 91, and the motor shafts of the motors 91 are all connected to the power box output assembly.

[0040] In some examples, five motors 91 are provided. It is understood that in some examples of the embodiments of the present disclosure, the number of motors 91 is shown only as some specific examples. In other examples, the number of motors 91 may also be four or six, etc.

[0041] As shown in Figures 3-12, in some examples of the embodiments of the present disclosure, the power box output assembly may include a transmission member 1, an output member 2, and an elastic member 3. The motor shaft is detachably fixedly connected to the transmission member 1. For example, in some examples, the motor shaft of a motor 91 can be detachably connected to a transmission member 1.

[0042] In some examples, the output member 2 is sleeved on the transmission member 1 .

[0043] In some examples, the elastic member 3 is disposed between the transmission member 1 and the output member 2. One end of the elastic member 3 presses against the transmission member 1. The other end of the elastic member 3 presses against the output member 2.

[0044] In some examples, the elastic member 3 may be configured to push the output member 2 in a direction away from the transmission member 1 .

[0045] In some examples, a limited engagement mechanism may be provided between the transmission member 1 and the output member 2. The limited engagement mechanism is configured to prevent the transmission member 1 and the output member 2 from separating axially and to prevent the transmission member 1 and the output member 2 from rotating relative to each other circumferentially.

[0046] It should be noted here that the transmission member 1 and the output member 2 can be assembled later. To facilitate assembly of the transmission member 1 and the output member 2 , generally, the transmission member 1 and the output member 2 can be clearance-fitted in the circumferential direction.

[0047] That is, in some examples, the transmission member 1 and the output member 2 can rotate in the circumferential direction within a preset angle range.

[0048] In some examples, the preset angle range may not exceed 1°.

[0049] It should be noted that this small-scale rotation between the transmission member 1 and the output member 2 cannot be considered a counterexample to the aforementioned "limiting mechanism is configured to prevent relative circumferential rotation of the transmission member 1 and the output member 2." This rotation can be caused by manufacturing errors or assembly requirements, and is therefore covered by the protection claimed in this disclosure. Those skilled in the art can consider this error negligible. Of course, if this gap is to be eliminated, a solution similar to that described in CN114533282B can also be used.

[0050] In some examples, the limiting cooperation mechanism is limited by surface-to-surface contact, which reduces the performance requirements of the limiting cooperation mechanism, helps to reduce costs, and at the same time can slow down the wear of the limiting cooperation mechanism, ensure transmission accuracy, and reduce maintenance frequency.

[0051] In some examples, the output member 2 is formed with a cover 22 , and at least one limiting protrusion 21 is formed on the inner side of the cover 22 .

[0052] In some examples, the transmission member 1 is formed with a main shaft 11 and a first limiting ring 12. The main shaft 11 is configured to be fixedly connected to the motor shaft of the motor 92. The first limiting ring 12 is formed on the outer cylindrical surface of the main shaft 11.

[0053] In some examples, at least one groove group is provided on the first limiting ring 12. The groove group may include a sliding groove 121. In some examples, the sliding groove 121 passes through the first limiting ring 12 from top to bottom.

[0054] In some examples, the groove group may include a limiting groove 122. The limiting groove 122 passes through the first limiting ring 12 downward.

[0055] In some examples, the cover body 22 is sleeved on the first limiting ring 12 , the limiting protrusion 21 corresponds to the groove group, and the limiting groove 122 and the limiting protrusion 21 constitute a limiting matching mechanism.

[0056] In some examples, the limiting protrusions 21 may correspond to the groove groups one by one.

[0057] In some examples, the limiting protrusion 21 can slide linearly in the sliding groove 121 .

[0058] In some examples, the limiting protrusion 21 can slide linearly in the limiting groove 122 .

[0059] In some examples, a limiting protrusion 21 may be inserted into the sliding groove 121. A limiting protrusion 21 may be inserted into the limiting groove 122. The limiting protrusion 21 may slide linearly in the sliding groove 121 and the limiting groove 122.

[0060] In some examples, the elastic member 3 is disposed in the cover 22 , with the top end of the elastic member 3 pressed against the top surface of the cover 22 and the bottom end of the elastic member 3 pressed against the main shaft 11 .

[0061] It should be understood that the positions of the slot group and the limiting protrusion 21 in the aforementioned embodiments of the present disclosure are shown as specific examples only. In some examples, the positions of the limiting protrusion 21 and the slot group can be interchanged. For example, the slot group can be formed on the output member 2, and the limiting protrusion 21 can be formed on the first limiting ring 12.

[0062] In some examples, a portion of the plurality of groove groups can be formed on the output member 2. Another portion of the plurality of groove groups can be formed on the first limiting ring 12. A portion of the plurality of limiting protrusions 21 can be formed on the output member 2. Another portion of the plurality of limiting protrusions can be formed on the first limiting ring 12.

[0063] In some examples, the groove group is formed on the first limiting ring 12, and the limiting protrusion 21 is formed on the output member 2. The output member 2 is mounted on the transmission member 1, and the limiting protrusion 21 is inserted into the sliding groove 121. Then, it is pressed downward until the limiting protrusion 21 is located below the first limiting ring 12. The limiting protrusion 21 is then rotated until it is located below the corresponding limiting groove 122. The output member 2 is released, and the limiting protrusion 21, under the action of the elastic member 3, presses against the top surface of the limiting groove 122, completing the assembly of the output member 2 and the transmission member 1.

[0064] In some examples, the limiting protrusion 21 is in surface contact with the limiting groove 122 and the wall surface of the sliding groove 121, thereby realizing circumferential limiting and axial limiting between the transmission member 1 and the output member 2; the limiting matching mechanism has a simple structure, which greatly reduces the production cost and the assembly difficulty, and helps to improve the production efficiency of the manufacturer.

[0065] In some examples, the bottom surface of the first limiting ring 12 can be milled to change the thickness of the first limiting ring 12 , thereby adjusting the heights of the limiting groove 122 and the sliding groove 121 .

[0066] In some examples, multiple groove groups are provided, multiple limiting protrusions 21 are provided corresponding to the groove groups, and the multiple groove groups are evenly distributed around the axis of the first limiting ring 12.

[0067] In some examples, multiple position-limiting mechanisms are used to limit the transmission component 1 at different circumferential locations, reducing the occurrence of problems such as unbalanced force, stress concentration, and low transmission safety. In addition, because the multiple position-limiting mechanisms perform surface-to-surface position limiting simultaneously, the time required to assemble the multiple position-limiting mechanisms can be effectively reduced.

[0068] In some examples, two slot groups are provided, and a first preset angle is formed between the limiting slot 122 and the sliding slot 121 in the same slot group along the radial direction of the first limiting ring 12 .

[0069] In some examples, the first preset angle can be 90°. At 90°, the centers of the limiting grooves 122 and sliding grooves 121 between different groove groups can be symmetrically and evenly distributed, with the distance between the grooves being maximized, thereby ensuring structural strength. It should be noted that in some embodiments of the present disclosure, the specific angle of the first preset angle is merely provided as an example and is not intended to limit the specific angle of the first preset angle.

[0070] It should be noted here that the numerical values ​​and numerical ranges involved in some embodiments of the present disclosure are approximate values. Due to the influence of the manufacturing process, there may be a certain range of errors. Those skilled in the art may consider this part of the error to be negligible.

[0071] In some examples, the main shaft 11 is provided with a motor shaft hole 111. The motor shaft hole 111 may be configured to receive a motor shaft.

[0072] In some examples, the axis of the motor shaft hole 111 can be collinear with the axis of the main shaft 11. The motor shaft hole 111 can include a blind hole or a through hole. The blind hole or the through hole can be provided on the bottom surface of the main shaft 11.

[0073] In some examples, at least one threaded hole 131 is provided on the transmission member 1. The threaded hole 131 can pass through the side wall of the motor shaft hole 111.

[0074] In some examples, a limit screw may be provided in the threaded hole 131 , so as to tighten the motor shaft into the motor shaft hole 111 through the limit screw, thereby fixing the motor shaft in the motor shaft hole 111 .

[0075] In some examples of the embodiments of the present disclosure, a plane parallel to its axis is formed on the motor shaft, the motor shaft hole 111 matches the shape of the motor shaft, and at least one limit screw passes through its corresponding threaded hole 131 and presses against the plane.

[0076] In some examples, two threaded holes 131 may be provided, and the two threaded holes 131 are distributed around the axis of the main shaft 11 , and the axes of the two threaded holes 131 intersect at the center of the motor shaft and have a second preset angle.

[0077] In some examples, the second preset angle can be 120°. In the case of 120°, the two limit screws can abut the motor shaft so that the force is most balanced, and no matter what direction the motor shaft is subjected to external force disturbance, its stability will not be disturbed. It should be noted that, in some embodiments of the present disclosure, the specific angle of the second preset angle is only used as a specific example, and does not limit the angle of the second preset angle. In some examples of the embodiments of the present disclosure, the axes of the two limit screws intersect at the center of the motor shaft, which can make the limit screws lock each other, thereby improving the connection strength between the transmission member 1 and the motor shaft.

[0078] In some examples, the transmission member 1 may be formed with a second limiting ring 13 . The second limiting ring 13 is formed on the outer cylindrical surface of the main shaft 11 .

[0079] In some examples, the second limiting ring 13 may be located below the first limiting ring 12 .

[0080] In some examples, the threaded hole 131 may pass through the second limiting ring 13 and the side wall of the motor shaft hole 111 .

[0081] In some examples of the embodiments of the present disclosure, the second limiting ring 13 increases the contact area between the transmission member 1 and the limiting screw, thereby improving the connection strength between the limiting screw and the transmission member 1 .

[0082] In some examples, the diameter of the second limiting ring 13 does not affect the diameter of the first limiting ring 12. The diameter of the first limiting ring 12 can be smaller than the diameter of the second limiting ring 13 to reduce the diameter of the first limiting ring 12 and the output member 2, thereby meeting the requirement of a compact size of the surgical robot terminal.

[0083] In some examples, the main shaft 11 may be provided with a mounting hole 112 . The mounting hole may be configured to accommodate the elastic member 13 .

[0084] In some examples, the mounting hole 112 extends upward through the main shaft 11 and is colinear with the axis of the main shaft 11 .

[0085] In some examples, when the motor shaft hole 111 is a through hole, the diameter of the mounting hole 112 can be larger than the diameter of the motor shaft hole 111, so that the bottom end of the elastic member 3 can be pressed against the bottom surface of the mounting hole 112, and the hole wall of the mounting hole 112 limits the installation position and extension direction of the elastic member 3.

[0086] In some examples, the elastic member 3 may be a spring.

[0087] In some examples, the output assembly of the power box 10 may include a top plate 5 , which is a housing top plate of the power box 10 , and the top plate 5 is detachably connected to other components in the housing 91 of the power box 10 .

[0088] In some examples, the transmission member 1 passes through the top plate 5. When the output member 2 is at the lowest position, the bottom surface of the output member 2 is in contact with the top surface of the top plate 5.

[0089] In some examples of the embodiments of the present disclosure, the limiting protrusion 21 can be prevented from sliding out of the limiting groove 122 by means of the cooperation between the top plate 5 and the bottom surface of the first limiting ring 12 .

[0090] In some examples, the top plate 5 is provided with a plurality of through holes, into which a transmission member 1 can be inserted. The through holes can be configured to define the installation position of the second limiting ring 13 on the top plate 5 .

[0091] In some examples, the top surface of the second limiting ring 13 may be lower than the top surface of the top plate 5 .

[0092] In some examples, five through holes can be provided. It is understood that in some examples of the embodiments of the present disclosure, the number of through holes is only used as an illustration of some specific examples and is not intended to limit the number of through holes. In some examples, the number of through holes can also be other.

[0093] In some examples, the output member 2 may be formed with a flange ring 23 . The flange ring 23 is formed on the outer cylindrical surface of the cover body 22 .

[0094] In some examples, when the output member 2 is at the lowest position, the flange ring 23 is in contact with the top surface of the top plate 5 , and the diameter of the cover 22 can be smaller than the diameter of the through hole on the top plate 5 to reduce the size of the output member 2 .

[0095] In some examples, the output assembly of the power box 10 may include a fixing protrusion 6 and a support column 4, and a plurality of fixing protrusions 6 and a plurality of support columns 4 are provided.

[0096] In some examples, the position of the fixing protrusion 6 relative to the motor 92 can be fixed. The fixing protrusion 6 and the support column 4 can correspond to each other.

[0097] In some examples, the top surface of the support column 4 may be in contact with the top plate 5 , and the bottom surface may be in contact with the fixing protrusion 6 .

[0098] In some examples of the embodiments of the present application, a plurality of fixing protrusions 6 may be formed on a support plate, and the motor 92 may pass through the support plate.

[0099] In some examples of the embodiments of the present disclosure, when the output member 2 and the transmission member 1 are assembled, the limiting protrusion 21 is located outside the limiting groove 122. At this time, there is no support column 4 between the top plate 5 and all the fixed protrusions 6 to ensure that the limiting protrusion 21 can enter the limiting groove 122 from under the first limiting ring 12; after the output member 2 and the transmission member 1 are assembled, the limiting protrusion 21 is located in the limiting groove 122, and each support column 4 is placed between the top plate 5 and the corresponding fixed protrusion 6. The top surface of each support column 4 is in contact with the top plate 5, and the bottom surface is in contact with the corresponding fixed protrusion 21, so as to lift the top plate 5 and prevent the limiting protrusion 21 from sliding out of the limiting groove 122 from under the first limiting ring 12, thereby improving the reliability of the connection between the output member 2 and the transmission member 1.

[0100] In some examples, the inner diameter of the cover 22 can be equal to the outer diameter of the first retaining ring 12, limiting the output member 2 to rotational and vertical movement relative to the transmission member 1. Furthermore, the widths of the retaining groove 122 and the sliding groove 121 can be equal to the width of the retaining protrusion 21, limiting the retaining protrusion 21 to vertical movement within the sliding groove 121 and the retaining groove 122. This arrangement ensures that, after assembly, the output member 2 has only one degree of freedom relative to the transmission member 1, namely, vertical movement, thereby improving the transmission accuracy of the output assembly of the power box 10.

[0101] In some examples, as shown in FIG3 , the distance between the limiting grooves 122 along the axial direction of the first limiting ring 12 is h; and as shown in FIG6 , the height of the limiting protrusions 21 is d.

[0102] In some examples, in order to prevent the limiting protrusion 21 from disengaging from the limiting groove 122, it is necessary to ensure that after the output member 2 and the transmission member 1 are assembled, the height between the bottom surface of the flange ring 23 and the top surface of the top plate 5 is less than h (the elastic member 3 supports the output member 2 to make it the highest, which is equivalent to the stroke of the output member 2 being less than h).

[0103] In some examples, it should be noted that, when the power box output assembly provided in the aforementioned embodiments of the present disclosure rotates, force is transmitted by the surface-to-surface contact between the side walls of the limiting groove 122 and the side edges of the limiting protrusion 21. Therefore, in order to ensure the reliability and life of the power box output assembly, the stroke of the output member 2 can be less than hd, so as to ensure that the side walls of the limiting protrusion 21 are fully accommodated in the limiting groove 122 within the stroke range of the output member 2, thereby ensuring that the contact area between the side walls of the limiting groove 122 and the side edges of the limiting protrusion 21 is always maximized.

[0104] In some examples, a first limiting hole 61 may be defined on the top surface of the fixing protrusion 6 , and a second limiting hole 52 may be defined on the bottom surface of the top plate 5 .

[0105] In some examples, the second limiting hole 52 may be provided corresponding to the first limiting hole 61 .

[0106] In some examples, one end of the support column 4 can be inserted into the first limiting hole 61 , and the other end of the support column 4 can be inserted into the second limiting hole 52 .

[0107] In some examples, the outer diameter of the support column 4 is the same as the inner diameter of the first limiting hole 61 and the inner diameter of the second limiting hole 52. The first limiting hole 61, the second limiting hole 52 and the support column 4 cooperate with each other to define the installation position of the top plate 5, reducing the difficulty of assembly.

[0108] In some examples, the output assembly of the power box 10 may include a fixing bolt 7. The fixing bolt 7 may correspond to the fixing protrusion 6. The fixing bolt 7 may pass through the top plate 5 and the support column 4 and then be threadedly connected to the fixing protrusion 6. The threaded connection simplifies the disassembly and assembly of the top plate 5, thereby facilitating quick disassembly and assembly of the support column 4.

[0109] In some examples of the embodiments of the present disclosure, four fixing protrusions 6 , four supporting columns 4 and four fixing bolts 7 are provided, and the four fixing bolts 7 are distributed in a matrix around the five motors 92 .

[0110] In some examples, the output assembly of the power box 10 may include a third limiting ring 51 , and the third limiting ring 51 corresponds to the output member 2 .

[0111] In some examples, five third limiting rings 51 are provided.

[0112] In some examples, the third limiting ring 51 may be formed on the top surface of the top plate 5 . The third limiting ring 51 may be configured to limit the installation position of the output member 2 on the top plate 5 , thereby reducing assembly difficulty.

[0113] As shown in FIG13 , an embodiment of the present disclosure provides a slide assembly, which may include a carriage 20 and the aforementioned power box 10; the power box 10 is mounted on the carriage 20, and the carriage 20 is provided with a drive device for driving the power box 10 to slide linearly on the carriage 20. The power box output assembly in the aforementioned power box 10 improves the transmission accuracy between the slide assembly and components connected to the power box.

[0114] An embodiment of the present disclosure provides a surgical robot, which may include a master control arm and a slave manipulator arm. The master control arm is signal-connected to the slave manipulator arm, and the end of the slave manipulator arm is the above-mentioned slide assembly; the power box 10 is detachably connected to the instrument box to transmit the rotational motion force of different motors 92 to the instrument box to improve the control accuracy of the motor 92 over the instrument box.

[0115] As shown in FIG7 , in this embodiment, the top surface of the flange edge may be provided with positioning holes 231 and notches 232. The positioning holes 231 and notches 232 may be asymmetrically distributed around the axis of the output member 2.

[0116] In some examples, positioning holes 231 and notches 232 can be coupled with a separator plate or similar member as described in Chinese Patent CN115630667A to transmit the rotational force of the various motors 92 to the instrument cassette. Because positioning holes 231 and notches 232 are asymmetrically positioned, the rotation angle of output member 2 under motor shaft control is uniquely determinable, facilitating the determination of the controlled position or posture of the instrument end effector on the instrument cassette.

[0117] To sum up, in some embodiments of the present disclosure, the output member 2 and the transmission member 1 are relatively limited in the circumferential direction through a limiting cooperation mechanism, and an elastic member 3 is provided between the two to achieve floating docking. The structure is simple, the cost is low, the assembly difficulty is small, and the assembly efficiency is high.

[0118] The surface-to-surface contact method reduces wear on the output member 2 and the transmission member 1, and also ensures the transmission accuracy between the two. In addition, multiple limit matching mechanisms are set around the circumference of the transmission member 1. Since the multiple limit matching mechanisms are synchronously limited by surface contact, it will not lead to an increase in assembly time.

[0119] In addition, in some examples of the embodiments of the present disclosure, the top plate 5 is configured to limit the lowest position of the output member 2, and the height is adjustable, which can effectively prevent the limiting protrusion 21 from sliding out of the limiting groove 122 from under the first limiting ring 12, thereby improving the reliability of the connection between the output member 2 and the transmission member 1.

[0120] The foregoing description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A power box output assembly, comprising a transmission member (1), an output member (2) and an elastic member (3), wherein the transmission member (1) is detachably fixedly connected to a motor shaft of a motor (92), and the output member (2) is sleeved on the transmission member (1); the elastic member (3) is arranged between the transmission member (1) and the output member (2), one end of the elastic member (3) is pressed against the transmission member (1), and the other end of the elastic member (3) is pressed against the output member (2) to push the output member (2) away from the transmission member (1); a limited position matching mechanism is arranged between the transmission member (1) and the output member (2) to prevent the transmission member (1) and the output member (2) from being separated in the axial direction, and to prevent the transmission member (1) and the output member (2) from rotating relative to each other in the circumferential direction.

2. The power box output assembly according to claim 1, wherein: The transmission member (1) is provided with at least one slot group, each slot group comprises a sliding slot (121) and a limiting slot (122), the sliding slot (121) is open at both ends along the axial direction, and the limiting slot (122) is open at one end along the axial direction facing away from the output member (2); at least one limiting protrusion (21) is formed on the output member (2), and the limiting protrusion (21) corresponds to the slot group one by one; the limiting protrusion (21) can slide linearly in the corresponding sliding slot (121) or the limiting slot (122); the limiting slot (122) and the limiting protrusion (21) constitute a limiting matching mechanism.

3. The power box output assembly according to claim 2, wherein: The transmission member (1) is formed with a main shaft (11) and a first limiting ring (12); the main shaft (11) is detachably fixedly connected to the motor shaft of the motor (92); the first limiting ring (12) is formed on the outer cylindrical surface of the main shaft (11); the output member (2) is sleeved on the first limiting ring (12); the sliding groove (121) and the limiting groove (122) are both arranged on the first limiting ring (12); the limiting protrusions (21) are both formed on the inner side of the output member (2); when the limiting protrusions (21) are located below the corresponding sliding grooves (121) and the limiting grooves (122), the output member (2) can rotate around the axis of the transmission member (1).

4. The power box output assembly according to claim 3, wherein: A plurality of slot groups are provided, and a plurality of limiting protrusions (21) are provided corresponding to the slot groups, and all the slot groups are evenly distributed around the axis of the first limiting ring (12).

5. The power box output assembly according to any one of claims 1-4 further comprises a top plate (5), which is the top plate of the power box shell, and the top plate (5) is detachably connected to other components of the power box shell; the transmission member (1) passes through the top plate (5); when the output member (2) is at the lowest position, the bottom surface of the output member (2) is in contact with the top surface of the top plate (5).

6. The power box output assembly according to claim 5 further includes a fixed protrusion (6) and a support column (4), and a plurality of the fixed protrusion (6) and the support column (4) are provided; the fixed protrusion (6) is fixed relative to the motor (92), and the fixed protrusion (6) and the support column (4) correspond to each other; the top surface of the support column (4) is in contact with the top plate (5), and the bottom surface is in contact with the corresponding fixed protrusion (6) to limit the limiting protrusion (21) in the limiting groove (122).

7. The power box output assembly according to claim 6, wherein: A first limiting hole (61) is formed on the top surface of the fixing protrusion (6), and a second limiting hole (52) is formed on the bottom surface of the top plate (5) corresponding to the first limiting hole (61); one end of the support column (4) is inserted into the first limiting hole (61), and the other end of the support column (4) is inserted into the second limiting hole (52); the outer diameter of the support column (4) is the same as the inner diameter of the first limiting hole (61) and the inner diameter of the second limiting hole (52).

8. The power box output assembly according to claim 6 further includes a fixing bolt (7), the fixing bolt (7) corresponds to the fixing protrusion (6), and the fixing bolt (7) passes through the top plate (5) and the support column (4) and is threadedly connected to the fixing protrusion (6).

9. The power box output assembly according to claim 5, wherein: The output member (2) is formed with a cover body (22) and a flange ring (23); the flange ring (23) is formed on the outer cylindrical surface of the cover body (22); the limiting protrusion (21) is formed on the inner side of the cover body (22); and the cover body (22) is sleeved on the first limiting ring (12).

10. The power box output assembly according to claim 3 further includes a limit screw; the main shaft (11) is provided with a motor shaft hole (111), the axis of the motor shaft hole (111) is colinear with the axis of the main shaft (11), and the motor shaft hole (111) is a blind hole or a through hole located on the bottom surface of the main shaft (11); the transmission member (1) is provided with at least one threaded hole (131) penetrating the side wall of the motor shaft hole (111), and a limit screw is arranged in each threaded hole (131).

11. The power box output assembly according to claim 10, wherein: Two threaded holes (131) are provided, and the two threaded holes (131) are distributed around the axis of the main shaft (11), and the axes of the two threaded holes (131) intersect.

12. The power box output assembly according to claim 10, wherein: The transmission member (1) is also formed with a second limiting ring (13), which is located below the first limiting ring (12) and is formed on the outer cylindrical surface of the main shaft (11); the threaded hole (131) passes through the second limiting ring (13) and the side wall of the motor shaft hole (111).

13. The power box output assembly according to claim 3, wherein: The top surface of the main shaft (11) is provided with a mounting hole (112), the bottom end of the elastic member (3) is pressed against the bottom surface of the mounting hole (112), and the top end is pressed against the inner top surface of the output member (2).

14. A power box, comprising a motor (92), a housing (91), and a power box output assembly as described in any one of claims 1 to 13, wherein a plurality of motors (92) are arranged in the housing (91), and the motor shafts of the motors (92) are connected to the transmission member (1).

15. A slide assembly, comprising a slide (20), and a power box (10) as described in claim 14; the power box (10) is installed on the slide (20), and the slide (20) is provided with a driving device for driving the power box (10) to slide linearly on the slide (20).

16. A surgical robot comprises a master control arm and a slave manipulator arm, wherein the master control arm is signal-connected to the slave manipulator arm, and the end of the slave manipulator arm is the slide assembly as claimed in claim 15; the power box (10) is detachably connected to the instrument box to transmit the rotational motion force of different motors (92) to the instrument box.

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