Medical robot console

Abstract

Disclosed is a medical robot console, comprising a display, two main controllers operated by both hands, and a base. The base is slidably provided with a foot pedal. Brakes are arranged on both sides of the base. Each brake comprises a brake pedal having a rotating shaft penetrating through its bottom, the brake pedal being configured to flip forward and backward about the rotating shaft; a brake bottom plate; a flange assembly; and a locking member. The present application achieves braking by means of friction generated by a normal force of the brake bottom plate against the ground, ensuring parking reliability. The brakes are locked or unlocked by an operator stepping on or rotating the brake pedal, have a simple structure, and are convenient to operate, enabling rapid braking and release while avoiding mis-triggering and mis-unlocking to ensure braking stability.

Description

Medical robot console

[0001] This application claims priority from application number 202410116087.2 filed with the China Patent Office on January 29, 2024; the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the technical field of surgical robots, and in particular to a medical robot console. Background Art

[0003] The benefits of minimally invasive surgery are well known, and compared to traditional open incision surgery, they include less trauma to the patient, less blood loss, and faster recovery time. Before a surgical procedure is performed, a robotic surgical system requires the surgeon's console to be moved to the operating room. During this movement, the console base must be kept away from the floor, minimizing friction. Once in position, the console is braked to prevent it from shifting during surgery. Summary of the Invention

[0004] The present disclosure provides a medical robot console, comprising a display, two main controllers operated by both hands, and a base, wherein a foot pedal is slidably provided on the base, and brakes are provided on both sides of the base, wherein the brakes include:

[0005] The brake pedal has a rotating shaft passing through its bottom, and the brake pedal rotates forward and backward along the rotating shaft;

[0006] The brake base plate is arranged directly below the brake pedal, is arranged parallel to the horizontal plane, and is arranged at the bottom of the base in a liftable manner;

[0007] A flange assembly is provided between the brake pedal and the brake base plate, and includes, from top to bottom, a first flange, a second flange, and a third flange arranged parallel to the horizontal plane. A first elastic guide is provided between the first flange, the second flange, and the third flange, and a second elastic guide is provided between the second flange and the brake base plate. The guiding directions of the first and second elastic guides are perpendicular to the horizontal plane, and the first elastic guide can synchronously promote the lifting movement of the third flange. The second flange is fixed to the upper surface of the base, and the third flange is arranged at the bottom of the base for lifting.

[0008] The locking member includes an upper locking member arranged at the bottom of the brake pedal and a lower locking member arranged on the second flange. The upper locking member and the lower locking member can be selectively locked and unlocked. In the first state, the brake pedal is lowered by the pedaling force and drives the upper locking member and the first elastic guide member to descend synchronously until the upper locking member and the lower locking member are locked. At this time, the brake base plate is in contact with the ground; in the second state, the brake pedal is flipped clockwise along the rotating shaft, driving the upper locking member to rotate, the upper locking member and the lower locking member are unlocked, the pedaling force on the top of the brake pedal disappears, the first elastic guide member drives the third flange to reset and rise, and the brake base plate leaves the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The technical solution of this application is further described below with reference to the accompanying drawings:

[0010] Figure 1 is a perspective view of the medical robot console of the present application;

[0011] Figure 2: An exploded view of the brake of the medical robot console of the present application;

[0012] Figure 3 is a perspective view of the brake of the medical robot console of the present application;

[0013] Figure 4 is a cross-sectional view of the brake of the medical robot console of the present application;

[0014] Figure 5: Enlarged view of part A in Figure 4;

[0015] Figure 6 is a perspective view of the base of the medical robot console of the present application;

[0016] Figure 7: Exploded view of the base of the medical robot console of the present application. DETAILED DESCRIPTION

[0017] The present application will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to this application, and any structural, methodological, or functional modifications made by a person skilled in the art based on these embodiments are included within the scope of protection of this application. In the description of the solution, it should be noted that the direction closer to the operator is the front end, and the direction away from the operator is the back end, with reference to the operator.

[0018] As shown in FIG1 , the present application discloses a medical robot console, comprising a display 200 , two main controllers 300 operated by both hands, and a base 400 , on which a foot pedal 500 is slidably provided, and brakes 100 are respectively provided on both sides of the base 400 .

[0019] As shown in FIG2 to FIG5 , the brake 100 includes:

[0020] The brake pedal 1 has a rotating shaft 2 passing through its bottom. The brake pedal 1 is tilted forward and backward along the rotating shaft 2. The rotating shaft 2 is preferably arranged in the middle of the bottom of the brake pedal 1 to ensure the stability of the operator when stepping on the tilting pedal.

[0021] The brake base plate 16 is arranged directly below the brake pedal 1, is arranged parallel to the horizontal plane, and is arranged at the bottom of the base 400 in a liftable manner;

[0022] The flange assembly is used to realize the transmission of force between the brake pedal 1 and the brake base plate 16, and is also used to assemble a locking member. It is arranged between the brake pedal 1 and the brake base plate 16, and includes, from top to bottom, a first flange 3, a second flange 11 and a third flange 12 arranged parallel to the horizontal plane. A first elastic guide is provided between the first flange 3, the second flange 11 and the third flange 12, and a second elastic guide is provided between the second flange 11 and the brake base plate 16. The guiding direction of the first elastic guide and the second elastic guide is perpendicular to the horizontal plane, and is used to transmit the stepping force received by the brake pedal 1, and the first elastic guide can be The third flange 12 is pushed up and down, and the second flange 11 is fixed to the upper surface of the base 400. In some embodiments, the second flange 11 and the base 400 can be fixed by screws, which is used to fix the brake 100 on the base 400. The third flange 12 is lifted and arranged at the bottom of the base 400. The third flange 12 is pushed down by the first elastic guide, thereby driving the brake base plate 16 to descend synchronously, so that the brake base plate 16 contacts the ground; when the pedaling force disappears and the locking member is unlocked, the first elastic guide is reset, thereby driving the third flange 12 and the brake base plate 16 to rise synchronously, and the brake base plate 16 leaves the ground;

[0023] The locking member is used to ensure that the brake 100 is always in the braking state in the locked state to prevent the base 400 from moving, and at the same time ensure that the movement of the base 400 is not affected after unlocking; the locking member includes an upper locking member 4 arranged at the bottom of the brake pedal 1 and a lower locking member 9 arranged on the second flange 11. In some embodiments, the upper locking member 4 and the brake pedal 1 are directly connected by a bayonet or fixed by screw rivets. In other embodiments, the upper locking member 4 and the brake pedal 1 can also be integrally formed. Part 4 and the lower locking part 9 can be selectively locked and unlocked. In the first state, the brake pedal 1 is lowered by the pedaling force and drives the upper locking part 4 and the first elastic guide to descend synchronously until the upper locking part 4 and the lower locking part 9 are locked. At this time, the brake base plate 16 is in contact with the ground; in the second state, the brake pedal 1 is flipped clockwise along the rotating shaft 2, driving the upper locking part 4 to rotate, the upper locking part 4 and the lower locking part 9 are unlocked, the pedaling force on the top of the brake pedal 1 disappears, the first elastic guide drives the third flange 12 to reset and rise, and the brake base plate 16 leaves the ground.

[0024] As shown in Figures 4 and 5, in some embodiments, a hook tooth portion 20 is provided at the bottom of the upper locking member 4, and the hook tooth portion 20 is arranged toward the front end and inclined upward. The upper surface of the hook tooth portion 20 forms an upwardly inclined first step surface 21, and the rear end surface of the lower locking member 9 is provided with a slope 19. The bottom of the slope 19 forms a second step surface 22. The second step surface 22 is an inclined surface. The lower locking member 9 is telescopically arranged at the rear end of the second flange 11. The inclination angles of the first step surface 21 and the second step surface 22 match each other, wherein the second step surface 22 is upwardly inclined from the rear end to the front end, and its inclination angle is consistent with the inclination angle of the first step surface 21. When the upper locking member 4 and the lower locking member 9 are locked, the first step surface 21 is located at the bottom of the second step surface 22, and the two abut against each other. Since the first step surface 21 and the second step surface 22 are inclined surfaces with the same angle, in the locked state, the upper locking member 4 and the lower locking member 9 are not easily unlocked due to accidental touch, thereby avoiding brake failure.

[0025] As shown in Figures 2 to 4, in some embodiments, a gear bin 10 is provided at the rear end of the second flange 11, and an elastic member 8 is provided in the gear bin 10. The lower locking member 9 is movably connected to the gear bin 10 through the elastic member 8 and can selectively extend into or out of the gear bin 10. During the descent of the upper locking member 4, the hook tooth portion 20 at the bottom of the upper locking member 4 abuts against the slope 19 surface of the lower locking member 9. When the upper locking member 4 is locked with the lower locking member 9, the lower locking member 9 is pushed into the gear bin 10; after the upper locking member 4 is unlocked with the lower locking member 9, the upper locking member 4 is unlocked. The locking member 4 is lifted and separated from the lower locking member 9, and the lower locking member 9 is reset and popped out of the gear bin 10 by the elastic member 8; in this embodiment, the elastic member 8 is at least one group of springs arranged between the gear bin 10 and the lower locking member 9, and a snap is provided on the front end surface of the lower locking member 9, one end of the spring is fixed in the gear bin 10, and the other end is snapped into the snap on the lower locking member 9, and the elastic member 8 can also adopt other elastic structures with telescopic function, and there can be multiple ways to connect the elastic member 8 to the gear bin 10 and the lower locking member 9, which will not be elaborated here.

[0026] As shown in Figures 2 and 4, in some embodiments, a shaft sleeve 17 is provided at the bottom of the brake pedal 1, and a mounting hole 18 is provided on the first flange 3 to be engaged with the shaft sleeve 17. The shaft sleeve 17 is fixed in the mounting hole 18, and an axial hole is provided on the shaft sleeve 17 along its axis. The rotating shaft 2 passes through the axial hole, and the two ends of the rotating shaft 2 are respectively fixed to the first flange 3 to ensure that the rotating shaft 2 always remains fixed and the brake pedal 1 can be flipped forward and backward along the rotating shaft 2, wherein the rotating shaft 2 divides the front and rear ends of the brake pedal 1. When unlocking is required, step on The front end of the brake pedal 1 causes the brake pedal 1 to flip along the rotating shaft 2 and lift its rear end. The upper locking piece 4 is arranged at the bottom of the rear end of the brake pedal 1. At this time, the upper locking piece 4 flips and lifts along with the rear end of the brake pedal 1, and the first step surface 21 on the upper surface of the hook tooth portion 20 gradually separates from the second step surface 22 at the bottom of the lower locking piece 9, and the action force between the two disappears. At this time, after the operator stops applying pedal force to the brake pedal 1, the brake pedal 1 is reset through the first elastic guide piece, the upper locking piece 4 rises with the brake pedal 1, and the lower locking piece 9 is reset along with the elastic piece 8, and pops out of the gear bin 10.

[0027] As shown in Figures 2 to 4, in some embodiments, the first elastic guide member includes two symmetrically arranged first guide columns 5 and a first spring 6 sleeved on the outer circumference of each first guide column 5. Two oil-free bushings 7 are also provided on the second flange 11. The oil-free bushings 7 are bearings with self-lubricating function, which can ensure that the radial range of movement of the first guide column 5 is limited within the oil-free bushing 7, thereby realizing the guiding function of up and down movement. Since the oil-free bushing 7 has a self-lubricating function, the movement of the first guide column 5 and the second flange 11 do not interfere with each other. The bottoms of the two first guide columns 5 each pass through an oil-free bushing 7 and are connected to the third flange 12, so the third flange 12 can move up and down with the first guide column 5.

[0028] In some embodiments, a first through hole is provided on the second flange 11 corresponding to each first guide column 5, the oil-free bushing 7 is provided in the first through hole, and a second through hole is provided on the base 400 corresponding to each first through hole. As shown in Figure 2, the bottom of the first guide column 5 passes through the oil-free bushing 7, the first through hole and the second through hole in sequence and is connected to the third flange 12.

[0029] In some embodiments, the second elastic guide member includes four second guide posts 14 arranged between the third flange 12 and the brake base plate 16 and a second spring 15 sleeved on the outer circumference of each second guide post 14, wherein the third flange 12 is provided with a third through hole corresponding to each second guide post 14, and each third through hole is provided with a clamping ring 13. The top of the second guide post 14 passes through the third through hole and is connected to the third flange 12 through the clamping ring 13, so that the second guide post 14 cannot be separated from the third flange 12, thereby realizing the up and down guiding function. At the same time, the second elastic guide member can also provide an adjustable range for the up and down movement of the brake base plate 16, thereby avoiding the brake The impact force between the vehicle bottom plate 16 and the ground is too large, resulting in erroneous triggering and unlocking or damage to various components of the brake 100; when the brake bottom plate 16 contacts the ground, the second guide column 14 passes through the third through hole, and when the operator continues to step on the brake pedal 1 downward, the second spring 15 is compressed. At this time, the reverse force of the second spring 15 pushes the brake bottom plate 16 to press tightly against the ground, and the brake bottom plate 16 generates positive pressure on the ground, thereby generating friction. In a preferred embodiment, a rubber pad is also provided at the bottom of the brake bottom plate 16, which can further increase the friction coefficient between the bottom of the brake bottom plate 16 and the ground; when the locking member is unlocked, the stepping force disappears, and the second spring 15 drives the second guide column 14 and the brake bottom plate 16 to reset.

[0030] As shown in FIG6 , in some embodiments, the base 400 includes a mounting slot for placing the foot pedal 500 , and linear modules 401 are provided on both sides of the mounting slot. The linear modules 401 drive the foot pedal 500 to move forward and backward, making it convenient for the operator to adjust the pedal forward and backward according to his or her own height.

[0031] As shown in Figures 6 and 7, in a preferred embodiment, the base 400 includes a mounting groove for placing the foot pedal 500, and Z-shaped guide rails 403 are provided on the inner walls on both sides of the mounting groove. The Z-shaped guide rail 403 includes two parallel grooves arranged in parallel and at different heights and a connecting groove arranged between the two parallel grooves, wherein the higher parallel groove is close to the rear end and has a shorter length, and the lower parallel groove is located at the rear end and has a longer length. When the sliding wheel 501 is located in the higher parallel groove, the foot pedal 500 is lifted and the bottom of the foot pedal 500 leaves the ground, which facilitates the movement of the base 400; when the sliding wheel 501 is located in the lower parallel groove, the bottom of the foot pedal 500 contacts the ground, and sliding wheels 501 are provided on the two outer sides of the foot pedal 500, and the sliding wheels 501 can slide It is dynamically arranged in the Z-shaped guide rail 403 and drives the foot pedal 500 to move. At the same time, the foot pedal 500 can also be driven to move along the Z-shaped guide rail 403 by the linear modules 401 on both sides. At this time, the slider 402 on the linear module 401 is connected to the foot pedal 500 through a connecting member 404, and the end of the connecting member 404 connected to the foot pedal 500 is provided with a driving wheel. Guide members 502 for accommodating the driving wheel are provided on both sides of the foot pedal 500. A guide groove is provided in the guide member 502. The length direction of the guide groove is perpendicular to the horizontal plane. The driving wheel can roll up and down along the guide groove. When the foot pedal 500 changes its height as the Z-shaped guide rail 403 moves, the relative height of the driving wheel in the guide member 502 can be synchronously adjusted, thereby realizing the synchronous forward and backward and up and down movement of the foot pedal 500.

[0032] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0033] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of this application. They are not intended to limit the scope of protection of this application. Any equivalent implementation methods or changes that do not deviate from the technical spirit of this application should be included in the scope of protection of this application.

Claims

1. A medical robot console, comprising a display (200), two main controllers (300) operated by both hands, and a base (400), wherein a foot pedal (500) is slidably provided on the base (400), and brakes (100) are respectively provided on both sides of the base (400), wherein: The brake (100) comprises: A brake pedal (1) has a rotating shaft (2) passing through its bottom, and the brake pedal (1) is turned forward and backward along the rotating shaft (2); A brake base plate (16) is arranged directly below the brake pedal (1), is arranged parallel to the horizontal plane, and is arranged at the bottom of the base (400) in a liftable manner; A flange assembly is arranged between the brake pedal (1) and the brake base plate (16), and comprises, from top to bottom, a first flange (3), a second flange (11) and a third flange (12) arranged parallel to a horizontal plane, a first elastic guide is arranged between the first flange (3), the second flange (11) and the third flange (12), a second elastic guide is arranged between the second flange (11) and the brake base plate (16), the guiding directions of the first elastic guide and the second elastic guide are perpendicular to the horizontal plane, and the first elastic guide can synchronously push the third flange (12) to move up and down, the second flange (11) is fixed to the upper surface of the base (400), and the third flange (12) is arranged at the bottom of the base (400) in a lifting manner; The locking member comprises an upper locking member (4) arranged at the bottom of the brake pedal (1) and a lower locking member (9) arranged on the second flange (11), wherein the upper locking member (4) and the lower locking member (9) can be selectively locked and unlocked. In a first state, the brake pedal (1) is lowered by the pedaling force and drives the upper locking member (4) and the first elastic guide member to descend synchronously until the upper locking member (4) and the lower locking member (9) are locked, at which time the brake base plate (16) contacts the ground; in a second state, the brake pedal (1) flips clockwise along the rotating shaft (2), drives the upper locking member (4) to rotate, and the upper locking member (4) and the lower locking member (9) are unlocked. The pedaling force on the top of the brake pedal (1) disappears, and the first elastic guide member drives the third flange (12) to reset and rise, and the brake base plate (16) leaves the ground.

2. The medical robot console according to claim 1, wherein: The bottom of the upper locking member (4) is provided with a hook tooth portion (20), the hook tooth portion (20) is arranged toward the front end and inclined upward, the upper surface of the hook tooth portion (20) forms a first step surface (21) inclined upward, the rear end surface of the lower locking member (9) is provided with a slope (19), the bottom of the slope (19) forms a second step surface (22), the second step surface (22) is an inclined surface, the lower locking member (9) can be arranged at the rear end of the second flange (11) in a telescopic manner, and the inclination angles of the first step surface (21) and the second step surface (22) are matched.

3. The medical robot console according to claim 1, wherein: A gear bin (10) is provided at the rear end of the second flange (11), an elastic member (8) is provided in the gear bin (10), and the lower locking member (9) is movably connected to the gear bin (10) through the elastic member (8) and can selectively extend into or out of the gear bin (10).

4. The medical robot console according to claim 1, wherein: A shaft sleeve (17) is provided at the bottom of the brake pedal (1), a mounting hole (18) is provided on the first flange (3) and is engaged with the shaft sleeve (17), an axial hole is provided on the shaft sleeve (17) along its axis, the rotating shaft (2) passes through the axial hole, and both ends of the rotating shaft (2) are respectively fixed to the first flange (3).

5. The medical robot console according to claim 1, wherein: The first elastic guide member comprises two symmetrically arranged first guide columns (5) and a first spring (6) sleeved on the outer periphery of each of the first guide columns (5); two oil-free bushings (7) are further provided on the second flange (11); the bottoms of the two first guide columns (5) respectively pass through one of the oil-free bushings (7) and are connected to the third flange (12).

6. The medical robot console according to claim 5, wherein: The second flange (11) is provided with a first through hole corresponding to each first guide column (5), the oil-free bushing (7) is arranged in the first through hole, the base (400) is provided with a second through hole corresponding to each first through hole, and the bottom of the first guide column (5) passes through the oil-free bushing (7), the first through hole and the second through hole in sequence and is connected to the third flange (12).

7. The medical robot console according to claim 6, wherein: The second elastic guide member comprises four second guide columns (14) arranged between the third flange (12) and the brake base plate (16) and a second spring (15) sleeved on the outer periphery of each second guide column (14).

8. The medical robot console according to claim 7, wherein: A third through hole is provided on the third flange (12) corresponding to each second guide column (14), a clamping ring (13) is provided in each third through hole, and the top of the second guide column (14) passes through the third through hole and is connected to the third flange (12) through the clamping ring (13).

9. The medical robot console according to claim 1, wherein the base (400) includes a mounting groove for placing a foot pedal (500), and linear modules (401) are provided on both sides of the mounting groove, and the linear modules (401) drive the foot pedal (500) to move forward and backward.

10. The medical robot console according to claim 1, wherein the base (400) includes a mounting groove for placing a foot pedal (500), and Z-shaped guide rails (403) are provided on the inner walls on both sides of the mounting groove, and the Z-shaped guide rails (403) include two parallel grooves arranged in parallel and at different heights and a connecting groove arranged between the two parallel grooves, and sliding wheels (501) are provided on the two outer sides of the foot pedal (500), and the sliding wheels (501) can be slidably arranged in the Z-shaped guide rails (403) and drive the foot pedal (500) to move.

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