Pedal control apparatus and surgical robot

Abstract

The present application provides a pedal control apparatus and a surgical robot and relates to the technical field of medical instruments. A support base of the pedal control apparatus is provided with a notch. A pedal assembly is at least partially located in the notch. A first drive assembly can drive the pedal assembly to move up and down in a first direction. The support base can be placed on the ground, so that the pedal assembly can move up and down relative to the ground in the first direction (for example, perpendicular to the ground). The height of the pedal assembly relative to the ground is adjusted, so that the pedal assembly can adapt to the needs of different operators, meeting the requirements for the height adjustment and adaptation function of the pedal assembly. The pedal assembly can also be raised to facilitate the movement and transportation of the pedal control apparatus and the entirety of a surgeon control platform and to reduce or avoid damage to the pedal control apparatus due to unevenness in the ground during transportation. The pedal assembly can also be lowered, so that the entire back surface of a pedal body of the pedal assembly is in contact with the ground, improving the parking effect.

Description

Pedal control device and surgical robot

[0001] The present application claims priority to the Chinese patent application No. 202410890333.X filed on July 04, 2024, and entitled "Pedal control device and surgical robot", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of medical devices, in particular to a pedal control device and a surgical robot. BACKGROUND

[0003] With the continuous development of technology, surgical robots are widely used in surgeries based on the advantages of small incision, fine operation, no fatigue tremor, etc.

[0004] A common surgical robot can include a doctor control platform, a patient side cart and a display device, etc. A surgeon operates an input device on the doctor control platform and transmits the input to a patient side cart connected with a remotely operated surgical instrument. The doctor control platform includes a pedal assembly, and an operator can realize function switching or switching by stepping on the pedal button on the pedal assembly.

[0005] Due to the difference in height and leg length of different operators, the comfort level after stepping on the pedal button cannot be optimally adapted. The surgeon's operation process is long, and it is not suitable to maintain an uncomfortable body position for a long time, which can easily cause operation fatigue. The existing pedal is generally fixedly arranged without adjustment function, or only adjusts the direction of extension and retraction, which cannot completely solve the problem of operation comfort. Moreover, the doctor control platform has the problems of inconvenient movement and transportation and unsatisfactory parking effect. SUMMARY

[0006] The present application provides a pedal control device and a surgical robot. The pedal control device can adjust the height of the pedal assembly to adapt to the operation of different operators, improve the operation experience, and facilitate the movement of the doctor control platform of the surgical robot and improve the parking effect of the doctor control platform.

[0007] The first aspect of the present application provides a pedal control device, which includes a support seat, a pedal assembly and at least one set of first driving assemblies. The support seat has a notch, and at least part of the pedal assembly is located in the notch. The pedal assembly moves up and down along a first direction passing through the notch relative to the support seat. For example, the first direction is perpendicular to the plane where the support seat is located, i.e. the pedal assembly can move up and down along the direction perpendicular to the support seat.

[0008] The first driving assembly is arranged on the support base, and the first driving assembly is connected with the foot pedal assembly and is used to drive the foot pedal assembly to move up and down. The first driving assembly can drive the foot pedal assembly to move up and down along the first direction relative to the support base. The support base can be arranged on the ground, so that the foot pedal assembly can move up and down along the first direction relative to the ground, the height of the foot pedal assembly relative to the support base and the ground is adjusted, the height of the foot pedal assembly relative to the ground is flexibly adjusted, the foot pedal assembly can adapt to the operation requirements of different operators, the height adjustment and adaptation function of the foot pedal assembly is met, and the control experience of the foot pedal control device and the surgical robot is improved.

[0009] In addition, the up-down movement of the foot pedal assembly along the first direction can lift the foot pedal assembly, the foot pedal assembly has a high distance relative to the ground, the movement and transportation of the foot pedal control device and the whole machine of the doctor control platform are facilitated, damage to the foot pedal control device caused by the uneven ground and the low height of the foot pedal control device relative to the ground during transportation is reduced or avoided, and the service life of the foot pedal control device and the surgical robot is improved. The height of the foot pedal assembly can also be reduced, the back of the foot pedal body of the foot pedal assembly as a whole is in contact with the ground, the contact area of the foot pedal control device, the whole machine of the doctor control platform and the ground is increased, and the parking effect is improved.

[0010] In a possible implementation, the support base includes opposite upper and lower planes, and the gap is arranged through the upper and lower planes of the support base.

[0011] The first driving assembly includes an extendable output rod, the extension direction of the output rod is consistent with the first direction, and the output rod is connected with the foot pedal assembly.

[0012] In this way, the extension and retraction movement of the output rod can drive the foot pedal assembly to move up and down along the first direction, and the structure design is simple and convenient to implement.

[0013] In a possible implementation, the foot pedal control device further includes a support foot cup, the support foot cup is arranged at the end of the output rod away from the lower plane, and the first driving assembly is used to drive the support foot cup to move up and down along the first direction through the output rod.

[0014] In this way, the support foot cup can move up and down along the first direction relative to the ground, the height of the support foot cup relative to the ground is high, the movement requirements of the foot pedal control device and the doctor control platform are met, and damage to the support foot cup during movement and transportation is reduced or avoided.

[0015] The support foot cup can also be in contact with the ground, the parking and fixing of the foot pedal control device and the doctor control platform are implemented, the parking brake function is implemented, and the parking effect is further improved.

[0016] In a possible implementation, the first driving assembly further comprises a first driving member and a transmission member, the output end of the first driving member is connected with the output rod through the transmission member, the output end of the first driving member drives the transmission member to rotate, and the transmission member drives the output rod to move in the first direction.

[0017] In this way, the rotating force output by the first driving member can drive the output rod to stretch and retract in the first direction through the transmission member, and the structure design is simple, easy to implement and conducive to cost reduction.

[0018] In a possible implementation, the support base is provided with a first installation through slot, and the foot control device further comprises a fixing plate, which is arranged on the lower plane of the support base, covers the first installation through slot, and is provided with a second installation through slot.

[0019] At least part of the first driving member is accommodated in the installation through slot, the first driving member is abutted and fixed on one side of the fixing plate facing the support base, and the transmission member and the output rod are arranged through the second installation through slot.

[0020] In this way, the output rod arranged through the second installation through slot can be connected with the connecting member and the support foot cup respectively, and the connection and fixation of the output rod with the foot control assembly and the support foot cup can be realized simultaneously under the condition that the first driving assembly is assembled and fixed with the support base.

[0021] In a possible implementation, the support foot cup comprises a support member and a mounting member, and the mounting member is connected with the output rod. The mounting member is provided with a convex ball structure at one end away from the output rod, the support member is provided with a groove matched with the convex ball structure, the convex ball structure is inserted into the groove, and the convex ball structure is rotatable.

[0022] In this way, when the foot control device and the doctor control platform are parked and braked on an inclined uneven ground or the like, the rotatability of the support member relative to the mounting member and the entire foot control device enables the support member to adjust the angular position of the support member relative to the mounting member adaptively according to the ground, and the support member can be in good contact with the inclined ground, thereby improving the stability and reliability of the foot control device.

[0023] In a possible implementation, the foot control device further comprises a connecting member, which is located on the side of the lower plane away from the upper plane, one end of the connecting member is connected with the output rod, and the other end of the connecting member is connected with the foot control assembly.

[0024] In this way, the connecting member can realize the connection of the output rod with the foot control assembly, and the structure design is simple and has good connection firmness.

[0025] In a possible implementation, the connecting member comprises a first connecting part and a second connecting part connected with each other, the first connecting part is connected with the output rod, and the second connecting part is connected with the foot control assembly. The stable connection of the output rod with the foot control assembly can be realized.

[0026] The extension direction of the first connecting part can intersect with the extension direction of the second connecting part. For example, the extension directions of the first connecting part and the second connecting part can be perpendicular, so that the connecting part is in an L shape. For example, the extension direction of the first connecting part can intersect with the extension direction of the output rod, for example, can be perpendicular to the extension direction of the output rod, so as to facilitate the connection of the first connecting part and the output rod. The second connecting part can extend along the extension direction (the first direction) of the output rod, and the second connecting part can be fixed to the side wall of the foot pedal assembly distributed along the first direction, so as to increase the contact area and ensure the combination firmness of the second connecting part and the foot pedal assembly, so as to stabilize the movement of the foot pedal assembly.

[0027] In a possible implementation, the support base is provided with a guide part extending along the first direction, and the foot pedal assembly is provided with a movable part sliding along the extension direction of the guide part.

[0028] In this way, under the driving of the first driving assembly, the foot pedal assembly can slide along the extension direction of the guide part through the movable part, so as to realize the lifting movement of the foot pedal assembly along the first direction. The guide part can limit and guide the lifting movement of the foot pedal assembly along the first direction.

[0029] In a possible implementation, the support base is provided with a guide part extending along the first direction, and the foot pedal assembly includes a movable part and a foot pedal body, and the movable part slides along the extension direction of the guide part.

[0030] The foot pedal body slides relative to the movable part along a second direction perpendicular to the first direction.

[0031] In this way, the foot pedal body and the foot pedal assembly can slide along the extension direction of the guide part through the movable part, so as to ensure the lifting movement of the foot pedal body along the first direction. The foot pedal body can also slide relative to the movable part along the second direction, so that the foot pedal body can move relative to the support base along the second direction towards or away from the main body part of the support base, so as to realize the front-back movement of the foot pedal body along the second direction, so that the foot pedal body can be close to or away from the operator in the second direction. The flexibility of the relative position of the foot pedal body on the support base is enriched, the foot pedal body and the foot pedal assembly can move up and down relative to the support base along the first direction, and the foot pedal body can also move forward and backward relative to the support base along the second direction, so as to better meet the adjustment demand of the operator for the position of the foot pedal button, significantly improve the operation comfort, and further improve the control experience of the foot pedal control device and the surgical robot.

[0032] In a possible implementation, the movable part is provided with a guide rail extending along the second direction, and the foot pedal body is provided with a sliding part slidingly matched with the guide rail, so that the foot pedal body can be slidingly matched with the movable part through the sliding part.

[0033] In this way, the pedal body can slide along the extension direction of the guide rail through the sliding piece, and the front and back movement of the pedal body relative to the movable piece (support seat) in the second direction is realized. The guide rail can limit and guide the sliding of the sliding piece and the pedal body in the second direction, and ensure the front and back sliding of the pedal body in the second direction.

[0034] In a possible implementation, the movable piece has a containing cavity inside, at least one of the two opposite side walls of the containing cavity in the first direction has a guide rail, and the sliding piece is located in the containing cavity.

[0035] The side of the movable piece facing the pedal body has a avoiding port, and the side of the pedal body facing the movable piece is provided with a fixing piece, and the fixing piece is connected with the sliding piece through the avoiding port.

[0036] In this way, through simple structure design, the pedal body can slide on the guide rail of the movable piece through the sliding piece, and the manufacturing cost is relatively low.

[0037] In a possible implementation, the movable piece includes a bottom shell and a shell cover, the shell cover is arranged on the bottom shell, the shell cover and the bottom shell enclose the containing cavity, the avoiding port is located on the bottom shell, and the shell cover and the bottom shell have guide rails on the two opposite surfaces respectively.

[0038] In this way, the guide rails are arranged on the two opposite surfaces of the shell cover and the bottom shell, which facilitates to improve the cooperation firmness of the sliding piece and the guide rail, and ensures the stability and reliability of the sliding of the pedal body in the second direction. Moreover, the movable piece is divided into the bottom shell and the shell cover, the bottom shell and the shell cover enclose the containing cavity, which facilitates the molding of the two guide rails, and facilitates the assembly of the sliding piece in the containing cavity of the movable piece, and reduces the production and assembly difficulty.

[0039] In a possible implementation, the pedal control device further includes a second driving assembly, and the second driving assembly is used to drive the pedal body to slide in the second direction.

[0040] In this way, by controlling the second driving assembly, the pedal body can realize the front and back movement in the second direction, and the automation design is improved, and the control is facilitated.

[0041] In a possible implementation, the second driving assembly includes a second driving piece and a telescopic piece, and the telescopic piece can be telescopic in the second direction. One end of the telescopic piece is connected with the pedal body, and the other end of the telescopic piece is rotatably connected with the support seat.

[0042] The second driving piece is arranged on the pedal assembly, the second driving piece is connected with the telescopic piece, and the second driving piece is used to drive the telescopic piece to be telescopic.

[0043] In this way, the second driving member can drive the telescopic member to telescope in the second direction, and the telescopic member can push and pull the pedal main body, so that the pedal main body slides relative to the support base in the second direction, and the pedal main body moves forward and backward in the second direction.

[0044] In a possible implementation, the telescopic member includes a plurality of telescopic units, and each telescopic unit includes two connecting rods that are cross-connected. When the telescopic units are multiple, the multiple telescopic units are arranged in sequence in the second direction, and adjacent two telescopic units are connected in a hinge manner, and the connecting rods at two ends of the telescopic member are connected with the pedal main body and the support base respectively.

[0045] In this way, the relative rotation of the two connecting rods can change the total length of the telescopic unit, the relative rotation of the connecting rods between the two telescopic units can change the total length of the telescopic member, and then the telescopic unit can telescope in the second direction, so that the pedal main body can be pushed and pulled to move forward and backward relative to the support base in the second direction. The structure design is simple, easy to implement, and conducive to reducing manufacturing cost.

[0046] In a possible implementation, the pedal control device further includes a first assembly rod and a second assembly rod, the first assembly rod is arranged on the support base, two first assembly members are arranged on the first assembly rod in a sleeving manner, the first assembly member is rotatable relative to the first assembly rod, and the two connecting rods at one end of the telescopic member are connected with the first assembly member respectively.

[0047] In this way, one end of the two connecting rods of the telescopic unit at one end of the telescopic member is connected with the two first assembly members respectively, and then the rotation cooperation between the two connecting rods (the telescopic member) and the first assembly rod is realized through the first assembly member, so that the two connecting rods can rotate relative to the support base around the first assembly member. When the pedal assembly and the pedal main body move up and down in the first direction, the pedal main body drives the telescopic member to move up and down, so that the two connecting rods at one end of the telescopic member rotate relative to the first assembly rod (the support base), and the up and down movement of the pedal main body in the first direction is ensured.

[0048] The second assembly rod is arranged on the pedal main body in a rotatable manner, two second assembly members are arranged on the second assembly rod in a sleeving manner, the outer surface of the first assembly rod is provided with external threads, the inner surface of the second assembly member is provided with internal threads matched with the external threads, the internal threads of the two second assembly members are in opposite screw directions, and the two connecting rods at the other end of the telescopic member are connected with the second assembly member. The second driving member is connected with the second assembly rod, and the second driving member is used to drive the second assembly rod to rotate.

[0049] Thus, the second assembling rod is driven to rotate by the second driving member, and the second assembling member screwing with the second assembling rod is driven to rotate relative to the second assembling rod and move along the extension direction of the second assembling rod. Since the inner threads of the two second assembling members are in opposite directions, the two second assembling members are driven to move away from or towards each other along the second assembling rod while rotating relative to the second assembling rod. Further, the two connecting rods are driven to move away from or towards each other by the two second assembling members, so that the two connecting rods are driven to rotate relative to each other at the hinged position, thereby realizing the extension and contraction of the extension unit (the extension member) in the second direction.

[0050] The second aspect of the present application provides a surgical robot comprising a mobile base and any of the foot control devices described above, wherein the foot control device is located on the mobile base.

[0051] The configuration of the present application and other inventive purposes and benefits will be more apparent and easy to understand through the description of the specific embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0053] Fig. 1 is a schematic diagram of a partial structure of a surgical robot according to an embodiment of the present application;

[0054] Fig. 1a is a schematic diagram of a structure of a foot control device in a relatively low position according to an embodiment of the present application;

[0055] Fig. 1b is a schematic diagram of a structure of a foot control device in a relatively high position according to an embodiment of the present application;

[0056] Fig. 2 is an enlarged schematic diagram of a partial structure of a foot control device at a first driving assembly position according to an embodiment of the present application;

[0057] Fig. 3 is a schematic diagram of a partially exploded structure of a foot control device at a first driving assembly position according to an embodiment of the present application;

[0058] Fig. 4 is a schematic diagram of a cross-sectional structure of a foot control device at a first driving assembly position according to an embodiment of the present application;

[0059] Fig. 5 is a schematic diagram of a structure of a foot control device according to an embodiment of the present application from another perspective;

[0060] Fig. 6 is a schematic diagram of a partially exploded structure of a foot control device at a movable member position according to an embodiment of the present application;

[0061] Fig. 7 is a schematic view of the assembly structure of the foot pedal assembly and the sliding member of the foot pedal control device in Fig. 5;

[0062] Fig. 8 is a schematic view of the partial structure of the foot pedal control device in Fig. 5 at the position where the sliding member cooperates with the guide rail;

[0063] Fig. 9 is a schematic view of the partial structure of the foot pedal control device in Fig. 5 at the position of the movable member;

[0064] Fig. 10 is a schematic view of the structure of the foot pedal control device in Fig. 5 from another perspective;

[0065] Fig. 11 is a schematic view of the structure of the foot pedal control device in Fig. 10 when the telescopic member is in the retracted state;

[0066] Fig. 12 is a schematic view of the structure of the foot pedal control device in Fig. 10 when the telescopic member is in the extended state.

[0067] Legend: 100 - surgical robot; 101 - foot pedal control device; 10 - support base; 10a - upper plane; 10b - lower plane; 11 - notch; 111 - opening; 12 - first mounting through slot; 13 - guide member; 14 - main body; 15 - first support portion; 16 - second support portion; 17 - mounting plate; 20 - foot pedal assembly; 21 - foot pedal main body; 22 - foot pedal button; 23 - movable member; 23a - bottom shell; 23b - shell cover; 233 - accommodating cavity; 234 - guide rail; 24 - fixing member; 25 - sliding member; 30 - first driving assembly; 31 - first driving member; 32 - output rod; 33 - transmission member; 40 - detection member; 50 - support foot cup; 51 - mounting member; 511 - convex ball structure; 52 - support member; 521 - groove; 60 - connecting member; 61 - first connecting portion; 62 - second connecting portion; 70 - first fastening member; 80 - fixing plate; 81 - second mounting through slot; 82 - limiting slot; 90 - second fastening member; 110 - third fastening member; 120 - fourth fastening member; 130 - second driving assembly; 131 - second driving member; 132 - telescopic member; 132a - telescopic unit; 1321 - connecting rod; 140 - control bottom plate; 150 - first assembly rod; 151 - first assembly member; 160 - second assembly rod; 161 - second assembly member; 102 - moving base; 112 - moving wheel. DETAILED DESCRIPTION

[0068] Compared with the traditional surgical method, minimally invasive surgery has the advantages of small trauma, light pain, fast recovery and the like; and with the development of robot technology, minimally invasive surgery robot technology emerges as the times require, and the minimally invasive surgery robot can reduce the difficulty of minimally invasive surgery. The surgical robot usually includes a doctor control platform, a patient surgery platform and a display device. During the operation of the doctor on the doctor control platform, the feet need to be placed on the foot pedal assembly to operate the foot pedal button on the foot pedal assembly, so as to complete the corresponding surgical operation.

[0069] At present, the foot pedal assembly of the doctor control platform is usually fixed on the support seat, and the heights of different operators, leg lengths and preferences for the height of the comfortable placement position of the feet from the ground during the operation are different. Problems such as the operator cannot easily reach the foot pedal button, the leg is not convenient to stretch, the foot control is not comfortable, or the comfort degree after the foot is stepped on the foot pedal button cannot reach the best adaptive state, etc. are prone to occur, which is not convenient for the operator to control the foot pedal button or is prone to cause control fatigue, etc. The foot pedal assembly is difficult to adapt to the operation requirements of different operators, and affects the control experience of the surgical robot.

[0070] Based on this, the embodiment of the present application provides a foot pedal control device which can be applied to a surgical robot to meet the demand of foot pedal control. The foot pedal control device comprises a foot pedal assembly, a support seat and a first driving assembly. The foot pedal assembly is at least partially located in the gap of the support seat, and the foot pedal assembly is slidingly installed on the support seat. The first driving assembly can drive the foot pedal assembly to move up and down along the first direction passing through the gap. In actual use, the support seat can be placed on the ground or the like through the moving wheels, so that the foot pedal assembly can move up and down relative to the ground or the like along the first direction (such as the direction perpendicular to the ground). The height of the foot pedal assembly relative to the support seat and the ground or the like is adjusted, the flexible adjustment of the height of the foot pedal assembly relative to the ground is realized, the foot pedal button of the foot pedal assembly can adapt to the operation requirements of different operators, the requirement of the height adjustment and adaptation function of the foot pedal assembly is met, and the control experience of the foot pedal control device and the surgical robot is improved.

[0071] In addition, the up and down movement of the foot pedal assembly along the first direction can lift the foot pedal assembly, the foot pedal assembly has a high distance relative to the ground, the movement and transportation of the foot pedal control device and the whole doctor control platform are facilitated, the damage to the foot pedal control device caused by the uneven ground and the low height of the foot pedal control device from the ground during the transportation process is reduced or avoided, and the service life of the foot pedal control device and the surgical robot is improved. The height of the foot pedal assembly can also be reduced, the whole back of the foot pedal main body of the foot pedal assembly is in contact with the ground, the contact area of the foot pedal control device and the whole doctor control platform with the ground is increased, and the parking effect is improved.

[0072] FIG. 1 is a partial structure schematic diagram of a surgical robot provided by the embodiment of the present application.

[0073] Referring to FIG. 1, the surgical robot 100 can include a mobile base 102 and a foot control device 101 located on the mobile base 102. For example, the surgical robot 100 can include a doctor control platform, a patient surgery platform, and a display device (not shown in the figure), and the foot control device 101 can be located on the mobile base 102 of the doctor control platform. When the doctor operates on the doctor control platform, the feet need to be placed on the foot pedal assembly 20 of the foot control device 101 to operate the foot pedal button 22 on the foot pedal assembly 20, so that the doctor can realize remote control of the patient surgery platform and perform surgical operations on the patient using surgical instruments on the patient surgery platform.

[0074] The mobile base 102 includes a plurality of mobile wheels 112 in contact with the ground or the like, so that the mobile base 102 can be moved to drive the doctor control platform and the foot control device 101 to move, meeting the movement and transportation requirements of the surgical robot 100. When moved to a suitable position, the mobile wheels 112 can be fixed to the ground or the like.

[0075] The foot control device 101 includes a support seat 10, which can serve as a load-bearing structural member of the foot control device 101. The mobile wheels 112 can be arranged on the support seat 10, and the support seat 10 can be in contact with the ground or the like through the mobile wheels 112.

[0076] A gap 11 is formed in the support seat 10. For example, as shown in FIG. 1, the width direction of the support seat 10 is the x direction, the length direction of the support seat 10 is the y direction, and the thickness direction of the support seat 10 is the z direction. The gap 11 can be formed on one side of the support seat 10, for example, on one side of the support seat 10 along the length direction. The gap 11 extends to the edge of the one side of the support seat 10 along the length direction to form an opening 111.

[0077] The foot control device 101 further includes a foot pedal assembly 20 assembled on the support seat 10, and at least part of the foot pedal assembly 20 is located in the gap 11 of the support seat 10. The gap 11 can accommodate and avoid the foot pedal assembly 20, facilitating the sliding of the foot pedal assembly 20 on the support seat 10.

[0078] The foot pedal assembly 20 can have a contour shape consistent with that of the gap 11, for example, both can have a rectangular shape.

[0079] The pedal assembly 20 is slidably mounted on the support base 10, and the pedal assembly 20 can move up and down relative to the support base 10 along a first direction. The first direction is a direction through the gap 11, and an included angle can be formed between the first direction and the plane on which the support base 10 is located. For example, the first direction can be parallel to the thickness direction (such as the z direction) of the support base 10, so that the first direction is perpendicular to the plane on which the support base 10 is located, and the pedal assembly 20 can move up and down along the direction perpendicular to the support base 10. Among them, the direction from the side of the support base 10 facing the ground (the lower plane 10b) to the side of the support base 10 away from the ground (the upper plane 10a) along the first direction is upward, and the direction from the side of the support base 10 away from the ground (the upper plane 10a) to the side of the support base 10 facing the ground (the lower plane 10b) along the first direction is downward.

[0080] The pedal control device 101 further comprises at least one set of first driving assembly 30, the first driving assembly 30 is connected with the pedal assembly 20, and the first driving assembly 30 can drive the pedal assembly 20 to move up and down relative to the support base 10 along the first direction. For example, the first direction is perpendicular to the thickness direction (z direction) of the support base 10, the first driving assembly 30 can drive the pedal assembly 20 to move up and down relative to the support base 10 along the first direction (z direction), so that the pedal assembly 20 moves up and down relative to the ground along the first direction, adjusts the height of the pedal assembly 20 relative to the support base 10 and the ground, and realizes flexible adjustment of the height of the pedal assembly 20 relative to the ground. The pedal button 22 of the pedal assembly 20 can adapt to the operation requirements of different operators, meet the height adjustment and adaptation requirements of the pedal assembly 20, and improve the control experience of the pedal control device 101 and the surgical robot 100.

[0081] In addition, the up and down movement of the pedal assembly 20 along the first direction can lift the pedal assembly, and the pedal assembly has a high distance relative to the ground, which is convenient for moving and transporting the pedal control device 101 and the whole doctor control platform, reduces or avoids damage to the pedal control device 101 caused by the ground and the low height of the pedal control device 101 from the ground during transportation, and is beneficial to improve the service life of the pedal control device 101 and the surgical robot 100. The height of the pedal assembly 20 can also be reduced, so that the back of the pedal main body 21 of the pedal assembly 20 is in contact with the ground, the contact area between the pedal control device 101 and the doctor control platform and the ground is increased, and the parking effect of the pedal control device 101 and the doctor control platform is improved.

[0082] For example, the foot control device 101 of the doctor control platform is used in the process, such as the foot pedal assembly 20 (the foot pedal button 22) is lower, so that the operator cannot easily reach the foot pedal button 22, or the operator prefers to place the feet higher during operation, or in the process of moving and transporting the doctor control platform, etc. The first driving assembly 30 can be controlled to drive the foot pedal assembly 20 to move upward relative to the support seat 10 in the first direction, so that the height of the foot pedal assembly 20 relative to the ground is raised, to meet the operation requirements of the operator and the transportation requirements of the doctor control platform.

[0083] For example, the foot pedal assembly 20 (the foot pedal button 22) is higher, so that the operator has difficulty stretching the legs, or the operator prefers to place the feet lower during operation, or in the process of moving and transporting the doctor control platform, or in the process of moving to the appropriate position and stopping, etc. The first driving assembly 30 can be controlled to drive the foot pedal assembly 20 to move downward relative to the support seat 10 in the first direction, so that the height of the foot pedal assembly 20 relative to the ground is lowered, to meet the operation requirements of the operator and improve the stopping effect of the doctor control platform.

[0084] Referring back to FIG. 1, the foot pedal assembly 20 can include a foot pedal body 21 and a plurality of foot pedal buttons 22 arranged on the foot pedal body 21. For example, the foot pedal body 21 can include a front surface and a back surface, and the foot pedal buttons 22 can be arranged on the front surface of the foot pedal body 21. The back surface of the foot pedal body 21 can face the ground, such as in the process of stopping the doctor control platform, so that the back surface of the foot pedal body 21 can be in contact with the ground.

[0085] The foot pedal buttons 22 can be used for control. The operator can control the surgical instruments by stepping on the foot pedal buttons 22.

[0086] The number of foot pedal buttons 22 can be multiple, and the multiple foot pedal buttons 22 can be arranged on the foot pedal body 21 according to a certain design rule. For example, the multiple foot pedal buttons 22 can be arranged on both sides of the foot pedal body 21 in the width direction (x direction), to facilitate the control of the left foot and the right foot of the operator and improve the operation efficiency.

[0087] The specific distribution of the foot pedal buttons 22 is not limited in the embodiments of the present application, and can be selected and set according to the actual operation rule. Of course, in some other examples, the number of foot pedal buttons 22 can also be one.

[0088] The foot pedal control device 101 can further include a detection member 40 for detecting the action of the operator. For example, the detection member 40 can be an infrared detection member. The detection member 40 is arranged on the foot pedal body 21. For example, when the detection member 40 is an infrared detection member, the detection member 40 can emit infrared rays, and the path of the emitted infrared rays can pass through the top of the foot pedal button 22.

[0089] When the foot of the operator is placed on the foot pedal button 22, the infrared rays emitted by the detection member 40 can detect the presence of the foot. When the foot pedal button 22 is pressed, only when the detection member 40 detects the presence of the foot, the surgical operation corresponding to the foot pedal button 22 can be performed, so as to prevent the foot pedal button 22 from being accidentally pressed and causing the surgical operation to fail, thereby improving the reliability of the foot pedal control device 101.

[0090] Referring to FIG. 1, the support base 10 can include opposite upper and lower planes 10a and 10b (see FIG. 2). The upper and lower planes 10a and 10b of the support base 10 can be opposite in the thickness direction (z direction) of the support base 10. The moving base 102 can be fixed to the lower plane 10b of the support base 10. When the foot pedal control device 101 is placed on the ground or the like, the lower plane 10b of the support base 10 is opposite to the ground, and the upper plane 10a of the support base 10 is opposite to the ground.

[0091] The notch 11 can pass through the upper and lower planes 10a and 10b of the support base 10, that is, the notch 11 passes through the support base 10 in the thickness direction, so that the foot pedal assembly 20 can move up and down relative to the support base 10 in the first direction.

[0092] Continuing to refer to FIG. 1, the first driving assembly 30 can include a first driving member 31 and an output rod 32. The output rod 32 can move in and out relative to the first driving member 31, and the extension direction of the output rod 32 can also be the first direction. The output rod 32 is connected to the foot pedal assembly 20. The first driving member 31 can drive the output rod 32 to move in and out, and then drive the foot pedal assembly 20 to move up and down in the first direction through the output rod 32.

[0093] For example, the first driving member 31 has an output end (not shown in the figure). The output end of the first driving member 31 is used to output a rotating force. For example, the first driving member 31 can be a motor, a stepping motor, or the like.

[0094] The first driving assembly 30 further includes a transmission member 33. The transmission member 33 is used to convert the rotating force output by the output end of the first driving member 31 into a driving force for driving the output rod 32 to move in and out in the first direction. For example, the transmission member 33 can be a cam mechanism or the like.

[0095] The output end of the first driving member 31 is connected with the transmission member 33, the transmission member 33 is connected with the output rod 32, the output end of the first driving member 31 can drive the transmission member 33 to rotate, the transmission member 33 can drive the output rod 32 to stretch and contract along the first direction, so that the output rod 32 drives the foot pedal assembly 20 to move up and down along the first direction. The structure is simple, easy to realize and conducive to reducing cost.

[0096] Fig. 1a is a structural schematic diagram of the foot pedal assembly of the foot pedal control device in Fig. 1 in a position relatively low state, and Fig. 1b is a structural schematic diagram of the foot pedal assembly of the foot pedal control device in Fig. 1 in a position relatively high state.

[0097] For example, when it is needed to adjust the distance between the foot pedal assembly 20 and the ground to be higher, such as switching the position of the foot pedal assembly 20 in the foot pedal control device shown in Fig. 1a to the position of the foot pedal assembly 20 in the foot pedal control device shown in Fig. 1b. The first driving member 31 can be controlled to drive the transmission member 33 to rotate, such as driving the transmission member 33 to rotate in the clockwise direction, the transmission member 33 drives the output rod 32 to move close to the first driving member 31 and away from the ground along the first direction (y direction), the output rod 32 drives the foot pedal assembly 20 to move away from the ground along the first direction, so that the foot pedal assembly 20 is lifted along the first direction, and the foot pedal assembly 20 is lifted along the first direction.

[0098] When it is needed to adjust the distance between the foot pedal assembly 20 and the ground to be lower, such as switching the position of the foot pedal assembly 20 in the foot pedal control device shown in Fig. 1b to the position of the foot pedal assembly 20 in the foot pedal control device shown in Fig. 1a. The first driving member 31 can be controlled to drive the transmission member 33 to rotate reversely, such as driving the transmission member 33 to rotate in the counterclockwise direction, the transmission member 33 drives the output rod 32 to move away from the first driving member 31 and stretch towards the ground along the first direction (y direction), the output rod 32 drives the foot pedal assembly 20 to move towards the ground along the first direction, so that the foot pedal assembly 20 is lowered along the first direction, and the foot pedal assembly 20 is lowered along the first direction.

[0099] Fig. 2 is an enlarged schematic diagram of the partial structure of the foot pedal control device in Fig. 1 at the position of the first driving assembly.

[0100] For example, as shown in Fig. 2, at least part of the output rod 32 can be located on the side of the lower plane 10b of the support seat 10 away from the upper plane, that is, in the thickness direction (the first direction, the z direction), at least part of the output rod 32 is located below the side of the lower plane 10b of the support seat 10 (the side facing the ground).

[0101] Referring to FIG. 2, the foot control device 101 further comprises a supporting foot cup 50, which is arranged on an end of the output rod 32 away from the lower plane 10b of the supporting base 10 (away from the first driving member 31), and is used to support the ground or the like, to limit the relative movement between the foot control device 101 and the ground or the like, and to realize the parking brake function of the foot control device 101.

[0102] The supporting foot cup 50 is arranged on the output rod 32, that is, the output rod 32 can be connected with both the foot assembly 20 and the supporting foot cup 50, and the first driving assembly 30 can drive the supporting foot cup 50 and the foot assembly 20 to move up and down along the first direction through the output rod 32. The supporting foot cup 50 can also move up and down along the first direction relative to the ground, which facilitates the movement and transportation of the foot assembly 20 and the doctor control platform and the parking brake.

[0103] During the movement and transportation of the foot control device 101 and the doctor control platform, the first driving assembly 30 can be controlled to drive the supporting foot cup 50 to move up along the first direction (z direction) through the output rod 32, such as to drive the supporting foot cup 50 to switch from the position state in FIG. 1a to the position state in FIG. 1b through the contraction of the output rod 32 along the first direction, so that the height of the supporting foot cup 50 relative to the ground is higher, which meets the movement requirement of the foot control device 101 and the doctor control platform, and can reduce or avoid the damage to the supporting foot cup 50 during the movement and transportation.

[0104] During the movement and transportation or after being parked at a suitable position, the first driving assembly 30 can be controlled to drive the supporting foot cup 50 to move down along the first direction (z direction) through the output rod 32, such as to drive the supporting foot cup 50 to switch from the position state in FIG. 1b to the position state in FIG. 1a through the extension of the output rod 32 along the first direction, so that the supporting foot cup 50 moves towards the ground and contacts the ground. The parking brake function can be realized through the contact between the supporting foot cup 50 and the ground, to further improve the parking effect, and to improve the stability and reliability of the foot control device 101 and the doctor control platform.

[0105] Continuing to refer to FIG. 2, the foot control device can further comprise a connecting member 60, and the output rod 32 can be connected with the foot assembly 20 through the connecting member 60.

[0106] For example, the connecting member 60 can comprise a first connecting part 61 and a second connecting part 62 connected with each other, the first connecting part 61 is connected with the output rod 32, and the second connecting part 62 is connected with the foot assembly 20.

[0107] The extension direction of the first connecting part 61 can be at an angle with the extension direction of the second connecting part 62, for example, the extension direction of the first connecting part 61 and the extension direction of the second connecting part 62 can be perpendicular, for example, the extension direction of the first connecting part 61 can be along the width direction (x direction), and the extension direction of the second connecting part 62 can be along the thickness direction (z direction), so that the connecting piece 60 is an L-shaped structural member.

[0108] The output rod 32 can be a columnar structural member extending along the first direction (thickness direction), so that the extension direction of the first connecting part 61 is along the width direction, which can facilitate the connection of the connecting piece 60 and the output rod 32. For example, the foot control device can further include a first fastener 70 (as shown in FIG. 3), and first and second assembly holes 321 and 611 can be formed on the output rod 32 and the first connecting part 61. The first connecting part 61 can be sleeved on the output rod 32, and the output rod 32 and the first connecting part 61 can be connected by fastening the first fastener 70 with the first and second assembly holes 321 and 611.

[0109] The extension direction of the second connecting part 62 is along the thickness direction, which can increase the contact area of the second connecting part 62 and the foot assembly 20, and facilitate the combination of the connecting piece 60 and the foot assembly 20, so as to stably drive the foot assembly 20 to move.

[0110] For example, as shown in FIG. 2, the foot assembly 20 can be provided with a movable part 23, for example, the movable part 23 is arranged on the outer side wall of the foot body 21, and the second connecting part 62 of the connecting piece 60 can be connected with the movable part 23 on the foot assembly 20. For example, third and fourth assembly holes 621 and 232 can be formed on the second connecting part 62 and the movable part 23 (as shown in FIG. 3), and the foot control device 101 can further include a second fastener 90 (as shown in FIG. 4), and the movable part 23 (the foot assembly 20) and the second connecting part 62 can be connected by fastening the second fastener 90 with the third and fourth assembly holes.

[0111] Of course, in some examples, the first driving assembly 30 can also be connected with the foot body 21 through the connecting piece.

[0112] FIG. 3 is a partially exploded structural schematic view of the foot control device in FIG. 1 at the position of the first driving assembly.

[0113] In order to realize the assembly of the first driving assembly 30 and the support seat 10, the support foot cup 50 and the foot assembly 20, for example, as shown in FIG. 3, a first mounting through slot 12 can be formed on the support seat 10.

[0114] The foot control device 101 further comprises a fixing plate 80, the fixing plate 80 is provided on the lower plane 10b of the support base 10 (refer to FIG. 2), and a second mounting through slot 81 is formed in the fixing plate 80.

[0115] For example, continuing to refer to FIG. 3, the foot control device can further comprise a third fastener 110, fifth and sixth assembly holes (not shown in the figure) are respectively formed in the fixing plate 80 and the lower plane of the support base 10, and the third fastener 110 is fastened with the fifth and sixth assembly holes to realize the connection of the fixing plate 80 and the support base 10.

[0116] FIG. 4 is a schematic view of the cross-sectional structure of the foot control device in FIG. 2 at the first driving assembly position.

[0117] Referring to FIG. 4, the fixing plate 80 is located on the lower plane of the support base 10 and covers the first mounting through slot 12. At least part of the first driving member 31 is accommodated in the first mounting through slot 12, the first driving member 31 can abut against one side of the fixing plate 80 facing the support base 10, and the first driving member 31 can be fixedly connected with the fixing plate 80.

[0118] For example, one side of the fixing plate 80 facing the support base 10 can have a limiting groove 82 (combined with FIG. 3), the first driving member 31 is placed in the limiting groove 82, and the limiting groove 82 can limit and position the first driving assembly 30, which facilitates the accurate positioning of the first driving assembly 30 and the support base 10 during assembly, thereby improving the assembly efficiency.

[0119] For example, the foot control device can further comprise a fourth fastener 120 (refer to FIG. 3), and a seventh assembly hole 821 and an eighth assembly hole (not shown in the figure) can be respectively formed in the fixing plate 80 and the first driving member 31, for example, the seventh assembly hole 821 is formed in the groove bottom wall of the limiting groove 82. The fourth fastener 120 is fastened with the seventh assembly hole 821 and the eighth assembly hole to realize the connection of the fixing plate 80 and the first driving member 31.

[0120] Continuing to refer to FIG. 4, the transmission member 33 and the output rod 32 are respectively arranged through the second mounting through slot 81, the output rod 32 is respectively connected with the connecting member 60 and the support foot cup 50, and under the condition that the first driving assembly 30 is assembled and fixed with the support base 10, the connection and fixation of the output rod 32 with the foot control assembly 20 and the support foot cup 50 are facilitated.

[0121] For example, the support foot cup 50 can comprise a support member 52 and a mounting member 51 (combined with FIG. 3), the support member 52 is used to contact and support the ground, and the support member 52 is fixedly assembled with the output rod 32 through the mounting member 51.

[0122] The mounting member 51 and the supporting member 52 are rotatably connected. For example, one of the mounting member 51 and the supporting member 52 is provided with a convex ball structure 511, and the other is provided with a groove 521 matched with the convex ball structure 511. For example, the end of the mounting member 51 away from the output rod 32 is provided with the convex ball structure 511, which is in the shape of a ball.

[0123] The supporting member 52 is provided with the groove 521 matched with the convex ball structure 511. The shape of the groove 521 is matched with the shape of the convex ball structure 511. For example, the shape of the groove 521 is also in the shape of a ball.

[0124] Continuing to refer to FIG. 4, the convex ball structure 511 is inserted into the groove 521, and the convex ball structure 511 can rotate relative to the groove 521, so that the supporting member 52 can rotate relative to the mounting member 51. When the foot control device 101 and the doctor control platform are parked on an inclined and uneven ground, the rotatability of the supporting member 52 relative to the mounting member 51 and the entire foot control device allows the supporting member 52 to adjust the angle position relative to the mounting member 51 to adapt to the ground, so that the supporting member 52 can be well in contact with the inclined ground to improve the stability and reliability of the foot control device.

[0125] FIG. 5 is a structural schematic view of the foot control device of FIG. 1 from another perspective.

[0126] For example, in order to guide and limit the sliding of the foot assembly 20 in the first direction, the supporting seat 10 is provided with a guide member 13, and the extension direction of the guide member 13 is consistent with the first direction (the thickness direction, the z direction).

[0127] The foot assembly 20 is provided with a movable member 23, such as the foot main body 21. The movable member 23 is inserted and matched with the guide member 13, so that the movable member 23 can slide along the extension direction of the guide member 13. When the foot assembly 20 is driven by the first driving assembly to move up and down in the first direction, the foot assembly 20 can slide along the guide member 13 through the movable member 23. The guide member 13 can limit and guide the up and down movement of the foot assembly 20, so as to ensure the up and down movement of the foot assembly 20 in the first direction.

[0128] In the embodiments of the present application, the specific matching mode of the guide member 13 and the movable member 23 is not limited. For example, the guide member 13 can be a guide rail groove formed on the side wall, and the movable member 23 can be a block-shaped structure protruding on the pedal assembly, so that the movable member can be inserted into the guide rail groove and slide along the guide rail groove. Alternatively, in some other examples, the guide member 13 can be a protruding structure, and the movable member 23 can have a sliding groove matched with the protruding structure, so as to realize the sliding matching of the guide member 13 and the movable member 23.

[0129] For example, the number of the first driving assemblies 30 can be one set, the set of first driving assemblies 30 can be located on one side of the pedal assembly 20 along the second direction (y direction), and the first driving assembly 30 can be connected at the middle position of the pedal assembly 20. For example, the pedal assembly 20 can be an axisymmetric structure, and the first driving assembly 30 can be connected at the position of the axis of symmetry of the pedal assembly 20.

[0130] For example, the support seat 10 can include a first support part 15, a main body part 14 and a second support part 16, and the first support part 15, the main body part 14 and the second support part 16 can all be square-shaped structures. The first support part 15 and the second support part 16 can be located on both sides of the main body part 14, for example, the first support part 15 and the second support part 16 are respectively located on both sides of the main body part 14 along the width direction (x direction), and the first support part 15 and the second support part 16 have a gap therebetween, so that the first support part 15, the main body part 14 and the second support part 16 jointly enclose the notch 11, and the support seat 10 can be a symmetric structure with the center line of the main body part 14 as the axis of symmetry. The axis of symmetry of the pedal assembly 20 can be consistent with the axis of symmetry of the support seat 10, and the first driving assembly 30 can be arranged at the position of the axis of symmetry of the main body part 14 and connected with the pedal assembly 20 at the position of the axis of symmetry.

[0131] The guide member 13 can be arranged on both opposite sides of the support seat 10 along the width direction, for example, the first support part 15 and the second support part 16 can respectively have the guide member 13 on the side facing the pedal main body 21. The movable member 23 can be arranged on both opposite sides of the pedal assembly 20 along the width direction, for example, the pedal main body 21 can respectively have the movable member 23 on the side facing the first support part 15 and the second support part 16, so as to ensure the smoothness and stability of the lifting movement of the pedal assembly 20 along the first direction.

[0132] Alternatively, the first driving assembly 30 can be located on one side of the foot pedal assembly 20 along the width direction (x direction), for example, only the first support part 15 (or the second support part 16) is provided with the first driving assembly 30, and the guide 13 and the movable part 23 can be located on the other side of the foot pedal assembly 20 along the width direction, for example, the guide 13 can be arranged on the side of the second support part 16 (or the first support part 15) facing the foot pedal body 21, and the movable part 23 can be arranged on the side of the foot pedal body 21 facing the second support part 16 (or the first support part 15).

[0133] Of course, in the example that the first driving assembly 30 is located on one side of the foot pedal assembly 20 along the width direction, the guides 13 can be arranged on both sides of the support seat 10 along the width direction, and the movable parts 23 can also be arranged on both sides of the foot pedal assembly 20 along the width direction.

[0134] Alternatively, in some examples, the number of the first driving assemblies 30 can be two groups, and the two groups of first driving assemblies 30 can be located on both sides of the foot pedal assembly 20 along the width direction (x direction), for example, the first driving assemblies 30 can be arranged on the first support part 15 and the second support part 16 respectively, and the two groups of first driving assemblies 30 can be symmetrically arranged with respect to the symmetry axis of the support seat 10, and the support seat 10, the foot pedal assembly 20 (the foot pedal body 21) and the first driving assemblies 30 can be designed as a symmetric structure with respect to the symmetry axis of the support seat 10. The two groups of first driving assemblies 30 can be connected to the two sides of the foot pedal assembly 20 along the width direction respectively, and the two groups of first driving assemblies 30 can jointly drive the foot pedal assembly 20 to move up and down along the first direction, thereby enhancing the driving strength of the foot pedal assembly 20 and ensuring that the foot pedal assembly 20 can smoothly and stably move up and down along the first direction.

[0135] The guides 13 can be arranged on both sides of the support seat 10 along the width direction, and the movable parts 23 can be arranged on both sides of the foot pedal assembly 20 along the width direction, for example, the first support part 15 and the second support part 16 can respectively have the guides 13 facing the foot pedal body 21. The foot pedal body 21 can have the movable parts 23 facing the first support part 15 and the second support part 16 respectively.

[0136] The control bottom plate 140 can also be arranged on the support seat 10, for example, the first support part 15 and the second support part 16 can respectively have the control bottom plate 140, and the first installation through slot 12 can be arranged at the position of the control bottom plate 140, so that the first driving assembly 30 is located at the position of the control bottom plate 140. The control bottom plate 140 can be used to install a control circuit board of the foot pedal control device 101, and the control circuit board can be connected to the first driving assembly 30, so as to control the first driving assembly 30 through the control circuit board.

[0137] To further enrich the positional adjustment function of the foot pedal button 22, for example, the foot pedal body 21 and the movable part 23 can be connected in a relatively sliding manner.

[0138] The foot pedal body 21 can slide relative to the movable part 23 along the second direction. The second direction can be at an angle to the first direction. For example, the second direction can be perpendicular to the first direction. If the first direction is consistent with the thickness direction, the second direction can be consistent with the length direction. For example, the second direction can be the y direction in Figure 5.

[0139] That is, the foot pedal body 21 can move relative to the movable part 23 (support base 10) in the second direction toward or away from the main body 14 of the support base 10, realizing the forward and backward movement of the foot pedal body 21 and the foot pedal button 22 in the second direction, enriching the flexibility of the relative position of the foot pedal body 21 and the foot pedal button 22 on the support base 10. The foot pedal assembly 20 and the foot pedal button 22 can move up and down relative to the support base 10 in the first direction, and the foot pedal body 21 and the foot pedal button 22 can also move forward and backward relative to the support base 10 in the second direction, which can better meet the operator's adjustment needs for the position of the foot pedal button 22 and significantly improve the operating comfort of the foot pedal control device. Among them, moving away from the main body 14 of the support base 10 and closer to the opening 111 of the notch 11 in the second direction is forward movement, and moving toward the main body 14 of the support base 10 and away from the opening 111 of the notch 11 in the second direction is backward movement.

[0140] When the operator uses the foot pedal control device, the operator can stand on the side of the opening 111 of the notch 11, so that the foot pedal body 21 can move back and forth relative to the support base 10 in the second direction (y direction). That is, the distance between the foot pedal body 21 and the operator in the second direction can be adjusted, so that the foot pedal body 21 and the foot pedal button 22 can move closer to or further away from the operator in the second direction. The foot pedal button 22 can better adapt to the operating needs of different operators.

[0141] For example, in the process of using the foot pedal control device, if the foot pedal body 21 is too far from the operator to reach the foot pedal button 22, or if the operator prefers the foot pedal button 22 to be closer to themselves, the foot pedal body 21 and the foot pedal button 22 can be moved relative to the support base 10 in the second direction away from the main body 14 of the support base 10 and closer to the operator (closer to the opening 111 side), so that the foot pedal button 22 is closer to the operator and meets the operation requirements.

[0142] In the case that the foot pedal body 21 is close to the operator, the operator's leg is difficult to stretch, or the operator prefers the foot pedal button 22 to be far away from the position of the operator, etc., the driving foot pedal body 21 and the foot pedal button 22 can be moved along the second direction towards the body part 14 of the support seat 10, away from the operator (away from the side of the opening 111), so that the foot pedal button 22 is far away from the operator, and the operation requirement is met.

[0143] Fig. 6 is a partially exploded structure schematic view of the foot pedal control device in Fig. 5 at the position of the movable part.

[0144] For example, as shown in Fig. 6, the movable part 23 has a guide rail 234 extending along the second direction (y direction), and the foot pedal body 21 is provided with a sliding part 25, which is in sliding cooperation with the guide rail 234. The sliding part 25 can slide along the extension direction of the guide rail 234, so that the foot pedal body 21 can slide along the second direction relative to the movable part 23 (the support seat 10) through the sliding part 25. The guide rail 234 can limit and guide the sliding of the foot pedal body 21 along the second direction, and ensure the sliding of the foot pedal body 21 along the second direction.

[0145] For example, the movable part 23 can have an accommodating cavity 233 inside, and at least one of the two opposite side walls of the accommodating cavity 233 along the first direction (the thickness direction, the z direction) has the guide rail 234.

[0146] The sliding part 25 can be located in the accommodating cavity 233, and the sliding part 25 can be slidingly arranged on the guide rail 234, so that the sliding part 25 slides along the guide rail 234. The side of the movable part 23 facing the foot pedal body 21 also has a avoiding opening 231.

[0147] Fig. 7 is an assembly structure schematic view of the foot pedal assembly and the sliding part of the foot pedal control device in Fig. 5.

[0148] As shown in Fig. 7, the side of the foot pedal body 21 facing the movable part 23 is provided with a fixing part 24.

[0149] Fig. 8 is a cross-sectional partial structure schematic view of the foot pedal control device in Fig. 5 at the cooperation position of the sliding part and the guide rail.

[0150] As shown in Fig. 8, the fixing part 24 on the foot pedal body 21 can pass through the avoiding opening 231 on the movable part 23, and be connected with the sliding part 25 in the accommodating cavity 233 of the movable part 23, so that when the sliding part 25 slides along the guide rail 234 in the second direction, the foot pedal body 21 is driven to slide along the second direction (y direction), and the foot pedal body 21 can slide along the second direction relative to the movable part 23 and the support seat 10.

[0151] Exemplarily, the guide rail 234 can be a semicircular track structure protruding on at least one of the two side walls, and the sliding piece 25 can be a pulley, which is rotatably connected to the fixing piece 24 of the pedal body 21 and is rotatably arranged on the guide rail 234, so that the sliding piece 25 rotates and slides along the guide rail 234 at the same time.

[0152] Of course, in some other examples, the guide rail 234 and the sliding piece 25 can also adopt other structural designs. For example, the guide rail 234 can be a sliding rail groove, and the sliding piece 25 can be a protrusion arranged in the sliding rail groove.

[0153] FIG. 9 is a partial enlarged schematic view of the pedal control device in FIG. 5 at the position of the movable piece.

[0154] In the example shown in FIG. 9, the guide rail 234 can be arranged on each of the two side walls of the accommodating cavity 233 along the first direction. For example, the movable piece 23 can include a bottom shell 23a and a shell cover 23b, the shell cover 23b can be arranged on one side of the bottom shell 23a along the first direction, and the shell cover 23b and the bottom shell 23a enclose the accommodating cavity 233.

[0155] The avoiding opening 231 can be located on the bottom shell 23a, and the guide rail 234 can be arranged on each of the two side walls of the bottom shell 23a and the shell cover 23b. As shown in FIG. 8, the two guide rails 234 can be in sliding fit with the sliding piece 25, which facilitates the cooperation between the sliding piece 25 and the guide rail 234, and ensures the stability and reliability of the sliding of the pedal body 21 along the second direction.

[0156] By splitting the movable piece 23 into the bottom shell 23a and the shell cover 23b, and enclosing the accommodating cavity 233 by the bottom shell 23a and the shell cover 23b, the molding of the two guide rails 234 can be facilitated, and the assembly of the sliding piece 25 in the accommodating cavity 233 of the movable piece 23 can be facilitated, thereby reducing the production and assembly difficulty.

[0157] Of course, in some other examples, the guide rail 234 can be formed on only one of the two side walls of the accommodating cavity 233 along the first direction, and the sliding of the sliding piece 25 along the second direction can be achieved.

[0158] FIG. 10 is a structural schematic view of the pedal control device in FIG. 5 from another perspective.

[0159] Exemplarily, as shown in FIG. 10, the pedal control device 101 further includes a second driving assembly 130, which is connected to the pedal body 21 and can drive the pedal body 21 to slide relative to the movable piece 23 (the support seat 10) along the second direction (y direction).

[0160] Exemplarily, the second driving assembly 130 can include a second driving member 131 and a telescopic member 132, and the telescopic member 132 can be telescopic along the second direction (y direction).

[0161] Among opposite two ends of the telescopic member 132 along the telescopic direction (the second direction), one end is connected with the pedal main body 21. The other end is rotatably matched with the support base 10. The rotatable matching of the telescopic member 132 with the support base 10 gives the telescopic member 132 and the pedal main body 21 a movement allowance in the first direction (z direction) relative to the support base 10, so as to avoid the setting of the telescopic member 132 affecting the up-down lifting movement of the pedal main body 21 and the pedal assembly 20 along the first direction.

[0162] The second driving member 131 is arranged on the pedal main body 21, and the second driving member 131 is connected with the telescopic member 132 and can drive the telescopic member 132 to be telescopic along the second direction, so as to push and pull the pedal main body 21 through the telescopic member 132, and make the pedal main body 21 slide along the second direction relative to the movable member 23 (the support base 10), so as to realize the front-back movement of the pedal main body 21 along the second direction.

[0163] Exemplarily, the telescopic member 132 can include a contracted state and an extended state. When the telescopic member 132 is in the contracted state, the length of the telescopic member 132 along the second direction is shorter, so that the pedal main body 21 is closer to the main body part 14 of the support base 10 and farther away from the opening 111 side of the gap 11 in the second direction (referring to FIG. 11). When the telescopic member 132 is in the extended state, the length of the telescopic member 132 along the second direction is longer, so that the pedal main body 21 is farther away from the main body part 14 of the support base 10 and closer to the opening 111 side of the gap 11 in the second direction (referring to FIG. 12).

[0164] In the embodiments of the present application, the specific structure of the telescopic member 132 is not limited, and the telescopic member 132 can be telescopic along the second direction to drive the pedal main body 21 to slide along the second direction relative to the movable member 23 (the support base 10).

[0165] Exemplarily, continuing to refer to FIG. 10, the telescopic member 132 can include a plurality of telescopic units 132a. Taking an example that the telescopic member 132 includes one telescopic unit 132a, each telescopic unit 132a can include two connecting rods 1321 intersecting with each other, and the two connecting rods 1321 are hinged at the intersection position, so that the two connecting rods 1321 can rotate relative to each other. The relative rotation of the two connecting rods 1321 can change the total length of the telescopic unit 132a, and then the telescopic unit 132a can be telescopic along the second direction.

[0166] When the telescopic units 132a are multiple, the multiple telescopic units 132a can be arranged in sequence along the second direction, and the two connecting rods 1321 of two adjacent telescopic units 132a are hingedly connected, that is, the two connecting rods 1321 of one of the telescopic units 132a are hingedly connected to the two connecting rods 1321 of the adjacent one of the telescopic units 132a, so that the two adjacent telescopic units 132a can also rotate relative to each other. The rotation between the telescopic units 132a and the connecting rods 1321 can change the total length of the telescopic member 132, so as to realize the telescoping of the telescopic member 132 along the second direction.

[0167] The connecting rods 1321 of the telescopic units 132a at both ends of the telescopic member 132 are connected with the pedal body 21 and the support seat 10, for example, when the telescopic member 132 includes one telescopic unit 132a, the telescopic units at both ends of the telescopic member 132 are the same telescopic unit 132a, and the two connecting rods 1321 of the telescopic unit 132a are connected with the pedal body 21 and the support seat 10. That is, one end of each connecting rod 1321 is connected with the pedal body 21, and the other end of each connecting rod 1321 is rotatably connected with the support seat 10.

[0168] When the telescopic member 132 includes multiple telescopic units 132a, the multiple telescopic units 132a are arranged along the second direction, the two connecting rods 1321 of the telescopic unit 132a closest to the pedal body 21 are connected with the pedal body 21, and the two connecting rods 1321 of the telescopic unit 132a farthest from the pedal body 21 are rotatably connected with the support seat 10.

[0169] In the embodiments of the present application, one telescopic unit 132a is taken as an example to illustrate the telescoping driving cooperation mode between the second driving member 131 and the telescopic member 132.

[0170] Referring to FIG. 10, the pedal control device 101 can further include a first assembly rod 150, which is arranged on the support seat 10, for example, a mounting plate 17 can be arranged on the lower plane 10b of the support seat 10, and the first assembly rod 150 can be fixed on the mounting plate 17.

[0171] The extension direction of the first assembly rod 150 can be consistent with the width direction (x direction). Two first assembly members 151 can be sleeved on the first assembly rod 150, and the two first assembly members 151 can rotate relative to the first assembly rod 150, for example, the first assembly member 151 can rotate around the first assembly rod 150.

[0172] The connecting rods of the telescopic units at one end of the telescopic member 132 are connected with the first assembling members 151, that is, one end of the two connecting rods 1321 of the telescopic unit 132a is connected with the two first assembling members 151 respectively, and then the rotation cooperation with the first assembling rod 150 is realized through the first assembling members 151, so that the two connecting rods 1321 (the telescopic member 132) can rotate relative to the support base 10 around the first assembling members 151. When the foot pedal body 21 moves up and down along the first direction (z direction), the foot pedal body 21 drives one end of the telescopic member 132 to move up and down, so that the two connecting rods 1321 at the other end of the telescopic member 132 rotate relative to the first assembling rod 150 (the support base 10), and the up and down movement of the foot pedal body 21 and the whole foot pedal assembly 20 along the first direction is ensured.

[0173] The foot pedal control device 101 further comprises a second assembling rod 160, and the extension direction of the second assembling rod 160 can also be consistent with the width direction (x direction). The second assembling rod 160 is rotationally arranged on the foot pedal body 21, for example, the second assembling rod 160 can be rotationally assembled on one side of the main body part 14 of the foot pedal body 21 facing the support base 10. The second assembling rod 160 can rotate relative to the foot pedal body 21 around the axis of the second assembling member 161, and two second assembling members 161 can be sleeved on the second assembling rod 160.

[0174] The outer surface of the second assembling rod 160 has external threads, and the external threads spiral around the second assembling rod 160 along the extension direction of the second assembling rod 160. The inner surfaces of the two second assembling members 161 each have internal threads, the internal threads are in threaded cooperation with the external threads, and the spiral directions of the internal threads of the two second assembling members 161 are opposite. The connecting rods at the other end of the telescopic member 132 are connected with the second assembling members 161, that is, the other ends of the two connecting rods 1321 of the telescopic unit 132a are connected with the two second assembling members 161 respectively.

[0175] The second driving member 131 is connected with the second assembling rod 160, and the second driving member 131 can be used for outputting rotation force, for example, the second driving member 131 can be a driving motor such as a motor or a stepping motor.

[0176] The second driving member 131 can drive the second assembling rod 160 to rotate, and the second assembling rod 160 rotates, so that the second assembling members 161 in threaded cooperation with the second assembling rod 160 rotate relative to the second assembling rod 160 and move along the extension direction (the width direction, the x direction) of the second assembling rod 160 at the same time. The spiral directions of the internal threads of the two second assembling members 161 are opposite, so that the two second assembling members 161 move away from or towards each other along the second assembling rod 160 while rotating relative to the second assembling rod 160.

[0177] Further, the two second assembling members 161 drive one end of the two connecting rods 1321 to move away from or towards each other, so that the two connecting rods 1321 rotate relative to each other at the hinged position, thereby realizing the extension and contraction of the extension unit 132a (extension member 132) in the second direction (y direction).

[0178] Fig. 11 is a structural schematic diagram of the extension member of the foot control device in Fig. 10 in the contracted state, and Fig. 12 is a structural schematic diagram of the extension member of the foot control device in Fig. 10 in the extended state.

[0179] For example, when it is required to move the foot body 21 away from the main body part 14 of the support base 10 and towards the operator (the side of the opening 111) in the second direction, as shown in the switching from the extension member 132 of the foot control device in Fig. 11 in the contracted state to the extension member 132 of the foot control device in Fig. 12 in the extended state. By controlling the second driving member 131, the second driving member 131 drives the second assembling rod 160 to rotate, for example, in the clockwise direction, the rotation of the second assembling rod 160 drives the two second assembling members 161 to move towards each other along the second assembling rod 160 (x direction), and further drives the two connecting rods 1321 to rotate relative to each other, the extension member 132 extends in the second direction, and pushes the foot body 21 to move away from the main body part 14 of the support base 10 and towards the operator (the side of the opening 111) in the second direction, i.e. the foot body 21 moves forward in the second direction.

[0180] Correspondingly, when it is required to move the foot body 21 towards the main body part 14 of the support base 10 and away from the operator (the side of the opening 111) in the second direction, as shown in the switching from the extension member 132 of the foot control device in Fig. 12 in the extended state to the extension member 132 of the foot control device in Fig. 11 in the contracted state. By controlling the second driving member 131, the second driving member 131 drives the second assembling rod 160 to rotate in the opposite direction, for example, in the counterclockwise direction, the rotation of the second assembling rod 160 drives the two second assembling members 161 to move away from each other along the second assembling rod 160 (x direction), and further drives the two connecting rods 1321 to rotate relative to each other, the extension member 132 contracts in the second direction, and pulls the foot body 21 to move towards the main body part 14 of the support base 10 and away from the operator (the side of the opening 111) in the second direction, i.e. the foot body 21 moves backward in the second direction.

[0181] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or indirect connection through an intermediate medium, or internal communication of two elements, or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0182] The use of the terms "first", "second", "third", "fourth" and the like in the present description and in the claims, if any, cannot be construed as necessarily implying a chronological or sequential order. Unless otherwise defined, all terms used in the description and claims are to be interpreted in accordance with their ordinary meaning in the technical field concerned.

[0183] The terms "first", "second", "third", "fourth" and the like in the description and in the claims, if any, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the use of these terms herein is to be construed as interchangeable in order to describe the embodiments of the application. Furthermore, the terms "comprise", "comprising", "include", "including", and the like, if used in the present description and in the claims, are always intended to be inclusive, i.e., to mean "including but not limited to".

[0184] Finally, it should be noted that the above-mentioned embodiments illustrate rather than limit the application, since the application is susceptible to various modifications and alternative forms of embodiment which will become apparent and be described by the following claims.

Claims

1. A foot-operated control device, characterized by comprising: The utility model relates to a foot control device, comprising: a support base having a notch on the support base; a foot pedal assembly at least partially located in the notch, the foot pedal assembly being movable in a first direction across the notch relative to the support base; at least one first drive assembly disposed on the support base, the first drive assembly being connected to the foot pedal assembly, the first drive assembly being configured to drive the foot pedal assembly to move in the first direction.

2. Pedal control device according to claim 1, characterized in that The support base comprises an upper surface and a lower surface opposite to each other, the notch extends through the upper surface and the lower surface of the support base; The first drive assembly comprises an extendable output rod, the extending direction of the output rod is consistent with the first direction, the output rod is connected to the foot pedal assembly.

3. Pedal control device according to claim 2, characterized in that Further comprising a support foot cup, the support foot cup is disposed on an end of the output rod away from the lower surface, the first drive assembly is configured to drive the support foot cup to move in the first direction through the output rod.

4. Pedal control device according to claim 3, characterized in that The support foot cup comprises a support member and a mounting member, the mounting member is connected to the output rod; The mounting member has a convex ball structure on an end thereof away from the output rod, the support member has a groove matched with the convex ball structure, the convex ball structure is inserted into the groove, and the convex ball structure is rotatable.

5. The foot-operated control device according to claim 2, characterized in that Further comprising a first connecting part and a second connecting part connected to each other, the first connecting part is connected to the output rod, and the second connecting part is connected to the foot pedal assembly.

6. Pedal control device according to any of claims 1-5, characterized in that The support base is provided with a guide member extending in the first direction; The foot pedal assembly is provided with a movable member, the movable member slides along the extending direction of the guide member.

7. Pedal control device according to any of claims 1-5, characterized in that The support base is provided with a guide member extending in the first direction; The foot pedal assembly comprises a movable member and a foot pedal body, the movable member slides along the extending direction of the guide member; The foot pedal body slides relative to the movable member in a second direction, the second direction is perpendicular to the first direction.

8. Pedal control device according to claim 7, characterized in that The movable member is provided with a guide rail extending in the second direction, and the foot pedal body is provided with a sliding member slidingly matched with the guide rail.

9. The foot-operated control device according to claim 8, characterized in that Further comprising a second drive assembly, the second drive assembly is configured to drive the foot pedal body to slide in the second direction.

10. A surgical robot, characterised in that, The utility model relates to a mobile base and the foot control device of any one of claims 1-9, the foot control device is located on the mobile base.

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