CN221308396U

CN221308396U - Trolley for surgical robot

Info

Publication number: CN221308396U
Application number: CN202322444175.9U
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Beijing Wansi Medical Equipment Co ltd
Current assignee: Beijing Wansi Medical Equipment Co ltd
Priority date: 2023-09-08
Filing date: 2023-09-08
Publication date: 2024-07-12
Anticipated expiration: 2033-09-08

Abstract

The present disclosure provides a dolly for surgical robot belongs to medical instrument technical field, and surgical robot includes arm and robot body, and the dolly includes: the frame is provided with a containing groove for containing the robot body, the containing groove is provided with a bearing groove wall for bearing the robot body, the bearing groove wall comprises a bearing bottom wall and a bearing side wall, a first included angle is formed between the bearing side wall and the bearing bottom wall, and the first included angle is not 0 degree; the moving assembly is connected to the frame and used for enabling the trolley to move on the ground; robot body fixed subassembly connects in the frame, includes: the displacement driving mechanism is connected to the frame and used for driving the robot body to move in the direction of separating from or entering the accommodating groove; the rotary driving mechanism is connected with the displacement driving mechanism and is used for driving the robot body to rotate; the bearing table is connected to the rotary driving mechanism and used for being connected with the robot body. The trolley is small in occupied area and convenient for taking and placing the robot body.

Description

Trolley for surgical robot

Technical Field

The present description relates to the technical field of medical instruments, and in particular to a trolley for a surgical robot.

Background

Vascular interventional surgery robots are a type of robotic assistance system for assisting or performing vascular interventional surgery. Vascular intervention is a minimally invasive operation performed in a human blood vessel through medical consumables of interventional operations such as guide wires, catheters, stents and the like, and is used for treating cardiovascular diseases, neurovascular diseases and other vascular related diseases.

The vascular intervention operation robot is located the follow tip part in the operating room and generally includes robot body and arm, and the position and the gesture of robot body are adjusted to the accessible arm before the art for intervene the consumable and be in the position that more conveniently gets into the patient, will intervene the consumable and send into the internal morbid department of patient accurately, conveniently perform the operation.

After the surgery is completed, it is often necessary to move the robot body and the robotic arm from the operating table to the trolley. In the prior art, the trolley for bearing the robot body occupies a larger area.

Disclosure of utility model

In order to overcome the problems in the related art, the specification provides a trolley for a surgical robot, which has small occupied area and is convenient for taking and placing a robot body.

According to a first aspect of embodiments of the present specification, there is provided a trolley for a surgical robot including a robot arm and a robot body connected to an end of the robot arm, the trolley comprising:

The frame is provided with an accommodating groove for accommodating the robot body, the accommodating groove is provided with a bearing groove wall for bearing the robot body, the bearing groove wall comprises a bearing bottom wall and a bearing side wall which are connected with each other, a first included angle is formed between the bearing side wall and the bearing bottom wall, and the first included angle is not 0 degree;

a moving assembly connected to the frame for enabling the trolley to move on the ground;

Robot body fixed subassembly, connect in the frame, robot body fixed subassembly includes:

The displacement driving mechanism is connected to the frame and used for driving the robot body to move in the direction of being separated from or entering the accommodating groove;

The rotary driving mechanism is connected with the displacement driving mechanism and is used for driving the robot body to rotate;

the bearing table is connected to the rotary driving mechanism and is used for being connected with the robot body.

In some exemplary embodiments of the present disclosure, the displacement driving mechanism includes:

The first displacement driving mechanism is connected to the frame and used for driving the robot body to reciprocate in a first direction, and the first direction is perpendicular to the bearing side wall;

the second displacement driving mechanism is connected with the first displacement driving mechanism and used for driving the robot body to reciprocate in a second direction, and the second direction intersects with the first direction.

In some exemplary embodiments of the present disclosure, the first displacement driving mechanism includes a first driving assembly and a second driving assembly disposed opposite to each other, and the first driving assembly and the second driving assembly synchronously drive the robot body to reciprocate in the first direction;

the first drive assembly includes:

a first slide rail extending along the first direction;

the first movable sliding table is connected to the first sliding rail in a sliding manner;

the power output end of the first power source is connected with the first movable sliding table and used for driving the first movable sliding table to slide along the first sliding rail;

The second driving assembly includes:

A second slide rail extending along the first direction;

The second movable sliding table is connected to the second sliding rail in a sliding manner;

the power output end of the second power source is connected with the second movable sliding table and used for driving the second movable sliding table to slide along the second sliding rail.

In some exemplary embodiments of the present disclosure, the second displacement drive mechanism is connected between the first drive assembly and the second drive assembly;

the second displacement driving mechanism includes:

the third sliding rail is connected between the first moving sliding table and the second moving sliding table and extends along the second direction;

The third movable sliding table is connected to the third sliding rail in a sliding manner;

And the power output end of the third power source is connected with the third movable sliding table and used for driving the third movable sliding table to slide along the third sliding rail.

In some exemplary embodiments of the present disclosure, the first power source, the second power source, and the third power source each include a drive motor, a ball screw, and a coupling connected between the drive motor and the ball screw;

the driving motor is used for outputting a rotary driving force;

The ball screw is used for converting the rotary motion of the driving motor into linear motion;

The first moving sliding table, the second moving sliding table and the third moving sliding table are respectively in threaded connection with the ball screw corresponding to each other.

In some exemplary embodiments of the present disclosure, the rotation driving mechanism includes:

The fixed seat is connected with the displacement driving mechanism;

the joint assembly is connected between the bearing table and the fixed seat;

The bearing table is rotationally connected with the fixing seat, and the joint assembly comprises a locking piece which is used for locking or unlocking the fixing seat and the bearing table.

In some exemplary embodiments of the present disclosure, the locking member is an electromagnetic valve arm;

The joint assembly further comprises:

The speed reducer is connected with the electromagnetic holding valve and used for increasing the locking torque of the electromagnetic holding valve.

In some exemplary embodiments of the present disclosure, the joint assembly includes:

the input shaft is connected between the speed reducer and the electromagnetic holding valve;

The output shaft is connected with the output end of the speed reducer;

The bearing table is fixedly connected with the output shaft, the axis of the input shaft and the axis of the output shaft are perpendicular to the first direction, and the axes of the input shaft and the output shaft are perpendicular to the second direction.

In some exemplary embodiments of the disclosure, the frame is provided with a mounting cavity for mounting the robot body fixing assembly, the mounting cavity is located at one side of the bearing side wall near the bottom end of the frame, and the mounting cavity is provided with an opening end communicated with the outside;

The trolley further comprises a protective door, wherein the protective door is connected to the opening end of the installation cavity, and one end of the protective door is rotatably connected with the frame and used for opening or closing the installation cavity.

In some exemplary embodiments of the present disclosure, the trolley further includes:

and the commodity shelf is connected with the protective door or the frame.

The technical scheme provided by the embodiment of the specification can comprise the following beneficial effects:

The trolley for the surgical robot comprises a frame, a moving assembly and a robot body fixing assembly. Be equipped with the holding tank that is used for holding the robot body on the frame, and the holding tank has the bearing cell wall that is used for the bearing robot body, and the bearing cell wall includes interconnect's bearing diapire and bearing lateral wall, has first contained angle between bearing lateral wall and the bearing diapire, and first contained angle is not 0, i.e. is used for the bearing cell wall of bearing robot body to include two walls of bearing diapire and bearing lateral wall at least, and the slope sets up between the two. Thus, the robot body can be placed in a recumbent manner when placed on the trolley, and the recumbent manner is conducive to reducing the floor area of the trolley compared with the recumbent manner, and is higher in stability compared with the vertical type. In addition, after the trolley occupies a reduced area, the trolley can move more conveniently and rapidly, so that the pre-operation preparation efficiency can be improved to a certain extent, and favorable conditions are provided for ensuring the smooth operation.

Secondly, the fixed subassembly of robot body includes displacement actuating mechanism, rotary driving mechanism and plummer, and the plummer is used for being connected with the robot body, and displacement actuating mechanism is used for driving the robot body and moves towards breaking away from or getting into the holding tank direction, and rotary driving mechanism is used for driving the robot body and rotates, and both combine can make things convenient for the operator to take the robot body from the platform truck or deposit the robot body on toward the platform truck. When taking the robot body, the robot body can rotate after being partially separated from or completely separated from the accommodating groove, so that an operator does not need to carry out excessive movement or operation, and the robot body can be taken out from the trolley. When depositing the robot body, the robot body can place on the plummer in advance, then enters into the holding tank after rotating, and at this in-process, need not the operator again and carry out too much removal or operation, can place the robot body on the platform truck, effectively promotes the efficiency of taking and depositing the robot body.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and together with the description, serve to explain the principles of the specification.

Fig. 1 is a schematic view of a robot body placed on a dolly in an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a trolley structure in an exemplary embodiment of the present disclosure;

FIG. 3 is a schematic view of a trolley with a protective door removed in an exemplary embodiment of the present disclosure;

FIG. 4 is a schematic view of a robot body fixture assembly in an exemplary embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a rotational drive mechanism in an exemplary embodiment of the present disclosure;

FIG. 6 is an exploded schematic view of a rotary drive structure in an exemplary embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a trolley structure in another exemplary embodiment of the present disclosure;

Fig. 8 is a schematic view of a shelf structure in an exemplary embodiment of the present disclosure.

Description of the reference numerals

10-A trolley; 20-a mechanical arm; 30-robot body; 100-frame; 110-handle; 120-accommodating groove; 121-a load-bearing bottom wall; 122-load-bearing sidewalls; 130-a mounting cavity; 200-moving the assembly; 210-universal casters; 220-directional casters; 230-pedal; 400-robot body securing assembly; 410-a displacement drive mechanism; 411-a first displacement drive mechanism; 4111-a first drive assembly; 111 a-a first slide rail; 111 b-a first mobile slipway; 111 c-a first power source; 4112-a second drive assembly; 112 a-a second slide rail; 112 b-a second mobile slipway; 112 c-a second power source; 412-a second displacement drive mechanism; 4121-third slide rail; 4122-a third mobile slipway; 4123-a third power source; a1-a ball screw; a2-coupling; 420-a rotary drive mechanism; 421-fixing base; 422-joint assembly; 4221-electromagnetic valve; 4222-a decelerator; 4223-an input shaft; 4224-output shaft; 423-fixing frame; 424-bearing blocks; 425-bearings; 426—end caps; 427-jackscrews; 430—a carrier; 500-mounting rack; 600-guard gates; 700-rack; 710—a storage tank; 703-a base plate; 701-a first side plate; 702-a second side plate.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus detailed descriptions thereof will be omitted. Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale.

Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another component, these terms are used in this specification for convenience only, such as in terms of the orientation of the examples described in the figures. It will be appreciated that if the device of the icon is flipped upside down, the recited "up" component will become the "down" component. When a structure is "on" another structure, it may mean that the structure is integrally formed with the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

The terms "a," "an," "the," "said" and "at least one" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. in addition to the listed elements/components/etc.; the terms "first," "second," and "third," etc. are used merely as labels, and do not limit the number of their objects.

In this disclosure, the terms "vertical," "equal," and the like refer to vertical and equal within the scope of process error, not to vertical and equal in an absolute sense. The process error may be within + -10% or within + -5%. For example, the first direction and the second direction are perpendicular, and it is understood that the angle between the first direction and the second direction may be 90 ° ± 5 °.

In the related art, a trolley for carrying a robot body is generally provided with a pit on a frame thereof for placing the robot body. The pit can be generally arranged according to the shape and the size of the robot body when the pit is arranged, the bottom surface of the pit can be generally larger than one surface with the largest area of the robot body, such as the bottom surface or the side surface, and the robot body is generally laid flat when placed on the trolley, so that the occupied area of the trolley is overlarge.

Based on this, as shown in fig. 1 to 5, the embodiment of the present disclosure provides a cart 10 for a surgical robot including a robot arm 20 and a robot body 30 connected to the end of the robot arm 20, the robot body 30 being fixed to a surgical bed by the robot arm 20 and having its own posture adjusted by the robot arm 20 to facilitate the progress of a surgery, and of course, the present disclosure does not impose any limitation on the specific structures of the robot arm 20 and the robot body 30. The trolley 10 comprises a frame 100, a moving assembly 200 and a robot body fixing assembly 400, wherein the frame 100 is provided with a containing groove 120 for containing the robot body 30, the containing groove 120 is provided with a bearing groove wall for bearing the robot body 30, the bearing groove wall comprises a bearing bottom wall 121 and a bearing side wall 122 which are connected with each other, a first included angle is formed between the bearing side wall 122 and the bearing bottom wall 121, and the first included angle is not 0 degree; a moving assembly 200 is connected to the frame 100 for enabling the trolley 10 to move on the ground; the robot body fixing assembly 400 is connected to the frame 100 and comprises a displacement driving mechanism 410, a rotation driving mechanism 420 and a bearing table 430, wherein the displacement driving mechanism 410 is connected to the frame 100 and is used for driving the robot body 30 to move in a direction of being separated from or entering the accommodating groove 120; the rotation driving mechanism 420 is connected to the displacement driving mechanism 410, and is used for driving the robot body 30 to rotate; the carrying table 430 is connected to the rotation driving mechanism 420, and the carrying table 430 is used for being connected to the robot body 30.

The utility model discloses a bearing cell wall for bearing robot body 30 includes two walls of bearing diapire 121 and bearing lateral wall 122 at least, and the slope sets up between the two. As such, the robot body 30 may be reclined when placed on the trolley 10, which helps to reduce the floor space of the trolley 10 compared to reclined, which is more stable than upright. In addition, after the floor area of the trolley 10 is reduced, the trolley 10 can move more conveniently and rapidly, so that the pre-operation preparation efficiency can be improved to a certain extent, and favorable conditions are provided for ensuring the smooth operation. Second, the combination of the displacement driving mechanism 410 and the rotation driving mechanism 420 can facilitate the operator to take the robot body 30 from the cart 10 or store the robot body 30 on the cart 10. When the robot body 30 is taken out, the robot body 30 can be rotated after being partially or completely separated from the accommodating groove 120, so that an operator can take out the robot body 30 from the trolley 10 without performing excessive movement or operation. When the robot body 30 is stored, the robot body 30 can be placed on the carrying table 430 first, then rotated and then enters the accommodating groove 120, in the process, the robot body 30 can be placed on the trolley 10 without excessive movement or operation of an operator, and the efficiency of taking and storing the robot body 30 is effectively improved.

The respective parts of the cart 10 for a surgical robot provided in the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings:

As shown in fig. 1 to 5, the present disclosure provides a trolley 10 for a surgical robot including a robot arm 20 and a robot body 30 connected to an end of the robot arm 20. The robotic body 30 may include a drive means for driving movement of the interventional consumable to transport the interventional consumable to a surgical destination, such as a patient's cerebral vascular stenosis, or the like. The intervention consumable can be a guide wire, a catheter, a bracket and other components, and can be connected to a sterile consumable box which is connected to a driving device. When the surgical robot is not in use, the robot body 30 thereof may be placed on the cart 10, and the cart 10 may be placed in a designated area. The dolly 10 includes a frame 100, a moving assembly 200, and a robot body fixing assembly 400.

As shown in fig. 1 and 2, the carriage 100 is provided with a receiving groove 120 for receiving the robot body 30, and the receiving groove 120 has a bearing groove wall for bearing the robot body 30. The main body portion of the frame 100 may be a frame type structure or a box type structure, which is not limitative, and the present disclosure does not particularly limit the structure and shape of the receiving groove 120 as long as it can receive at least part of the robot body 30. When the robot body 30 is placed in the receiving groove 120, the gravity of the robot body 30 is mainly exerted on the bearing groove wall. The bearing groove wall comprises a bearing bottom wall 121 and a bearing side wall 122 which are connected with each other, wherein a first included angle is formed between the bearing side wall 122 and the bearing bottom wall 121, and the first included angle is not 0 degrees. Alternatively, the bearing bottom wall 121 may be angled between 0 ° -10 ° from horizontal when the trolley 10 is normally placed on a level ground, i.e. the bearing bottom wall 121 is substantially parallel to the horizontal. The first angle between the load bearing side walls 122 and the load bearing bottom wall 121 may be 95 ° -160 ° to facilitate placement and handling of the robot body 30. The area of the load-bearing bottom wall 121 and the load-bearing side wall 122 can be set according to the shape of the actual robot body 30. In one embodiment, the area of the load bearing side walls 122 is greater than the area of the load bearing bottom wall 121. The length of the load bearing sidewall 122 is greater than the width. The robot body 30 has a length greater than the height and width. When the robot body 30 is on the carriage 10 and the bottom surface of the robot body 30 contacts the load-bearing side wall 122, the longitudinal direction thereof may be substantially parallel to the longitudinal direction of the load-bearing side wall 122.

As shown in fig. 1, a movement assembly 200 is coupled to the carriage 100 for enabling movement of the trolley 10 on the ground. A handle 110 may be provided on the carriage 100, and an operator may hold the handle 110 to push the trolley 10. The shape, number and arrangement positions of the handles 110 may be various, for example, the number of the handles 110 may be two, and one handle 110 is respectively arranged on one side of the frame 100 in the forward direction and one side of the frame in the backward direction, so as to facilitate the movement of the frame 100. The moving assembly 200 is connected to the bottom end of the frame 100, and the moving assembly 200 may include a plurality of casters, which may be casters 210 or/and directional casters 220, and the casters rotate when the operator pushes the trolley 10, so as to move the trolley 10 on the ground.

In some embodiments of the present disclosure, the movement assembly 200 includes front casters and rear casters. Wherein the number of front casters and rear casters may be one or more, preferably the number of front casters and rear casters is two. Optionally, one of the front and rear casters is a caster 210, the other is a directional caster 220; or both, casters 210.

In one embodiment, one of the front casters and the rear casters is a castor 210 and the other is a directional caster 220, preferably the two front casters are castor 210 and the two rear casters are directional casters 220. The caster 210 is a wheel capable of performing all-directional movement and steering, and by its special design, the carriage 10 can be freely moved in a narrow space and the traveling direction can be easily changed. The directional caster 220 cannot rotate horizontally but can rotate vertically. The universal casters 210 and the directional casters 220 are used in combination to achieve some specific technical effects. First, the casters 210 can freely rotate in any direction, while the casters 220 have a fixed direction of rotation. In combination, the caster 210 provides excellent maneuverability and flexibility, while the directional caster 220 provides a stable straight travel direction. Steering control of the truck 10 can be achieved by manipulating the rotation direction of the directional casters 220, and steering can be made more accurate and flexible by using the casters 210 in combination.

In another embodiment, as shown in fig. 7, both the front and rear casters are universal casters 210. In this embodiment, the front and rear casters are universal casters 210, which enables the trolley to freely rotate and move in a narrow space. Like this, when medical staff uses the platform truck in the operating room, need not extra space and accomplish turn or adjustment direction, can more nimble and maneuver ground operation platform truck, avoid colliding other equipment or barriers, can turn in the narrow passageway of operating room and corner more easily simultaneously, improve convenience and the accuracy of controlling.

Further, the movement assembly 200 may also include a lock for locking or unlocking rotation of the caster. Specifically, when the locking member locks the casters, the casters are not rotatable, and the cart 10 is not movable at this time to facilitate handling or placement of the surgical robot. When the locking member unlocks the casters, the casters may be turned, at which time the trolley 10 may be moved on the ground to facilitate moving the surgical robot to the rest position. The structure of the locking member may be various, and the present disclosure is not limited thereto. In practical use, when the truck 10 is pushed to a designated position, the casters may be locked using the locking member to stably place the truck 10 at the designated position. When it is necessary to move the truck 10, the locking member unlocks the casters, and at this time, the operator can push the truck 10 to move the truck 10. The locking member may have various structures, for example, the locking member may include a pedal 230 and a brake pad, and the locking or unlocking of the caster is accomplished by an operator depressing or releasing the pedal 230 to adjust the acting state between the brake pad and the axle of the caster. Specifically, when the operator depresses the pedal 230, the brake pad abuts against the caster wheel shaft, locking the caster wheel shaft, and at this time, the caster is in a locked state, and the carriage 10 is not movable. When the operator releases the pedal 230, the brake pads are separated from the castor axle, at which point the castor is in an unlocked condition and the trolley 10 is movable. The setting position of the pedal 230 can be set according to the position of the operator pushing the trolley 10 in practice, and the pedal 230 can be close to the foot of the human body as much as possible, so that the operator can conveniently press or release the pedal 230.

As shown in fig. 3, 4 and 5, the robot body fixing assembly 400 is connected to the frame 100. In some embodiments of the present disclosure, the trolley 10 further includes a mounting bracket 500 for connecting the robot body securing assembly 400 to the frame 100. The mounting frame 500 and the frame 100 may be integrally formed or may be separately formed. When the mounting frame 500 and the frame 100 are in a split structure, the mounting frame 500 may be connected to the frame 100 by bolts, welding, clamping, or the like. The robot body fixing assembly 400 may also be connected to the mounting frame 500 by means of bolts, clamping, or the like.

Optionally, the frame 100 is further provided with a mounting cavity 130 for mounting the robot body fixing assembly 400. The mounting cavity 130 is located on a side of the load-bearing side wall 122 near the bottom end of the frame 100, and the mounting cavity 130 has an open end communicating with the outside. The truck 10 further includes a protective door 600, the protective door 600 being connected to the open end of the installation cavity 130, and one end of the protective door 600 being rotatably connected to the frame 100 for opening or closing the installation cavity 130. It will be appreciated that the empty portion of the mounting cavity 130 may also be used as storage space to effectively increase the space utilization of the trolley 10. In the normal operation state of the trolley 10, the protective door 600 is generally in a closed state to prevent external contaminants from entering the installation cavity 130 and causing contamination or damage to the robot body fixing assembly 400. When it is necessary to install, disassemble or repair the robot body fixing assembly 400, a worker can open the protective door 600 to perform an actual operation.

Further, as shown in fig. 7 and 8, in some embodiments of the present disclosure, the trolley 10 further includes a rack 700, where the rack 700 is provided on the guard door 600 or the frame 100, specifically, may be provided on the inner side or the outer side of the guard door 600, and is not limited in particular. The rack 700 can be used for placing and installing tools such as screwdrivers, wrenches, and the like. The rack 700 includes a storage slot 710, and the shape and size of the storage slot 710 can be set according to the tools to be placed. For example, the size of the storage slot 710 for placing a wrench may be larger than the size for placing a screwdriver. In particular, in one embodiment, the shelf 700 includes a first side plate 701 and a second side plate 702 disposed opposite to each other, and a bottom plate 703 connected between the first side plate 701 and the second side plate 702, where the bottom plate 703 is connected to the protective door 600, and may be connected to the protective door 600 by screws, hooks, adhesion, or the like. The first side plate 701 and the second side plate 702 are provided with grooves, and the grooves on the first side plate 701 and the second side plate 702 are arranged in one-to-one correspondence in the arrangement direction of the first side plate 701 and the second side plate 702. The slot can be the storage slot 710.

As shown in fig. 3 and 4, in some embodiments of the present disclosure, a displacement driving mechanism 410 is connected to the frame 100 for driving the robot body 30 to move in a direction of being out of or into the receiving groove 120. It will be appreciated that the displacement drive mechanism 410 may drive the robot body 30 in multiple directions so long as the robot body 30 is able to disengage or enter the receiving slot 120. When the robot body 30 is to be removed from the carriage 10, the displacement driving mechanism 410 may drive the robot body 30 to move in a direction of being separated from the accommodating groove 120. When the robot body 30 is to be placed on the cart 10, the displacement driving mechanism 410 may drive the robot body 30 to move toward the direction of entering the accommodating groove 120.

As shown in fig. 2 and 4, alternatively, the displacement drive mechanism 410 includes a first displacement drive mechanism 411 and a second displacement drive mechanism 412. Specifically, the first displacement driving mechanism 411 is connected to the frame 100, and the first displacement driving mechanism 411 is used for driving the robot body 30 to reciprocate in a first direction Y, where the first direction Y is perpendicular to the bearing sidewall 122; the second displacement driving mechanism 412 is connected to the first displacement driving mechanism 411, and is used for driving the robot body 30 to reciprocate in a second direction X, and the second direction X intersects with the first direction Y. Preferably, the second direction X may be at an angle of 70 ° -100 ° to the first direction Y, such as the second direction X being substantially 90 ° to the first direction Y, and the second direction X being substantially parallel to the length direction of the load-bearing sidewall 122.

In some embodiments of the present disclosure, the first displacement driving mechanism 411 includes a first driving assembly 4111 and a second driving assembly 4112 disposed opposite to each other, and the first driving assembly 4111 and the second driving assembly 4112 synchronously drive the robot body 30 to reciprocate in the first direction Y. Preferably, the first driving assembly 4111 and the second driving assembly 4112 are disposed in axial symmetry. The distance between the first driving assembly 4111 and the second driving assembly 4112 may be set according to the length of the robot body 30 so that it can stably support and drive the robot body 30 to move in the first direction Y.

The first driving assembly 4111 and the second driving assembly 4112 may have various structures, and in particular, in an embodiment, the first driving assembly 4111 includes a first sliding rail 111a, a first moving sliding table 111b, and a first power source 111c, where the first sliding rail 111a extends along a first direction Y; the first moving sliding table 111b is slidably connected to the first sliding rail 111a; the power output end of the first power source 111c is connected to the first moving sliding table 111b, and is used for driving the first moving sliding table 111b to slide along the first sliding rail 111 a. The first slide rail 111a may be connected to the mounting frame 500.

The second driving assembly 4112 comprises a second sliding rail 112a, a second moving sliding table 112b and a second power source 112c, wherein the second sliding rail 112a extends along the first direction Y; the second moving sliding table 112b is slidably connected to the second sliding rail 112a; the power output end of the second power source 112c is connected to the second moving sliding table 112b, and is used for driving the second moving sliding table 112b to slide along the second sliding rail 112 a. The second slide rail 112a may be connected to the mounting frame 500.

Alternatively, the first power source 111c and the second power source 112c may each include a driving motor (not shown), a ball screw A1, and a coupling A2 connected between the driving motor and the ball screw A1; the driving motor is used for outputting a rotary driving force; the ball screw A1 is used to convert the rotational motion of the driving motor into linear motion. The first movable sliding table 111b and the second movable sliding table 112b are respectively in threaded connection with the corresponding ball screw A1.

In this structure, the ball screw A1 can convert the rotational motion of the driving motor into an accurate linear motion. By controlling the rotation angle and the rotation speed of the driving motor, the linear displacement of the ball screw A1 can be accurately controlled, and the movement requirements of the robot body 30 under different conditions can be met. The coupling A2 can transmit the rotational movement of the motor to the ball screw A1 to rotate, thereby driving the first movable slide 111b or the second movable slide 112b to perform linear movement. In addition, the coupler A2 has certain flexibility and elasticity, and can play a role in buffering and adjusting errors between the ball screw A1 and the driving motor. When a certain axial or radial deviation exists between the ball screw A1 and the motor, the coupler A2 can absorb the deviation through a certain degree of elastic deformation, so that the normal operation of transmission is ensured, and the first displacement driving mechanism 411 can stably and accurately drive the robot body 30 to move.

In some embodiments of the present disclosure, the second displacement drive mechanism 412 is connected between the first drive assembly 4111 and the second drive assembly 4112; the second displacement driving mechanism 412 includes a third sliding rail 4121, a third moving sliding table 4122 and a third power source 4123, wherein the third sliding rail 4121 is connected between the first moving sliding table 111b and the second moving sliding table 112b, and the third sliding rail 4121 extends along the second direction X; the third moving sliding table 4122 is slidably connected to the third sliding rail 4121; the power output end of third power source 4123 is connected with third moving slide 4122 for driving third moving slide 4122 to slide along third slide rail 4121.

Optionally, the third power source 4123 includes a drive motor, a ball screw A1, and a coupling A2 connected between the drive motor and the ball screw A1; the driving motor is used for outputting a rotary driving force; the ball screw A1 is used to convert the rotational motion of the driving motor into linear motion. Wherein the third moving slide 4122 is screwed with the ball screw A1.

As shown in fig. 4 to 6, the rotation driving mechanism 420 includes a fixed base 421 and a joint assembly 422, wherein the fixed base 421 is connected to the displacement driving mechanism 410, and the joint assembly 422 is connected between the bearing table 430 and the fixed base 421. Wherein, the bearing platform 430 is rotatably connected with the fixed seat 421, and the joint assembly 422 includes a locking member for locking or unlocking the fixed seat 421 and the bearing platform 430. In the locked state, the fixed base 421 and the carrying table 430 may not rotate relative to each other, and in the unlocked state, the fixed base 421 and the carrying table 430 may rotate relative to each other.

The fixed seat 421 may be connected to the second displacement driving mechanism 412, such as the third moving sliding table 4122. The fixed seat 421 and the third moving sliding table 4122 may be integrally formed, or may be a split structure. The carrying table 430 is rotatably connected with the fixing base 421, and the carrying table 430 can drive the robot body 30 to rotate in the plane where the first direction Y and the second direction X are located.

In some embodiments of the present disclosure, the locking member is a solenoid valve 4221, and the solenoid valve 4221 may be connected to the fixed seat 421. The joint assembly 422 further includes a speed reducer 4222 connected to the solenoid valve 4221 for increasing the locking torque of the solenoid valve 4221. An electromagnetic band-type brake is a device that uses electromagnetic force to achieve braking. It is usually composed of an electromagnetic coil and a core, and can realize locking and unlocking effects by controlling the electromagnetic coil to be electrified or powered off. The speed reducer 4222 may be a harmonic speed reducer, and when the harmonic speed reducer is connected with the electromagnetic band-type brake, the harmonic speed reducer converts high-speed input into low-speed high-torque output through a speed reduction function, so that larger locking torque can be provided, and locking capability of the electromagnetic band-type brake is enhanced. This ensures that the solenoid valve 4221 can reliably lock the mounting seat 421 and the carrying table 430 in applications requiring high torque locking, providing greater safety and stability for placement of the robot body 30 on the trolley 10.

Optionally, the rotary driving mechanism 420 further includes a fixing frame 423, the fixing frame 423 may be connected to the fixing seat 421, the fixing frame 423 may be a hollow structure, and the electromagnetic valve 4221 may be connected to the fixing frame 423. The speed reducer 4222 may be disposed in the hollow cavity of the mount 423.

Further, the joint assembly 422 further comprises an input shaft 4223 and an output shaft 4224, wherein the input shaft 4223 is connected between the speed reducer 4222 and the solenoid valve 4221; the output shaft 4224 is connected to an output end of the speed reducer 4222. The bearing platform 430 is fixedly connected with the output shaft 4224, optionally, the axis of the input shaft 4223 and the axis of the output shaft 4224 are both perpendicular to the first direction Y, and the axes of the input shaft 4223 and the output shaft 4224 are both perpendicular to the second direction X. The bearing platform 430 and the output shaft 4224 may be an integrally formed structure, but is not limited thereto.

In some embodiments of the present disclosure, the rotary driving mechanism 420 further includes a bearing housing 424 fixedly connected to the fixed seat 421. A bearing 425 is connected between the bearing housing 424 and the output shaft 4224. Optionally, the input shaft 4223 is disposed in the hollow cavity of the fixing frame 423, and a bearing, a jackscrew 427 and other structures may be connected between the input shaft 4223 and the fixing frame 423, and the number of bearings and jackscrews 427 may be one or more, which is not limited in particular. Further, the rotary drive mechanism 420 may further include an end cap 426, and an open end of the end cap 426 may be connected to the fixed frame 423, such that the solenoid valve 4221 is located within the end cap 426.

As shown in fig. 1 to 4, in the actual use process, the trolley 10 may be pushed to the front of the operating table before the operation, specifically, the universal casters 210 of the trolley 10 may be unlocked and pushed to the front of the operating table before the operation. Subsequently, the displacement driving mechanism 410 is activated, including the first displacement driving mechanism 411 and the second displacement driving mechanism 412, for example, the first displacement driving mechanism 411 is activated first, so that the robot body 30 moves a certain distance along the first direction Y in a direction away from the accommodating groove 120, and the second displacement driving mechanism 412 is activated again, so that the robot body 30 moves a certain distance along the second direction X in a direction away from the accommodating groove 120. Of course, the second displacement driving mechanism 412 may be started first, and then the first displacement driving mechanism 411 may be started, or the first displacement driving mechanism 411 and the second displacement driving mechanism 412 may be started simultaneously, which is not limited to the specific use manner of the trolley 10 in the present disclosure. After the robot body 30 moves to a certain position, the rotation driving mechanism 420 is started, so that the robot body 30 can rotate on the trolley 10, for example, the carrying table 430 and the fixing seat 421 are unlocked, at this time, the robot body 30 can rotate in a plane where the first direction Y and the second direction X are located, and when the robot body 30 rotates to a certain position, an operator can take out the robot body 30 from the trolley 10 and move to an operation table to be fixedly connected with the mechanical arm 20.

After the operation is finished, the two universal casters 210 of the trolley 10 are first unlocked and pushed to the front of the operation table. The robot body 30 is separated from the robot arm 20, removed from the operating table, and inserted into the carrying table 430 of the carriage 10. The rotation driving mechanism 420 is activated so that the robot body 30 can rotate on the trolley 10, for example, the unlocking bearing table 430 and the fixing base 421, and at this time, the robot body 30 can rotate in a plane in which the first direction Y and the second direction X are located. When the robot body 30 rotates to the length direction thereof parallel to the second direction X, the displacement driving mechanism 410 is activated, including the first displacement driving mechanism 411 and the second displacement driving mechanism 412. For example, the second displacement driving mechanism 412 is started first to move the robot body 30 a certain distance along the second direction X toward the direction of entering the accommodating groove 120, and the first displacement driving mechanism 411 is started again to move the robot body 30 a certain distance along the first direction Y toward the direction of entering the accommodating groove 120 until the bottom surface of the robot body 30 contacts with the bearing sidewall. Of course, the second displacement driving mechanism 412 may be started first, and then the first displacement driving mechanism 411 may be started, or the first displacement driving mechanism 411 and the second displacement driving mechanism 412 may be started simultaneously, which is not limited to the specific use manner of the displacement driving mechanism 410 in the present disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. A trolley for a surgical robot, the surgical robot comprising a robotic arm and a robot body connected to a distal end of the robotic arm, the trolley comprising:

2. The trolley of claim 1 wherein the displacement drive mechanism comprises:

3. The trolley of claim 2, wherein the first displacement drive mechanism comprises oppositely disposed first and second drive assemblies that synchronously drive the robot body to reciprocate in the first direction;

the first drive assembly includes:

a first slide rail extending along the first direction;

The second driving assembly includes:

A second slide rail extending along the first direction;

4. A trolley according to claim 3, wherein the second displacement drive mechanism is connected between the first drive assembly and the second drive assembly;

the second displacement driving mechanism includes:

5. The trolley of claim 4 wherein the first, second and third power sources each comprise a drive motor, a ball screw, and a coupling connected between the drive motor and the ball screw;

the driving motor is used for outputting a rotary driving force;

6. The trolley of claim 2, wherein the rotary drive mechanism comprises:

The fixed seat is connected with the displacement driving mechanism;

the joint assembly is connected between the bearing table and the fixed seat;

7. The trolley of claim 6 wherein the locking member is an electromagnetic valve arm;

The joint assembly further comprises:

8. The trolley of claim 7 wherein the articulation assembly comprises:

The output shaft is connected with the output end of the speed reducer;

9. The trolley according to any one of claims 1 to 8, wherein the frame is provided with a mounting cavity for mounting the robot body fixing assembly, the mounting cavity being located on a side of the load-bearing side wall near the bottom end of the frame, the mounting cavity having an open end communicating with the outside;

10. The trolley of claim 9, further comprising:

and the commodity shelf is connected with the protective door or the frame.