CN119818187B - Slip table mechanism and surgical robot - Google Patents
Slip table mechanism and surgical robotInfo
- Publication number
- CN119818187B CN119818187B CN202311323144.6A CN202311323144A CN119818187B CN 119818187 B CN119818187 B CN 119818187B CN 202311323144 A CN202311323144 A CN 202311323144A CN 119818187 B CN119818187 B CN 119818187B
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Abstract
本申请涉及一种滑台机构和手术机器人。滑台机构包括第一支座、驱动单元、第二支座、传动单元以及安装台。当第二支座相对第一支座伸出时，由于第二段与第一支座连接，因此第二段相对第二支座靠近即缩回，使得第一段伸出，进而带动安装台伸出。因此安装台的位移量即为第二支座的位移量与第一段的位移量之和。如此，在相同的移动行程下，安装台相对第一支座完全缩回时，滑台机构的整体尺寸能够缩小一倍，也即滑台机构的占用空间大幅减小。当在安装台上安装手术器械时，安装部位的周围空间更为开阔，没有多余的零部件遮挡，增加了安装手术器械的方便性，并且极大程度上减少了手术过程中手术器械被污染的风险。
The present application relates to a slide mechanism and a surgical robot. The slide mechanism includes a first support, a drive unit, a second support, a transmission unit, and a mounting platform. When the second support is extended relative to the first support, since the second section is connected to the first support, the second section is close to the second support, that is, retracted, causing the first section to extend, thereby driving the mounting platform to extend. Therefore, the displacement of the mounting platform is the sum of the displacement of the second support and the displacement of the first section. In this way, under the same moving stroke, when the mounting platform is fully retracted relative to the first support, the overall size of the slide mechanism can be halved, that is, the space occupied by the slide mechanism is greatly reduced. When installing surgical instruments on the mounting platform, the space around the installation site is more open, without unnecessary parts blocking the view, which increases the convenience of installing surgical instruments and greatly reduces the risk of surgical instruments being contaminated during surgery.
Description
Technical Field
The application relates to the technical field of medical treatment, in particular to a sliding table mechanism and a surgical robot.
Background
With the development and progress of technology, laparoscopic surgical robots are becoming increasingly widely used in surgical treatment.
The laparoscopic surgery robot consists of a doctor console, a patient surgery platform, an image trolley and the like. The instrument sliding table is one of important components of a patient operation platform, and is mainly used for installing a surgical instrument, providing power for the surgical instrument and transmitting motion of an operation arm so as to realize linear freedom degree motion of the surgical instrument.
In the related art, the sliding table mechanism has potential safety hazards in the use process.
Disclosure of Invention
Based on the problems, the existing sliding table mechanism has potential safety hazards in the use process, and the sliding table mechanism is needed.
A slipway mechanism for a surgical robot, the slipway mechanism comprising:
a first support;
The driving unit is connected to the first support;
the second support is connected with the output end of the driving unit;
the driving unit is used for driving the second support to move along a first direction relative to the first support, and the first direction comprises an extending direction and a retracting direction;
The second support is provided with a mounting table and a braking unit, and the braking unit is connected with the mounting table and used for limiting the movement of the mounting table along the extending direction.
In one embodiment, the sliding table mechanism further comprises a transmission unit, the first support is provided with a fixing piece, and the transmission unit is fixedly connected with the fixing piece and the mounting table, so that the transmission unit is divided into a first section and a second section which are in transmission connection;
The driving unit is used for driving the second support to move along a first direction relative to the first support, so that the first section and the second section move along opposite directions.
In one embodiment, the transmission unit comprises a transmission belt and two transmission wheels which are distributed at intervals along a first direction, and the transmission belt is wound on the two transmission wheels and is in transmission connection with the transmission wheels;
The first section and the second section are arranged on the transmission belt at intervals along the second direction, and the first direction, the second direction and the axial direction of the transmission wheel are perpendicular to each other.
In one embodiment, the second support is provided with a braking slot;
The braking unit comprises a braking piece connected to the mounting table, and the braking piece can be close to the braking groove and clamped with the braking groove so as to limit the movement of the mounting table relative to the second support.
In one embodiment, the brake member has a first straight face and a first inclined face;
When the mounting table moves along the retraction direction, the braking piece is in sliding fit with the second inclined surface through the first inclined surface, and the braking piece can withdraw from the braking groove and move along the retraction direction;
When the braking piece moves to the position that the first straight surface is abutted against the second straight surface, the second straight surface can limit the movement of the mounting table along the extending direction.
In one embodiment, the brake unit further comprises an electromagnetic member, the brake member being connected to the electromagnetic member;
when the electromagnetic piece is in a first state, the electromagnetic piece drives the braking piece to be far away from the braking groove so as to be separated from the braking groove;
When the electromagnetic piece is in the second state, the braking piece can be close to the braking groove so as to be clamped in the braking groove.
In one embodiment, the braking unit further comprises an elastic piece, wherein the electromagnetic piece is connected with the elastic piece, and when the electromagnetic piece is in a power-on state, the electromagnetic piece drives the braking piece to be far away from the braking groove and the elastic piece is in a deformation state;
when the electromagnetic member is in a power-off state, the elastic member drives the braking member to approach the braking groove.
In one embodiment, the sliding table mechanism further comprises a first guiding unit connected to the first support, and the second support is slidably connected to the first guiding unit;
the sliding table mechanism further comprises a second guiding unit connected to the second support, and the mounting table is slidably connected to the second guiding unit.
In one embodiment, the first guiding unit comprises a first sliding block and a first guide rail which is connected with the first sliding block in a sliding way, and the first sliding block is fixedly connected with the first support;
The second guide unit comprises a second guide rail and a second sliding block which is connected with the second guide rail in a sliding mode, the second guide rail is fixedly connected with the second support, and the mounting table is fixedly connected with the second sliding block.
In one embodiment, the first support is provided with a first mounting groove, the first sliding block is connected with a first groove wall of the first mounting groove, the first support is also provided with a second mounting groove, the second mounting groove is sunken relative to the first mounting groove, the sliding table mechanism also comprises a first pressing piece, the first pressing piece is connected with the groove wall of the second mounting groove and is abutted against the first sliding block, and/or
The sliding table mechanism also comprises a second pressing piece which is connected between the first guide rail and the second guide rail and is abutted against the second support, and/or
The mounting table is provided with a third mounting groove, the sliding table mechanism further comprises a third pressing piece, and the third pressing piece is connected to the groove wall of the third mounting groove and is abutted to the second sliding block.
A surgical robot comprising a sled mechanism as described above.
The sliding table mechanism is connected with the executing mechanism through the mounting table so as to realize the reciprocating motion of the executing mechanism. When the driving unit drives the second support to linearly move, such as forward move, relative to the first support, the mounting table connected to the second support synchronously moves forward along with the second support. In the use, when unexpected condition or trouble influence the removal accuracy of mount table, brake unit is activated, and brake unit can restrict the mount table and follow the removal of stretching out the direction, avoids the mount table and connects in the actuating mechanism of mount table and continue stretching out and cause the injury to the human body, reduces the potential safety hazard, improves the reliability of use.
Drawings
Fig. 1 is a perspective view of a sliding table mechanism according to an embodiment of the present application.
Fig. 2 is a cross-sectional view of the slide mechanism shown in fig. 1.
FIG. 3 is a schematic view showing the mounting table in the slide table mechanism shown in FIG. 2 fully extended
Fig. 4 is a schematic view showing the mounting table fully retracted in the slide table mechanism shown in fig. 2.
Fig. 5 is a schematic view of a brake unit in the slide mechanism shown in fig. 1.
Fig. 6 is a partial perspective view of a brake piece and a brake groove of a brake unit in the slide table mechanism shown in fig. 5.
Fig. 7 is a partial perspective view of the slide mechanism shown in fig. 1 at another view angle.
Fig. 8 is a perspective view of the first mount in the slide table mechanism shown in fig. 7.
Fig. 9 is a perspective view of the mount in the slide mechanism shown in fig. 7.
Reference numerals 10, a sliding table mechanism, 100, a first support, 110, a fixing piece, 120, a first mounting groove, 130, a second mounting groove, 200, a driving unit, 210, a driving rod, 220, a driving block, 300, a second support, 310, a braking groove, 311, a second straight surface, 312, a second inclined surface, 410, a driving wheel, 420, a driving belt, 421, a first section, 422, a second section, 510, a mounting table, 511, a third mounting groove, 600, a braking unit, 610, a braking piece, 611, a first straight surface, 612, a first inclined surface, 620, an electromagnetic piece, 630, an elastic piece, 640, a connecting seat, 710, a first guiding unit, 711, a first sliding block, 712, a first guiding rail, 720, a second guiding unit, 721, a second sliding block, 722, a second guiding rail, 810, a first pressing piece, 820, a second pressing piece, 830 and a third pressing piece.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
In the description of the present application, it should be understood that, if any, these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are used herein with respect to the orientation or positional relationship shown in the drawings, these terms refer to the orientation or positional relationship for convenience of description and simplicity of description only, and do not indicate or imply that the apparatus or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, they may be fixedly connected, detachably connected or integrally formed, mechanically connected, electrically connected, directly connected or indirectly connected through an intermediate medium, and communicated between two elements or the interaction relationship between two elements unless clearly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.
Referring to fig. 1 to 4, a sliding table mechanism 10 applied to a surgical robot according to an embodiment of the present application includes a first support 100, a driving unit 200 connected to the first support 100, and a second support 300 connected to an output end of the driving unit 200. The driving unit 200 drives the second support 300 to linearly move along a first direction relative to the first support 100, wherein the first direction includes an extending direction, i.e., a direction toward the human body, in the view of fig. 2, i.e., a horizontal rightward direction, and a retracting direction, i.e., a direction away from the human body, in the view of fig. 2, i.e., a horizontal leftward direction. The second holder 300 is provided with a mounting table 510 and a brake unit 600, and the brake unit 600 is connected to the mounting table 510 for restricting movement of the mounting table 510 in the extending direction. When the brake unit 600 is not activated, i.e., is in a non-operating state, the brake unit 600 moves together with the mounting table 510. When the brake unit is activated, i.e., in an operating state, the brake unit 600 is connected with the second stand 300 to restrict the movement of the mounting table 510 in the extending direction.
In this way, in the use, when the movement accuracy of the mounting table 510 is affected by an unexpected situation or a fault, the brake unit 600 is activated, and the brake unit 600 is connected with the second support 300 to limit the movement of the mounting table 510 along the extending direction, so as to avoid the damage to the human body caused by the continued extending of the mounting table 510 and the actuator connected to the mounting table 510, reduce the potential safety hazard, and improve the use reliability. By providing the brake unit 600, emergency braking can be performed when an unexpected situation occurs, and the potential safety hazard caused by continued movement of the actuator connected to the mounting table 510 can be avoided.
As shown in fig. 1 to 4, in an embodiment, the sliding table mechanism further includes a transmission unit, the first support 100 is provided with a fixing member 110, and the transmission unit is fixedly connected with the fixing member 110 and the mounting table 510, so that the transmission unit is divided into a first section 421 and a second section 422 which are in transmission connection, and the movement directions of the first section 421 and the second section 422 are opposite, and the first section 421 is connected to the mounting table 510, and the second section 422 is connected to the first support 100. The driving unit 200 is configured to drive the second support 300 to move along a first direction relative to the first support 100, so that the first support 100 drives the second section 422 to move along a direction opposite to the first direction, and the first section 421 drives the mounting table 510 to move along the first direction.
Specifically, as shown in fig. 2, when the driving unit 200 drives the second support 300 to move linearly, e.g., to move rightward, with respect to the first support 100 to protrude, the transmission unit and the mounting table 510 coupled to the second support 300 move rightward in synchronization with the second support 300. The second support 300 moves rightward relative to the first support 100, i.e., the first support 100 moves leftward relative to the second support 300, and the first section 421 and the mounting table 510 coupled to the first section 421 move rightward relative to the second support 300 because the second section 422 is coupled to the first support 100, i.e., the second section 422 moves leftward relative to the second support 300, and the first section 421 is drivingly coupled to the second section 422.
That is, the second support 300 moves rightward, and at the same time, the mounting table 510 moves rightward relative to the second support 300, and the displacement of the mounting table 510 is the sum of the displacement of the second support 300 and the displacement of the first section 421, i.e., the displacement of the mounting table 510 is twice the output end of the driving unit 200, so that the displacement of the mounting table 510 extending relative to the first support 100, i.e., the movement stroke, is amplified. In this way, when the mounting table 510 is completely retracted with respect to the first support 100 with the same movement stroke, the overall size of the slide table mechanism 10 can be doubled, that is, the occupied space of the slide table mechanism 10 can be greatly reduced. Taking the actuator as a surgical instrument for example, when the surgical instrument is installed on the installation table 510, the surrounding space of the installation part is wider, no redundant parts are shielded, the convenience of installing the surgical instrument is improved, and the risk of pollution of the surgical instrument in the surgical process is greatly reduced.
As shown in fig. 2 to 4, in a specific embodiment, the transmission unit includes an endless transmission belt 420 and two transmission wheels 410 distributed at intervals along a first direction, the transmission belt 420 is wound around the two transmission wheels 410 and is in transmission connection with the transmission wheels 410, and a first section 421 and a second section 422 are disposed on the transmission belt 420 at intervals along a second direction, where the first direction, the second direction and the axial direction of the transmission wheels are perpendicular to each other. When the first direction is the extending direction of the second support 300, the opposite direction is the retracting direction. For example, in the view angle shown in fig. 2, the extending direction is a horizontal rightward direction, the retracting direction is a horizontal leftward direction, the axial direction of the driving wheel is a direction perpendicular to the paper surface, and the second direction is a vertical direction, i.e., an up-down direction.
Specifically, when the driving unit 200 drives the second support 300 to move rightward relative to the first support 100, the second section 422 of the driving belt 420 is connected to the first support 100, that is, the second section 422 of the driving belt 420 moves leftward relative to the second support 300, and the driving belt 420 is looped around the two driving wheels 410 and is in driving connection with the driving wheels 410, so that the first section 421 of the driving belt 420 and the mounting table 510 connected to the first section 421 move rightward relative to the second support 300. That is, the displacement of the mounting table 510 is the sum of the displacement of the second support 300 and the displacement of the belt 420, that is, the displacement of the mounting table 510 is twice the output end of the driving unit 200, and thus the displacement of the mounting table 510 extending from the first support 100, that is, the movement stroke is amplified. Therefore, under the same moving stroke, when the mounting table is completely retracted relative to the first support, the whole size of the sliding table mechanism can be doubled, namely, the occupied space of the sliding table mechanism is greatly reduced.
In other embodiments, the transmission unit includes a gear and first and second racks disposed at two radial ends of the gear and meshed with the gear, where the first and second racks form the first and second sections, i.e., the first rack is connected to the mounting table, and the second rack is connected to the first support. When the driving unit drives the second support to move forward relative to the first support, namely the first support moves reversely relative to the second support, the second rack is connected to the first support, namely the second rack moves reversely relative to the second support, and the second rack is meshed with one side of the gear and is meshed with the other side of the gear, so that the first rack and the mounting table connected with the first rack move forward relative to the second support. That is, the second support is moved forward, and the mounting table is also moved forward relative to the second support, the displacement of the mounting table is the sum of the displacement of the second support and the displacement of the first section, that is, the displacement of the mounting table is twice the output end of the driving unit, so that the extending displacement, that is, the moving stroke, of the mounting table relative to the first support is amplified. Therefore, under the same moving stroke, when the mounting table is completely retracted relative to the first support, the whole size of the sliding table mechanism can be doubled, namely, the occupied space of the sliding table mechanism is greatly reduced.
As shown in fig. 2 to 4, in an embodiment, the transmission unit includes the transmission wheel 410 and the transmission belt 420 of the previous embodiments, the slide table mechanism 10 includes the fixing member 110, and the second section 422 of the transmission belt 420 is connected to the first support 100 through the fixing member 110. Wherein, as shown in fig. 4, when the mounting table 510 is in the retracted position, the mounting table 510 and the fixing member 110 are respectively located at both ends of the first stand 100. Thus, when the second support 300 moves rightward relative to the first support 100, the fixing member 110 connected to the first support 100 gradually approaches the second support 300, that is, the second section 422 connected to the fixing member 110 gradually approaches the second support 300, that is, the second section 422 moves leftward under the action of the fixing member 110, so that the first section 421 of the driving belt 420 moves rightward, and further drives the mounting table 510 to move rightward, thereby realizing extension of the actuator mounted on the mounting table 510. Specifically, the fixing member 110 may be an L-shaped plate, the horizontal section of which is connected to the first support 100, and the vertical section of which is connected to the second section 422 of the driving belt 420, so as to adapt to the distance between the first support 100 and the driving belt 420, reduce the possibility of the driving belt 420 being pulled, and ensure the reliability of the driving connection between the driving belt 420 and the driving wheel 410.
Specifically, when the transmission belt is severely deformed or broken, the braking unit is activated, namely, the braking unit is connected with the second support, so that the mounting table is limited to move along the extending direction, the mounting table is fixed relative to the second support, and potential safety hazards caused by continuous movement of an actuating mechanism connected to the mounting table are avoided.
In a specific embodiment, the driving belt can be a belt, an annular belt made of metal or the like, or a steel wire rope or the like, and the driving belt is in friction transmission with the driving wheel to realize power transmission. In other embodiments, the driving belt can also be in a chain shape, namely, the driving belt is provided with a plurality of first tooth grooves, the driving wheel is provided with second tooth grooves meshed with the first tooth grooves, and the power transmission is realized through meshed transmission.
More specifically, as shown in fig. 4, the driving unit 200 may be a screw structure including a driving member, a driving rod 210, and a driving block 220 screw-coupled to the driving rod 210, and the second support 300 is coupled to the driving block 220, by which the movement of the second support 300 with respect to the first support 100 is achieved. In other embodiments, the driving unit may be other linear modules, such as a cylinder.
In a specific embodiment, the mounting table is provided with a first encoder, and correspondingly, the second support is provided with a first data rule, so that the actual position of the mounting table can be obtained by matching the first encoder with the first data rule. The second encoder is connected to the driving element of the driving unit, and the theoretical position of the mounting table can be obtained through the second encoder. When the difference between the actual position and the theoretical position of the mounting table is too large, the fact that the transmission belt is seriously deformed or broken is indicated, and at the moment, the braking unit is activated, namely the braking unit is connected with the second support, so that the mounting table is fixed relative to the second support, and potential safety hazards caused by continued movement of an actuating mechanism connected to the mounting table are avoided.
In one embodiment, as shown in fig. 1 and 6, the second support 300 is provided with a braking groove 310, and the braking unit 600 includes a braking member 610 coupled to the mounting table 510, and the braking member 610 can be adjacent to the braking groove 310 and engaged with the braking groove 310 to limit the movement of the mounting table 510 relative to the second support 300. It will be appreciated that the brake 610 can also be withdrawn from the brake slot 310 to release the brake.
In one embodiment, as shown in fig. 5 and 6, the detent 610 has a first straight surface 611 and a first sloped surface 612, and the detent groove 310 has a second straight surface 311 and a second sloped surface 312. When the mounting table 510 moves in the retracting direction, the braking member 610 is slidably engaged with the second inclined surface 312 by the first inclined surface 612, and the braking member 610 can exit the braking slot 310 along the second inclined surface 312, and in fig. 6, moves in the retracting direction, i.e., moves to the right. When the stopper 610 moves until the first straight surface 611 abuts against the second straight surface 311, the second straight surface 311 can restrict movement of the stopper 610 and the mount 510 in the extending direction, which is left in fig. 6. With this arrangement, the mounting table 510 cannot continue to extend, but can retract, when braked. Taking an actuator as a surgical instrument for example, by such an arrangement, when the brake unit 600 is activated, the surgical instrument cannot move toward the human body, thereby avoiding damage to the human body. The surgical instrument may be moved in a direction away from the human body to retract the surgical instrument.
The shape of the braking groove 310 may be adapted to the shape of the braking portion of the braking member 610, that is, when the braking member 610 is clamped to the braking groove 310, the braking portion having the first inclined surface 612 and the first straight surface 611 is just completely clamped. Of course, the size of the braking groove 310 may be slightly larger, that is, when the braking member 610 is clamped in the braking groove 310, the first straight surface 611 of the braking member 610 contacts the second straight surface 311, and the first inclined surface 612 and the second inclined surface 312 have a slight gap. Or the first inclined surface 612 and the second inclined surface 312 are completely contacted, and the first straight surface 611 and the second straight surface 311 have a slight gap or the like. In other embodiments, the first inclined surface may not be provided, that is, the two contact surfaces of the braking member are both straight surfaces, so that in the braking state, the mounting table cannot be extended or retracted until the braking member exits the braking groove, and the braking cannot be unlocked.
In one embodiment, as shown in fig. 5 and 6, the brake unit 600 further includes an electromagnetic member 620, the brake member 610 is connected to the electromagnetic member 620, and when the electromagnetic member 620 is in a first state, for example, when a forward current is applied to the electromagnetic member 620, the electromagnetic member 620 generates a magnetic force to drive the brake member 610 away from the brake slot 310, so as to separate from the brake slot 310. When the electromagnetic member 620 is in the second state, for example, when a reverse current is applied to the electromagnetic member 620, the braking member 610 can be close to the braking slot 310 so as to be clamped in the braking slot 310. The electromagnetic member 620 may be an electromagnet.
As shown in fig. 5 and 6, in one embodiment, the brake unit 600 further includes an elastic member 630, and the electromagnetic member 620 is connected to the elastic member 630. Specifically, when the electromagnetic member 620 is in the powered state, the electromagnetic member 620 generates a magnetic force to urge the braking member 610 away from the braking groove 310, and in the process, the elastic member 630 is in a compression deformed state. When the electromagnetic member 620 is in the power-off state, the braking member 610 is driven to approach the braking groove 310 under the elastic force of the elastic member 630, so as to achieve braking. The elastic member may be a spring or the like. In other embodiments, the spring member may not be provided, and the braking member may be extended or retracted by applying a forward current or a reverse current to the electromagnetic member.
It will be appreciated that, as shown in fig. 5 and 6, the brake unit 600 may further include a connection base 640 and an adapter, the electromagnetic member 620 is connected to the connection base 640, the brake member 610 is connected to the electromagnetic member 620 through the adapter, and the connection base 640 is connected to the mounting table 510.
As shown in fig. 1,2 and 7, in one embodiment, the slide table mechanism 10 further includes a first guide unit 710 connected to the first holder 100, and the second holder 300 is slidably connected to the first guide unit 710. Specifically, the first guide unit 710 includes a first slider 711 and a first guide rail 712 slidably coupled to the first slider 711, the first slider 711 being fixedly coupled to the first support 100, the first guide rail 712 being fixedly coupled to the second support 300. By providing the first guide unit 710, the movement of the second holder 300 with respect to the first holder 100 is guided and controlled, and the reliability of the movement thereof is ensured. In other embodiments, the first guiding unit may also be a combination of a guiding shaft and a guiding cylinder, i.e. the guiding cylinder is connected to the second support, and the guiding shaft is connected to the first support.
As shown in fig. 1, 2 and 7, in still another embodiment, the slide table mechanism 10 further includes a second guide unit 720 connected to the second support 300, and the mounting table 510 is slidably connected to the second guide unit 720. Specifically, the second guiding unit 720 includes a second rail 722 and a second slider 721 slidably connected to the second rail 722, the second rail 722 is fixedly connected to the second support 300, and the mounting table 510 is fixedly connected to the second slider 721. By providing the second guiding unit 720 to guide and control the movement of the mounting table 510 relative to the second support 300, the accuracy of the movement is improved, and the reliability of the movement of the actuator is ensured. Wherein the first guide 712 and the second guide 722 are respectively connected to both sides of the second support 300.
As shown in fig. 7 and 8, in one embodiment, the first supporter 100 is configured with a first mounting groove 120, and the first slider 711 is coupled to a first groove wall of the first mounting groove 120. By providing the first mounting groove 120 to place the first slider 711 in the first mounting groove 120, connection reliability of the first slider 711 and the first holder 100 is improved. Wherein, fastening holes may be provided on the groove walls of the first mounting groove 120, and the connection reliability of the first slider 711 and the first holder 100 is improved by passing fasteners such as screws through the first slider 711 and the groove walls of the first mounting groove 120, thereby reducing the possibility of sliding of the first slider 711.
As shown in fig. 7 and 8, the first support 100 is further configured with a second mounting groove 130, the second mounting groove 130 is recessed relative to the first mounting groove 120, and the sliding table mechanism 10 further includes a first pressing member 810, where the first pressing member 810 is connected to a groove wall of the second mounting groove 130 and abuts against the first slider 711. That is, the first mounting groove 120 and the second mounting groove 130 form a stepped groove, so that after the first slider 711 and the first pressing member 810 are mounted in the corresponding mounting grooves, the first pressing member 810 can be pressed on the first support 100, and simultaneously, the first slider 711 is abutted to the first slider 711, so that the connection reliability and rigidity of the first slider 711 and the first support 100 are improved, and the sliding generated by the overlarge stress between the first slider 711 and the first support 100 is eliminated. The first pressing member may specifically be a pressing block or the like.
As shown in fig. 7 and 8, in one embodiment, the sliding table mechanism 10 further includes a second pressing member 820, the second pressing member 820 is connected between the first rail 712 and the second rail 722, and the second pressing member 820 abuts against the second support 300. By the arrangement, the first guide rail 712 and the second guide rail 722 are pressed on the mounting surface of the second support 300, so that the slippage caused by overlarge stress between the first guide rail 712 and the second support 300 is eliminated, the slippage caused by overlarge stress between the second guide rail 722 and the second support 300 is eliminated, and meanwhile, the rigidity of the sliding table mechanism 10 can be improved.
As shown in fig. 7 and 9, in one embodiment, the mounting table 510 is configured with a third mounting groove 511, and the slide table mechanism 10 further includes a third pressing member 830, where the third pressing member 830 is connected to a groove wall of the third mounting groove 511 and abuts against the second slider 721. In this way, the connection reliability between the mounting table 510 and the second slider 721 can be improved, the possibility of slippage caused by excessive stress of the two can be reduced, and the use stability of the slide table mechanism 10 can be improved.
Further, an embodiment of the present application also provides a surgical robot including the above-described slide table mechanism 10 and a surgical instrument detachably connected to the slide table mechanism 10. When installing surgical instruments on the mounting table, because the occupation space of the sliding table mechanism is smaller, the surrounding space of the mounting part is wider, and no redundant parts are shielded, so that the convenience of installing the surgical instruments is improved, and the risk of pollution of the surgical instruments in the surgical process is greatly reduced. After the installation is completed, the linear movement of the surgical instrument can be realized through the sliding table mechanism, and the actual use requirement is met. The surgical robot may be an abdominal surgical robot or the like.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (9)
1. A slipway mechanism for a surgical robot, the slipway mechanism comprising:
A first support (100);
A drive unit (200) connected to the first support (100);
A second support (300) connected to the output of the drive unit (200);
The driving unit (200) is used for driving the second support (300) to move along a first direction relative to the first support (100), wherein the first direction comprises an extending direction and a retracting direction;
The second support (300) is provided with a mounting table (510) and a braking unit (600), and the braking unit (600) is connected with the mounting table (510) and is used for limiting the movement of the mounting table (510) along the extending direction;
The second support (300) is provided with a braking groove (310), the braking unit (600) comprises a braking piece (610) connected to the mounting table (510), and the braking piece (610) can be close to the braking groove (310) and clamped with the braking groove (310) so as to limit the movement of the mounting table (510) relative to the second support (300);
The braking piece (610) is provided with a first straight surface (611) and a first inclined surface (612), and the braking groove (310) is provided with a second straight surface (311) and a second inclined surface (312);
When the mounting table moves along the retraction direction, the braking piece (610) is in sliding fit with the second inclined surface (312) through the first inclined surface (612), and the braking piece (610) can be withdrawn from the braking groove (310);
When the stopper (610) moves until the first straight surface (611) abuts against the second straight surface (311), the second straight surface (311) can restrict the movement of the mount (510) in the extending direction.
2. The slipway mechanism according to claim 1, characterized in that the slipway mechanism further comprises a transmission unit, the first support (100) being provided with a fixture (110), the transmission unit being fixedly connected with the fixture (110) and the mounting table (510) such that the transmission unit is divided into a first section (421) and a second section (422) of transmission connection;
The drive unit (200) is configured to drive the second support (300) to move in a first direction relative to the first support (100) such that the first section (421) and the second section (422) move in opposite directions.
3. The slipway mechanism as claimed in claim 2, characterized in that the transmission unit comprises a transmission belt (420) and two transmission wheels (410) distributed at intervals along the first direction, wherein the transmission belt (420) is wound around the two transmission wheels (410) and is in transmission connection with the transmission wheels (410);
The first section (421) and the second section (422) are arranged on the transmission belt (420) at intervals along a second direction, and the first direction, the second direction and the axial direction of the transmission wheel (410) are perpendicular to each other.
4. The slide mechanism of claim 1, wherein the brake unit (600) further comprises an electromagnetic member (620), the brake member (610) being connected to the electromagnetic member (620);
when the electromagnetic member (620) is in the first state, the electromagnetic member (620) drives the braking member (610) to be far away from the braking groove (310) so as to be separated from the braking groove (310);
When the electromagnetic member (620) is in the second state, the braking member (610) can be close to the braking groove (310) so as to be clamped in the braking groove (310).
5. The slip mechanism of claim 4, wherein the brake unit (600) further includes an elastic member (630), the electromagnetic member (620) is connected to the elastic member (630), the electromagnetic member (620) drives the brake member (610) away from the brake slot (310) when the electromagnetic member (620) is in an energized state, and the elastic member (630) is in a deformed state;
The elastic member (630) drives the braking member (610) to approach the braking groove (310) when the electromagnetic member (620) is in a power-off state.
6. The slide mechanism of claim 1, further comprising a first guide unit (710) coupled to the first mount (100), the second mount (300) being slidably coupled to the first guide unit (710);
the sliding table mechanism further comprises a second guide unit (720) connected to the second support (300), and the mounting table (510) is slidably connected to the second guide unit (720).
7. The slide mechanism of claim 6, wherein the first guide unit (710) includes a first slider (711) and a first guide rail (712) slidably coupled to the first slider (711), the first slider (711) being fixedly coupled to the first support (100), the first guide rail (712) being fixedly coupled to the second support (300);
The second guiding unit (720) comprises a second guide rail (722) and a second sliding block (721) which is connected with the second guide rail (722) in a sliding mode, the second guide rail (722) is fixedly connected with the second support (300), and the mounting table (510) is fixedly connected with the second sliding block (721).
8. The slide mechanism as recited in claim 7, wherein the first holder (100) is configured with a first mounting groove (120), the first slider (711) is connected to a first groove wall of the first mounting groove (120), the first holder (100) is further configured with a second mounting groove (130), the second mounting groove (130) is recessed with respect to the first mounting groove (120), the slide mechanism further comprises a first pressing member (810), the first pressing member (810) is connected to a groove wall of the second mounting groove (130) and abuts against the first slider (711), and/or
The sliding table mechanism also comprises a second pressing piece (820), wherein the second pressing piece (820) is connected between the first guide rail (712) and the second guide rail (722), and the second pressing piece (820) is abutted against the second support (300), and/or
The mounting table (510) is provided with a third mounting groove (511), the sliding table mechanism further comprises a third pressing piece (830), and the third pressing piece (830) is connected to the groove wall of the third mounting groove (511) and is abutted to the second sliding block (721).
9. A surgical robot comprising a slide mechanism as claimed in any one of claims 1 to 8.
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| CN202311323144.6A CN119818187B (en) | 2023-10-12 | 2023-10-12 | Slip table mechanism and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311323144.6A CN119818187B (en) | 2023-10-12 | 2023-10-12 | Slip table mechanism and surgical robot |
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| CN119818187A CN119818187A (en) | 2025-04-15 |
| CN119818187B true CN119818187B (en) | 2025-10-28 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106102644A (en) * | 2014-03-17 | 2016-11-09 | 直观外科手术操作公司 | Avoid automatic roll-out of range-of-motion limits |
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| JP4045451B2 (en) * | 2003-12-26 | 2008-02-13 | 村田機械株式会社 | Overhead traveling vehicle system |
| GB0915894D0 (en) * | 2009-09-10 | 2009-10-14 | Imp Innovations Ltd | A device for limiting movement |
| CN210048376U (en) * | 2019-06-05 | 2020-02-11 | 法兰泰克重工股份有限公司 | Brake protection device |
| CN211508447U (en) * | 2019-10-30 | 2020-09-15 | 广州番禺电缆集团有限公司 | Hand-operated cable terminal binding tool that returns |
| CN114948237B (en) * | 2022-06-16 | 2026-01-23 | 杭州康基唯精医疗机器人有限公司 | Mechanical arm lifting device and minimally invasive surgery robot |
| CN116250933A (en) * | 2023-03-09 | 2023-06-13 | 杭州华匠医学机器人有限公司 | Single-power double-stroke linear motion mechanism for laparoscopic robot |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106102644A (en) * | 2014-03-17 | 2016-11-09 | 直观外科手术操作公司 | Avoid automatic roll-out of range-of-motion limits |
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