CN113876431A - Tracking and measuring mechanical arm device of operation sickbed - Google Patents
Tracking and measuring mechanical arm device of operation sickbed Download PDFInfo
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- CN113876431A CN113876431A CN202111271712.3A CN202111271712A CN113876431A CN 113876431 A CN113876431 A CN 113876431A CN 202111271712 A CN202111271712 A CN 202111271712A CN 113876431 A CN113876431 A CN 113876431A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
- A61G13/1235—Arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention relates to the field of medical instruments, in particular to a tracking and measuring mechanical arm device of an operation sickbed, which comprises a supporting underframe, a sliding mattress, a swinging mattress, an arc-shaped buffer block, an adjusting rod and the like; support chassis top sliding type and be connected with the slip mattress, the last rotation type of slip mattress is connected with the regulation pole, and the rigid coupling has swing mattress on the regulation pole, swing mattress both sides fixedly connected with arc buffer block. Through adjusting the positions of the T-shaped slotted frame and the pushing round hole frame, the medical staff can learn transverse position data of numerical values indicated on the first scale plate through the sliding nut sleeve, and can learn vertical position data of numerical values indicated on the second scale plate through the special-shaped supporting ring, so that the movement amount in three degrees of freedom is completely decoupled, and the purpose of accurately positioning the three-dimensional space is achieved.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a tracking and measuring mechanical arm device of an operation sickbed.
Background
The robot operation auxiliary system has appeared in the medical field at present, the difficult problem in the bone surgery has been solved, and realize more accurate operation, in the operation process, the aircraft nose of DSA need to be moved in order to image the position of operation concern when necessary, in the place that the arm of DSA can't reach, need to remove the cooperation formation of image of operation table, the operation table needs robot slave end and operation table to move together when removing, avoid the position of equipment in human bone unchangeable, in order to realize the synchronous motion of slave end and operation table, just need monitor the motion position of operation table and input this position for the slave-end system, control slave end follows the operation table and moves together.
The common method for detecting the movement of the operating table is to use a binocular or three-purpose optical vision tracking system, fixedly install an optical mark on the patient table, give out a space coordinate and a movement track of the operating table through the optical vision tracking system, and convert the space coordinate into a robot coordinate system through a space coordinate conversion, but the optical tracking system is easy to cause shielding, and particularly the influence caused by frequent and disordered random movements of medical staff beside the operating table is difficult to eliminate.
Disclosure of Invention
Therefore, it is necessary to provide a tracking and measuring robotic arm device for a surgical bed, which can completely decouple the movement amount in three degrees of freedom, achieve the purpose of accurately positioning a three-dimensional space, and reliably and effectively acquire the data volume, so as to solve the above problems.
In order to achieve the above object, the present invention provides a mechanical arm device for tracking and measuring of a surgical bed, which comprises a supporting chassis, and further comprises: the top of the supporting underframe is connected with a sliding mattress in a sliding way; the sliding mattress is rotatably connected with the adjusting rod, and the adjusting rod is fixedly connected with the swinging mattress; the swing mattress comprises an arc-shaped buffer block, wherein the arc-shaped buffer block is fixedly connected to two sides of the swing mattress, hand supports are connected to two sides of the sliding mattress through bolts, and the hand supports are used for placing arms of a patient; the support chassis is connected with the sliding mounting plate in a sliding manner; the arc-shaped support frame is connected to the sliding mounting plate in a bolt connection mode, the arc-shaped support frame is rotatably connected with the adjusting rod, and two pairs of second homing springs are connected between the sliding mounting plate and the supporting underframe; the measuring components are fixedly arranged on two sides of the supporting underframe and are used for measuring transverse coordinates; the pressing component is arranged on the measuring component and used for moving downwards to track the surgical site of the patient.
Further, the measuring subassembly is including T type fluting frame, the arc carriage, installation fluting frame, scale plate one, adjust the lead screw, slip nut cover and abnormal shape support ring, it is connected with T type fluting frame to support the chassis both sides through bolted connection's mode, common slidingtype is connected with the arc carriage on two T type fluting frames, arc carriage top fixed mounting has installation fluting frame, the symmetry is provided with two scale plate one on the installation fluting frame, the rotation type is connected with the regulation lead screw on the scale plate one, be connected with slip nut cover through screw-thread fit's mode on the regulation lead screw, slip nut cover and a scale plate are spacing to be connected, the common rigid coupling in two slip nut cover one sides has abnormal shape support ring.
Further, the pushing assembly comprises an arc-shaped sliding block, a ball head slotting frame, an annular support frame, a pushing screw, a driving motor, a hexagonal nut sleeve, a pushing circular hole frame and a scale plate II, the arc-shaped sliding frame is connected with the arc-shaped sliding block in a sliding mode, the arc-shaped sliding block is connected with the ball head slotting frame in a rotating mode, the annular support frame is fixedly connected onto a special-shaped support ring, the special-shaped support ring is connected with the pushing screw in a rotating mode, the top of the annular support ring is fixedly provided with the driving motor, one end of an output shaft of the driving motor is fixedly connected with the pushing screw, the pushing screw is connected with the hexagonal nut sleeve in a threaded fit mode, the hexagonal nut sleeve is fixedly connected with the pushing circular hole frame, the pushing circular hole frame is connected with the special-shaped support ring in a sliding mode, and the two pairs of scale plates II are arranged on the pushing circular hole frame.
Furthermore, the top of the ball head slotting frame is designed into a spherical shape and is provided with a fixed annular key, the arc-shaped sliding block surrounds the annular key, the inner wall of the arc-shaped sliding block is provided with an annular key groove, and variable-angle power transmission is realized by adopting a transmission mode of alternately changing a horizontal key and a vertical key.
Further, still including the camera module, push down the round hole frame bottom and be provided with a pair of camera module.
Further, still including the anti-shake subassembly, the installation slotting frame right side is located to the anti-shake subassembly, the anti-shake subassembly is including the fluting cylinder, protective housing one, locking screw rod one, spacing and a reset spring of arc, it has the fluting cylinder to adjust the welding of lead screw right-hand member, two protective housing one of installation slotting frame right side fixedly connected with, protective housing one top is connected with locking screw rod one through screw-thread fit's mode, locking screw rod below slidingtype is connected with spacing of arc, spacing card of arc goes into in the fluting cylinder draw-in groove, be connected with a reset spring between fluting cylinder and the locking screw rod one.
Furthermore, the device also comprises a lighting lamp, and a pair of lighting lamps is symmetrically arranged on the inner side of the arc-shaped sliding frame.
Further, still including locking Assembly, arc carriage below is provided with locking Assembly, and locking Assembly is including locking screw rod two, wedge clutch blocks and second reset spring, and there is locking screw rod two arc carriage below through screw-thread fit's mode symmetric connection, and arc carriage below slidingtype is connected with two pairs of wedge clutch blocks, and two adjacent wedge clutch blocks are the contact each other, and two homonymy wedge clutch blocks all contact with locking screw rod two, are connected with second reset spring between wedge clutch blocks and the arc carriage.
Further, still including the slip subassembly, the slip subassembly is located on supporting the chassis, the slip subassembly is including executing the switch, motor support frame, driving motor, gear one, I type rack, slip tooth piece and first homing spring, be provided with two execution switches in the arc carriage, fixed mounting has motor support frame on the support chassis, fixed mounting has driving motor on the motor support frame, the rigid coupling has gear one on the driving motor output shaft, arc support frame bottom fixedly connected with I type rack, I type rack and gear one meshing, I type rack both ends slidingtype is connected with the slip tooth piece, be connected with a pair of first homing spring between slip tooth piece and the I type rack.
Further, the device comprises a reading assembly, the reading assembly is arranged on a supporting bottom frame and comprises a first distance sensor, a second distance sensor, a third distance sensor, a second protective shell, a rotating shaft, a slotted ring, a reading block, a second gear, a rectangular slotted frame, an L-shaped rack, an electromagnet and a return spring, two pairs of first distance sensors are fixedly arranged on an arc sliding frame, the two distance sensors are symmetrically and fixedly arranged on a sliding nut sleeve, the third distance sensor is symmetrically and fixedly arranged on a special-shaped supporting ring, the second protective shell is fixedly arranged on the supporting bottom frame, the rotating shaft is fixedly connected in the second protective shell, the three slotted rings are rotatably connected on the rotating shaft, the reading blocks are connected on the slotted rings in a circumferential distribution mode, the second gear is fixedly connected on the slotted rings, the three rectangular slotted frames are fixedly arranged in the second protective shell, and the L-shaped slotted frame is connected on the rectangular slotted frame, and the adjacent L-shaped rack is meshed with the second gear, an electromagnet is arranged below the L-shaped rack, the electromagnet is fixedly connected to the upper part in the rectangular slotted frame, and a return spring is connected between the two electromagnets on the same side.
The invention has the following beneficial effects:
1. through adjusting the positions of the T-shaped slotted frame and the pushing round hole frame, the medical staff can learn transverse position data of numerical values indicated on the first scale plate through the sliding nut sleeve, and can learn vertical position data of numerical values indicated on the second scale plate through the special-shaped supporting ring, so that the movement amount in three degrees of freedom is completely decoupled, and the purpose of accurately positioning the three-dimensional space is achieved.
2. Through the spacing frame of arc that sets up, can block the fluting cylinder when rotating the regulation lead screw, avoid rotating too much, and then can not lead to slip nut cover and last device to remove the too much positioning inaccuracy that causes of stroke, prevent that the apparatus nurse is difficult to master the operation position, after the regulation finishes, the spacing frame of arc is with fluting cylinder chucking, avoids fluting cylinder and regulation lead screw to rotate.
3. By adjusting the second locking screw rod, the arc-shaped sliding frame and the device on the arc-shaped sliding frame can be fixed by means of the friction between the T-shaped slotting frame and the wedge-shaped friction block, and the arc-shaped sliding frame and the device on the arc-shaped sliding frame are prevented from moving.
4. The arc sliding block that can be based on and the position of device on it adjust the position of arc support frame and device on it make the patient moved, and the camera module of being convenient for can trail the detection to the operation position, makes things convenient for medical staff to perform the operation.
5. Through the cooperation of distance sensor one, distance sensor two and distance sensor three for reading block rotates to corresponding position, and medical staff can observe the reading on the three reading block through protective housing two, thereby the location reading of knowing all directions clearly can reliably effectively acquire the data volume.
Drawings
Fig. 1 is a schematic perspective view of a first embodiment of the present invention.
Fig. 2 is a schematic perspective view of a second embodiment of the present invention.
FIG. 3 is a schematic view of a first partial body structure according to the present invention.
FIG. 4 is a schematic view of a first partially separated body structure of a measurement assembly of the present invention.
Fig. 5 is a schematic view of a partially cut-away perspective structure of the measuring assembly of the present invention.
FIG. 6 is a schematic view of a second partially separated body structure of the measurement assembly of the present invention.
Fig. 7 is a perspective view of a third portion of the measuring assembly of the present invention.
FIG. 8 is a schematic view of a first partially assembled body of the hold-down assembly of the present invention.
Fig. 9 is a schematic cross-sectional perspective view of a hold-down assembly according to the present invention.
FIG. 10 is a schematic view of a second partial body structure according to the present invention.
FIG. 11 is a schematic view of a second partial body structure of a hold-down assembly according to the present invention.
Fig. 12 is a schematic sectional perspective view of the anti-shake assembly of the present invention.
Fig. 13 is a schematic view of the present invention in a partially cut-away perspective structure.
Fig. 14 is an enlarged schematic view of the structure of the present invention a.
FIG. 15 is an enlarged schematic view of the present invention B.
Figure 16 is a schematic view of a first partial body construction of a sliding assembly of the present invention.
Figure 17 is a schematic view of a second partial body construction of a sliding assembly in accordance with the present invention.
FIG. 18 is a schematic view of a reading assembly of the present invention in partial cross-sectional perspective.
Fig. 19 is a schematic perspective view of a portion of a reading assembly according to the present invention.
Fig. 20 is a partially disassembled perspective view of a reading assembly of the present invention.
Fig. 21 is a perspective view of a third portion of the sliding module of the present invention.
Part names and serial numbers in the figure: 1_ support chassis, 21_ sliding mattress, 22_ swinging mattress, 23_ arc buffer block, 24_ hand rest, 25_ arc support frame, 26_ adjustment rod, 27_ sliding mounting plate, 28_ second return spring, 3_ measurement component, 31_ T-type slotted frame, 32_ arc sliding frame, 33_ mounting slotted frame, 34_ scale plate one, 35_ adjustment screw, 36_ sliding nut sleeve, 37_ special-shaped support ring, 4_ press component, 41_ arc slide block, 42_ ball head slotted frame, 43_ ring support frame, 44_ press screw, 45_ drive motor, 46_ hexagonal nut sleeve, 47_ press round hole frame, 48_ scale plate two, 5_ camera module, 6_ anti-shake component, 61_ slotted cylinder, 62_ protective shell one, 63_ locking screw one, 64_ arc limit frame, 65_ first return spring, 7_ illuminating lamp, 8_ locking component, 81_ locking screw rod II, 82_ wedge friction block, 83_ second return spring, 9_ sliding assembly, 91_ execution switch, 92_ motor support frame, 93_ driving motor, 94_ gear I, 95_ I type rack, 96_ sliding tooth block, 97_ first return spring, 10_ reading assembly, 101_ distance sensor I, 102_ distance sensor II, 103_ distance sensor III, 104_ protective shell II, 105_ rotating shaft, 106_ slotted ring, 107_ reading block, 108_ gear II, 109_ rectangular slotted frame, 1010_ L type rack frame, 1011_ electromagnet and 1012_ return spring.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
Example 1
A tracking and measuring mechanical arm device of an operation sickbed comprises a supporting underframe 1, a sliding mattress 21, a swinging mattress 22, an arc-shaped buffer block 23, a hand support 24, an arc-shaped support frame 25, an adjusting rod 26, a sliding mounting plate 27, a second homing spring 28, a measuring component 3 and a pressing component 4, wherein the sliding mattress 21 is slidably connected to the top of the supporting underframe 1, the adjusting rod 26 convenient for manual adjustment is rotatably connected to the sliding mattress 21, the swinging mattress 22 is fixedly connected to the adjusting rod 26, the arc-shaped buffer blocks 23 are fixedly connected to two sides of the swinging mattress 22, the hand supports 24 for placing arms are connected to two sides of the sliding mattress 21 through bolts, the sliding mounting plate 27 is slidably connected to the supporting underframe 1, the arc-shaped support frame 25 is connected to the sliding mounting plate 27 through bolts, arc support frame 25 is connected with adjusting pole 26 rotary type, is connected with two pairs of second playback springs 28 between sliding mounting board 27 and the support chassis 1, supports chassis 1 both sides fixed mounting and has measuring component 3, and measuring component 3 is used for measuring the operation position coordinate, is provided with down pressure subassembly 4 on the measuring component 3.
The measuring component 3 comprises a T-shaped slotting frame 31, an arc-shaped sliding frame 32, an installation slotting frame 33, a first scale plate 34, an adjusting screw 35, a sliding nut sleeve 36 and a special-shaped support ring 37, the two sides of the support chassis 1 are connected with the T-shaped slotting frame 31 in a bolt connection mode, the two T-shaped slotting frames 31 are jointly and slidably connected with the arc-shaped sliding frame 32, the installation slotting frame 33 is fixedly installed at the top of the arc-shaped sliding frame 32, the installation slotting frame 33 is symmetrically provided with the two first scale plates 34, the first scale plates 34 are rotatably connected with the adjusting screw 35 for adjustment, the adjusting screw 35 is connected with the sliding nut sleeve 36 in a thread fit mode, the sliding nut sleeve 36 is used for indicating scales on the first scale plates 34, the sliding nut sleeve 36 is in limiting connection with the first scale plates 34, and the special-shaped support ring 37 is fixedly connected to one side of the two sliding nut sleeves 36.
The downward pressing component 4 comprises an arc-shaped sliding block 41, a ball head slotting frame 42, an annular supporting frame 43, a downward pressing screw 44, a driving motor 45, a hexagonal nut sleeve 46, a downward pressing round hole frame 47 and a scale plate II 48, the arc-shaped sliding frame 32 is connected with the arc-shaped sliding block 41 in a sliding manner, the arc-shaped sliding block 41 is connected with the ball head slotting frame 42 in a rotating manner, the annular supporting frame 43 is fixedly connected with a special-shaped supporting ring 37, the special-shaped supporting ring 37 is connected with the downward pressing screw 44 in a rotating manner, the top of the annular supporting frame 43 is fixedly provided with the driving motor 45 for driving, one end of the output shaft of the driving motor 45 is fixedly connected with the downward pressing screw 44, the downward pressing screw 44 is connected with the hexagonal nut sleeve 46 in a threaded fit manner, the hexagonal nut sleeve 46 is fixedly connected with the downward pressing round hole frame 47, the downward pressing round hole frame 47 is connected with the special-shaped supporting ring 37 in a sliding manner, the downward pressing round hole frame 47 is provided with the scale plate II 48, the special-shaped support ring 37 is used for indicating the scales on the second scale plate 48.
This equipment is installed on the sick bed, can follow the sick bed and remove, when needs are operated the patient, the patient lies on slip mattress 21 and swing mattress 22, and patient's arm is placed on hand rest 24, and medical staff can adjust pole 26 through rotating, adjusts pole 26 and drives the swing mattress 22 swing to adjust swing mattress 22 amplitude of oscillation, and then adjust patient's health position state, be convenient for carry out the operation. The arc-shaped sliding frame 32 and the device on the arc-shaped sliding frame can be moved when the operation is carried out, so that the operation is prevented from being influenced or other medical equipment is prevented from being influenced.
When the surgical site needs to be positioned, an instrument nurse moves the arc-shaped sliding frame 32 and the device on the arc-shaped sliding frame to the approximate position of the surgical site, the instrument nurse rotates the adjusting screw rod 35, the adjusting screw rod 35 drives the sliding nut sleeve 36 and the device on the sliding nut sleeve to move leftwards or rightwards, the arc-shaped sliding block 41 and the device on the sliding block move along the arc-shaped sliding frame 32 in an arc manner, the downward pressing circular hole frame 47 is located above the surgical site, the sliding nut sleeve 36 indicates the scales on the first scale plate 34, and medical staff can know transverse position data through the numerical values on the first scale plate 34. Then the medical staff controls the driving motor 45 to start, the output shaft of the driving motor 45 rotates to drive the lower pressing screw 44 to rotate, the lower pressing screw 44 drives the hexagonal nut sleeve 46 and the lower pressing circular hole frame 47 to rotate, the lower pressing circular hole frame 47 moves downwards, the lower pressing circular hole frame 47 is aligned to the operation position, the special-shaped supporting ring 37 can indicate the scales on the second scale plate 48, the vertical position data can be obtained through the numerical values on the second scale plate 48, the space coordinate is obtained, and the purpose of accurately positioning the three-dimensional space is achieved.
Example 2
On the basis of embodiment 1, as shown in fig. 11, the surgical instrument further comprises a camera module 5, the camera module 5 is used for imaging the surgical site, and a pair of camera modules 5 is arranged at the bottom of the downward pressing round hole frame 47.
The camera module 5 can image the operation position, so that medical staff can observe conveniently, and the operation position is prevented from being touched by the down-pressing round hole frame 47.
Example 3
On the basis of the embodiment 2, as shown in fig. 12, the anti-shake device 6 is further included, the anti-shake device 6 is disposed on the right side of the installation slotted frame 33, the anti-shake device 6 is used for preventing the adjustment screw 35 and the devices thereon from rotating too much, the anti-shake device 6 includes a slotted cylinder 61 and a first protective shell 62, locking screw 63, spacing 64 of arc and first reset spring 65, it has fluting cylinder 61 to adjust the welding of lead screw 35 right-hand member, two protective housing 62 that are used for protecting inside spare part of installation fluting frame 33 right side fixedly connected with, protective housing 62 top is connected with locking screw 63 through screw-thread fit's mode, sliding connection has spacing 64 of arc below locking screw 63, spacing 64 card of arc goes into fluting cylinder 61 draw-in groove, spacing 64 of arc is used for the fluting cylinder 61 chucking, be connected with first reset spring 65 between fluting cylinder 61 and the locking screw 63.
Instrument nurse is when rotating regulation lead screw 35, it can drive fluting cylinder 61 and rotate to adjust lead screw 35, fluting cylinder 61 promotes the spacing 64 upward movement of arc, make the spacing 64 of arc no longer block fluting cylinder 61, the first reset spring 65 of compressed thereupon resets and drives the spacing 64 downward movement of arc and block fluting cylinder 61, it is too much to avoid instrument nurse to rotate regulation lead screw 35, and then can not lead to the excessive location inaccuracy that causes of slip nut cover 36 and its last device displacement stroke, it is difficult to master the operation position to prevent instrument nurse, the position adjustment of slip nut cover 36 and its device on it finishes the back, instrument nurse rotates locking screw 63, locking screw 63 promotes the spacing 64 downward movement of arc, make the spacing 64 of arc chucking fluting cylinder 61, avoid fluting cylinder 61 and regulation lead screw 35 to rotate.
Example 4
On the basis of embodiment 3, as shown in fig. 13, the surgical instrument further comprises a pair of illuminating lamps 7, a pair of illuminating lamps 7 are symmetrically arranged on the inner side of the arc-shaped sliding frame 32, and the operating part is illuminated by the illuminating lamps 7.
The illumination lamp 7 is electrified to illuminate the operation position, so that medical staff can clearly see the condition of the operation position of the patient, and the smooth operation is ensured.
Example 5
On the basis of embodiment 4, as shown in fig. 14, the locking device further comprises a locking assembly 8, the locking assembly 8 is arranged below the arc-shaped sliding frame 32, the locking assembly 8 is used for fixing the T-shaped slotting frame 31, the locking assembly 8 comprises a second locking screw 81, wedge-shaped friction blocks 82 and a second return spring 83, the second locking screw 81 is symmetrically connected below the arc-shaped sliding frame 32 in a thread fit manner, two pairs of wedge-shaped friction blocks 82 are slidably connected below the arc-shaped sliding frame 32, the wedge-shaped friction blocks 82 are used for clamping the T-shaped slotting frame 31, the two adjacent wedge-shaped friction blocks 82 are in mutual contact, the two wedge-shaped friction blocks 82 on the same side are in contact with the second locking screw 81, the second locking screw 81 is used for pushing the two wedge-shaped friction blocks 82 on the same side to move relatively, and the second return spring 83 is connected between the wedge-shaped friction blocks 82 and the arc-shaped sliding frame 32.
When an instrument nurse moves the arc-shaped sliding frame 32 and the upper device thereof to the approximate position of the operation position, the instrument nurse manually rotates the second locking screw 81, the second locking screw 81 moves towards the direction close to the T-shaped slotting frame 31, the second locking screw 81 can push the two wedge-shaped friction blocks 82 on the same side to move relatively, the wedge-shaped friction blocks 82 are tightly attached to the T-shaped slotting frame 31, the arc-shaped sliding frame 32 and the upper device thereof are fixed by means of the friction between the T-shaped slotting frame 31 and the wedge-shaped friction blocks 82, and the arc-shaped sliding frame 32 and the upper device thereof are prevented from moving.
Example 6
On the basis of the embodiment 5, as shown in fig. 15, 16, 17 and 21, the surgical bed is moved by the sliding assembly 9 to track and detect a surgical site, the sliding assembly 9 is disposed on the supporting base frame 1, the sliding assembly 9 includes an execution switch 91, a motor support frame 92, a driving motor 93, a first gear 94, an I-shaped rack 95, a sliding rack block 96 and a first homing spring 97, two execution switches 91 are disposed in the arc-shaped sliding frame 32, the supporting base frame 1 is fixedly mounted with the motor support frame 92, the motor support frame 92 is fixedly mounted with the driving motor 93 for driving, the execution switches 91 are used for controlling the driving motor 93 to start, the first gear 94 is fixedly mounted on an output shaft of the driving motor 93, the bottom of the arc-shaped support frame 25 is fixedly connected with the I-shaped rack block 95, the I-shaped rack 95 is engaged with the first gear 94, two ends of the I-shaped rack 95 are slidably connected with the sliding rack block 96, a pair of first return springs 97 are connected between the sliding block 96 and the I-shaped rack 95.
When the arc-shaped sliding block 41 and the upper device thereof move along the arc-shaped sliding frame 32 in an arc manner, the arc-shaped sliding block 41 can touch one of the two execution switches 91, the execution switch 91 controls the driving motor 93 to start, the output shaft of the driving motor 93 rotates to drive the first gear 94 to rotate, so that the first gear 94 drives the I-shaped rack 95 and the upper device thereof to rotate leftwards or rightwards, the sliding mounting plate 27 further drives the arc-shaped supporting frame 25 and the upper device thereof to move leftwards or rightwards, a patient is moved, the camera module 5 can track and detect the position to be operated conveniently, and the medical staff can perform the operation conveniently. When the first gear 94 is engaged with one of the sliding gear blocks 96, the first gear 94 pushes one of the sliding gear blocks 96 to reciprocate left and right through the action of the first return spring 97, so that the sliding mounting plate 27 and the upper device thereof are always at the same position.
Example 7
Based on embodiment 6, as shown in fig. 10, 18, 19, and 20, the reading device 10 is further included, the reading device 10 is disposed on the supporting base frame 1, the reading device 10 is convenient for clearly knowing positioning readings in various directions, the reading device 10 includes a first distance sensor 101, a second distance sensor 102, a third distance sensor 103, a second protective housing 104, a rotating shaft 105, a slotted ring 106, a reading block 107, a second gear 108, a rectangular slotted frame 109, an L-shaped rack 1010, an electromagnet 1011, and a return spring 1012, two pairs of first distance sensors 101 are fixedly mounted on the arc-shaped sliding frame 32, the first distance sensors 101 are used for detecting distances between the arc-shaped sliding frame 32 and two ends of the T-shaped slotted frame 31, the second distance sensors 102 are symmetrically and fixedly mounted on the sliding nut sleeve 36, the second distance sensors 102 are used for detecting distances between the sliding nut sleeve 36 and two ends of the mounting slotted frame 33, three distance sensors 103 are symmetrically and fixedly mounted on the special-shaped support ring 37, the three distance sensors 103 are used for detecting the distance between the bottom of the special-shaped support ring 37 and the bottom of the lower pressing circular hole frame 47, a second protective shell 104 is fixedly mounted on the support underframe 1, a rotating shaft 105 is fixedly connected in the second protective shell 104, three slotted circular rings 106 are rotatably connected to the rotating shaft 105, reading blocks 107 are connected to the slotted circular rings 106 in a circumferentially distributed mode, a second gear 108 is fixedly connected to the slotted circular rings 106, three rectangular slotted frames 109 are fixedly mounted in the second protective shell 104, an L-shaped rack 1010 is slidably connected to the rectangular slotted frames 109, the adjacent L-shaped rack 1010 is meshed with the second gear 108, electromagnets 1011 are arranged below the L-shaped rack 1010, electromagnets 1011 are fixedly connected to the upper portion of the rectangular slotted frames 109 in the same mode, and return springs 1012 are connected between the two electromagnets 1011 on the same side.
The first distance sensor 101 is used for detecting the distance between the arc-shaped sliding frame 32 and two ends of the T-shaped slotted frame 31, the second distance sensor 102 is used for detecting the distance between the sliding nut sleeve 36 and two ends of the installation slotted frame 33, the third distance sensor 103 is used for detecting the distance between the bottom of the special-shaped support ring 37 and the bottom in the lower pressing round hole frame 47, the first distance sensor 101, the second distance sensor 102 and the third distance sensor 103 respectively control the lower three electromagnets 1011 to be electrified to generate magnetism, the current of the three lower electromagnets 1011 is different according to the distance in each direction, the two electromagnets 1011 on the same side are mutually adsorbed, the electromagnets 1011 drive the L-shaped rack 1010 to move upwards, the L-shaped rack 1010 drives the second gear 108 and the slotted ring 106 to rotate, so that the medical staff can observe the readings on the three reading blocks 107 through the second protective shell 104, thereby clearly knowing the positioning readings in all directions.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a tracking measurement robotic arm device of operation sick bed, is including supporting chassis (1), its characterized in that still including: the top of the supporting underframe (1) is connected with a sliding mattress (21) in a sliding way; the adjusting rod (26) is rotatably connected to the sliding mattress (21), and the swinging mattress (22) is fixedly connected to the adjusting rod (26); the swing mattress comprises arc-shaped buffer blocks (23), wherein the arc-shaped buffer blocks (23) are fixedly connected to two sides of a swing mattress (22), hand supports (24) are connected to two sides of a sliding mattress (21) through bolts, and the hand supports (24) are used for placing arms of a patient; a sliding mounting plate (27), the supporting chassis (1) is connected with the sliding mounting plate (27) in a sliding way; the arc-shaped support frame (25), the arc-shaped support frame (25) is connected to the sliding mounting plate (27) in a bolt connection mode, the arc-shaped support frame (25) is rotatably connected with the adjusting rod (26), and two pairs of second homing springs (28) are connected between the sliding mounting plate (27) and the supporting underframe (1); the measuring assembly (3) is fixedly installed on two sides of the supporting underframe (1), and the measuring assembly (3) is used for measuring a transverse coordinate; the down-pressing component (4) is arranged on the measuring component (3), and the down-pressing component (4) is used for moving downwards to track the surgical site of the patient.
2. The mechanical arm device for tracking and measuring of the operation sickbed according to claim 1, characterized in that the measuring component (3) comprises a T-shaped slotted frame (31), an arc-shaped sliding frame (32), a mounting slotted frame (33), a first scale plate (34), an adjusting screw (35), a sliding nut sleeve (36) and a special-shaped support ring (37), the T-shaped slotted frame (31) is connected with two sides of the support underframe (1) in a bolt connection mode, the arc-shaped sliding frame (32) is connected on the two T-shaped slotted frames (31) in a sliding mode, the mounting slotted frame (33) is fixedly mounted at the top of the arc-shaped sliding frame (32), the two first scale plates (34) are symmetrically arranged on the mounting slotted frame (33), the adjusting screw (35) is rotatably connected on the first scale plate (34), the sliding nut sleeve (36) is connected on the adjusting screw (35) in a thread fit mode, the sliding nut sleeves (36) are in limit connection with the first scale plate (34), and one sides of the two sliding nut sleeves (36) are fixedly connected with a special-shaped support ring (37) together.
3. The mechanical arm device for tracking and measuring the operation sickbed according to claim 2, characterized in that the pressing component (4) comprises an arc-shaped sliding block (41), a ball-end slotted frame (42), an annular supporting frame (43), a pressing screw (44), a driving motor (45), a hexagonal nut sleeve (46), a pressing round hole frame (47) and a scale plate II (48), the arc-shaped sliding frame (32) is connected with the arc-shaped sliding block (41) in a sliding manner, the ball-end slotted frame (42) is connected with the arc-shaped sliding block (41) in a rotating manner, the annular supporting frame (43) is fixedly connected with a special-shaped supporting ring (37), the pressing screw (44) is connected with the special-shaped supporting ring (37) in a rotating manner, the driving motor (45) is fixedly installed at the top of the annular supporting frame (43), one end of an output shaft of the driving motor (45) is fixedly connected with the pressing screw (44), the hexagonal nut sleeve (46) is connected with the pressing screw (44) in a threaded manner, a lower round hole frame (47) is fixedly connected to the hexagonal nut sleeve (46), the lower round hole frame (47) is connected with the special-shaped support ring (37) in a sliding mode, and two pairs of scale plates (48) are arranged on the lower round hole frame (47).
4. The mechanical arm device for tracking and measuring of the surgical bed according to claim 3, wherein the top of the ball slotted frame (42) is designed into a spherical shape and provided with a fixed annular key, the arc-shaped sliding block (41) surrounds the annular key, the inner wall of the arc-shaped sliding block (41) is provided with an annular key slot, and the variable-angle power transmission is realized by adopting a transmission mode that a horizontal key and a vertical key are alternatively changed.
5. The mechanical arm device for tracking and measuring of the surgical bed according to claim 3, further comprising a camera module (5), wherein a pair of camera modules (5) is arranged at the bottom of the lower pressing round hole frame (47).
6. The mechanical arm device for tracking and measuring of the operation sickbed according to claim 2, characterized in that the mechanical arm device further comprises an anti-shake component (6), the anti-shake component (6) is arranged at the right side of the installation slotted frame (33), the anti-shake component (6) comprises a slotted cylinder (61) and a first protective shell (62), locking screw rod (63), spacing (64) of arc and first reset spring (65), it has fluting cylinder (61) to adjust lead screw (35) right-hand member welding, two protective housing (62) of installation fluting frame (33) right side fixedly connected with, protective housing (62) top is connected with locking screw rod (63) through screw-thread fit's mode, locking screw rod (63) below slidingly is connected with spacing (64) of arc, spacing (64) card of arc is gone into in fluting cylinder (61) draw-in groove, be connected with first reset spring (65) between fluting cylinder (61) and locking screw rod (63).
7. The mechanical arm device for tracking and measuring of the operation sickbed according to claim 2 is characterized by further comprising a lighting lamp (7), and a pair of lighting lamps (7) are symmetrically arranged inside the arc-shaped sliding frame (32).
8. The mechanical arm device for tracking and measuring of the surgical bed according to claim 2, further comprising a locking assembly (8), wherein the locking assembly (8) is arranged below the arc-shaped sliding frame (32), the locking assembly (8) comprises a second locking screw (81), wedge-shaped friction blocks (82) and a second reset spring (83), the second locking screw (81) is symmetrically connected below the arc-shaped sliding frame (32) in a threaded fit manner, two pairs of wedge-shaped friction blocks (82) are slidably connected below the arc-shaped sliding frame (32), two adjacent wedge-shaped friction blocks (82) are in contact with each other, the two wedge-shaped friction blocks (82) on the same side are in contact with the second locking screw (81), and the second reset spring (83) is connected between the wedge-shaped friction blocks (82) and the arc-shaped sliding frame (32).
9. The mechanical arm device for tracking and measuring of the surgical sickbed according to claim 1, characterized by further comprising a sliding assembly (9), wherein the sliding assembly (9) is arranged on the supporting underframe (1), the sliding assembly (9) comprises an execution switch (91), a motor supporting frame (92), a driving motor (93), a first gear (94), an I-shaped rack (95), a sliding gear block (96) and a first homing spring (97), two execution switches (91) are arranged in the arc-shaped sliding frame (32), the supporting underframe (1) is fixedly provided with the motor supporting frame (92), the driving motor (93) is fixedly arranged on the motor supporting frame (92), the first gear (94) is fixedly connected on an output shaft of the driving motor (93), the I-shaped rack (95) is fixedly connected at the bottom of the arc-shaped supporting frame (25), and the I-shaped rack (95) is meshed with the first gear (94), two ends of the I-shaped rack (95) are connected with sliding gear blocks (96) in a sliding mode, and a pair of first return springs (97) is connected between the sliding gear blocks (96) and the I-shaped rack (95).
10. The mechanical arm device for tracking and measuring the surgical sickbed according to claim 1, which further comprises a reading assembly (10), wherein the reading assembly (10) is arranged on the supporting underframe (1), the reading assembly (10) comprises a first distance sensor (101), a second distance sensor (102), a third distance sensor (103), a second protective shell (104), a rotating shaft (105), a slotted ring (106), a reading block (107), a second gear (108), a rectangular slotted frame (109), an L-shaped rack frame (1010), an electromagnet (1011) and a return spring (1012), two pairs of the first distance sensors (101) are fixedly arranged on the arc-shaped sliding frame (32), the second distance sensors (102) are symmetrically and fixedly arranged on a sliding nut sleeve (36), the third distance sensors (103) are symmetrically and fixedly arranged on a special-shaped supporting ring (37), the second distance sensors (104) are fixedly arranged on the supporting underframe (1), a rotating shaft (105) is fixedly connected in a second protective shell (104), the rotating shaft (105) is rotatably connected with three slotted rings (106), the slotted rings (106) are circumferentially distributed, reading blocks (107) are connected, a second gear (108) is fixedly connected on the slotted rings (106), three rectangular slotted frames (109) are fixedly installed in the second protective shell (104), each rectangular slotted frame (109) is slidably connected with an L-shaped rack (1010), the adjacent L-shaped racks (1010) are meshed with the second gear (108), electromagnets (1011) are arranged below the L-shaped racks (1010), electromagnets (1011) are fixedly connected to the upper portions of the rectangular slotted frames (109) in the same manner, and return springs (1012) are connected between the two electromagnets (1011) on the same side.
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