CN114191096B - Portal frame convenient to dock - Google Patents
Portal frame convenient to dock Download PDFInfo
- Publication number
- CN114191096B CN114191096B CN202111415676.3A CN202111415676A CN114191096B CN 114191096 B CN114191096 B CN 114191096B CN 202111415676 A CN202111415676 A CN 202111415676A CN 114191096 B CN114191096 B CN 114191096B
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- butt joint
- trolley
- bed body
- docking
- bed
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- 238000003032 molecular docking Methods 0.000 claims abstract description 104
- 210000001503 joint Anatomy 0.000 claims description 79
- 230000000712 assembly Effects 0.000 claims description 27
- 238000000429 assembly Methods 0.000 claims description 27
- 230000003014 reinforcing effect Effects 0.000 description 9
- 230000002792 vascular Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Classifications
-
- 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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
A portal frame convenient for docking comprises a frame and a trolley docking structure; the frame is used for being connected with the catheter bed body so as to install the interventional operation robot; the trolley docking structure is arranged on the frame and used for docking with a mobile trolley of the carrying portal frame. The portal frame can be simply and conveniently docked with the mobile trolley so as to remove the frame provided with the interventional operation robot from the catheter bed body, and is convenient for medical staff to operate.
Description
Technical Field
The invention relates to a medical robot field device, in particular to a portal frame convenient to dock.
Background
The traditional Chinese medicine in the vascular intervention operation needs to receive the radiation of X rays for a long time, and a remotely operated master-slave vascular intervention operation robot is developed in engineering, so that a doctor can control the slave-end intervention robot to execute the vascular intervention operation outside a ray environment.
However, when the slave-end intervention robot is actually used, the fact that the mass of the portal frame provided with the intervention operation robot is too heavy when the portal frame provided with the intervention operation robot is required to be carried from the catheter bed body to the mobile trolley is found, the existing butt joint process of the portal frame and the mobile trolley is easy to cause clamping, the carrying time is too long, and even a plurality of medical staff are possibly required to help, so that the device is very inconvenient.
Disclosure of Invention
Based on the above, it is necessary to provide a novel portal frame which is convenient for docking in order to overcome the defects in the prior art.
A portal frame convenient for docking comprises a frame and a trolley docking structure;
the frame is used for being connected with the catheter bed body so as to install the interventional operation robot;
the trolley docking structure is arranged on the frame and used for docking with a mobile trolley of the carrying portal frame.
Preferably, the trolley docking structure comprises two trolley docking assemblies arranged oppositely;
each trolley butt joint assembly comprises a trolley butt joint body provided with a trolley butt joint groove, wherein the trolley butt joint body is further provided with a trolley guide groove, and the trolley guide groove is gradually reduced towards the direction of the corresponding trolley butt joint groove and used for guiding.
Preferably, the trolley docking assembly further comprises two trolley roller sets;
the trolley roller sets are arranged on the trolley butt joint bodies and are respectively positioned at the trolley butt joint inlet and the trolley butt joint outlet of the trolley butt joint groove.
Preferably, a trolley roller group is arranged between the trolley butt-joint inlet of the trolley butt-joint groove and the corresponding trolley guide groove.
Preferably, the portal frame further comprises a bed body butt joint structure in butt joint with the conduit bed body, the bed body butt joint structure comprises two oppositely arranged bed body butt joint assemblies, the frame comprises two movable supporting pieces and a reinforcing cross beam connected with the two movable supporting pieces, the two trolley butt joint assemblies are respectively located at the head ends of the two movable supporting pieces, and the two bed body butt joint assemblies are respectively located at the tail ends of the two movable supporting pieces.
Preferably, each bed body docking assembly comprises a bed body docking body provided with a bed body docking groove, wherein the bed body docking body is further provided with a bed body guide groove, and the bed body guide groove is gradually reduced towards the direction of the corresponding bed body docking groove and used for guiding.
Preferably, the bed butt joint assembly further comprises two groups of bed roller groups;
the two groups of bed body roller assemblies are installed on the corresponding bed body butt joint bodies and are respectively positioned at a bed body butt joint inlet and a bed body butt joint outlet of the bed body butt joint groove.
Preferably, a bed roller group is arranged between the bed butt-joint inlet of the bed butt-joint groove and the corresponding bed guide groove.
Preferably, the bed guide groove and the trolley guide groove are arranged in opposite directions.
Preferably, the portal frame further comprises a bed body butt joint structure for butt joint with the conduit bed body, and the bed body butt joint structure comprises two oppositely arranged bed body butt joint assemblies; the frame comprises two movable supporting pieces and a reinforcing cross beam connected with the two movable supporting pieces;
the two trolley butt joint assemblies are respectively positioned on the reinforcing cross beam; the two bed body docking assemblies are respectively positioned on the two movable supporting pieces.
In summary, the portal frame convenient to dock can conveniently carry the frame provided with the interventional operation robot by arranging the trolley docking structure, does not need to dock the movable trolley with the catheter bed body, avoids clamping, is simple and convenient to operate, and is convenient for medical staff to operate.
Drawings
Fig. 1 is a schematic structural view of a portal frame convenient for docking according to the present invention.
Fig. 2 is a cross-sectional view of a portal frame of the present invention for facilitating docking.
Fig. 3 is an enlarged view of the docking structure of the dolly of fig. 2.
Fig. 4 is an enlarged view of the bed docking structure of fig. 2.
Wherein,
10. a frame; 11. a moving support; 12. a reinforcing beam;
20. a trolley butt joint structure; 21. a trolley docking assembly; 22. the trolley is in butt joint with the body; 23. a trolley butt joint groove; 231. a trolley docking inlet; 232. a trolley butt-joint outlet; 24. trolley roller sets; 25. a trolley guide groove;
30. a bed butt joint structure; 31. a bed body butt joint assembly; 32. a bed body butt joint body; 33. a bed body butt joint groove; 331. a bed body butt joint inlet; 332. a bed body butt-joint outlet; 34. a bed roller group; 35. a bed guide groove;
40. an interventional surgical robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus are not to be construed as limiting the present invention.
As used herein, the direction "distal" is the direction toward the patient and the direction "proximal" is the direction away from the patient. The terms "head," "upper," and "upper" refer to a direction away from gravitational force, and the terms "end," "bottom," "lower," and "lower" refer to a direction of gravitational force.
"left" refers to the direction toward the medical personnel standing on the side of the catheter bed and "right" refers to the direction away from the medical personnel standing on the side of the catheter bed.
As shown in fig. 1 to 4, the present invention provides a portal frame for facilitating docking, comprising a frame 10 and a trolley docking structure 20; the frame 10 is used for connecting with a catheter bed body and installing an interventional operation robot 40; the trolley docking structure 20 is mounted on the frame 10 for docking with a mobile trolley carrying the gantry.
In this embodiment, the frame 10 is used to support the interventional operation robot 40, to provide a stable support for the interventional operation robot 40, and the frame 10 is also used to connect with the catheter bed, to provide a support for the interventional operation robot 40 to perform an interventional operation. The rack 10 provided with the interventional operation robot 40 can be conveniently carried by arranging the trolley docking structure 20, so that the trolley is not required to be docked with the catheter bed body, and clamping is avoided. Specifically, when the frame 10 mounted with the interventional operation robot 40 needs to be removed from the catheter bed body, the mobile trolley is inserted into the trolley docking structure 20, and at this time, the catheter bed body carries the entire weight of the frame 10 mounted with the interventional operation robot 40, and the mobile trolley and the trolley docking structure 20 can be docked quickly and easily; after the butt joint is finished, the frame 10 is separated from the catheter bed body, the frame 10 provided with the interventional operation robot 40 is moved away from the catheter bed body, the operation is simple and convenient, and the operation of medical staff is convenient.
Specifically, the frame 10 includes two moving supports 11 disposed oppositely in parallel, and a reinforcing beam 12 connecting the two moving supports 11; the two movable supporting pieces 11 are respectively connected with two sides of the catheter bed body, so that the overall stability of the frame 10 is guaranteed to be better, and the interventional operation robot 40 with heavier mass can be supported. The frame 10 is a frame 10 with adjustable width, as an example, two movable supporting pieces 11 are respectively and detachably connected with the reinforcing beam 12, so that the two movable supporting pieces 11 can respectively move towards each other or away from each other along the extending direction of the reinforcing beam 12 so as to adjust the distance between the two movable supporting pieces 11, and the frame 10 is in butt joint with the catheter beds with different widths through the adjustment of the two movable supporting pieces 11, so that the adaptability is improved; and two remove support pieces 11 are used for being connected with the pipe bed body, when need remove the frame 10 of installing intervention operation robot 40 from the pipe bed body, insert the mobile trolley into the trolley docking structure 20, at this moment, the pipe bed body has born the total weight of frame 10, mobile trolley and trolley docking structure 20 can dock smoothly fast, then, make frame 10 and pipe bed body separate, remove the frame 10 of installing intervention operation robot 40 from the pipe bed body, when avoiding removing frame 10, the weight of frame 10 is born by the mobile trolley, once the heavy frame 10 of quality takes place the skew, lead to docking to appear blocking. As another example of the adjustable width of the frame 10, it is also possible to adjust the length of the reinforcement beam 12, for example, by making the reinforcement beam 12 as two-stage, which can be connected together and moved toward or away from each other to adjust the length thereof. In addition, in order to meet the requirements of different heights of medical staff during operation and the fat and thin condition of a patient in operation, the two movable supporting pieces 11 are supporting pieces with adjustable heights. Illustratively, each mobile support 11 comprises a first adjustment member (not shown) and a second adjustment member (not shown) telescopically coupled to each other to facilitate adjustment of the height of the mobile support 11.
The trolley docking structure 20 is mounted on the inner side surfaces of the two movable supporting members 11, and is used for docking with a movable trolley of the carrying portal frame, so that the whole weight of the frame 10 is borne by the conduit bed body, and the movable trolley and the trolley docking structure 20 can be quickly and smoothly docked. Illustratively, the trolley docking structure 20 may also be disposed on the reinforcing beam 12 and between the two moving supports 11, which on the one hand may ensure the same height, facilitating smooth docking with the moving trolley; on the other hand, the small-sized design of the movable trolley is facilitated, and the movable trolley is suitable for an operating room with a small space.
Specifically, as shown in fig. 3, the mobile carriage is provided with a carriage guide rail; the trolley docking structure 20 comprises two trolley docking assemblies 21, and the two trolley docking assemblies 21 are respectively arranged on the inner side surfaces of the two movable supporting pieces 11; each trolley docking assembly 21 comprises a trolley docking body 22 provided with a trolley docking slot 23 and two sets of trolley roller sets 24; two sets of trolley roller sets 24 are mounted on the respective trolley docking bodies 22 at trolley docking inlets 231 and trolley docking outlets 232 of the trolley docking slots 23, respectively. When the movable trolley is in butt joint with the frame 10, the trolley guide rail can be inserted into the trolley butt joint groove 23, friction between the trolley guide rail and the trolley butt joint groove 23 can be effectively reduced by utilizing the trolley roller group 24, the frame 10 is convenient to move, and clamping is avoided.
As shown in fig. 1 to 3, the dolly docking assembly 21 further includes a dolly guide groove 25 provided on the dolly docking body 22; the carriage guide 25 has a trapezoidal shape, and gradually decreases in a direction toward the carriage docking groove 23 until it corresponds to the carriage docking inlet 231 of the carriage docking groove 23. Therefore, when the moving carriage is docked with the carriage docking structure 20, the carriage guide rail is inserted into the carriage guide groove 25, and the carriage guide groove 2 is gradually narrowed toward the carriage docking groove 23, so that docking can be facilitated and a guiding effect is provided to ensure rapid and accurate docking.
The guide tube bed body is provided with a bed body guide rail; the gantry further includes a bed docking structure 30 that docks with the catheter bed; the bed docking structure 30 includes two oppositely disposed bed docking assemblies 31; each bed butt joint assembly 31 comprises a bed butt joint body 32 provided with a bed butt joint groove 33 and two groups of bed roller groups 34; two sets of bed roller sets 34 are mounted on the corresponding bed docking body 32, and are respectively positioned at the bed docking inlet 331 and the bed docking outlet 332 of the bed docking groove 33. When the guide pipe bed body is in butt joint with the frame 10, the bed body guide rail can be inserted into the bed body butt joint groove 33, friction between the bed body guide rail and the bed body butt joint groove 33 can be effectively reduced by utilizing the bed body roller set 34, the frame 10 is convenient to move, and clamping is avoided.
In this embodiment, the trolley docking structure 20 and the bed docking structure 30 are mounted on the inner side surfaces of the two moving support members 11, and the two trolley docking assemblies 21 are respectively located at the head ends of the two moving support members 11; two bed docking assemblies 31 are located at the ends of the two moving supports 11, respectively.
In addition, the two trolley docking assemblies 21 may be disposed on the outer side surfaces of the two moving support members 11, and the two bed docking assemblies 31 may be disposed on the inner side surfaces of the two moving support members 11, so as to realize docking between the gantry and the catheter bed and between the gantry and the moving trolley, which is not limited herein.
As shown in fig. 4, each bed docking assembly 31 further includes a bed guide slot 35 provided on the bed docking body 32 and corresponding to the bed roller set 34; the bed guide groove 35 has a trapezoidal shape, and gradually decreases toward the bed docking groove 33 until it corresponds to the bed docking inlet 331 of the bed docking groove 33. Therefore, when the catheter bed body is docked with the bed body docking structure 30, the bed body guide rail is inserted into the bed body guide groove 35, and gradually reduced toward the bed body docking groove 33 by the bed body guide groove 35 until corresponding to the bed body docking inlet 331 of the bed body docking groove 33, so as to facilitate docking and play a guiding role to ensure rapid and accurate docking.
As an example, the two moving support members 11 are detachably connected to the two bed docking assemblies 31, and the two bed docking assemblies 31 may be moved toward or away from each other along the extending direction of the reinforcing beam 12, so as to adjust the distance between the two bed docking assemblies 31, and the frame 10 is docked with the catheter beds with different widths through the adjustment of the two bed docking assemblies 31, so as to improve the adaptability, and the bed docking assemblies 31 are slidably connected to the catheter beds, so as to facilitate the movement of the interventional operation robot 40.
As shown in fig. 2, the carriage guide 25 and the bed guide 35 are disposed in opposite directions, i.e., the carriage guide 25 is narrowed in a direction opposite to the direction in which the bed guide 35 is narrowed. That is, when the gantry 10 to which the interventional operation robot 40 is attached is removed from the catheter bed, the moving carriage and the catheter bed are respectively positioned at both sides of the gantry 10, and the docking position can be standardized, so that interference between the moving carriage and the catheter bed can be avoided.
The above examples only represent one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that variations and modifications can be made by those skilled in the art without departing from the inventive concept, which fall within the scope of the invention. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. The portal frame is characterized by comprising a frame and a trolley butt joint structure;
the frame is used for being connected with the catheter bed body so as to install the interventional operation robot;
the trolley docking structure is arranged on the frame and is used for docking with a mobile trolley for carrying the portal frame;
the frame includes two removal support piece and connects two removal support piece's entablature, two remove support piece respectively with entablature detachably connects, two remove support piece respectively along the extending direction of entablature is close to or keep away from each other and remove to adjust two remove the distance between the support piece, the platform truck butt joint structure is installed two remove support piece's medial surface.
2. A docking facilitating gantry as set forth in claim 1, wherein: the trolley docking structure comprises two trolley docking assemblies which are oppositely arranged;
each trolley butt joint assembly comprises a trolley butt joint body provided with a trolley butt joint groove, wherein the trolley butt joint body is further provided with a trolley guide groove, and the trolley guide groove is gradually reduced towards the direction of the corresponding trolley butt joint groove and used for guiding.
3. A docking facilitating gantry as set forth in claim 2, wherein: the trolley butt joint assembly further comprises two trolley roller groups;
the trolley roller sets are arranged on the trolley butt joint bodies and are respectively positioned at the trolley butt joint inlet and the trolley butt joint outlet of the trolley butt joint groove.
4. A docking facilitating gantry as claimed in claim 3, wherein: and a trolley roller group is arranged between the trolley butt-joint inlet of the trolley butt-joint groove and the corresponding trolley guide groove.
5. A docking facilitating gantry as set forth in claim 2, wherein: the portal frame further comprises a bed body butt joint structure in butt joint with the guide pipe bed body, the bed body butt joint structure comprises two oppositely arranged bed body butt joint assemblies, the two trolley butt joint assemblies are respectively located at the head ends of the two movable supporting pieces, and the two bed body butt joint assemblies are respectively located at the tail ends of the two movable supporting pieces.
6. A docking facilitating gantry as set forth in claim 5, wherein: each bed body butt joint assembly comprises a bed body butt joint body provided with a bed body butt joint groove, wherein the bed body butt joint body is further provided with a bed body guide groove, and the direction of the bed body guide groove towards the corresponding bed body butt joint groove is gradually reduced for guiding.
7. A docking facilitating gantry as set forth in claim 6, wherein: the bed butt joint assembly further comprises two groups of bed roller groups;
the two groups of bed body roller assemblies are installed on the corresponding bed body butt joint bodies and are respectively positioned at a bed body butt joint inlet and a bed body butt joint outlet of the bed body butt joint groove.
8. A docking facilitating gantry as set forth in claim 7, wherein: and a bed roller group is arranged between the bed butt joint inlet of the bed butt joint groove and the corresponding bed guide groove.
9. A docking facilitating gantry as set forth in claim 6, wherein: the bed body guide groove and the trolley guide groove are arranged in opposite directions.
10. A docking facilitating gantry as set forth in claim 2, wherein: the gantry frame also comprises a bed body butt joint structure which is in butt joint with the guide pipe bed body, and the bed body butt joint structure comprises two oppositely arranged bed body butt joint assemblies; the two bed body docking assemblies are respectively positioned on the two movable supporting pieces.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111415676.3A CN114191096B (en) | 2021-11-25 | 2021-11-25 | Portal frame convenient to dock |
| PCT/CN2022/095369 WO2023092972A1 (en) | 2021-11-25 | 2022-05-26 | Portal frame convenient for butt joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111415676.3A CN114191096B (en) | 2021-11-25 | 2021-11-25 | Portal frame convenient to dock |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114191096A CN114191096A (en) | 2022-03-18 |
| CN114191096B true CN114191096B (en) | 2023-12-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111415676.3A Active CN114191096B (en) | 2021-11-25 | 2021-11-25 | Portal frame convenient to dock |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114191096B (en) |
| WO (1) | WO2023092972A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114191096B (en) * | 2021-11-25 | 2023-12-26 | 深圳市爱博医疗机器人有限公司 | Portal frame convenient to dock |
| CN116269814B (en) * | 2023-05-23 | 2023-08-11 | 深圳市爱博医疗机器人有限公司 | Operation cooperation mechanical arm |
| CN116439836B (en) * | 2023-06-14 | 2023-10-03 | 沛嘉医疗科技(苏州)有限公司 | Trolley, transfer mounting device and mechanical arm system for surgical robot |
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| CN205251686U (en) * | 2015-12-28 | 2016-05-25 | 苏州点合医疗科技有限公司 | Bone surgery robot based on antiwind wicresoft of bushing type decompression manipulator is dodged to collet |
| CN106377317A (en) * | 2016-10-08 | 2017-02-08 | 佛山市兴兴智能科技有限公司 | Supporting device for medical robot |
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| CN209286453U (en) * | 2018-11-08 | 2019-08-23 | 王东建 | A kind of Internal Medicine-Oncology treatment catheter-fixing rack |
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- 2021-11-25 CN CN202111415676.3A patent/CN114191096B/en active Active
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- 2022-05-26 WO PCT/CN2022/095369 patent/WO2023092972A1/en unknown
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| JP2012005557A (en) * | 2010-06-23 | 2012-01-12 | Terumo Corp | Medical robot system |
| CN209565778U (en) * | 2019-03-15 | 2019-11-01 | 浙江广厦建设职业技术学院 | A kind of lathe being moved easily |
| CN211460421U (en) * | 2019-08-14 | 2020-09-11 | 姜哲 | Medical puncture ware of thoracic surgery |
| CN112998817A (en) * | 2021-02-21 | 2021-06-22 | 刘海鹏 | Gastrointestinal surgery abdominal cavity operation puncture device |
| CN113229896A (en) * | 2021-05-17 | 2021-08-10 | 李�瑞 | Pneumothorax puncture guiding and positioning device for department of respiration |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114191096A (en) | 2022-03-18 |
| WO2023092972A1 (en) | 2023-06-01 |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. |