CN114391962A - Linkage structure and portal frame for interventional operation robot - Google Patents
Linkage structure and portal frame for interventional operation robot Download PDFInfo
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- CN114391962A CN114391962A CN202111532159.4A CN202111532159A CN114391962A CN 114391962 A CN114391962 A CN 114391962A CN 202111532159 A CN202111532159 A CN 202111532159A CN 114391962 A CN114391962 A CN 114391962A
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- 210000001503 joint Anatomy 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000003032 molecular docking Methods 0.000 description 16
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000002792 vascular Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001105 femoral artery Anatomy 0.000 description 1
- 230000006698 induction 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
- 210000002321 radial artery Anatomy 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
A linkage structure and gantry for an interventional surgical robot, the linkage structure comprising: a linkage cam structure and a linkage locking structure; the linkage cam structure comprises a linkage shaft, a first cam shaft and a second cam shaft, wherein the first cam shaft and the second cam shaft are arranged on the linkage shaft; the linkage locking structure comprises a first locking structure and a second locking structure; one end of the first locking structure is abutted against the first cam shaft, and the other end of the first locking structure is used for releasing or locking the first structure to be locked under the action of the first cam shaft; one end of the second locking structure is abutted to the second cam shaft, and the other end of the second locking structure is used for releasing or locking the second to-be-locked structure under the action of the second cam shaft. The linkage structure provided by the invention can realize linkage control and is convenient to operate.
Description
Technical Field
The invention relates to a device in the field of medical robots, in particular to a linkage structure and a portal frame for an interventional operation robot.
Background
In the vascular interventional operation, doctors need to receive X-ray radiation for a long time, and a master-slave vascular interventional operation robot which is operated remotely is developed for the engineering, so that doctors can control the interventional robot to perform the vascular interventional operation outside a ray environment.
When an interventional operation is performed, the rotation of the interventional operation robot needs to be adjusted so that an interventional device such as a catheter guide wire on the interventional operation robot is aligned with a blood vessel (such as an arm radial artery, a leg femoral artery and the like) of a patient, so that the subsequent operation can be performed through the interventional operation robot. However, in actual research and development, the problems of jamming, complex operation, potential safety hazards and the like exist in the butt joint process of the interventional operation robot, the mobile trolley and the catheter bed body.
Disclosure of Invention
In view of the above, it is necessary to provide a novel linkage structure and a gantry for an interventional surgical robot to overcome the disadvantages of the prior art.
A linkage structure comprising: a linkage cam structure and a linkage locking structure;
the linkage cam structure comprises a linkage shaft, a first cam shaft and a second cam shaft, wherein the first cam shaft and the second cam shaft are arranged on the linkage shaft; the linkage locking structure comprises a first locking structure and a second locking structure;
one end of the first locking structure is abutted against the first cam shaft, and the other end of the first locking structure is used for releasing or locking the first structure to be locked under the action of the first cam shaft;
one end of the second locking structure is abutted to the second cam shaft, and the other end of the second locking structure is used for releasing or locking the second to-be-locked structure under the action of the second cam shaft.
Preferably, the first and second camshafts are configured to: when the first camshaft releases the first structure to be locked, the second camshaft locks the second structure to be locked; and when the first camshaft locks the first structure to be locked, the second camshaft releases the second structure to be locked.
Preferably, the angle formed by the plane of the longest radial direction of the first cam shaft and the plane of the longest radial direction of the second cam shaft is between 0 ° and 180 °.
Preferably, the linkage structure further comprises a linkage mounting seat; the linkage cam structure further comprises a first bearing seat and a second bearing seat which are arranged on the linkage mounting seat;
the linkage cam structure further comprises a limiting assembly for limiting the linkage shaft;
the limiting assembly comprises a first limiting piece arranged on the first bearing seat and a limiting groove arranged on the linkage shaft;
the first limiting part is matched with the limiting groove to limit the linkage shaft.
Preferably, the linkage cam structure further comprises a handle connected with the linkage shaft; the handle is positioned at the end part of the linkage shaft.
Preferably, the linkage structure further comprises a linkage mounting seat; the linkage cam structure further comprises a first bearing seat and a second bearing seat which are arranged on the linkage mounting seat;
the first locking structure comprises a first locking seat and a first locking component;
the first locking seat is arranged on the linkage mounting seat and is opposite to the first bearing seat;
first locking subassembly wears to locate in the first locking seat, and one end with first camshaft butt, the other end be used for with first structure butt that waits to lock.
Preferably, the first locking assembly comprises a first connecting piece, a first elastic piece and a first locking piece which are connected in sequence;
the first connecting piece extends out of one end of the first locking seat and is abutted against the first cam shaft;
the first locking piece penetrates out of the other end of the first locking seat and is used for being abutted to a first structure to be locked.
Preferably, the linkage structure further comprises a linkage mounting seat; the linkage cam structure further comprises a first bearing seat and a second bearing seat which are arranged on the linkage mounting seat;
the second locking structure comprises a second locking seat and a second locking assembly;
the second locking seat is arranged opposite to the second bearing seat;
the second locking assembly penetrates through the second locking seat, one end of the second locking assembly is abutted to the second cam shaft, and the other end of the second locking assembly is abutted to the second to-be-locked structure.
Preferably, the second locking assembly comprises a second connecting piece, a second elastic piece and a second locking piece which are connected in sequence;
the second connecting piece extends out of one end of the second locking seat and is abutted against the second cam shaft;
the second locking piece penetrates out of the other end of the second locking seat and is used for being abutted to the second to-be-locked structure.
Preferably, the linkage structure further comprises a detection structure connected with the system control assembly, and the detection structure is used for detecting the release or locking of the first structure to be locked and/or the second structure to be locked, generating a detection signal and sending the detection signal to the system control assembly.
In summary, in the linkage structure provided by the present invention, the first camshaft is used to drive the first locking structure to control the first structure to be locked, and the second camshaft is used to drive the second locking structure to control the second structure to be locked; the linkage control is realized, and the operation is simple and efficient.
The invention also provides a portal frame for the interventional operation robot, which comprises a rack, a trolley butt joint structure and a bed body butt joint structure which are arranged on the rack, and the linkage structure;
the trolley butt joint structure is used for butt joint with the mobile trolley; the bed body butt joint structure is used for butt joint with a catheter bed body;
the other end of the first locking structure penetrates through the bed body butt joint structure and is used for releasing or locking the catheter bed body under the action of the first cam shaft;
the other end of the second locking structure penetrates through the trolley butt joint structure and is used for releasing or locking the movable trolley under the action of the second cam shaft;
the first and second camshafts are configured to: when the first cam shaft releases the catheter bed body, the second cam shaft locks the movable trolley; when the first cam shaft locks the catheter bed body, the second cam shaft releases the movable trolley.
Preferably, the linkage structure is installed at the bottom of the frame and connected to the trolley docking structure through a first locking structure and connected to the bed body docking structure through a second locking structure.
Preferably, the bed body butt joint structures and the linkage structures are respectively and correspondingly provided with two, and the linkage shafts of the two linkage structures are respectively arranged at two ends of the bottom of the frame in a penetrating manner and can be slidably adjusted so that the distance between the two bed body butt joint structures can be adapted to catheter bed bodies with different widths.
In summary, in the portal frame for the interventional surgical robot provided by the invention, when the first cam shaft releases the catheter bed body, the second cam shaft locks the mobile trolley; when the first cam shaft locks the catheter bed body, the second cam shaft releases the movable trolley to realize linkage control.
Drawings
Fig. 1 is a schematic structural view of a gantry with an interventional surgical robot according to the present invention.
Fig. 2 is a schematic structural view of a gantry for an interventional surgical robot according to the present invention.
Fig. 3 is a schematic structural diagram of the linkage structure of the present invention, wherein the dashed lines indicate the plane of the longest radial direction of the first camshaft and the plane of the longest radial direction of the second camshaft.
Fig. 4 is an exploded view of the linkage structure of the present invention.
In the figure, 10, a frame;
20. a trolley butt joint structure;
30. a bed body butt joint structure;
40. a linkage mounting base; 41. a moving guide rail;
50. a linkage cam structure; 51. a linkage shaft; 52. a first camshaft; 53. a second camshaft; 54. a first bearing housing; 55. a second bearing housing; 56. a limiting component; 561. a first limit piece; 562. a limiting groove; 563. a second limiting member; 57. a handle;
60. a linkage locking structure; 61. a first locking structure; 611. a first locking seat; 612. a first locking assembly; 613. a first connecting member; 614. a first elastic member; 615. a first locking member; 62. a second locking structure; 621. a second locking seat; 622. a second locking assembly; 623. a second connecting member; 624. a second elastic member; 625. a second locking member;
70. detecting the structure; 71. an induction sheet; 72. an inductor;
80. 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 is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 4, the present invention provides a gantry for an interventional surgical robot, which includes a frame 10, a trolley docking structure 20 and a bed docking structure 30 mounted on the frame 10, and a linkage structure as follows; the trolley docking structure 20 is used for docking with a mobile trolley (not shown); the bed docking structure 30 is used for docking with a catheter bed (not shown); the linkage structure comprises a linkage cam structure 50 and a linkage locking structure 60; the linkage cam structure 50 comprises a linkage shaft 51, a first cam shaft 52 and a second cam shaft 53 which are arranged on the linkage shaft 51; the interlocking locking structure 60 comprises a first locking structure 61 and a second locking structure 62; one end of the first locking structure 61 abuts against the first cam shaft 52, and the other end of the first locking structure is inserted into the bed body butt joint structure 30, and is used for releasing or locking the catheter bed body under the action of the first cam shaft 52; one end of the second locking structure 62 abuts against the second cam shaft 53, and the other end penetrates through the trolley docking structure 20, and is used for releasing or locking the mobile trolley under the action of the second cam shaft 53.
The angle formed by the plane of the longest radial extent of the first cam shaft 52 and the plane of the longest radial extent of the second cam shaft 53 is between 0 deg. (included) and 180 deg. (included). In this embodiment, the first cam shaft 52 and the second cam shaft 53 are elliptical, that is, an angle formed by a plane where a long axis of the first cam shaft 52 is located and a plane where a long axis of the second cam shaft 53 is located is between 0 ° (inclusive) and 180 ° (inclusive), in other words, from the axial direction projection of the linkage shaft 51, the projection corresponding to the long axis of the first cam shaft 52 and the projection corresponding to the long axis of the second cam shaft 53 intersect in the same plane, so when the first cam shaft 52 releases the catheter bed, the second cam shaft 53 locks the mobile trolley; when the first cam shaft 52 locks the catheter bed body, the second cam shaft 53 releases the mobile trolley to realize linkage control. Of course, if the catheter bed body and the mobile trolley need to be locked or released simultaneously, the projection corresponding to the long axis of the first cam shaft 52 and the projection corresponding to the long axis of the second cam shaft 53 are overlapped in the same plane from the axial direction projection of the linkage shaft 51, that is, the formed angle is 0 ° or 180 °. In another embodiment, even if the projection corresponding to the long axis of the first cam shaft 52 and the projection corresponding to the long axis direction of the second cam shaft 53 do not coincide in the same plane, it is possible to simultaneously lock the catheter bed and the mobile cart or simultaneously release the catheter bed and the mobile cart. And a plurality of cam shafts on the linkage shaft 51 can be correspondingly arranged according to the number of objects to be locked or released.
Exemplarily, as shown in fig. 3, the first cam shaft 52 and the second cam shaft 53 are disposed on the same linkage shaft 51, and when viewed from the axial direction of the linkage shaft, two long axes are orthogonally disposed on the same projection plane, the linkage shaft 51 is rotated to simultaneously rotate the first cam shaft 52 and the second cam shaft 53, so that the first cam shaft 52 drives the first locking structure 61 to lock the catheter bed body, and the second cam shaft 53 drives the second locking structure 62 to release the mobile trolley; or, the first cam shaft 52 drives the first locking structure 61 to release the catheter bed body, the second cam shaft 53 drives the second locking structure 62 to lock the mobile trolley, the first locking structure 61 and the second locking structure 62 can be controlled simultaneously by using one linkage shaft 51, a plurality of control structures are not required to be separately arranged, and the operation steps are simplified; the manufacturing cost and the whole installation space of the portal frame can be saved, the integration level is high, the accidental situations such as shifting and overturning of the portal frame can be avoided, and the situation that a doctor forgets to lock the portal frame and the mobile trolley or the portal frame and the catheter bed body can be avoided.
Specifically, when the interventional operation is not performed, the gantry on which the interventional operation robot 80 is mounted is moved on the mobile trolley, and at this time, the second locking structure 62 locks the mobile trolley to ensure that the gantry is stably connected with the mobile trolley, so that the interventional operation robot 80 is convenient to carry and maintain; when an interventional operation needs to be performed, medical staff firstly carry the mobile trolley provided with the portal frame to the catheter bed body, the mobile trolley is in butt joint with the catheter bed body through the bed body butt joint structure 30 of the portal frame, at the moment, all the weight of the portal frame is borne by the mobile trolley, the bed body butt joint structure 30 of the portal frame slides smoothly and does not jam on the catheter bed body, after the bed body butt joint structure 30 of the portal frame slides in place, the linkage shaft 51 is rotated, the bed body butt joint structure 30 is locked on the catheter bed body through the first locking structure 61, meanwhile, the second locking structure 62 releases the mobile trolley, the mobile trolley is pushed away from the catheter bed body, the portal frame provided with the interventional operation robot 80 is stably fixed on the catheter bed body, and the operation is simple and efficient. It can be understood that when the mobile trolley is docked with the gantry, the entire weight of the gantry is borne by the catheter bed, and the mobile trolley slides smoothly and does not jam on the trolley docking structure 20.
Specifically, as shown in fig. 2 and 3, the frame 10 includes two support beams disposed opposite to each other and a connecting cross beam for connecting the two support beams; the trolley butt-joint structure 20 comprises two trolley butt-joint assemblies respectively corresponding to the two tracks of the mobile trolley, and the two trolley butt-joint assemblies are oppositely arranged on the inner side surfaces of the two supporting beams; the bed body butt joint structure 30 comprises two bed body butt joint assemblies respectively corresponding to two side rails of a catheter bed body, and corresponds to two supporting beams, the number of the linkage structures is two, each linkage structure comprises a linkage mounting seat 40 detachably connected with the tail end of the corresponding supporting beam, and each bed body butt joint assembly 30 is mounted on the corresponding linkage mounting seat 40. Wherein, each linkage mounting seat 40 is provided with a movable guide rail 41, and the tail end of the support beam is provided with a movable guide groove matched with the movable guide rail 41, so that the width between the two bed body butt joint assemblies 30 can be adjusted by adjusting the distance between the two linkage mounting seats 40, so as to adapt to the catheter bed bodies with different widths. It can be understood that, for convenience of operation, the two linkage structures can be in a master-slave control relationship, that is, one linkage structure can drive the other linkage structure to move, so that medical personnel can control one linkage structure, the operation efficiency is improved, and the operation is not limited herein.
Further, the linkage structure is arranged between the trolley butt joint structure 20 and the bed body butt joint structure 30, so that the stress balance can be ensured, and the accidental situations such as overturning of the interventional operation robot 80 are avoided.
The invention also provides a linkage structure which comprises a linkage mounting seat 40, a linkage cam structure 50 and a linkage locking structure 60. The linkage cam structure 50 comprises a linkage shaft 51, a first cam shaft 52 and a second cam shaft 53 which are arranged on the linkage shaft 51; the interlocking locking structure 60 comprises a first locking structure 61 and a second locking structure 62; one end of the first locking structure 61 abuts against the first cam shaft 52, and the other end is used for releasing or locking the first structure to be locked under the action of the first cam shaft 52; one end of the second locking structure 62 abuts against the second cam shaft 53, and the other end is used for releasing or locking the second structure to be locked under the action of the second cam shaft 53.
The angle formed by the plane of the longest radial extent of the first cam shaft 52 and the plane of the longest radial extent of the second cam shaft 53 is between 0 deg. (included) and 180 deg. (included). In this embodiment, the first cam shaft 52 and the second cam shaft 53 are elliptical, that is, an angle formed by a plane where a long axis of the first cam shaft 52 is located and a plane where a long axis of the second cam shaft 53 is located is between 0 ° (inclusive) and 180 ° (inclusive), that is, from the axial direction projection of the linkage shaft, the projection corresponding to the long axis plane of the first cam shaft 52 is intersected with the projection corresponding to the long axis plane of the second cam shaft 53, so that when the first cam shaft releases the first structure to be locked, the second cam shaft locks the second structure to be locked; when the first camshaft locks the first structure to be locked, the second camshaft releases the second structure to be locked so as to realize linkage control.
Illustratively, the first cam shaft 52 and the second cam shaft 53 are arranged on the same linkage shaft 51, and the two long-axis planes are orthogonally arranged, so that rotating the linkage shaft 51 causes the first cam shaft 52 and the second cam shaft 53 to simultaneously rotate, so that the first cam shaft 52 drives the first locking structure 61 to lock the first structure to be locked, and the second cam shaft 53 drives the second locking structure 62 to release the second structure to be locked; or, the first cam shaft 52 drives the first locking structure 61 to release the first structure to be locked, and the second cam shaft 53 drives the second locking structure 62 to lock the second structure to be locked, that is, one linkage shaft 51 can control the first locking structure 61 and the second locking structure 62 at the same time, and a plurality of control structures are not required to be separately arranged, so that the operation steps are simplified; the manufacturing cost and the installation space can be saved, and the integration level is higher. Taking an example that the linkage structure is applied to a portal frame for an interventional operation robot, at this time, the first structure to be locked is a catheter bed body, and the second structure to be locked is a mobile trolley, in other embodiments, the first structure to be locked and the second structure to be locked may be separate structures, or may be structures arranged in the same device, and are not limited herein.
As shown in fig. 3 and 4, the linkage cam structure 50 further includes a first bearing seat 54 and a second bearing seat 55 mounted on the linkage mounting seat 40, a limiting assembly 56 for limiting the linkage shaft 51, and a handle 57 connected to one end of the linkage shaft 51 and used for rotating the linkage shaft 51; during assembly, the linkage shaft 51 is rotatably arranged in the first bearing seat 54 and the second bearing seat 55 in a penetrating manner, so that the linkage shaft 51 can be conveniently rotated; the first camshaft 52 is located between a first bearing seat 54 and a second bearing seat 55; the second cam shaft 53 is located at the other opposite end of the linkage shaft 51, and reserves an installation space for the first and second locking structures 61 and 62.
As shown in fig. 4, the limiting assembly 56 includes a first limiting member 561 mounted on the first bearing seat 54, a limiting groove 562 disposed on the linkage shaft 51, and a second limiting member 563; the first limiting member 561 is engaged with the limiting groove 562, and the first limiting member 561 rotates in the limiting groove 562 to limit the linkage shaft 51. The second limiting member 5631 is sleeved on the linkage shaft 51 and abuts against the second bearing seat 55, so as to prevent the linkage shaft 51 from moving along the axial direction. The handle 57 is connected with the linkage shaft 51, and the linkage shaft 51 can be simply rotated through the handle 57.
Specifically, as shown in fig. 3 and 4, the first locking structure 61 includes a first locking seat 611 and a first locking assembly 612; the first locking seat 611 is installed on the linkage installation seat 40, is opposite to the first bearing seat 54, and is located below the linkage shaft 51; the first locking assembly 612 is arranged in the first locking seat 611 in a penetrating manner, and one end of the first locking assembly is abutted to the linkage shaft 51, and the other end of the first locking assembly is abutted to the first structure to be locked; specifically, the first locking member 612 includes a first connecting member 613, a first elastic member 614, and a first locking member 615, which are connected in sequence; specifically, one end of the first connecting piece 613 extending out of the first locking seat 611 abuts against the first camshaft 52, and the first locking piece 615 extends out of the first locking seat 611, so that the first locking piece 615 abuts against the first structure to be locked when the first structure to be locked is required to be locked. Illustratively, when the linkage structure is applied to a gantry for an interventional surgical robot 80, the first locking member 615 extends out of the first locking seat 611 and penetrates through the bed docking structure 30, and when the gantry is docked with the catheter bed through the bed docking structure 30, the linkage shaft 51 is rotated to force the first locking member 615 to abut against the catheter bed to lock the bed docking structure 30 to the catheter bed, and at this time, the second locking structure 62 for locking the mobile trolley releases the mobile trolley to move the mobile trolley away for performing an operation.
Specifically, the second locking structure 62 includes a second locking seat 621 and a second locking assembly 622; the second locking seat 621 is arranged opposite to the second bearing seat 55 and above the linkage shaft 51; the second locking assembly 622 is disposed through the second locking seat 621, and one end of the second locking assembly is abutted against the second cam shaft 53, and the other end of the second locking assembly is abutted against the second to-be-locked structure; specifically, the second locking assembly 622 includes a second connecting member 623, a second elastic member 624 and a second locking member 625, which are connected in sequence; specifically, the end of the second connecting member 623 extending out of the second locking seat 621 abuts against the second cam shaft 53, and the second locking member 625 extends out of the second locking seat 621, so that when the second structure to be locked needs to be locked, the second locking member 625 abuts against the second structure to be locked. Exemplarily, when the linkage structure is applied to the portal frame for intervening the surgical robot 80, the second locking seat 621 is installed on the supporting beam, the second locking member 625 extends out of the second locking seat 621, and the trolley docking structure 20 is penetrated and arranged, when the portal frame is docked with the mobile trolley through the trolley docking structure 20, then the universal driving shaft 51 is rotated, the second locking member 625 is forced to abut against the mobile trolley, the trolley docking structure 20 is locked to the mobile trolley, at this time, the first locking structure 61 for locking the catheter bed body releases the catheter bed body, the mobile trolley is withdrawn, and the portal frame for intervening the surgical robot 80 is removed from the catheter bed body by carrying.
As an example, when the first locking structure 61 and/or the second locking structure 62 are not locked, the user directly uses it, which may cause an accident. In this embodiment, the linkage structure further includes a detection structure 70 for detecting the first locking structure 61 and/or the second locking structure 62. The detection structure 70 comprises a sensing piece 71 and a sensor 72 communicated with the system control assembly, the sensing piece 71 is installed on the linkage shaft 51, the sensor 72 is installed on the first bearing seat 54, the linkage shaft 51 rotates, the sensing piece 71 rotates along with the rotating shaft, when the sensor 72 senses the sensing piece 71, the first locking structure 61 and/or the second locking structure 62 are locked, the sensor 72 generates a detection signal and sends the detection signal to the system control assembly, so that the system control assembly informs a user that the first locking structure 61 and/or the second locking structure 62 are locked, subsequent corresponding operation can be performed, safety is guaranteed, and an accident situation is avoided. The sensor 72 may be an off sensor or a pressure sensor, etc.
The above examples only show one embodiment of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.
Claims (13)
1. A linkage structure, comprising: a linkage cam structure and a linkage locking structure;
the linkage cam structure comprises a linkage shaft, a first cam shaft and a second cam shaft, wherein the first cam shaft and the second cam shaft are arranged on the linkage shaft; the linkage locking structure comprises a first locking structure and a second locking structure;
one end of the first locking structure is abutted against the first cam shaft, and the other end of the first locking structure is used for releasing or locking the first structure to be locked under the action of the first cam shaft;
one end of the second locking structure is abutted to the second cam shaft, and the other end of the second locking structure is used for releasing or locking the second to-be-locked structure under the action of the second cam shaft.
2. A linkage according to claim 1, wherein: the first and second camshafts are configured to: when the first camshaft releases the first structure to be locked, the second camshaft locks the second structure to be locked; and when the first camshaft locks the first structure to be locked, the second camshaft releases the second structure to be locked.
3. A linkage according to claim 1, wherein: the angle formed by the plane of the longest radial of the first cam shaft and the plane of the longest radial of the second cam shaft is between 0 degree and 180 degrees.
4. A linkage according to claim 1, wherein: the linkage structure further comprises a linkage mounting seat; the linkage cam structure further comprises a first bearing seat and a second bearing seat which are arranged on the linkage mounting seat;
the linkage cam structure further comprises a limiting assembly for limiting the linkage shaft;
the limiting assembly comprises a first limiting piece arranged on the first bearing seat and a limiting groove arranged on the linkage shaft;
the first limiting part is matched with the limiting groove to limit the linkage shaft.
5. A linkage according to claim 1, wherein: the linkage cam structure further comprises a handle connected with the linkage shaft; the handle is positioned at the end part of the linkage shaft.
6. A linkage according to claim 1, wherein: the linkage structure further comprises a linkage mounting seat; the linkage cam structure further comprises a first bearing seat and a second bearing seat which are arranged on the linkage mounting seat;
the first locking structure comprises a first locking seat and a first locking component;
the first locking seat is arranged on the linkage mounting seat and is opposite to the first bearing seat;
first locking subassembly wears to locate in the first locking seat, and one end with first camshaft butt, the other end be used for with first structure butt that waits to lock.
7. A linkage according to claim 6, wherein: the first locking assembly comprises a first connecting piece, a first elastic piece and a first locking piece which are connected in sequence;
the first connecting piece extends out of one end of the first locking seat and is abutted against the first cam shaft;
the first locking piece penetrates out of the other end of the first locking seat and is used for being abutted to a first structure to be locked.
8. A linkage according to claim 1, wherein: the linkage structure further comprises a linkage mounting seat; the linkage cam structure further comprises a first bearing seat and a second bearing seat which are arranged on the linkage mounting seat;
the second locking structure comprises a second locking seat and a second locking assembly;
the second locking seat is arranged opposite to the second bearing seat;
the second locking assembly penetrates through the second locking seat, one end of the second locking assembly is abutted to the second cam shaft, and the other end of the second locking assembly is abutted to the second to-be-locked structure.
9. A linkage according to claim 8, wherein: the second locking assembly comprises a second connecting piece, a second elastic piece and a second locking piece which are connected in sequence;
the second connecting piece extends out of one end of the second locking seat and is abutted against the second cam shaft;
the second locking piece penetrates out of the other end of the second locking seat and is used for being abutted to the second to-be-locked structure.
10. A linkage according to claim 1, wherein: the linkage structure further comprises a detection structure connected with the system control assembly, and the detection structure is used for detecting the release or locking of the first structure to be locked and/or the second structure to be locked, generating a detection signal and sending the detection signal to the system control assembly.
11. A portal frame for an interventional surgical robot, comprising: comprises a frame, a trolley butt-joint structure and a bed butt-joint structure which are arranged on the frame, and a linkage structure of any one of claims 2-10;
the trolley butt joint structure is used for butt joint with the mobile trolley; the bed body butt joint structure is used for butt joint with a catheter bed body;
the other end of the first locking structure penetrates through the bed body butt joint structure and is used for releasing or locking the catheter bed body under the action of the first cam shaft;
the other end of the second locking structure penetrates through the trolley butt joint structure and is used for releasing or locking the movable trolley under the action of the second cam shaft;
the first and second camshafts are configured to: when the first cam shaft releases the catheter bed body, the second cam shaft locks the movable trolley; when the first cam shaft locks the catheter bed body, the second cam shaft releases the movable trolley.
12. A gantry for an interventional surgical robot as recited in claim 11, wherein: the linkage structure is arranged at the bottom of the rack and connected with the trolley butt-joint structure through a first locking structure and connected with the bed body butt-joint structure through a second locking structure.
13. A gantry for an interventional surgical robot as recited in claim 12, wherein: the bed body butt joint structures and the linkage structures are correspondingly arranged in two, and the linkage shafts of the two linkage structures are respectively arranged at two ends of the bottom of the frame in a penetrating manner and can be slidably adjusted to enable the distance between the two bed body butt joint structures to be matched with the catheter bed bodies with different widths.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111532159.4A CN114391962B (en) | 2021-12-15 | 2021-12-15 | Linkage structure and portal frame for interventional operation robot |
| PCT/CN2022/090317 WO2023108988A1 (en) | 2021-12-15 | 2022-04-29 | Linkage structure and portal frame for interventional operation robot |
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| CN202111532159.4A CN114391962B (en) | 2021-12-15 | 2021-12-15 | Linkage structure and portal frame for interventional operation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023108988A1 (en) * | 2021-12-15 | 2023-06-22 | 深圳市爱博医疗机器人有限公司 | Linkage structure and portal frame for interventional operation robot |
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| CN114391962B (en) | 2023-08-04 |
| WO2023108988A1 (en) | 2023-06-22 |
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