CN114391962B - 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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- CN114391962B CN114391962B CN202111532159.4A CN202111532159A CN114391962B CN 114391962 B CN114391962 B CN 114391962B CN 202111532159 A CN202111532159 A CN 202111532159A CN 114391962 B CN114391962 B CN 114391962B
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- 230000009471 action Effects 0.000 claims abstract description 14
- 210000001503 joint Anatomy 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 11
- 238000013152 interventional procedure Methods 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 description 25
- 230000000712 assembly Effects 0.000 description 8
- 238000000429 assembly Methods 0.000 description 8
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000002792 vascular Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 210000001105 femoral artery Anatomy 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
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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
-
- 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 a 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 with 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 with the second cam shaft, and the other end of the second locking structure is used for releasing or locking the second structure to be locked 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 medical robot field device, in particular to a linkage structure and a portal frame for an interventional operation robot.
Background
The traditional Chinese medicine in vascular intervention operation needs to receive X-ray radiation 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 intervention robot to execute vascular intervention operation outside a ray environment.
In performing an interventional procedure, it is necessary to adjust the rotation of the interventional robot so that the interventional device such as a catheter guidewire thereon is aligned with a blood vessel (e.g., radial arm artery, femoral leg artery, etc.) of a patient in order to perform a subsequent procedure by the interventional robot. However, in practical research and development, the problems of clamping, complex operation, potential safety hazard and the like exist in the process of docking the interventional operation robot with the movable trolley and the catheter bed body.
Disclosure of Invention
Based on this, it is necessary to provide a novel linkage structure and a gantry for an interventional surgical robot, which address the deficiencies in 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 with the first cam shaft, and the other end of the first locking structure is used for releasing or locking a first structure to be locked under the action of the first cam shaft;
one end of the second locking structure is abutted with the second cam shaft, and the other end of the second locking structure is used for releasing or locking the second structure to be locked under the action of the second cam shaft.
Preferably, the first and second camshafts are configured to: when the first cam shaft releases the first structure to be locked, the second cam shaft locks the second structure to be locked; and when the first cam shaft locks the first structure to be locked, the second cam shaft releases the second structure to be locked.
Preferably, the angle formed by the plane of the longest radial of the first camshaft and the plane of the longest radial of the second camshaft is between 0 and 180 degrees.
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 installation 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 piece 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 installation seat;
the first locking structure comprises a first locking seat and a first locking assembly;
the first locking seat is arranged on the linkage installation seat and is arranged opposite to the first bearing seat;
the first locking assembly penetrates through the first locking seat, one end of the first locking assembly is abutted with the first cam shaft, and the other end of the first locking assembly is abutted with the first structure to be locked.
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 with 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 with 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 installation 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 with the second cam shaft, and the other end of the second locking assembly is abutted with a second structure to be locked.
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 with 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 with a second structure to be locked.
Preferably, the linkage structure further comprises a detection structure connected with the system control assembly, and the detection structure is used for detecting 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 invention, the first cam shaft is used for driving the first locking structure to control the first structure to be locked, and the second cam shaft is used for driving the second locking structure to control the second structure to be locked; so as to realize linkage control, and the operation is simple and efficient.
The invention also provides a portal frame for the interventional operation robot, which comprises a frame, a trolley butt joint structure and a bed body butt joint structure which are arranged on the frame, and the linkage structure;
the trolley butting structure is used for butting with the mobile trolley; the bed body butt joint structure is used for butt joint with the catheter bed body;
the other end of the first locking structure is penetrated through the bed body butting structure and 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 butting 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 guide pipe bed body, the second cam shaft locks the movable trolley; and when the first cam shaft locks the guide pipe bed body, the second cam shaft releases the movable trolley.
Preferably, the linkage structure is mounted at the bottom of the frame, connected to the trolley docking structure through a first locking structure, and connected to the bed docking structure through a second locking structure.
Preferably, the two bed body butt joint structures and the two linkage structures are respectively and correspondingly arranged, and the two 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 as to enable the distance between the two bed body butt joint structures to be matched with the catheter bed bodies with different widths.
In summary, in the portal frame for an interventional operation 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 guide pipe bed body, the second cam shaft releases the movable trolley so as to realize linkage control.
Drawings
Fig. 1 is a schematic structural view of a portal frame equipped with an interventional operation robot according to the present invention.
Fig. 2 is a schematic structural view of a portal frame for an interventional surgical robot according to the present invention.
Fig. 3 is a schematic structural view of the linkage structure of the present invention, wherein a broken line indicates a plane in which the longest radial direction of the first camshaft is located and a plane in which the longest radial direction of the second camshaft is located.
Fig. 4 is a disassembled view of the linkage structure of the present invention.
In the figure, 10, a rack;
20. a trolley butt joint structure;
30. a bed butt joint structure;
40. a linkage mounting seat; 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 seat; 55. a second bearing seat; 56. a limit component; 561. a first limiting member; 562. a limit groove; 563. a second limiting piece; 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 connector; 614. a first elastic member; 615. a first locking member; 62. a second locking structure; 621. the second locking seat; 622. a second locking assembly; 623. a second connector; 624. a second elastic member; 625. a second locking member;
70. a detection structure; 71. an induction piece; 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 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.
As shown in fig. 1 to 4, the present invention provides a portal frame for an interventional operation robot, the portal frame including 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 for docking with a mobile trolley (not shown); the bed docking structure 30 is configured to dock with a catheter bed (not shown); the linkage structure comprises a linkage cam structure 50 and a linkage locking structure 60; the linking cam structure 50 includes a linking shaft 51, a first cam shaft 52 and a second cam shaft 53 provided on the linking shaft 51; the linkage locking structure 60 includes a first locking structure 61 and a second locking structure 62; one end of the first locking structure 61 is abutted with the first cam shaft 52, and the other end is penetrated through the bed body butting structure 30, so as to release or lock the catheter bed body under the action of the first cam shaft 52; one end of the second locking structure 62 is abutted with the second cam shaft 53, and the other end is penetrated through the trolley docking structure 20, so as to release or lock the mobile trolley under the action of the second cam shaft 53.
The angle formed by the plane of the longest radial direction of the first camshaft 52 and the plane of the longest radial direction of the second camshaft 53 is between 0 ° (inclusive) and 180 ° (inclusive). In the present embodiment, the first cam shaft 52 and the second cam shaft 53 are elliptical, that is, the angle formed by the plane in which the long axis of the first cam shaft 52 is located and the plane in which the long axis of the second cam shaft 53 is located is between 0 ° (inclusive) and 180 ° (inclusive), in other words, projected from the axial direction 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, and therefore, when the first cam shaft 52 releases the catheter bed, the second cam shaft 53 locks the mobile cart; when the first cam shaft 52 locks the catheter bed, the second cam shaft 53 releases the moving trolley to realize linkage control. Of course, if it is necessary to lock the catheter bed and the traveling carriage simultaneously or release the catheter bed and the traveling carriage simultaneously, the projections corresponding to the long axis of the first cam shaft 52 and the projections corresponding to the long axis of the second cam shaft 53 overlap each other on the same plane from the axial direction of the coupling shaft 51, that is, the 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, simultaneous locking of the catheter bed and the traveling carriage, or simultaneous release of the catheter bed and the traveling carriage can be achieved. Furthermore, a plurality of camshafts on the coupling shaft 51 may be provided correspondingly according to the number of objects to be locked or released as needed.
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 the two long shafts are disposed orthogonally on the same projection plane as viewed in the axial direction of the linkage shaft, the linkage shaft 51 is rotated to simultaneously rotate the first cam shaft 52 and the second cam shaft 53, so as to realize that the first cam shaft 52 drives the first locking structure 61 to lock the catheter bed, 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, and the first locking structure 61 and the second locking structure 62 can be controlled simultaneously by using one linkage shaft 51, so that a plurality of control structures are not required to be arranged separately, 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, accidents 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 movable 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 moving trolley, and at this time, the second locking structure 62 locks the moving trolley to ensure that the gantry is firmly connected with the moving trolley, so that the interventional operation robot 80 is convenient to carry and maintain; when intervention operation is needed, medical staff carries 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, the whole weight of the portal frame is born by the mobile trolley, the bed body butt joint structure 30 of the portal frame slides smoothly on the catheter bed body without being blocked, after the bed body butt joint structure 30 of the portal frame slides in place, the linkage shaft 51 is rotated, the first locking structure 61 is utilized to lock the bed body butt joint structure 30 on the catheter bed body, meanwhile, the second locking structure 62 releases the mobile trolley, and the mobile trolley is pushed away from the catheter bed body, so that the portal frame provided with the intervention operation robot 80 is firmly fixed on the catheter bed body, and the operation is simple and efficient. It will be appreciated 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 over the trolley docking structure 20 without jamming.
Specifically, as shown in fig. 2 and 3, the frame 10 includes two support beams disposed opposite to each other and a connection beam for connecting the two support beams; the trolley docking structure 20 comprises two trolley docking assemblies respectively corresponding to two rails of the mobile trolley, and the two trolley docking assemblies are oppositely arranged on the inner sides of the two support beams; the bed body docking structure 30 includes two bed body docking assemblies corresponding to two side rails of the conduit bed body respectively, two support beams are corresponding, the number of linkage structures is two, each linkage structure includes a linkage mount pad 40 detachably connected with the end of the corresponding support beam, each bed body docking assembly 30 is mounted on the corresponding linkage mount pad 40, in this embodiment, two trolley docking assemblies 20 are respectively located above the corresponding linkage mount pad 40, and two bed body docking assemblies 30 are located below the corresponding linkage mount pad 40, so as to realize linkage control, and it can be understood that the two trolley docking assemblies 20 and the two bed body docking assemblies 30 are located at other positions, so that linkage control can be realized, and the invention is not limited herein. Wherein, each linkage mount 40 is provided with a movable guide rail 41, and the end of the support beam is provided with a movable guide groove matched with the movable guide rail 41, so that the width between two bed body butt joint assemblies 30 can be adjusted by adjusting the distance between the two linkage mount 40 so as to adapt to the catheter bed bodies with different widths. It can be appreciated that, for the convenience of operation, the two linkage structures may be in a master-slave control relationship, that is, one linkage structure may drive the other linkage structure to move, so that the medical staff can control one linkage structure, thereby improving the operation efficiency, and the operation efficiency is not limited herein.
Further, the linkage structure is installed between the trolley docking structure 20 and the bed docking structure 30, so that balance of force can be ensured, and accidents such as overturning of the interventional operation robot 80 can be 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 linking cam structure 50 includes a linking shaft 51, a first cam shaft 52 and a second cam shaft 53 provided on the linking shaft 51; the linkage locking structure 60 includes a first locking structure 61 and a second locking structure 62; one end of the first locking structure 61 is abutted 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 is abutted 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 direction of the first camshaft 52 and the plane of the longest radial direction of the second camshaft 53 is between 0 ° (inclusive) and 180 ° (inclusive). In this embodiment, the first cam shaft 52 and the second cam shaft 53 are elliptical, that is, the angle formed by the plane in which the long axis of the first cam shaft 52 is located and the plane in which the long axis of the second cam shaft 53 is located is between 0 ° (inclusive) and 180 ° (inclusive), that is, the projection corresponding to the long axis plane of the first cam shaft 52 intersects with the projection corresponding to the long axis plane of the second cam shaft 53 projected from the axial direction of the linkage shaft, 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 cam shaft locks the first structure to be locked, the second cam shaft 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 disposed on the same linkage shaft 51, and the two long shaft planes are disposed in an orthogonal manner, then rotating the linkage shaft 51 will cause the first cam shaft 52 and the second cam shaft 53 to rotate simultaneously, so as to realize 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; alternatively, 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, so that a plurality of control structures do not need to be separately arranged, and the operation steps are simplified; the manufacturing cost and the installation space can be saved, and the integration level is higher. Taking the portal frame of the interventional operation robot as an example, the first structure to be locked is a catheter bed body, and the second structure to be locked is a mobile trolley, and in other embodiments, the first structure to be locked and the second structure to be locked may be separate structures or structures disposed in the same device, which is not limited herein.
As shown in fig. 3 and 4, the linkage cam structure 50 further includes a first bearing housing 54 and a second bearing housing 55 mounted on the linkage mount 40, a limiting assembly 56 for limiting the linkage shaft 51, and a handle 57 connected to one end of the linkage shaft 51 for rotating the linkage shaft 51; when assembled, the linkage shaft 51 rotatably penetrates through the first bearing seat 54 and the second bearing seat 55, so that the linkage shaft 51 can be conveniently rotated; the first camshaft 52 is located between the first bearing housing 54 and the second bearing housing 55; the second cam shaft 53 is located at the other opposite end of the linkage shaft 51, leaving a mounting space for the first locking structure 61 and the second locking structure 62.
As shown in fig. 4, the limiting assembly 56 includes a first limiting member 561 mounted on the first bearing housing 54, a limiting groove 562 and a second limiting member 563 provided on the coupling shaft 51; 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 coupling shaft 51. The second limiting member 563 is sleeved on the linkage shaft 51 and abuts against the second bearing seat 55, so as to prevent the linkage shaft 51 from being displaced along the axial direction. The handle 57 is connected to the linkage shaft 51, and the linkage shaft 51 can be easily rotated by 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, opposite to the first bearing seat 54, and located below the linkage shaft 51; the first locking component 612 is inserted into the first locking seat 611, and one end of the first locking component is abutted against the linkage shaft 51, and the other end of the first locking component is abutted against the first structure to be locked; specifically, the first locking assembly 612 includes a first connecting member 613, a first elastic member 614, and a first locking member 615, which are sequentially connected; specifically, the end of the first connecting piece 613 extending out of the first locking seat 611 abuts against the first cam shaft 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. Illustratively, when the linkage structure is applied to a gantry for the interventional procedure robot 80, the first locking member 615 protrudes out of the first locking seat 611 and is penetrated through the couch interfacing structure 30, and when the gantry is completed to interface with a couch by the couch interfacing structure 30, the linkage shaft 51 is rotated to force the first locking member 615 to interface with the couch to lock the couch interfacing structure 30 to the couch, and at this time, the second locking structure 62 for locking the mobile carriage releases the mobile carriage and removes the mobile carriage to perform the procedure.
Specifically, the second locking structure 62 includes a second locking seat 621 and a second locking assembly 622; the second locking seat 621 is disposed opposite to the second bearing seat 55 and above the linkage shaft 51; the second locking component 622 is arranged through the second locking seat 621, one end of the second locking component abuts against the second cam shaft 53, and the other end of the second locking component abuts against the second structure to be locked; specifically, the second locking assembly 622 includes a second connection member 623, a second elastic member 624, and a second locking member 625, which are sequentially connected; 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 the second locking member 625 abuts against the second structure to be locked when the second structure to be locked needs to be locked. Illustratively, when the linkage structure is applied to a gantry for the interventional procedure robot 80, the second locking seat 621 is mounted on the support beam, the second locking member 625 protrudes out of the second locking seat 621 and is penetrated through the trolley docking structure 20, and when the gantry is docked with the mobile trolley through the trolley docking structure 20, the linkage shaft 51 is rotated to force the second locking member 625 to abut against the mobile trolley, locking the trolley docking structure 20 to the mobile trolley, at this time, the first locking structure 61 for locking the catheter bed releases the catheter bed, and withdraws from the mobile trolley to carry the gantry mounted with the interventional procedure robot 80 away from the catheter bed.
As an example, when the first locking structure 61 and/or the second locking structure 62 are not locked, the user directly uses the locking structure, which may cause an accident. In this embodiment, the linkage structure further comprises a detection structure 70 for detecting the first locking structure 61 and/or the second locking structure 62. The detecting structure 70 includes a sensing piece 71 and a sensor 72 in communication with the system control component, the sensing piece 71 is mounted on the linkage shaft 51, the sensor 72 is mounted on the first bearing seat 54, and the linkage shaft 51 rotates, the sensing piece 71 rotates along with the rotation shaft, when the sensing piece 71 is sensed by the sensor 72, the first locking structure 61 and/or the second locking structure 62 are locked, the sensor 72 generates a detection signal to be sent to the system control component, so that the system control component informs a user that the first locking structure 61 and/or the second locking structure 62 are locked, the subsequent corresponding operation can be performed, the safety is ensured, and accidents are avoided. The sensor 72 may be an off-sensor or a pressure sensor, etc.
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 (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 with the first cam shaft, and the other end of the first locking structure is used for releasing or locking a first structure to be locked under the action of the first cam shaft;
one end of the second locking structure is abutted with the second cam shaft, and the other end of the second locking structure is used for releasing or locking a second structure to be locked under the action of the second cam shaft;
the first and second camshafts are configured to: and when the first cam shaft releases the first structure to be locked, the second cam shaft locks the second structure to be locked.
2. A linkage structure as claimed in claim 1, wherein: the first and second camshafts are further configured to: and when the first cam shaft locks the first structure to be locked, the second cam shaft releases the second structure to be locked.
3. A linkage structure as claimed in 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 and 180 degrees.
4. A linkage structure as claimed in claim 1, wherein: the linkage structure also 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 installation 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 piece is matched with the limiting groove to limit the linkage shaft.
5. A linkage structure as claimed in 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 structure as claimed in claim 1, wherein: the linkage structure also 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 installation seat;
the first locking structure comprises a first locking seat and a first locking assembly;
the first locking seat is arranged on the linkage installation seat and is arranged opposite to the first bearing seat;
the first locking assembly penetrates through the first locking seat, one end of the first locking assembly is abutted with the first cam shaft, and the other end of the first locking assembly is abutted with the first structure to be locked.
7. A linkage as set forth in claim 6, wherein: the first locking component 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 with 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 with a first structure to be locked.
8. A linkage structure as claimed in claim 1, wherein: the linkage structure also 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 installation 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 with the second cam shaft, and the other end of the second locking assembly is abutted with a second structure to be locked.
9. A linkage as claimed in claim 8, wherein: the second locking component 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 with 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 with a second structure to be locked.
10. A linkage structure as claimed in claim 1, wherein: the linkage structure also comprises a detection structure connected with the system control component, 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 component.
11. A portal frame for an interventional procedure robot, characterized by: comprises a frame, a trolley butt joint structure and a bed butt joint structure which are arranged on the frame, and a linkage structure as claimed in any one of claims 2 to 10;
the trolley butting structure is used for butting with the mobile trolley; the bed body butt joint structure is used for butt joint with the catheter bed body;
the other end of the first locking structure is penetrated through the bed body butting structure and 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 butting 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 guide pipe bed body, the second cam shaft locks the movable trolley; and when the first cam shaft locks the guide pipe bed body, the second cam shaft releases the movable trolley.
12. A gantry for an interventional surgical robot as claimed in claim 11, wherein: the linkage structure is arranged at the bottom of the frame, 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 claimed in claim 12, wherein: the two bed body butt joint structures and the two linkage structures are respectively and correspondingly arranged, and the two 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 as 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 |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111532159.4A CN114391962B (en) | 2021-12-15 | 2021-12-15 | Linkage structure and portal frame for interventional operation robot |
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| Publication Number | Publication Date |
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| CN114391962A CN114391962A (en) | 2022-04-26 |
| CN114391962B true CN114391962B (en) | 2023-08-04 |
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| CN202111532159.4A Active CN114391962B (en) | 2021-12-15 | 2021-12-15 | Linkage structure and portal frame for interventional operation robot |
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| CN (1) | CN114391962B (en) |
| WO (1) | WO2023108988A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114391962B (en) * | 2021-12-15 | 2023-08-04 | 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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| US8641604B2 (en) * | 2008-05-13 | 2014-02-04 | Boston Scientific Scimed, Inc. | Steering system with locking mechanism |
| US9326822B2 (en) * | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
| CN210391247U (en) * | 2019-06-21 | 2020-04-24 | 楚天科技股份有限公司 | Transfer device with locking structure |
| CN112618175B (en) * | 2020-11-25 | 2023-06-27 | 明峰医疗系统股份有限公司 | Transfer trolley and shelter CT butt joint transfer system and method thereof |
| CN113086522B (en) * | 2021-03-31 | 2022-12-23 | 湖北三江航天万峰科技发展有限公司 | Multi-point linkage locking device |
| CN113246832A (en) * | 2021-06-09 | 2021-08-13 | 王云飞 | Coincide floor conveyer with prevent excursion function |
| CN114391962B (en) * | 2021-12-15 | 2023-08-04 | 深圳市爱博医疗机器人有限公司 | Linkage structure and portal frame for interventional operation robot |
-
2021
- 2021-12-15 CN CN202111532159.4A patent/CN114391962B/en active Active
-
2022
- 2022-04-29 WO PCT/CN2022/090317 patent/WO2023108988A1/en unknown
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| CN2345653Y (en) * | 1998-03-16 | 1999-10-27 | 盘锦保安防撬门有限公司 | Cam connecting rod type side spring bolt and upper and lower spring tongue link mechanism |
| JP2008272898A (en) * | 2007-05-01 | 2008-11-13 | Gms:Kk | Unclamping method of tool in machine tool |
| CN103300996A (en) * | 2013-07-02 | 2013-09-18 | 迈柯唯医疗设备(苏州)有限公司 | Quick clamping and releasing mechanism |
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| CN210918245U (en) * | 2019-10-15 | 2020-07-03 | 张建华 | Connecting and locking device for building template |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023108988A1 (en) | 2023-06-22 |
| CN114391962A (en) | 2022-04-26 |
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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. |
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