CN114391967B - Humanized mobile trolley - Google Patents
Humanized mobile trolley Download PDFInfo
- Publication number
- CN114391967B CN114391967B CN202111532337.3A CN202111532337A CN114391967B CN 114391967 B CN114391967 B CN 114391967B CN 202111532337 A CN202111532337 A CN 202111532337A CN 114391967 B CN114391967 B CN 114391967B
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- China
- Prior art keywords
- assembly
- trolley
- humanized
- cantilever
- docking
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Links
- 238000003032 molecular docking Methods 0.000 claims abstract description 54
- 210000001503 joint Anatomy 0.000 claims abstract description 18
- 230000003014 reinforcing effect Effects 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000003351 stiffener Substances 0.000 claims description 2
- 230000002792 vascular Effects 0.000 description 5
- 238000013152 interventional procedure Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 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
- 230000002787 reinforcement Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
- A61B50/13—Trolleys, e.g. carts
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Molecular Biology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention provides a humanized mobile trolley, which comprises a trolley body and a cantilever butt joint assembly arranged on the trolley body; the cantilever docking assembly is used for docking with an interventional operation robot arranged on the catheter bed; the cantilever docking assembly and the vehicle body form an avoidance space for accommodating a catheter bed. The avoidance space can accommodate catheter beds with different lengths, is convenient for the interventional operation robot to get on and get off, is very humanized, is easy to adapt to the catheter beds with different lengths, and has strong universality.
Description
Technical Field
The invention relates to a medical robot field device, in particular to a humanized mobile trolley.
Background
When the vascular intervention operation robot is used for vascular intervention operation, the traditional Chinese medicine in the vascular intervention operation needs to receive X-ray radiation for a long time, and is easy to cause damage to doctors, so that the remote operation master-slave vascular intervention operation robot is developed.
When the vascular intervention operation is finished, the intervention operation robot needs to be transported from the catheter bed to the movable trolley, but the lengths of the catheter beds of different hospitals are different, the conventional movable trolley cannot be matched with the catheter beds with different lengths, and the transportation process is difficult.
Disclosure of Invention
Based on the above, it is necessary to provide a novel humanized mobile trolley aiming at the defects in the prior art.
A humanized mobile trolley comprises a trolley body and a cantilever butt joint assembly arranged on the trolley body;
the cantilever docking assembly is used for docking with an interventional operation robot arranged on the catheter bed;
the cantilever docking assembly and the vehicle body form an avoidance space for accommodating a catheter bed.
Further, the vehicle body comprises a base and two opposite supporting components;
one end of each supporting component is deviated to one side far away from the center line of the base, and the other end of each supporting component is connected with the cantilever docking component; the cantilever docking assembly is disposed toward the other opposite side of the base to form the avoidance space between the base and the cantilever docking assembly.
Further, each of the support assemblies includes a connector and a stiffener;
one end of the connecting piece is connected with the base, and the other end of the connecting piece is connected with the cantilever butt joint assembly;
one end of the reinforcing piece is connected between two opposite sides of the base, and the other end of the reinforcing piece is connected to the middle of the connecting piece.
Further, a fixed beam is arranged between the other ends of the two connecting pieces.
Further, the cantilever docking assembly comprises two upper cantilevers respectively corresponding to the two support assemblies and two trolley docking pieces respectively installed on the two upper cantilevers;
one end of each upper cantilever is connected with the corresponding supporting component;
each trolley butt joint piece is arranged at the other end of the corresponding upper cantilever and used for being in butt joint with the interventional operation robot.
Further, a reinforcing beam is arranged between the other ends of the two upper cantilevers.
Further, the boom dock assembly also includes at least one bump guard assembly slidably disposed on the trolley dock and at least one locking assembly for locking the bump guard assembly to the trolley dock.
Further, the trolley butt joint part is provided with a graduated scale matched with the anti-collision assembly, or the upper cantilever is provided with a graduated scale matched with the anti-collision assembly along the extending direction of the trolley butt joint part.
Further, the humanized mobile trolley further comprises a pushing assembly connected with the cantilever docking assembly and/or the trolley body.
Further, the pushing component comprises two supporting plates and a pushing handle, wherein the two supporting plates are close to the other ends of the two supporting components and extend out respectively, and the pushing handle is arranged between the two supporting plates.
Further, two support plates extend away from the cantilever docking assembly.
Further, the humanized mobile trolley further comprises a pulley assembly mounted on the base and a brake assembly for controlling the pulley assembly.
Further, the two support plates are respectively provided with a guide groove at a position close to the pushing handle, and the brake assembly comprises a brake control piece penetrating between the two guide grooves;
when the brake control member is pushed to move from one end to the other end of the two guide grooves, the pulley assembly is released by the brake control member to slide.
Further, the push handle is located laterally above the brake control member.
In summary, in the humanized mobile trolley provided by the invention, the avoidance space can accommodate the guide tube beds with different lengths, so that the robot for interventional operation can conveniently get on and get off the bed, is very humanized, is easy to adapt to the guide tube beds with different lengths, and has strong universality.
Drawings
Fig. 1 is a schematic structural view of a humanized mobile trolley according to the present invention.
Fig. 2 is a schematic view of another structure of a humanized mobile trolley according to the present invention.
Fig. 3 is a side view of a humanized mobile cart of the present invention.
In the figure, 10, a vehicle body; 11. a base; 12. a support assembly; 121. a connecting piece; 122. a reinforcing member; 13. a fixed beam;
20. a cantilever docking assembly; 21. an upper cantilever; 22. a trolley interfacing part; 23. an anti-collision assembly; 24. a reinforcing beam;
30. a pushing assembly; 31. pushing the handle; 32. a guide groove; 33. a support plate;
40. a pulley assembly;
50. a brake assembly; 51. a brake control member; 52. a brake connection;
60. a catheter bed; 61. a portal frame;
70. avoiding the space.
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 3, the present invention provides a human-type mobile cart including a cart body 10, a boom docking assembly 20 mounted on the cart body 10, and a push assembly 30 connected to the boom docking assembly 20 and/or the cart body 10, a pulley assembly 40 mounted on the cart body, and a brake assembly 50 for controlling the pulley assembly 40; the cantilever docking assembly 20 is for docking with an interventional procedure robot (not shown) mounted to a catheter bed 60; the boom dock assembly 20 and the body 10 form a back-out space 70 for receiving the foot of the catheter bed 60.
Specifically, the interventional operation robot is slidably connected to the catheter bed 60 and the humanized moving trolley through a gantry 61, and a first docking structure (not shown) engaged with the cantilever docking assembly 20 and a second docking structure (not shown) engaged with the catheter bed 60 are provided on the gantry 61. When an operation is required, the portal frame 61 mounts the interventional operation robot on the catheter bed 60 through the second docking structure; when the operation is completed, the interventional operation robot needs to be removed, and the interventional operation robot is matched with the cantilever docking assembly 20 on the humanized movable trolley through the first docking structure on the portal frame 60, so that the interventional operation robot and the humanized movable trolley are docked, and the interventional operation robot and the portal frame 61 are conveniently removed from the catheter bed 60 together. And different hospitals have different lengths of catheter beds 60 due to actual surgical needs. In this embodiment, the cantilever docking assembly 20 and the vehicle body 10 form the avoidance space 70, and the avoidance space 70 can accommodate the bed tails of the guide pipe beds 60 with different lengths, so that the humanized mobile trolley provided by the invention has universality and is easy to adapt to the guide pipe beds 60 with different lengths.
As shown in fig. 1, the vehicle body 10 includes a base 11, two oppositely disposed support members 12, and a fixing beam 13 for connecting the two support members 12; the two support assemblies 12 correspond to the two cantilever docking assemblies 20 respectively; one end of each supporting component 12 is connected with the base 11, and the other end is connected with the cantilever docking component 20; the base 11 and the boom docking assembly 20 are disposed in the same direction to form the avoidance space 70. Each support assembly 12 comprises a connecting member 121 vertically offset between one side remote from the centerline of the base 11 and the boom docking assembly 20, a reinforcing member 122 connected to the connecting member 121 and the base 11, respectively, specifically, one end of the reinforcing member 122 is connected between two opposite sides of the base 11, and the other end is connected to the middle of the connecting member 121; the base 11, the connecting piece 121 and the reinforcing piece 122 are arranged in a triangle shape, so that the strength of the vehicle body 10 can be effectively enhanced, and a powerful support is provided for the interventional operation robot with larger mass. And the fixing beam 13 is disposed at the other ends of the two connectors 121 corresponding to the two support assemblies 12, so as to perform a reinforcing function.
As shown in fig. 1, the boom docking assembly 20 includes two upper booms 21 corresponding to the two support assemblies 12, respectively, and two carriage docks 22 mounted on the two upper booms 21; one end of each upper cantilever 21 is connected with the corresponding support assembly 12; a reinforcing cross beam 24 is arranged between the other ends of the two upper cantilevers 21, so as to play a role in reinforcement; the trolley docking member 22 is mounted at the other end of the respective upper boom 21 for docking with a first docking structure of a gantry 61 supporting the interventional surgical robot. Therefore, the base 11, the connecting piece 121 and the upper cantilever 21 enclose a concave avoidance space 70 so as to accommodate the catheter beds 60 with different lengths, and the matching performance is good.
Further, the upper cantilever 21 is provided with an upper chute (not shown) extending in a direction perpendicular to the extending direction of the trolley docking member 22, and the cantilever docking assembly 20 further comprises a locking assembly (not shown); the locking assembly is arranged in the upper chute in a penetrating manner so as to enable the trolley butting piece 22 to be in sliding connection with the upper cantilever 21, therefore, the trolley butting piece 22 can be adjusted to move along the upper chute according to actual needs, namely, the trolley butting piece 22 can move along the direction perpendicular to the extending direction, and when the ground is not a horizontal plane, the positions of the two trolley butting pieces 22 can be respectively adjusted to ensure that the two trolley butting pieces 22 are positioned on the same horizontal line, so that the trolley butting is convenient to dock. The locking assembly may be a bolt or the like.
The boom docking assembly 20 further includes at least one bump guard assembly 23 slidably disposed on the trolley docking member 22 and at least one locking assembly (not shown) for locking the bump guard assembly 23 to the trolley docking member 22. The anti-collision assembly 23 is slidably disposed on the trolley docking member 22 to facilitate identification of the length of insertion of the catheter bed 60 into the avoidance space 70, and to enhance docking efficiency. In this embodiment, the portal frame 61 is provided with a collision bead assembly matched with the collision avoidance assembly 23, and in general, the length of the conduit bed 60 inserted into the avoidance space 70 is determined first, then the collision avoidance assembly 23 is moved to a corresponding position, and is locked by adopting a locking assembly; during the docking process, when the collision avoidance assembly 23 contacts the ball collision assembly of the gantry 61, a sound is generated to alert the user to move away from the gantry and to intervene in the surgical robot, thereby avoiding a collision between the catheter bed 60 and a humanized mobile trolley. The locking assembly may be a screw, etc., and is not limited herein. Further, the trolley butt joint member 22 is provided with a graduated scale (not shown in the figure) matched with the anti-collision assembly 23, or the upper cantilever 21 is provided with a graduated scale matched with the anti-collision assembly 23 along the extending direction of the trolley butt joint member 22, so that a medical staff can conveniently adjust the accurate position of the anti-collision assembly 23 on the trolley butt joint member 22 according to the length of the catheter bed 60, and the upper bed and the lower bed of the interventional operation robot can be conveniently and safely realized.
As shown in fig. 1 and 2, the humanized mobile trolley of the present invention further includes a pulley assembly 40 mounted on the base 11 and a brake assembly 50 for controlling the pulley assembly 40. The brake assembly 50 includes a brake control member 51 and a brake connector 52 mounted to the push assembly 30; the brake link 52 has one end connected to the pulley assembly 40 and the other end connected to the brake control member 51. The pushing assembly 30 includes two supporting plates 33 extending from the other ends of the two supporting assemblies 12, and a pushing handle 31 disposed between the two supporting plates 33, where the pushing handle 31 is located above the brake control member 51, so that the medical staff can hold the pushing handle 31 and the brake control member 51 at the same time. In this embodiment, the two support plates 33 extend in a direction away from the boom docking assembly 20, i.e. in a direction opposite to the direction of extension of the two upper booms 21. Specifically, the pushing component 30 is provided with a guide groove 32 for the brake control member 51 to penetrate; typically, the brake control member 51 is located at one end of the guide slot 32, and the pulley assembly 40 is locked and not slidable; when the gantry 61 and interventional procedure robot are moved to a humanized mobile trolley, the medical staff can grasp the brake control member 51 to move the brake control member 51 to the other end of the guide slot 32, pull the brake connection member 121 and release the pulley assembly 40, and at this time, the pulley assembly 40 can slide to facilitate the medical staff to move the humanized mobile trolley, so that the gantry 61 and interventional procedure robot leave the catheter bed 60.
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. The humanized mobile trolley is characterized by comprising a trolley body and a cantilever butt joint assembly arranged on the trolley body;
the cantilever docking assembly is used for docking with an interventional operation robot arranged on the catheter bed;
the cantilever docking assembly and the vehicle body form an avoidance space for accommodating a catheter bed;
the vehicle body comprises a base and two opposite supporting components;
one end of each supporting component is deviated to one side far away from the center line of the base, and the other end of each supporting component is connected with the cantilever docking component; the cantilever docking assembly is arranged towards the direction of the other opposite side of the base, the base and the cantilever docking assembly are arranged towards the same direction, and the avoidance space is formed between the base and the cantilever docking assembly; the avoidance space is a concave space.
2. A humanized mobile trolley as claimed in claim 1, wherein: each of the support assemblies includes a connector and a stiffener;
one end of the connecting piece is connected with the base, and the other end of the connecting piece is connected with the cantilever butt joint assembly;
one end of the reinforcing piece is connected between two opposite sides of the base, and the other end of the reinforcing piece is connected to the middle of the connecting piece.
3. A humanized mobile trolley as claimed in claim 2, wherein: a fixed beam is arranged between the other ends of the two connecting pieces.
4. A humanized mobile trolley as claimed in claim 1, wherein: the cantilever butt joint assembly comprises two upper cantilevers respectively corresponding to the two support assemblies and two trolley butt joint pieces respectively arranged on the two upper cantilevers;
one end of each upper cantilever is connected with the corresponding supporting component;
each trolley butt joint piece is arranged at the other end of the corresponding upper cantilever and used for being in butt joint with the interventional operation robot.
5. A humanized mobile trolley as claimed in claim 4, wherein: and a reinforcing cross beam is arranged between the other ends of the two upper cantilevers.
6. A humanized mobile trolley as claimed in claim 4, wherein: the cantilever docking assembly further includes at least one bumper assembly slidably disposed on the trolley docking member and at least one locking assembly for locking the bumper assembly to the trolley docking member.
7. A humanized mobile trolley as claimed in claim 6, wherein: the trolley butt joint part is provided with a graduated scale matched with the anti-collision assembly, or the upper cantilever is provided with a graduated scale matched with the anti-collision assembly along the extending direction of the trolley butt joint part.
8. A humanized mobile trolley as claimed in claim 1, wherein: the humanized mobile trolley further comprises a pushing assembly connected with the cantilever docking assembly and/or the trolley body.
9. A humanized mobile trolley as claimed in claim 8, wherein: the pushing assembly comprises two supporting plates which are close to the two supporting assemblies and extend out from the other ends of the two supporting assemblies respectively, and a pushing handle arranged between the two supporting plates.
10. A humanized mobile trolley as claimed in claim 9, wherein: two support plates extend away from the cantilever docking assembly.
11. A humanized mobile trolley as claimed in claim 9, wherein: the humanized mobile trolley further comprises a pulley assembly arranged on the base and a brake assembly used for controlling the pulley assembly.
12. A humanized mobile trolley as claimed in claim 11, wherein: the two support plates are respectively provided with a guide groove at a position close to the pushing handle, and the brake assembly comprises a brake control piece penetrating between the two guide grooves;
when the brake control member is pushed to move from one end to the other end of the two guide grooves, the pulley assembly is released by the brake control member to slide.
13. A humanized mobile trolley as claimed in claim 12, wherein: the push handle is located laterally above the brake control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111532337.3A CN114391967B (en) | 2021-12-15 | 2021-12-15 | Humanized mobile trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111532337.3A CN114391967B (en) | 2021-12-15 | 2021-12-15 | Humanized mobile trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114391967A CN114391967A (en) | 2022-04-26 |
| CN114391967B true CN114391967B (en) | 2024-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111532337.3A Active CN114391967B (en) | 2021-12-15 | 2021-12-15 | Humanized mobile trolley |
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| Country | Link |
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| CN (1) | CN114391967B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209321748U (en) * | 2018-12-29 | 2019-08-30 | 无锡新图云创科技发展有限公司 | A kind of mobile robot of lateral double half shovels |
| CN111374782A (en) * | 2018-12-28 | 2020-07-07 | 深圳迈瑞生物医疗电子股份有限公司 | Medical trolley |
| CN212037988U (en) * | 2020-03-24 | 2020-12-01 | 中国人民解放军陆军特色医学中心 | Transport bed conveyer |
| CN112043407A (en) * | 2020-09-04 | 2020-12-08 | 广州信筑医疗技术有限公司 | Laser surgical workstation surgical system for clinical disease treatment |
| CN113071997A (en) * | 2021-03-23 | 2021-07-06 | 郑州铁路职业技术学院 | Industrial intelligent motion control carrying robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160133191A (en) * | 2015-05-12 | 2016-11-22 | 현대중공업 주식회사 | Assistant robot for transfer |
-
2021
- 2021-12-15 CN CN202111532337.3A patent/CN114391967B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111374782A (en) * | 2018-12-28 | 2020-07-07 | 深圳迈瑞生物医疗电子股份有限公司 | Medical trolley |
| CN209321748U (en) * | 2018-12-29 | 2019-08-30 | 无锡新图云创科技发展有限公司 | A kind of mobile robot of lateral double half shovels |
| CN212037988U (en) * | 2020-03-24 | 2020-12-01 | 中国人民解放军陆军特色医学中心 | Transport bed conveyer |
| CN112043407A (en) * | 2020-09-04 | 2020-12-08 | 广州信筑医疗技术有限公司 | Laser surgical workstation surgical system for clinical disease treatment |
| CN113071997A (en) * | 2021-03-23 | 2021-07-06 | 郑州铁路职业技术学院 | Industrial intelligent motion control carrying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114391967A (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 Applicant 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 Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
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