CN114400585A

CN114400585A - Support barrel and cable arrangement method

Info

Publication number: CN114400585A
Application number: CN202210082008.1A
Authority: CN
Inventors: 王勇; 王了
Original assignee: Chongqing Jinshan Medical Robot Co ltd
Current assignee: Chongqing Jinshan Medical Robot Co ltd
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2022-04-26
Anticipated expiration: 2042-01-24
Also published as: CN114400585B

Abstract

The invention relates to the technical field of medical instruments, in particular to a support barrel and a method for arranging cables. The invention discloses a support barrel which comprises a barrel body, wherein one end of the barrel body is provided with a wire distributing flange, and a binding hole is formed in the wire distributing flange. The invention aims to solve the technical problem of how to realize non-hollow wiring for a large number of cables.

Description

Support barrel and cable arrangement method

Technical Field

The invention relates to the technical field of medical instruments, in particular to a support barrel and a method for arranging cables.

Background

The master-slave minimally invasive surgery robot is a robot system which combines the robot technology with the traditional minimally invasive surgery technology, and a doctor console is a control center of the robot system. Through the doctor console, the doctor controls the three-dimensional endoscope and the surgical instruments through two main hands (main controllers) and a pedal respectively by using eyes, hands and feet to simulate the natural coordination of the eyes, hands and instruments in the open surgery, and the flexibility comparable to that of the open surgery is obtained. However, in the existing master-slave minimally invasive surgical robot, integrated force feedback is not provided between a master hand of a doctor console and a slave hand of a patient trolley, or the degree of freedom of the integrated force feedback is low, the interaction force of a slave hand instrument of the surgical robot and the tissues of the patient cannot be fed back, the on-site force feeling is lacked during the surgery, the operation action of a doctor cannot be transmitted to the slave hand in a complete and accurate manner, and the safety, the comfort and the reliability of the surgery cannot reach ideal states.

On the other hand, in order to realize full force feedback, a main worker needs to install a motor or a motor and a speed reducer on each shaft, and needs to be matched with hardware of the driving motor, namely a circuit board, in order to drive the motor. In order to feed back the pose of each shaft, a position sensor needs to be arranged on each shaft, and a certain number of cables are needed to be connected between the sensors and the control circuit board. Typically, position sensors are mounted on the motor shaft or near the output of each shaft of the robot. Therefore, power lines, ground lines and encoder lines are needed among the circuit board, the motor and the encoder, and the number of the power lines, the ground lines and the encoder lines is large. In order to reduce the wiring burden of each shaft, a circuit board is generally arranged on each shaft connecting rod nearby, so that the nearby wiring and control are realized. The shafts are communicated through a unified communication format, so that only power lines, ground lines and communication lines are generally arranged among the shafts, the number of the wires among the shafts can be greatly reduced, the diameter of the hollow wires is reduced, the outer diameter of each shaft is greatly reduced on the premise of meeting other requirements, and the total weight of a master hand is reduced as much as possible. However, the installation of the hardware circuit board requires a certain space, which increases the volume of the connecting rod, and the weight of the hardware is added, so that the weight of each shaft cannot be further reduced, and the load of the upper-stage driving device cannot be reduced. However, if the hardware is intensively arranged outside the main hand or near the initial shafts, the number of the wires will become huge, and the hollow wires cannot be realized.

The outer line is an important direction for the design of a master, and meanwhile, the problem that how to arrange a large number of cables is beneficial to heat dissipation and ventilation and the improvement of the efficiency and maintainability of the outer line is urgently needed to be solved is solved.

Those skilled in the art are therefore working to develop a cable concentrator, a rack cartridge, a module mounting structure and a method for arranging cables, which can implement non-hollow routing for cables with large number.

Disclosure of Invention

In view of the above defects in the prior art, the present invention discloses a rack drum and a method for arranging cables, and the technical problem to be solved is how to realize non-hollow routing for cables with large number.

In order to achieve the purpose, the invention provides a support barrel which comprises a barrel body, wherein one end of the barrel body is provided with a wire distributing flange, and the wire distributing flange is provided with a binding hole.

Preferably, at least one side of the two sides of the branching flange is provided with a supporting lug, and the two sides of the supporting lug form a wire passing port.

Preferably, a slotted hole is formed in the cylinder body and is located below the wire passing port.

Preferably, the barrel body is provided with side holes which are arranged in pairs, and the side holes are positioned below the wire passing port.

Preferably, the number of the side holes corresponding to each wire passing port is at least two pairs, and the side holes are arranged on the upper side and the lower side of the cylinder body.

Preferably, the other end of the cylinder body is provided with a positioning flange, and the positioning flange corresponds to the branching flange.

Preferably, the other end of the cylinder body is provided with a positioning lug opposite to the positioning flange.

Preferably, the branching flange, the positioning flange, the support lug and the positioning lug are concentrically arranged.

The invention also provides a method for arranging cables, which comprises the following steps:

1) providing a support barrel, arranging a branching flange at one end of the support barrel, and arranging a binding hole on the branching flange; at least one side of the two sides of the branching flange is provided with a supporting lug, the two sides of the supporting lug form a wire passing port, the cylinder body is provided with a slotted hole corresponding to the wire passing port, and the cylinder body is also provided with side holes which are arranged in pairs;

2) dividing the cable into a plurality of bundles, dividing the bundled cable into two parts, respectively routing the cables to two sides along the distributing flange in an arc manner, and fixing the cables by penetrating through the binding lines at the binding holes;

3) turning each cable downward at the wire passing port in sequence, and wiring downward by clinging to the outer wall of the barrel body;

4) the cables running downwards pass through the space between each pair of side holes, are bundled at the side holes and then leave the support barrel to enter the other end of the support barrel.

Preferably, the other end of the support cylinder is provided with a butted wire collecting frame.

The invention has the beneficial effects that:

through the arrangement of the support barrel, the support lugs are used for supporting and fixing cables, the cables are arranged in a split mode through the bundling holes, a large number of cable split beams penetrate through the bundling holes and are fixed respectively, the cables can pass through the annular space in a dispersed and orderly mode, and therefore the air flow passing through all the positions of the space is guaranteed, and the problems of heat accumulation and hot air blockage are avoided.

Drawings

FIG. 1 is a schematic structural view of a stent cartridge of the present invention;

FIG. 2 is a schematic view of the present invention with a cable deployed on a rack cartridge;

FIG. 3 is a schematic view of the module mounting structure of the present invention;

FIG. 4 is a schematic structural view of the line concentrator of the present invention;

FIG. 5 is a schematic view of the present invention with the cables arranged on the module mounting structure;

FIG. 6 is a schematic diagram of the right primary hand of the present invention;

FIG. 7 is a schematic front view of the right primary hand of the present invention;

FIG. 8 is a cross-sectional view of the A-axis three-axis linkage of FIG. 7;

FIG. 9 is a schematic view of the overall configuration of the surgical robotic medical console of the present invention;

FIG. 10 is a schematic cross-sectional view taken along line B of FIG. 7;

FIG. 11 is a schematic view, partly in section, taken in the direction F of FIG. 10;

FIG. 12 is a schematic cross-sectional view taken along line I of FIG. 10;

FIG. 13 is an enlarged partial view at O of FIG. 12;

FIG. 14 is a schematic cross-sectional view taken along line P in FIG. 10;

FIG. 15 is an enlarged partial view at Q of FIG. 14;

FIG. 16 is a schematic cross-sectional view taken along line C of FIG. 7;

FIG. 17 is a schematic sectional view taken along the line L in FIG. 16;

FIG. 18 is an enlarged partial view at M of FIG. 17;

fig. 19 is a partially enlarged view of fig. 17 at N.

In the above drawings: a right main hand 1, a first rotating shaft 111, a second rotating shaft 112, a third rotating shaft 113, a fourth rotating shaft 114, a fifth rotating shaft 115, a sixth rotating shaft 116, a seventh rotating shaft 117, a finger control ring 118, a three-axis connecting rod 13, a four-axis connecting rod 14, a driving module 21, a first module flange 211, a second module flange 212, a module lug 213, an arc-shaped wire casing 214, a torque sensor 22, a left main hand 2, a base 3, a pedal panel 31, a brake pedal 32, a caster 33, a column lifting mechanism 4, a viewfinder 5, a viewing hole 51, an eyepiece 52, a headrest 53, a microphone 55, an infrared sensor 56, a speaker 57, a left connecting arm 61, a right connecting arm 62, an armrest 63, an adjusting button 631, a switch button 632, an emergency stop button 633, an electric box 7, a wire collecting rack 8, a rack body 81, a first mounting flange 82, a second mounting flange 83, a fixed lug 84, a bolt avoiding groove 85, a second side hole 86, a back-off hole 86, a finger control ring 13, a three-axis connecting rod, The cable support device comprises an arc-shaped wire clamp 87, a first screw 91, a second screw 92, a third screw 93, a positioning pin 94, a support barrel 10, a barrel body 101, a branching flange 102, a strapping hole 1021, a support lug 103, a wire passing port 104, a slotted hole 105, a side hole 106, a positioning flange 107, a positioning lug 108, a vent hole 109, a cable 20, a hardware combination 30 and a dust-proof and interference-proof assembly 40.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples, wherein the terms "upper", "lower", "left", "right", "inner", "outer", and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience and simplicity of description, and does not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular manner, and thus should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1, the present invention provides a support frame 10, which includes a frame 101, a wire-distributing flange 102 is disposed at one end of the frame 101, and a binding hole 1021 is disposed on the wire-distributing flange 102. Support lugs 103 are arranged on two sides of the branching flange 102, and wire passing openings 104 are formed on two sides of the support lugs 103. The supporting lugs 103 are used for supporting and fixing the wire harnesses horizontally routed to two sides along the branching flange 102, the wire harnesses on each side are sequentially turned downwards at the wire passing openings 104 and are routed downwards along the outer wall of the barrel body 101, and the wire passing openings 104 are used for providing mounting space for the wire harnesses and playing a role in protecting the wire harnesses. In addition, a slot 105 below the wire passing port 104 is arranged on the barrel body 101, or a first side hole 106 below the wire passing port 104 is also arranged in pairs. Meanwhile, the number of the first side holes 106 corresponding to each slot 105 is at least two pairs, and the first side holes 106 are arranged on the upper and lower sides of the barrel body 101.

Furthermore, the other end of the cylinder 101 is provided with a positioning flange 107, the positioning flange 107 corresponds to the branching flange 102, and the other end of the cylinder 101 is further provided with a positioning lug 108 opposite to the positioning flange 107. The concentric arrangement of the branching flange 102, the positioning flange 107, the support lugs 103 and the positioning lugs 108. The outer circles of the positioning flange 107 and the positioning support lug 108 are the same outer circle, and the outer circle and the inner circle of the three-axis connecting rod 13 are in a hole-axis matching relationship, so that the support cylinder 10 does not swing in a hole. The slot hole 105 is used to reinforce the top of the wire harness, and the first side hole 106 is used to reinforce the cable 20 routed on the barrel 101. The cable 20 is bound by a tie through each pair of first side holes 106 as it passes between each pair of first side holes 106, although other fastening means such as a wire clip may be used. The slot 105 and the first side hole 106 may be separately provided, or may be provided simultaneously, although the reinforcing effect is better. Further, a vent hole 109 with a larger diameter is further formed in the barrel 101 to reduce the weight of the barrel 101 and facilitate ventilation and heat dissipation.

In the embodiment, through the arrangement of the rack cylinder 10 of the present invention, the branching flange 102 and the supporting lugs 103 on the rack cylinder 10 are used for supporting and fixing the cables 20, so that the cables 20 can dispersedly and orderly pass through the annular space, thereby ensuring that the air flow can pass through all places of the space, and the problems of heat accumulation and hot air blockage can not occur. Meanwhile, the cable 20 is reliably fixed on the support barrel 10 in the whole path, so that the joint cannot be loosened or pulled when rotating at a high speed or stopping suddenly, and the reliability of wiring is improved.

As shown in fig. 2, the present invention also provides a method of laying a cable, comprising the steps of:

1) a support cylinder 10 is provided, a branching flange 102 is provided at one end of the support cylinder 10, and 6 binding holes 1021 are provided in the branching flange 102. The two sides of the branching flange 102 are symmetrical and are respectively and uniformly provided with 3 supporting lugs 103, the two sides of the supporting lugs 103 form a wire passing opening 104, a slotted hole 105 is arranged on the barrel body 101 positioned in the wire passing opening 104, and the barrel body 101 is also provided with a first side hole 106 corresponding to the slotted hole 105.

2) The cables 20 are divided into a plurality of bundles, in the embodiment, the cables 20 are divided into 8 bundles, the 8 bundles of cables 20 are divided into two parts and horizontally routed on the branching flange 102 along the circular arc of the branching flange 102 to both sides, and the cables 20 are fixed through the binding wires at the binding holes 1021.

3) The wire harness is divided into four parts, and each part turns downwards at the wire passing port 104 in sequence and is tightly attached to the outer wall of the barrel body 101 for downward wiring.

4) In the downward routing path, the first side holes 106 distributed in pairs are used for bundling and fixing. The number of pairs of the first side holes 106 can be increased or decreased according to the depth of the cylinder, and the wiring harness can be reliably fixed. The wire harness is bundled by the first side hole 106 near the lower end portion, and then leaves the stent cartridge 10 and enters the other end of the stent cartridge 10.

And the other wire harnesses adopt the same wiring mode as the mode, and the wire speed is distributed and wired in sequence. The other end of the cylinder body 101 is provided with a positioning flange 107, and the positioning flange 107 corresponds to the distributing flange 102. Meanwhile, the other end of the cylinder body 101 is provided with two positioning lugs 108 opposite to the positioning flange 107. The branching flange 102, the positioning flange 107, the support lugs 103 and the positioning lugs 108 are concentrically arranged, the branching flange 102 and the positioning flange 107 are in circular arc shapes, and the cylindrical surface of the outer diameter is used for positioning when the support cylinder 10 is installed.

According to the method for arranging the cables, the cables 20 are distributed and routed through the support barrel 10, so that enough space is reserved, air in the space outside the driving module 21 can circulate, heat accumulation is avoided, and ventilation and heat dissipation are facilitated.

As shown in fig. 3, in order to apply the module mounting structure of the holder cartridge 10 of the present invention, the module mounting structure is used for the driving of the master hand. The module mounting structure further comprises a line collecting frame 8 which is in butt joint with the bottom of the support cylinder 10, a driving module 21 is mounted inside the support cylinder 10 and the line collecting frame 8, and a motor is arranged in the driving module 21.

The driving module 21 is provided with a first module flange 211, a second module flange 212 and a module support lug 213. Module brace 213 is positioned between first module flange 211 and second module flange 212, and module brace 213 is positioned to correspond to alignment flange 107 and alignment brace 108. First module flange 211 is positioned between locating flange 107 and first mounting flange 82, and first module flange 211 and first mounting flange 82 are secured to the housing of three-axis link 13 with first screws 91. The second module flange 212 is located between the positioning lug 108 and the second mounting flange 83, and the second module flange 212 and the second mounting flange 83 are also fixed to the housing of the triaxial link 13 by the first screws 91. At the same time, the drive module 21 is also fixedly mounted to the housing of the three-axis link 13 by passing second screws 92 on the module lugs 213.

With the present module mounting structure, as shown in fig. 18 and 19, a part of the first screws 91 connected to the drive module 21 is used to simultaneously connect the line concentrating brackets 8, and the other part of the second screws 92 connected to the drive module 21 is used to independently connect the drive module 21. During maintenance, the first screw 91 is only disassembled to realize the disassembly of the line concentration frame 8, and the second screw 92 is not required to be disassembled, so that the driving module 21 is still installed in the three-shaft connecting rod 13. This kind of connected mode make full use of the existing installation screw hole on the triaxial connecting rod 13, and do not have additional design installation screw hole to this can be to the space fluting outside the mounting hole on the ring flange, furthest has improved this kind of line capacity and the air volume of crossing the line mode, improves the radiating efficiency. Meanwhile, the driving module 21 is installed inside the support cylinder 10, the shell of the three-axis connecting rod 13 is arranged outside the support cylinder 10, and the support cylinder 10 is installed in the shell of the three-axis connecting rod 13 from the axial assembling direction and then fixed through screws. This assembly mode adopts the back lid direction of following the casing of triaxial connecting rod 13 to pack into and fix, can independently install after each connecting rod assembly of master hand is accomplished, is convenient for electrical construction and later maintenance and overhaul. As shown in fig. 15, a positioning pin 94 is provided between the three-axis link 13 and the first module flange 211 for pre-positioning the butt joint therebetween.

As shown in fig. 4, the line collecting rack 8, which is installed in a module installation structure in a butt joint with a support barrel 10, includes a rack body 81, a first installation flange 82 and a second installation flange 83 which are opposite to each other are arranged at one end of the rack body 81, a fixing support lug 84 is arranged at the other end of the rack body 81, and a bolt avoiding groove 85 is arranged between the first installation flange 82 and the second installation flange 83. The frame body 81 is provided with second side holes 86 arranged in pairs, and each pair of the second side holes 86 is arranged up and down for bundling the passing wiring harness through a binding belt. The wire collecting rack 8 is provided for collecting the cables 20 distributed in a distributed manner. After the wire harness enters the other end of the support cylinder 10, the wire harness is distributed in the grooves on the two sides of the module support lug 213, and then the wire harness is relatively routed on the support body 81 along the circumferential direction and is converged to the fixed support lug 84. The cables 20 are secured to the frame 81 by bundling the cables between pairs of second side holes 86.

As shown in fig. 5 and 10, the fixing lugs 84 are provided with arc-shaped line cards 87 for fixing the cables which are merged together, two ends of each arc-shaped line card 87 are fixedly connected with two adjacent fixing lugs 84 through screws, and cable through holes are formed in the arc-shaped line cards 87. As shown in fig. 11 and 13, the wire collecting rack 8 is connected to the arc-shaped wire clip 87 by a third screw 93.

As shown in fig. 6 to 8, in order to use the master hand with the driving knot as the upper module, which is the right master hand 1 in the drawing of the present embodiment, the driving method of the master hand includes the following steps:

1) integrally arranging the drive plates 30 of all the shaft links in the three-shaft link 13;

2) a support barrel 10 is arranged in one end of a three-axis connecting rod 13, a driving module 21 is arranged in the support barrel 10, a driving motor is arranged in the driving module 21, and a cable 20 for connecting a driving plate 30 and the driving module 21 is arranged between the support barrel 10 and the three-axis connecting rod 13.

By adopting the driving method of the master hand, the two ends of the shaft connecting rods are provided with the rotating shafts, the rotating shafts of the adjacent shaft connecting rods are hinged with each other, and the shaft connecting rods are in a hollow shell shape. The rotation shafts include a first rotation shaft 111, a second rotation shaft 112, a third rotation shaft 113, a fourth rotation shaft 114, a fifth rotation shaft 115, a sixth rotation shaft 116, and a seventh rotation shaft 117, which are connected in series in this order. The first rotating shaft 111, the second rotating shaft 112, the third rotating shaft 113, the fourth rotating shaft 114, the fifth rotating shaft 115, the sixth rotating shaft 116 and the seventh rotating shaft 117 are all internally provided with a power device and a torque sensor 22, and the power device comprises a motor, a speed reducer and a brake and is used for driving or stopping the rotation of the power device. Two ends of the three-axis connecting rod 13 are respectively provided with a second rotating shaft 112 and a third rotating shaft 113, the three-axis connecting rod 13 corresponding to the second rotating shaft 112 is provided with a dustproof and anti-interference assembly 40, the third rotating shaft 113 is internally provided with a support barrel 10, and a driving module in the support barrel provides power for the rotation of each axis connecting rod. The end of the seventh rotating shaft 117 is connected with a finger control ring 118 for the doctor to control.

In the present embodiment, by integrally arranging the drive plate 30 so that the weight of each shaft at the tip is reduced, the size of the connecting shaft at the tip in contact with the patient, that is, the size of the 5-to-8-shaft connecting shaft near the finger manipulation ring 118 is reduced, and the smaller the size, the higher the flexibility, and thus the flexibility of the master hand is improved. And the power of the motor of each shaft is reduced, namely, the driving can be realized only by installing the motor with smaller power, and the weight of the whole master is reduced. Thus, starting with the four-axis link 14, the inside of the axis link does not need to be provided with a large number of cables 20 and to install a motor having a large power, thereby reducing the size of the axis link.

As shown in fig. 9, the surgical robot doctor console adopting the above module driving structure and the master hand driving method includes a right master hand 1 and a left master hand 2, driving plates 30 of all shaft connecting rods of the right master hand 1 and the left master hand 2 are integrally arranged, two ends of each shaft connecting rod are rotating shafts, the rotating shafts of adjacent shaft connecting rods are hinged with each other, and a power device and a torque sensor 22 are installed in each rotating shaft; the left main hand 2 and the right main hand 1 are identical in structure and are arranged oppositely.

In the present embodiment, the rotation axes of the right and left

main hands

1 and 2 each include a first rotation axis 111, a second rotation axis 112, a third rotation axis 113, a fourth rotation axis 114, a fifth rotation axis 115, a sixth rotation axis 116, and a seventh rotation axis 117, which are connected in series in this order. And, a controllable power device and a torque sensor 22 are installed in each rotating shaft, and the power device comprises a motor, a speed reducer and a brake for driving or stopping the rotation thereof. In use, the torque sensor 22 in each rotating shaft collects a corresponding force feedback signal and transmits the signal to the drive plate 30, and the drive plate 30 drives the motor by resolving, thereby achieving the counter-drive of the attitude of each rotating shaft.

According to the conventional arrangement, rotating shafts are arranged on the right main hand 1 and the left main hand 2, a driving module 21 can be respectively and mechanically connected in each rotating shaft, and a torque sensor 22 is integrated on the driving module 21. In the present invention, the right and left

master hands

1 and 2 are the master manipulators of the surgical robot system, each master hand having 8 degrees of freedom, and the force feedback function is realized by integrating the torque sensor 22. Meanwhile, the main hand configuration type 7+1 is in a serial connection mode, 1 rotational degree of freedom is arranged on each shaft of 1-6 shafts, 6 degrees of freedom are achieved, 7 and 8 shafts connected to the tail ends of the 6 shafts can be integrally moved to any position of a sphere-like space, the 7-8 shafts have 1 rotational degree of freedom and one opening and closing degree of freedom, rotation of wrists and opening and closing and clamping of fingers can be simulated, therefore, through master-slave mapping, the main hand can drive a slave hand instrument to achieve the same flexible action of hands around a focus of a patient, force feedback can enable contact interaction of the instrument and tissues of the patient to be fed back to an operator of the main hand, touch of the hands is simulated, and operation safety is guaranteed. Thereby improving the safety, comfort and reliability of the operation.

Further, the surgical robot medical console provided by the invention further comprises a base 3, wherein the base 3 is provided with an upright post lifting mechanism 4, and the left side and the right side of the upright post lifting mechanism 4 are respectively provided with a right main hand 1 and a left main hand 2. The front side of the upright post lifting mechanism 4 is provided with a viewfinder support, the viewfinder support is provided with a viewfinder 5, and a rotating shaft is arranged between the viewfinder support and the upright post lifting mechanism 4. Through stand elevating system 4, can realize the lift of finder 5, right main hand 1 and left main hand 2, through the pivot, can realize the every single move of finder 5. Through above motion function, through adjustment button 631, can control 3 movements to satisfy the doctor's of different heights, size operation travelling comfort's demand.

The finger control ring 118 ends of the right and left

main hands

1 and 2 extend below the viewfinder 5, and a finger pressure clutch is provided on the finger control ring 118. The front side of the viewfinder 5 is provided with an observation hole 51, an ocular 52 is arranged in the observation hole 51, a headrest 53 and a neck support are arranged around the ocular 52, a microphone 55 is arranged below the front side of the ocular 52, and an infrared sensor 56 and a loudspeaker 57 are arranged on the side wall of the observation hole 51. The number of eyepieces 52 is two to provide the operating surgeon with a 3D surgical view of the patient's anatomy while also displaying surgical instrument information and icons and other user interface functions. Moreover, the observation hole 51 of the viewfinder 5 is designed by ergonomics, and a head support and a neck support are arranged around the ocular lens 52, so that the comfort of long-time operation work of an operator is improved. When the head of an operator leaves the observation hole 51 from the infrared sensor 56, the main operator cannot work, and the bidirectional voice system provides a voice communication channel for the operator of the doctor console and other workers in the operating room.

Further, the column lifting mechanism 4 is connected with a left connecting arm 61 and a right connecting arm 62, the free ends of the left connecting arm 61 and the right connecting arm 62 are connected through an armrest 63, and the armrest 63 is located below the viewfinder 5. When the doctor operates, the arm can lean on the armrest 63, so that the comfort of the doctor for long-time operation is improved. The armrest 63 is provided with an adjusting button 631, a switch button 632 and an emergency stop button 633, which is convenient for operation and timely dealing with various problems.

In addition, an electric box 7 is arranged between the base 3 and the upright lifting mechanism 4 and used for providing power supply and control signals for the control console. The front side of the base 3 is provided with a gap, a pedal panel 31 is arranged in the gap, and the outer side of the base 3 is provided with a brake pedal 32. The bottom of the base 3 is provided with casters 33. When the brake pedal is loosened, the doctor console can be moved, and when the brake pedal is stepped down, the doctor console stops to avoid moving during operation. The base 3 is another aspect of the auxiliary control device, which is provided with a pedal panel 31, the pedal panel 31 is provided with 6 pedal switches, which are used for cooperating with the main hand during operation to activate endoscope control and various functions of the instrument, and the pedal panel 31 can be adjusted back and forth to adapt to operating doctors with different heights.

With the method of arranging cables of the present invention, since the rotation shafts of the adjacent shaft links need to be rotated with each other, for example, the four-shaft link 14 swings with respect to the three-shaft link 13. As shown in fig. 5 and 10, how to implement a method for swinging and routing a four-axis link 14 relative to a three-axis link 13 out of a central axis with a large number of cables in a third rotating shaft 113 when the cable arranging method and the master hand driving method of the present invention are adopted, includes the following steps:

1) cables 20 are distributed and routed between the support cylinder 10 and the cable collecting rack 8 and the shell of the three-axis connecting rod 13;

2) cables 20 are converged into one bundle at the bottom of the line concentration rack 8;

3) an arc-shaped slot 214 is formed at the bottom of the driving module 21, and the merged cable 20 passes through the arc-shaped slot 214 and then enters the next rotating shaft.

In the embodiment, the bottom of the wire collecting rack 8 is provided with an arc-shaped wire clip 87, the cables 20 penetrate into the arc-shaped wire clip 87 to be converged and collected, and the collected cables 20 can swing in the arc-shaped wire slot 214.

The concentric guard is arranged outside the line concentration frame 8, because the four-axis connecting rod 14 rotates by taking the driving module 21 of the three axes as the center, the shell of the four-axis connecting rod 14 moves relative to the line concentration frame 8, and the guard concentrically arranged with the line concentration frame 8 is arranged outside the line concentration frame 8 for protection in order to avoid the abrasion of the inner surface of the shell of the four-axis connecting rod 14 on the cable fixed on the line concentration frame 8.

By adopting the swinging wiring method outside the central shaft, the cable comes out from the arc-shaped line card 87, enters the four-axis connecting rod 14, crosses the rotation center O2 of the four-axis connecting rod 14, and is limited by the arc-shaped line card 87 at the A2 position. When the four-axis link 14 swings upward by an angle Φ 1 around O2, the cable at O1a2 bends while swinging upward due to O1B2< O1a2, and finally moves to an arc O1B 2. The cable at O1 is swung up at an angle of & lt O2O1B2, because & lt A2O2B2 & lt phi 1 and & lt A2O2B2 is an external angle of a triangle O1O2B2, so & lt B2O1O2 & lt A2O2B2, namely & lt B2O1O2 & lt phi 1. If the cable comes out from the center O2, the aforementioned swinging results in a cable swinging angle Φ 1. Therefore, by adopting the wiring method, the torsion angle of the cable is smaller than that of the central wiring, the service life of the cable is longer, and the reliability of an electrical system is higher.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. A stent cartridge, characterized in that: the novel bobbin comprises a bobbin body (101), one end of the bobbin body (101) is provided with a wire distributing flange (102), and a binding hole (1021) is formed in the wire distributing flange (102).

2. The stent cartridge of claim 1, wherein: at least one side of the two sides of the wire distributing flange (102) is provided with a supporting lug (103), and the two sides of the supporting lug (103) form a wire passing opening (104).

3. The stent cartridge of claim 2, wherein: a slotted hole (105) is formed in the barrel body (101), and the slotted hole (105) is located below the wire passing port (104).

4. The stent cartridge of claim 2, wherein: the barrel body (101) is provided with side holes (106) which are arranged in pairs, and the side holes (106) are located below the wire passing port (104).

5. The stent cartridge of claim 2, wherein: the number of the side holes (106) corresponding to each wire passing port (104) is at least two, and the side holes (106) are arranged on the upper side and the lower side of the cylinder body (101).

6. The stent cartridge of claim 5, wherein: the other end of the cylinder body (101) is provided with a positioning flange (107), and the positioning flange (107) corresponds to the branching flange (102).

7. The stent cartridge of claim 6, wherein: and the other end of the cylinder body (101) is provided with a positioning support lug (108) opposite to the positioning flange (107).

8. The stent cartridge of claim 7, wherein: the distributing flange (102), the positioning flange (107), the supporting lug (103) and the positioning lug (108) are concentrically arranged.

9. A method of arranging cables, comprising the steps of:

1) providing a support barrel (10), arranging a branching flange (102) at one end of the support barrel (10), and arranging a binding hole (1021) on the branching flange (102); at least one side of the two sides of the branching flange (102) is provided with a supporting lug (103), the two sides of the supporting lug (103) form a cable passing port (104), the barrel body (101) is provided with a slotted hole (105) corresponding to the cable passing port (104), and the barrel body (101) is also provided with side holes (106) which are arranged in pairs;

2) the cable (20) is divided into a plurality of bundles, the cables (20) in the bundles are divided into two parts and are respectively routed to the two sides along the branching flange (102) in an arc shape, and the cables (20) are fixed by penetrating through the binding wire at the binding hole (1021);

3) each cable (20) is sequentially bent downwards at the cable passing port (104) and is tightly attached to the outer wall of the cylinder body (101) to be wired downwards;

4) the cables (20) running downwards pass through the space between each pair of side holes (106), the cables (20) are bundled at the side holes (106), and then the cables leave the support barrel (10) and enter the other end of the support barrel (10).

10. The method of laying a cable of claim 9, wherein: the other end of the support cylinder (10) is provided with a butt joint line concentration frame (8).