CN114533276A - Positioning mechanical arm and auxiliary operation system for vascular intervention operation - Google Patents
Positioning mechanical arm and auxiliary operation system for vascular intervention operation Download PDFInfo
- Publication number
- CN114533276A CN114533276A CN202210171926.1A CN202210171926A CN114533276A CN 114533276 A CN114533276 A CN 114533276A CN 202210171926 A CN202210171926 A CN 202210171926A CN 114533276 A CN114533276 A CN 114533276A
- Authority
- CN
- China
- Prior art keywords
- rotating
- unit
- arm
- positioning
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000002792 vascular Effects 0.000 title claims description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 230000001105 regulatory effect Effects 0.000 claims description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 claims 1
- 210000004204 blood vessel Anatomy 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000004075 alteration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000000709 aorta Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 210000005077 saccule Anatomy 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The utility model relates to a location arm and blood vessel intervene operation auxiliary operation system, this location arm includes: a base mounted on an operating table; a lifting unit mounted on the base; the horizontal rotating unit comprises a plurality of rotating arms and a plurality of plane rotating joints, wherein one of the rotating arms is connected with the top of the lifting mechanism through the plane rotating joint, and the rotating arms are connected through the plane rotating joints; and one end of the pitching adjusting unit is connected with the rotating arm through a plane rotating joint, the other end of the pitching adjusting unit is connected with the propelling mechanism through a pitching rotating joint, the lifting unit can drive the propelling mechanism to synchronously lift, the horizontal rotating unit can drive the propelling mechanism to rotate so as to adjust the angle of the propelling mechanism in the horizontal direction and drive the propelling mechanism to horizontally extend or shorten, and the pitching adjusting unit can drive the propelling mechanism to rotate around the center of the propelling mechanism in the vertical direction so as to adjust the angle of the propelling mechanism in the vertical direction. The multi-degree-of-freedom positioning of the positioning mechanical arm is realized, and the application range is wide.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of medical instruments, in particular to a positioning mechanical arm and a vascular intervention operation auxiliary operating system.
Background
The endovascular intervention operation needs to be performed under X-ray, and an operator needs to wear protective equipment such as lead clothes and the like to perform the operation. The long-term exposure to X-ray inevitably brings injury to the operator. Therefore, an auxiliary operation system for vascular intervention operation is very urgently needed to replace human operation. The auxiliary operation system for the vascular intervention operation controls the movement of the instruments in cavities such as guide wires, catheters and the like through controlling a manipulator (or a propelling mechanism), and the manipulator and the position of an interventional operation incision are positioned by using a mechanical arm when the operation is performed.
In the prior art, an active positioning mechanical arm for controlling a mechanical arm has insufficient positioning freedom, can not be dragged randomly, can only move according to a preset track, and has weak universality and high cost; the passive positioning mechanical arm is characterized in that a mechanical arm joint is not provided with a driving device, needs to move through external force and can be dragged at will under the action of manpower, however, the passive mechanical arm has the limitation that self balance needs to be realized in the aspect of mechanism design, and the motion of the robot is controlled through joint force feedback, so that the adjustment of accurate pose is still difficult.
Disclosure of Invention
In view of the above problems in the prior art, the embodiments of the present disclosure provide a positioning manipulator and a vascular intervention operation auxiliary operating system, which can achieve multi-directional multi-degree-of-freedom positioning, and have a wide application range and a low cost.
The embodiment of the present disclosure provides a positioning mechanical arm, including:
a base mounted on an operating table;
a lifting unit mounted on the base;
the horizontal rotating unit comprises a plurality of rotating arms and a plurality of plane rotating joints, one of the rotating arms is connected with the top of the lifting mechanism through the plane rotating joint, and the rotating arms are connected through the plane rotating joints;
every single move regulating unit, every single move regulating unit's one end is passed through plane rotary joint with the swinging boom is connected, every single move regulating unit's the other end passes through every single move rotary joint and is connected with advancing mechanism, the lift unit go up and down can pass through horizontal rotation unit with every single move regulating unit drives advancing mechanism goes up and down in step, horizontal rotation unit is rotatory can pass through every single move regulating unit drives advancing mechanism is rotatory in order to adjust advancing mechanism horizontal direction's angle and drive advancing mechanism horizontal extension or shorten, every single move regulating unit is rotatory can drive advancing mechanism is rotatory in order to adjust along vertical direction around its center advancing mechanism vertical direction's angle.
In some embodiments, the rotating arm includes a first rotating arm and a second rotating arm disposed from top to bottom, one end of the first rotating arm is connected to the top of the lifting mechanism through a first plane rotating joint, the other end of the first rotating arm is connected to one end of the second rotating arm through a second plane rotating joint, and the other end of the second rotating arm is connected to one end of the pitching adjusting unit through a third plane rotating joint.
In some embodiments, the lifting unit includes a lifting driving part installed in the base and a lifting cylinder connected to the lifting driving part, and the lifting cylinder can move in a vertical direction to extend out of or retract into the base under the action of the lifting driving part so as to drive the propelling mechanism to lift.
In some embodiments, the base comprises a vertical inner wall, a vertical sliding rail is arranged on the inner wall, and a sliding part matched with the sliding rail is arranged on the outer wall of the lifting cylinder.
In some embodiments, the planar rotary joint includes a first rotating member, a first non-excited brake, and a first hollow shaft passing through and connecting the first rotating member and the first non-excited brake, the first rotating member includes a fixed portion fixedly connected with an inner wall of the rotating arm, and a rotatable portion drivingly connected with the first non-excited brake.
In some embodiments, the first rotating component is a hollow damped rotating shaft or a speed reducer.
In some embodiments, a cable tie seat for fixing the cable is further arranged in the rotating arm.
In some embodiments, the housing of the rotating arm is a metal housing.
In some embodiments, the positioning robot arm further comprises a securing unit mounted to a sidewall of the base to secure the positioning robot arm to the surgical table;
the fixed unit has the clearance for it is located to hold the handrail of one side of operating table, the fixed unit is including being located one side of clearance and relative fixed plate and the regulating plate that sets up, the regulating plate can for the fixed plate removes, in order to be located in the clearance the handrail presss from both sides tightly fixedly or releases it is fixed to press from both sides tightly.
The embodiment of the disclosure also provides an auxiliary operation system for a vascular intervention operation, which comprises the positioning mechanical arm.
Compared with the prior art, the positioning mechanical arm and the auxiliary operation system for the vascular intervention operation provided by the embodiment of the disclosure can realize multi-degree-of-freedom positioning in the horizontal direction through the matching of the plurality of rotating arms and the plurality of plane rotating joints, can change the horizontal angle (first degree of freedom) of the propelling mechanism, and can horizontally extend or shorten (second degree of freedom) the propelling mechanism according to the relative movement between the rotating arms, thereby playing an auxiliary regulation role in propelling and retreating the propelling mechanism to a certain extent; meanwhile, the embodiment of the disclosure realizes the mobile positioning in the vertical direction through the lifting unit, and realizes the adjustment of the pitch angle in the vertical plane through the rotation of the pitch rotary joint connected with the propelling mechanism, thereby realizing the omnibearing multi-degree-of-freedom positioning of the mechanical arm and improving the application range of the mechanical arm; in addition, the plane rotary joint and the pitching rotary joint are simple in structure and convenient to adjust, the whole volume and weight of the mechanical arm can be reduced, and the cost of the whole machine is reduced.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain the claimed embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.
FIG. 1 is a schematic structural view of a positioning robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a lifting unit according to an embodiment of the disclosure;
FIG. 3 is a schematic view of a partial structure of a rotary unit according to an embodiment of the present disclosure (with a portion of the housing removed);
FIG. 4 is a partial structural view of another direction of the rotary unit according to the embodiment of the present disclosure;
FIG. 5 is a schematic perspective cross-sectional view of a rotary unit of an embodiment of the present disclosure;
FIG. 6 is a schematic structural view of a planar rotary joint and a pitch rotary joint according to an embodiment of the present disclosure;
FIG. 7 is a side cross-sectional schematic view of a planar rotary joint and a pitch rotary joint of an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of a fixing unit according to an embodiment of the disclosure;
FIG. 9 is another schematic structural view of a fixing unit (without a housing) according to an embodiment of the disclosure;
fig. 10 is a schematic structural view of a fixing unit according to an embodiment of the present disclosure (without a part of a housing).
Reference numerals:
10-operating table, 101-armrest;
1-a base; 2-lifting unit, 21-lifting driving part, 211-electric push rod, 212-base, 22-lifting cylinder and 221-first mounting seat; 3-horizontal rotation unit, 31-rotation arm, 311-first rotation arm, 312-second rotation arm, 32-plane rotation joint, 321-first plane rotation joint, 322-second plane rotation joint, 323-third plane rotation joint, 3201-first rotation component, 3202-first excitation-free brake, 3203-first hollow shaft, 3204-first rotor hub; 4-pitch adjustment unit, 41-pitch rotary joint, 411-second rotary part, 412-second non-excited brake, 413-second hollow shaft, 414-second rotor hub; 51-slide, 52-slide; 6-a wire harness seat; 7-fixing unit, 701-gap, 71-fixing plate, 72-adjusting plate, 731-adjusting knob, 732-transmission part, 733-screw knob, 734-screw hole plate, 74-guiding part and 75-bed surface supporting leg; 8-touch display, 81-emergency switch.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described below clearly and completely with reference to the accompanying drawings of the embodiments of the present disclosure.
Unless otherwise defined, technical or scientific terms used in the embodiments of the present disclosure should have the ordinary meaning as understood by those having ordinary skill in the art to which the embodiments of the present disclosure belong. The use of "first," "second," and similar terms in the embodiments of the disclosure is not intended to indicate any order, quantity, or importance, but rather to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
To maintain the following description of the disclosed embodiments clear and concise, detailed descriptions of known functions and known components are omitted from the disclosed embodiments.
The auxiliary operation system for the vascular intervention operation controls a series of vascular cavity appliances such as a guide wire, a catheter, a balloon and a bracket to advance, retreat, rotate and the like in a vascular cavity by using a manipulator of an operator so as to finish the operation. The blood vessel cavity comprises cardiovascular vessels, cerebrovascular vessels, peripheral vessels, aorta, tumor vessels and the like, and hundreds of guide wires, catheters, saccules and stents for treatment are different in thickness, length and hardness. For example, the length of guide wires and catheters is usually long, typically 1 to 3 meters. The directionality of the motion of the robot hand (propulsion mechanism) is relatively simple, but is usually long, so the robot hand needs to have "orbital" characteristics and be able to hold and control intracavity instruments of different thicknesses. Before the movement of the vessel cavity instrument is controlled through the manipulator, the positions of the manipulator and the position of the interventional operation incision are required to be positioned so as to find the position of the operation entrance and facilitate the vessel cavity instrument to extend into the vessel.
Fig. 1 to 7 are schematic structural diagrams illustrating a positioning robot according to an embodiment of the present disclosure; fig. 8 to 10 show specific structural diagrams of a fixing unit of the positioning robot arm according to the embodiment of the present disclosure. As shown in fig. 1 to 10, the present disclosure provides a positioning robot, including a base 1, a lifting unit 2, a horizontal rotation unit 3, and a pitch adjustment unit 4, where the base 1 is mounted on an operating table 10; the lifting unit 2 is arranged on the base 1; the horizontal rotation unit 3 comprises a plurality of rotation arms 31 and a plurality of plane rotation joints 32, wherein one of the rotation arms 31 is connected with the top of the lifting mechanism 2 through the plane rotation joint 32, and the rotation arms 31 are connected through the plane rotation joints 32; one end of the pitching adjusting unit 4 is connected with the rotating arm 31 through the plane rotating joint 32, the other end of the pitching adjusting unit 4 is connected with the propelling mechanism through the pitching rotating joint 41, the lifting unit 2 can lift and drive the propelling mechanism to lift synchronously through the horizontal rotating unit 3 and the pitching adjusting unit 4, the horizontal rotating unit 3 can rotate to drive the propelling mechanism to rotate so as to adjust the angle (horizontal angle) of the horizontal direction of the propelling mechanism and drive the propelling mechanism to extend or shorten horizontally through the pitching adjusting unit 4, and the pitching adjusting unit 4 can rotate to drive the propelling mechanism to rotate around the center thereof along the vertical direction so as to adjust the angle (pitch angle) of the vertical direction of the propelling mechanism 4.
The positioning mechanical arm provided by the embodiment of the disclosure can realize multi-degree-of-freedom positioning in the horizontal direction through the matching of the plurality of rotating arms 31 and the plurality of plane rotating joints 32, not only can change the horizontal angle (first degree of freedom) of the propelling mechanism, but also can horizontally extend or shorten (second degree of freedom) the propelling mechanism according to the relative movement between the rotating arms 31, and plays a role in auxiliary adjustment on the propelling and retreating of the propelling mechanism to a certain extent; meanwhile, the embodiment of the disclosure realizes the mobile positioning in the vertical direction (the third degree of freedom) through the lifting unit 2, and realizes the adjustment of the pitch angle in the vertical plane (the fourth degree of freedom) through the rotation of the pitch rotary joint 41 connected with the propulsion mechanism, thereby realizing the omnibearing multi-degree-of-freedom positioning of the mechanical arm and improving the application range of the mechanical arm; in addition, the plane rotary joint 32 and the pitching rotary joint 41 have simple structures and are convenient to adjust, the whole volume and weight of the mechanical arm can be reduced, and the cost of the whole machine is reduced.
It will be appreciated that rotation of the pitch adjustment unit 4 about its centre in the vertical direction means rotation of the propulsion mechanism in the vertical plane.
The advancing mechanism can be the advancing mechanism of an endovascular device such as a guide wire, a catheter and the like, so as to realize the advancing or retreating of the endovascular device, and the device can be sent into the blood vessel or taken out of the blood vessel. In specific implementation, the instruments such as guide wires and catheters are used as consumables in a disposable way.
In some embodiments, as shown in fig. 2, the lifting unit 2 includes a lifting driving member 21 installed in the base 1 and a lifting cylinder 22 connected to the lifting driving member 21, and the lifting cylinder 22 can move in a vertical direction under the action of the lifting driving member 21 to extend or retract the base 1 to drive the propulsion mechanism to lift or lower.
In this embodiment, the lifting driving component 21 includes an electric push rod 211 and a base 212 for fixing the electric push rod 211, and the top of the electric push rod 211 is fixedly connected to the lifting cylinder 22 through components such as a thrust bearing, a retaining ring, and a pin.
As shown in fig. 2, the top of the lifting cylinder 22 is provided with a first mounting seat 221 for mounting a first plane rotation joint 321.
In some embodiments, as shown in fig. 3, the base 1 includes an inner vertical wall, on which a vertical sliding rail 51 is disposed, and the outer wall of the lifting cylinder 22 is provided with a sliding member 52 cooperating with the sliding rail 51.
When the electric push rod 211 pushes the lifting cylinder 22 to move in the vertical direction, the sliding member 52 moves up and down along the sliding rail 51, so as to guide the lifting of the lifting cylinder 22. In order to ensure the reliability of the lifting cylinder 22, in the present embodiment, the sliding rails 51 are disposed on at least two vertical inner walls of the base 1.
In some embodiments, as shown in fig. 3 to 5, the rotating arm 31 includes a first rotating arm 311 and a second rotating arm 312 disposed up and down, one end of the first rotating arm 311 is connected to the top of the lifting mechanism 2 through a first plane rotating joint 321, the other end of the first rotating arm 311 is connected to one end of the second rotating arm 312 through a second plane rotating joint 322, and the other end of the second rotating arm 312 is connected to one end of the pitch adjusting unit 4 through a third plane rotating joint 323.
The horizontal rotation of the first rotating arm 311 can be adjusted by controlling the first plane rotation joint 321, the horizontal rotation of the second rotating arm 312 can be adjusted by controlling the second plane rotation joint 321, the horizontal rotation of the pitch adjustment unit 4 can be adjusted by controlling the third plane rotation joint 323, the horizontal angle of the propulsion mechanism can be adjusted, the propulsion mechanism can be extended or shortened according to the horizontal movement positions of the first rotating arm 311, the second rotating arm 312 and the pitch adjustment unit 4 when the rotation joints are adjusted, and the longest distance that the propulsion mechanism can be extended is the first length L of the first rotating arm 3111A second length L of the second rotating arm 3122And a third length L of the pitch adjustment unit 43Sum, the shortest distance shortened is the first length L1And a second length L2Medium and long lengths.
In this embodiment, the second rotating arm 312 is located below the first rotating arm 311, and accordingly, the pitch rotating joint 41 is located below the second rotating arm 312.
Preferably, the first length L of the first rotating arm 3111And a second length L of the second rotating arm 3122And meanwhile, the extension and the retraction are realized, and the integral appearance is attractive.
In another preferred embodiment, the first length L of the upper first rotating arm 3111Is greater than the second length L of the second rotating arm 3122So as to prevent the second rotating arm 312 from colliding against the base 1 or the lifting mechanism 2 after the first rotating arm 311 and the second rotating arm 312 are overlapped up and down.
In another embodiment, the second rotating arm 312 may also be located above the first rotating arm 311, and accordingly, the pitch rotating joint 41 is located above the second rotating arm 312. When the second rotating arm 312 is disposed above the first rotating arm 311, since the first rotating arm 311 is mounted on the top of the lifting mechanism 2, the second rotating arm 312 does not collide with the base 1 or the lifting mechanism 2, and the length of the second rotating arm 312 may be any length.
In specific implementation, a greater number of rotating arms 31 and corresponding planar rotating joints 32 may be provided according to actual needs.
In some embodiments, as shown in fig. 3 to 5, planar rotary joint 32 includes first rotating member 3201, first non-excited brake 3202, and first hollow shaft 3203 connecting first rotating member 3201 and first non-excited brake 3202, first hollow shaft 3203 passing through first rotating member 3201 and first non-excited brake 3202 to connect the two.
The first rotating member 3201 includes a fixed portion and a rotatable portion, the fixed portion is fixedly connected with an inner wall of the rotating arm 31 for integrally fixing the first rotating member 3201, and the rotatable portion 3212 is drivingly connected with the first non-excited brake 3202 and can rotate relative to the fixed portion after being subjected to a force, thereby realizing rotation of the planar rotary joint 32. First rotating member 3201 and first hollow shaft 3203 are fixedly connected through a bolt hole or a bolt hole provided in first rotating member 3201.
The first rotating member 3201 is preferably a hollow damping rotating shaft or a speed reducer, which can improve the braking capability of the first excitation-free brake 3202, ensure that the planar rotating joint 32 cannot rotate even if a large torque exists in a non-energized state, and ensure stable positioning of the propulsion mechanism. A hollow damping shaft or reducer is connected to the first hollow shaft 3203 through a bearing.
In other embodiments, a brake may be provided in the speed reducer, that is, the brake of the first rotating member 3201 may be achieved without providing a special first excitation-free brake 3202.
First excitation-free brake 3202 is used to brake after rotation of first rotating member 3201 stops to ensure stable positioning of the propulsion mechanism. The first excitation-free brake 3202 can realize emergency braking when power is not supplied, maintain a stop state for a long time, prevent idling of machinery, perform braking and maintain a position, and ensure stability and reliability of positioning of the mechanical arm.
The planar rotation joint 32 further includes a first rotor hub 3204 for connecting the first hollow shaft 3203 and the first non-excited brake 3202, the first rotor hub 3204 is sleeved on the outer periphery of the first hollow shaft 3203 and is located above the first non-excited brake 3202, and a bolt hole or a jackscrew hole is provided on the first rotor hub 3204 to fixedly connect the first hollow shaft 3203 and the first non-excited brake 3202. By providing the first rotor hub 3204, precise positioning of the first non-excited brake 3202 when mounted can be achieved and its misalignment can be prevented.
In some embodiments, as shown in fig. 3 and 5, a cable holder 6 for fixing the cable is further provided in the rotating arm 31. The internal wiring structure of the rotating arm 31 is simple, and medical requirements are met.
In some embodiments, the housing of the rotating arm 31 is a metal housing, which may be electromagnetically shielded to prevent the operation of the first off-excitation brake 3202 from being affected.
In this embodiment, the plane rotation joint 32 can rotate when powered on, so as to be positioned to a proper position; when the power is not turned on, the planar rotary joint 32 is in a normally closed state, the first rotary part 3201 cannot rotate when the stress is insufficient, and the first rotary part 3201 (stressed by a fixed part connected with the shell of the rotary arm 31) can rotate when the stress is sufficient, that is, the positioning mechanical arm in the embodiment can realize both active positioning and passive positioning, so as to realize accurate positioning; in addition, the plane rotary joint 32 has simple and reasonable structure, stable and reliable transmission and can effectively reduce the cost of the joint.
In particular, in this embodiment, the positioning robot arm can perform positioning with multiple degrees of freedom within a large spatial three-coordinate range, which is beneficial to adjusting the positioning robot arm to a proper position through passive control, and improves the adjustment convenience.
As shown in fig. 4, 6 and 7, the elevation rotary joint 41 is a rotary joint in a vertical plane, the elevation adjusting unit 4 further includes a housing for accommodating the elevation rotary joint 41, the elevation rotary joint 41 has a structure similar to that of the plane rotary joint 32, and includes a second rotating component 411, a second non-excited brake 412, and a second hollow shaft 413 connecting the second rotating component 411 and the second non-excited brake 412, a fixed portion of the second rotating component 411 is fixedly connected with an inner wall of the second housing, a rotatable portion of the second rotating component 411 is rotatably connected with the second non-excited brake 412, the second non-excited brake 412 is fixedly connected with the second hollow shaft 413 through a second rotor hub 414, so as to realize a transmission connection between the second rotating component 411 and the second non-excited brake 412, a specific connection structure of the elevation rotary joint 41 is referred to the plane rotary joint 32, and will not be described in detail herein.
In some embodiments, as shown in fig. 1 and fig. 2, an accommodating space for accommodating an electrical component is further provided in the base 1, and the wires can be sequentially routed through the inward direction of the base 1, the inner cavity of the rotating arm 31, and the inner cavity of the pitch adjusting unit 4, so as to ensure that the wires of the cables are clear.
In some embodiments, as shown in fig. 1, the positioning robot further comprises a fixing unit 7 mounted to a sidewall of the base 1 to quickly fix the positioning robot to the operating table 10.
As shown in fig. 8 to 10, the fixing unit 7 has a gap 701 for accommodating the armrest 101 on one side of the operating table 10, the fixing unit 7 includes a fixing plate 71 and an adjusting plate 72 which are disposed on one side of the gap 701 and face each other, the adjusting plate 72 is movable relative to the fixing plate 71 by adjusting the adjusting plate 72, the armrest 101 inserted into the gap 701 is clamped or released, and the fixing unit 7 (including the base 1 connected to the fixing unit 7) is removed from the bed side of the operating table 10.
In this embodiment, a gap 701 is formed on the housing of the fixing plate 71, the fixing plate 71 is fixed on the inner wall of one side of the housing, the adjusting plate 72 is located in the housing and movably connected with the fixing plate 71, and the gap 701 is formed between the adjusting plate 72 and the inner wall of the other side of the housing.
The fixing unit 7 further includes an adjusting mechanism for moving the adjusting plate 72. The adjusting mechanism comprises an adjusting knob 731, a transmission part 732 and a threaded assembly, the threaded assembly comprises a threaded knob 733 and a threaded orifice plate 734 which are connected in a matching way, the threaded orifice plate 734 is fixed on the fixing plate 71, the threaded knob 733 passes through the adjusting plate 72 and is connected with a threaded hole on the threaded orifice plate 734, and the threaded knob 733 is connected with the adjusting knob 731 through the transmission part 732.
In this embodiment, the transmission part 732 is preferably a transmission belt, which facilitates the transmission connection between the adjustment knob 731 and the threaded knob 733. In one embodiment, the transmission member 732 may be a gear or a combination of a transmission belt and a gear.
When the adjusting knob 731 is rotated, the adjusting knob 731 rotates to drive the conveyor belt to move, so that the threaded knob 733 is driven to rotate synchronously, and is screwed into the threaded hole of the threaded hole plate 734 or is screwed out of the threaded hole, and then the adjusting plate 72 is driven to move, so that the armrest 101 is fixed or released from being fixed.
In some embodiments, the fixing unit 7 further includes a guide member 74 mounted to the adjusting plate 72 to guide movement of the adjusting plate 72, prevent movement deviation thereof, ensure reliability of clamping the arm rest 101, or facilitate detachment of the positioning robot arm from the operating table 10 after the arm rest 101 is released from the fixing. In this embodiment, the guide member 74 is a guide sleeve that is inserted through the fixed plate 71 and the adjustment plate 72 and is fixedly connected to the fixed plate 71.
In some embodiments, the fixing unit 7 further comprises a bed brace 75 for supporting the bed of the operating table 10, so as to ensure stability and reliability of the positioning arm after it is mounted on the operating table 10.
Through above-mentioned fixed unit 7 for the location arm can be applicable to not unidimensional operating table 10 or operation table, and whole base 1 is located the bedside outside, does not occupy the bed surface space, and the commonality is strong.
In some embodiments, as shown in fig. 1, the positioning mechanical arm further includes a touch display 8, and the touch display 8 is electrically connected to the control unit, so that a user can view positioning information of the positioning mechanical arm in real time and can control the operation of the positioning mechanical arm in a touch manner. An emergency switch 81 is further arranged on the touch display 8 to perform emergency braking under emergency conditions, so that the safety of the operation is ensured.
The positioning mechanical arm further comprises a communication unit electrically connected with the control unit, and remote operation of the positioning mechanical arm can be achieved through the communication unit. Namely, the mechanical arm can be remotely controlled and positioned by equipment such as a computer or a mobile phone.
The embodiment of the present disclosure further provides a vascular intervention operation auxiliary operating system, which includes the above positioning mechanical arm, and the vascular intervention operation auxiliary operating system further includes a propelling mechanism, and the propelling mechanism is installed at the front end of the pitching adjusting unit 4 and is movably connected with the pitching adjusting unit 4 through a pitching rotating joint 41.
In this embodiment, the positioning mechanical arm of the auxiliary operation system for the vascular intervention operation is preferably a positioning mechanical arm which is controlled manually and automatically at the same time, and can be adjusted at will within a three-dimensional coordinate range according to the positioning requirements of a user, so that the adjustment is convenient, and the accurate positioning can be realized.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
While the present disclosure has been described in detail with reference to the embodiments, the present disclosure is not limited to the specific embodiments, and those skilled in the art can make various modifications and alterations based on the concept of the present disclosure, and the modifications and alterations should fall within the scope of the present disclosure as claimed.
Claims (10)
1. A positioning robot, comprising:
a base mounted on an operating table;
a lifting unit mounted on the base;
the horizontal rotating unit comprises a plurality of rotating arms and a plurality of plane rotating joints, one of the rotating arms is connected with the top of the lifting mechanism through the plane rotating joint, and the rotating arms are connected through the plane rotating joints;
every single move regulating unit, every single move regulating unit's one end is passed through plane rotary joint with the swinging boom is connected, every single move regulating unit's the other end passes through every single move rotary joint and is connected with advancing mechanism, the lift unit go up and down can pass through horizontal rotation unit with every single move regulating unit drives advancing mechanism goes up and down in step, horizontal rotation unit is rotatory can pass through every single move regulating unit drives advancing mechanism is rotatory in order to adjust advancing mechanism horizontal direction's angle and drive advancing mechanism horizontal extension or shorten, every single move regulating unit is rotatory can drive advancing mechanism is rotatory in order to adjust along vertical direction around its center advancing mechanism vertical direction's angle.
2. The positioning mechanical arm according to claim 1, wherein the rotating arm includes a first rotating arm and a second rotating arm disposed vertically, one end of the first rotating arm is connected to the top of the lifting mechanism through a first planar rotating joint, the other end of the first rotating arm is connected to one end of the second rotating arm through a second planar rotating joint, and the other end of the second rotating arm is connected to one end of the pitch adjusting unit through a third planar rotating joint.
3. The positioning robot arm of claim 1, wherein the lifting unit comprises a lifting driving member installed in the base and a lifting cylinder connected to the lifting driving member, and the lifting cylinder is capable of moving in a vertical direction to extend out of or retract into the base under the action of the lifting driving member to drive the propulsion mechanism to lift.
4. The positioning mechanical arm as claimed in claim 3, wherein the base comprises an inner vertical wall, an upright slide rail is arranged on the inner wall, and a sliding part matched with the slide rail is arranged on the outer wall of the lifting cylinder.
5. The positioning robot arm of claim 1, wherein the planar rotation joint comprises a first rotating member, a first non-excited brake, and a first hollow shaft passing through the first rotating member and the first non-excited brake to connect the first rotating member and the first non-excited brake, the first rotating member comprises a fixed portion and a rotatable portion, the fixed portion is fixedly connected to an inner wall of the rotating arm, and the rotatable portion is in driving connection with the first non-excited brake.
6. The positioning mechanical arm according to claim 5, wherein the first rotating component is a hollow damping rotating shaft or a speed reducer.
7. The positioning mechanical arm according to claim 1, wherein a cable holder for fixing a cable is further disposed in the rotating arm.
8. The positioning robot arm of claim 1, wherein the housing of the pivot arm is a metal housing.
9. The positioning robot arm according to any one of claims 1 to 9, further comprising a fixing unit mounted to a side wall of the base to fix the positioning robot arm to the operating table;
the fixed unit has the clearance for it is located to hold the handrail of one side of operating table, the fixed unit is including being located one side of clearance and relative fixed plate and the regulating plate that sets up, the regulating plate can for the fixed plate removes, in order to be located in the clearance the handrail presss from both sides tightly fixedly or releases it is fixed to press from both sides tightly.
10. An auxiliary operation system for vascular interventional surgery, characterized by comprising a positioning mechanical arm according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210171926.1A CN114533276A (en) | 2022-02-24 | 2022-02-24 | Positioning mechanical arm and auxiliary operation system for vascular intervention operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210171926.1A CN114533276A (en) | 2022-02-24 | 2022-02-24 | Positioning mechanical arm and auxiliary operation system for vascular intervention operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114533276A true CN114533276A (en) | 2022-05-27 |
Family
ID=81678056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210171926.1A Pending CN114533276A (en) | 2022-02-24 | 2022-02-24 | Positioning mechanical arm and auxiliary operation system for vascular intervention operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114533276A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115192198A (en) * | 2022-07-04 | 2022-10-18 | 上海神玑医疗科技有限公司 | Rotary joint and blood vessel interventional operation auxiliary operation system |
| CN115211972A (en) * | 2022-07-04 | 2022-10-21 | 上海神玑医疗科技有限公司 | Elevating system and blood vessel intervene operation auxiliary robot |
| CN115645066A (en) * | 2022-11-14 | 2023-01-31 | 华中科技大学同济医学院附属协和医院 | Adjustable supporting device of interventional operation robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102196776A (en) * | 2008-09-12 | 2011-09-21 | 艾可瑞公司 | Seven or more degrees of freedom robotic manipulator having at least one redundant joint |
| CN107471246A (en) * | 2017-08-21 | 2017-12-15 | 北京精密机电控制设备研究所 | A kind of band band-type brake hollow type compact mechanical shoulder joint |
| US20180177470A1 (en) * | 2016-12-28 | 2018-06-28 | Medicaroid Corporation | Robotic operating table and hybrid operating system |
| CN209304606U (en) * | 2018-12-28 | 2019-08-27 | 沈阳新松机器人自动化股份有限公司 | A kind of Damped Multi-degree of Freedom formula mechanical arm |
| CN110652364A (en) * | 2019-11-07 | 2020-01-07 | 吉林大学 | Neurosurgery operation arm support moving along with arm |
| CN111449752A (en) * | 2020-03-20 | 2020-07-28 | 北京理工大学 | Passive positioning mechanical arm for propelling mechanism of vascular cavity interventional operation robot |
| CN214838860U (en) * | 2021-06-28 | 2021-11-23 | 镇江市得亨建设工程有限公司 | Quick-adjustment bidirectional-locking mounting device for mounting pipeline bracket |
| CN113855243A (en) * | 2020-06-30 | 2021-12-31 | 北京术锐技术有限公司 | Telecentric movement mechanism and surgical robot system |
| CN215393853U (en) * | 2021-05-25 | 2022-01-04 | 蓝荣杰 | Quick-clamping flat tongs with precise clamping |
-
2022
- 2022-02-24 CN CN202210171926.1A patent/CN114533276A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102196776A (en) * | 2008-09-12 | 2011-09-21 | 艾可瑞公司 | Seven or more degrees of freedom robotic manipulator having at least one redundant joint |
| US20180177470A1 (en) * | 2016-12-28 | 2018-06-28 | Medicaroid Corporation | Robotic operating table and hybrid operating system |
| CN107471246A (en) * | 2017-08-21 | 2017-12-15 | 北京精密机电控制设备研究所 | A kind of band band-type brake hollow type compact mechanical shoulder joint |
| CN209304606U (en) * | 2018-12-28 | 2019-08-27 | 沈阳新松机器人自动化股份有限公司 | A kind of Damped Multi-degree of Freedom formula mechanical arm |
| CN110652364A (en) * | 2019-11-07 | 2020-01-07 | 吉林大学 | Neurosurgery operation arm support moving along with arm |
| CN111449752A (en) * | 2020-03-20 | 2020-07-28 | 北京理工大学 | Passive positioning mechanical arm for propelling mechanism of vascular cavity interventional operation robot |
| CN113855243A (en) * | 2020-06-30 | 2021-12-31 | 北京术锐技术有限公司 | Telecentric movement mechanism and surgical robot system |
| CN215393853U (en) * | 2021-05-25 | 2022-01-04 | 蓝荣杰 | Quick-clamping flat tongs with precise clamping |
| CN214838860U (en) * | 2021-06-28 | 2021-11-23 | 镇江市得亨建设工程有限公司 | Quick-adjustment bidirectional-locking mounting device for mounting pipeline bracket |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115192198A (en) * | 2022-07-04 | 2022-10-18 | 上海神玑医疗科技有限公司 | Rotary joint and blood vessel interventional operation auxiliary operation system |
| CN115211972A (en) * | 2022-07-04 | 2022-10-21 | 上海神玑医疗科技有限公司 | Elevating system and blood vessel intervene operation auxiliary robot |
| CN115645066A (en) * | 2022-11-14 | 2023-01-31 | 华中科技大学同济医学院附属协和医院 | Adjustable supporting device of interventional operation robot |
| CN115645066B (en) * | 2022-11-14 | 2023-05-05 | 华中科技大学同济医学院附属协和医院 | Adjustable strutting arrangement of intervention operation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114533276A (en) | Positioning mechanical arm and auxiliary operation system for vascular intervention operation | |
| CN111449752B (en) | Passive positioning mechanical arm for propelling mechanism of vascular cavity interventional operation robot | |
| JP6449958B2 (en) | Robotic operating table | |
| US9326907B2 (en) | Patient positioning and support systems | |
| US7966059B2 (en) | Rotating and pivoting magnet for magnetic navigation | |
| US9662256B2 (en) | Patient positioning and support systems | |
| JP6563891B2 (en) | Robotic operating table and hybrid operating room | |
| US11654305B2 (en) | Patient-positioning device and medical workstation | |
| JP2018068493A (en) | Robot surgery table | |
| EP2818203B1 (en) | Couch with patient-inclining device | |
| US11653986B2 (en) | Robotic surgery system | |
| US20240058079A1 (en) | Seven degree of freedom positioning device for robotic surgery | |
| WO2023082604A1 (en) | Portal frame for supporting interventional surgical robot | |
| KR102196198B1 (en) | Robots and robot assemblies for patient positioning | |
| CN114191089B (en) | Intervention operation robot slave end strutting arrangement that can multiposition is adjusted | |
| CN114191100A (en) | Portal frame for supporting interventional operation robot | |
| CN112957130A (en) | Active and passive parallel reset robot | |
| CN114593315A (en) | Projection equipment adjusting device | |
| US5479470A (en) | X-ray examination apparatus | |
| JP6270957B1 (en) | Robotic operating table | |
| CN115568957A (en) | Surgical robot and surgical system | |
| CN116019559A (en) | Guide wire catheter control and force feedback device of endovascular interventional surgical robot | |
| JP6449957B2 (en) | Robotic operating table | |
| CN215606256U (en) | Active and passive parallel reset robot | |
| CN220572244U (en) | Push rotary twisting mechanism of interventional instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |