CN115005994A - Multifunctional medical operation device - Google Patents

Abstract

The invention discloses a multifunctional medical operation device, which comprises: one side of the box body is provided with an electric push-pull window; the tail end of one mechanical arm is provided with imaging equipment; the instrument supply mechanism comprises a turntable component and a driving component; a plurality of surgical instruments are placed in the turntable assembly, the sliding rail faces the electric push-pull window, and the driving piece is used for driving the turntable assembly to slide along the sliding rail; the feeding end of the instrument recovery mechanism extends out of the box body and is provided with an electric flip component; the control system is arranged on the box body and comprises a computer and a display operator; the optical tracking system comprises an optical tracking instrument and a plurality of tracers; the tracer is installed at the arm end and art district, and optical tracking instrument installs on the box. The invention can replace the traditional doctor to perform the operation, can realize the automatic replacement of the surgical instruments and effectively improve the surgical precision and the surgical efficiency.

Description

Multifunctional medical operation device

Technical Field

The invention relates to the field of medical instruments, in particular to a multifunctional medical operation device.

Background

With the progress of science and technology, the technology of the surgical robot is gradually mature, the surgical robot is a comprehensive body integrating a plurality of modern high-tech means, the application of the surgical robot is wide, and the surgical robot has a large amount of clinical applications. The surgeon can operate the machine far away from the operating table, and the operating table has good application and development prospects. Current surgical robot holds the sword through the arm usually and carries out the operation, but current surgical robot function singleness can't carry out automatic surgical instruments according to the operation demand of difference and change, still needs medical personnel to carry out the tool changing operation, and not only the operation is not convenient, and surgical instruments around changing also need artifical the independent deposit, and artifical tool changing is long consuming time, has reduced operation efficiency. To this end, a multifunctional medical surgical device is proposed.

Disclosure of Invention

It is an object of the present invention to provide a multifunctional medical surgical device aimed at solving or improving at least one of the above mentioned technical problems.

In order to achieve the purpose, the invention provides the following scheme: the present invention provides a multifunctional medical surgical device, comprising:

the box body is provided with an electric push-pull window at one side, and a bacterium isolation plate is arranged on the inner wall of the box body;

the plurality of mechanical arms are arranged on the box body, the tail ends of the mechanical arms are provided with surgical instruments through clamping mechanisms, and the tail end of one mechanical arm is provided with imaging equipment;

the instrument supply mechanism comprises a turntable component and a driving component; the rotary table assembly is connected with the bacteria isolation plate in a sliding mode through a sliding rail, a plurality of surgical instruments are placed in the rotary table assembly, the sliding rail faces the electric push-pull window, and the driving piece is used for driving the rotary table assembly to slide along the sliding rail;

the instrument recovery mechanism is arranged in the box body, the feeding end extends out of the box body, and an electric flip component is arranged on the instrument recovery mechanism;

the control system is arranged on the box body and comprises a computer and a display operator;

the optical tracking system comprises an optical tracking instrument and a plurality of tracers; the tracer is arranged at the tail end of the mechanical arm and the operation area, and the optical tracking instrument is arranged on the box body and used for identifying the position of the tracer and transmitting data to the computer;

the mechanical arm, the imaging equipment, the display operator, the turntable assembly, the driving part, the clamping mechanism, the electric flip assembly and the optical tracking instrument are electrically connected with the computer.

Preferably, the turntable assembly comprises:

one end of the tray is fixedly connected with the driving piece, and the bottom of the tray is connected with the bacteria isolation plate in a sliding mode through the sliding rail;

the sliding column is arranged on the top of the tray;

the outer side wall of the circular bearing disc is provided with a first gear, a plurality of surgical instruments are placed in the circular bearing disc, and the bottom of the circular bearing disc is rotatably connected with the sliding column through a bearing;

the stepping motor is installed on the tray, a second gear is fixedly connected to the output end of the stepping motor, the second gear is in meshing transmission with the first gear, and the stepping motor is electrically connected with the computer.

Preferably, the circular bearing plate comprises a disc, an upright post and a plurality of bearing plates; the first gear is fixedly connected to the outer wall of the disc in the circumferential direction, the bottom of the disc is rotatably connected with the sliding column through the bearing, the upright post is fixedly connected to the center of the inner wall of the disc, a plurality of first sliding grooves are formed in the outer side wall of the upright post in the circumferential direction, a plurality of second sliding grooves are formed in the inner side wall of the disc in the circumferential direction, two ends of the bearing plate respectively extend into the first sliding grooves and the second sliding grooves, and first springs are fixedly connected between the bearing plate and the groove walls of the first sliding grooves and between the bearing plate and the groove walls of the second sliding grooves; the bearing plate is provided with a through hole, the surgical instrument is placed on the bearing plate through the through hole, and the bottom of the bearing plate is provided with a pressure sensor electrically connected with the computer.

Preferably, the instrument recovery mechanism comprises a placing box and an introducing box; the placing box and the introducing box are arranged at the bottom of the inner wall of the box body side by side and are both positioned below the bacteria separation plate; the placing box is communicated with the introducing box through a one-way turning plate component, one end of the introducing box extends out of the box body, the electric turning cover component is installed at the top of the introducing box, an inclined guide plate is installed in the introducing box, and the one-way turning plate component is located at the low end of the inclined guide plate.

Preferably, a channel is formed between the placing box and the introducing box, and the unidirectional turning plate component comprises a turning plate, a limiting rod and a return spring;

the turning plate is rotatably connected to the top of the channel, the limiting rod is fixedly installed on the inner wall of the guide box, the bottom of the limiting rod extends to the channel, and a gap is formed between the bottom of the limiting rod and the bottom of the channel; the top of the limiting rod is fixedly connected with a transverse ejector rod, and the reset spring is fixedly connected between the transverse ejector rod and the turning plate.

Preferably, the top of the introduction box is provided with a feed inlet, and the electric flip component comprises a rotating shaft, an end cover and a flip motor; the end cover passes through the pivot with the feed inlet rotates to be connected, the pivot with the output shaft rigid coupling of flip motor, flip motor rigid coupling is in on the outer wall of leading-in case, the end cover is kept away from the one end rigid coupling of pivot has first magnetism to inhale the piece, the lateral wall rigid coupling of feed inlet have with the second magnetism that first magnetism was inhaled a piece magnetism and is connected is inhaled the piece, the lateral wall of feed inlet with install the sealing strip between the end cover, the flip motor with computer electrical connection.

Preferably, an inlet and an outlet are formed in the side wall of the box body, and the electric push-pull window comprises a covering plate and a push-pull cylinder; the push-pull air cylinder is fixedly connected to the top of the inner wall of the box body, the piston end of the push-pull air cylinder is fixedly connected with the top of the covering plate through a connecting block, the top and the bottom of the covering plate are in sliding connection with the inlet and the outlet, the size of the covering plate is matched with that of the inlet and the outlet, and the push-pull air cylinder is electrically connected with the computer.

Preferably, the clamping mechanism comprises an adjusting shell, the top of the adjusting shell is fixedly connected with the tail end of the mechanical arm, the top of the inner wall of the adjusting shell is fixedly connected with a locking cylinder, the piston end of the locking cylinder is fixedly connected with a driving block, and the section of the driving block is in an inverted trapezoid shape; a sliding notch is formed in the bottom wall of the adjusting shell, two driven blocks are connected in the sliding notch in a sliding mode, inclined planes are arranged on the side walls, opposite to the two driven blocks, of the two driven blocks, a third sliding groove is formed in each inclined plane, a first sliding block connected with the third sliding groove in a sliding mode is fixedly connected to the end face, close to the inclined planes, of the driving block, the bottom of each driven block extends out of the adjusting shell, a clamping plate is fixedly connected to the bottom of each driven block, and a surgical instrument is installed between the two clamping plates; a second sliding block is fixedly connected to the bottom of the side wall of the driven block, a fourth sliding groove is formed in the side wall of the sliding gap, and the second sliding block is connected with the fourth sliding groove in a sliding mode; the bottom width of the third chute is greater than the top width, and the bottom width of the fourth chute is greater than the top width.

Preferably, the imaging device comprises a three-dimensional camera and an infrared imaging machine, the three-dimensional camera and the infrared imaging machine are integrated at the tail end of the mechanical arm, and the three-dimensional camera and the infrared imaging machine are electrically connected with the computer.

Preferably, the arm is six arms, the bottom rigid coupling of box has the base, install liftable universal wheel subassembly in the base.

The invention discloses the following technical effects:

the surgical device disclosed by the invention can replace the traditional doctor to perform surgical operation through the plurality of mechanical arms, and corresponding surgical instruments are selected according to surgical requirements, so that the surgical device disclosed by the invention can cover departments such as neurosurgery, spinal column, orthopaedics, ear, nose, throat and the like, and is wide in application range; the tail end of one mechanical arm is provided with imaging equipment for shooting and photographing the affected part, so that a doctor can observe the affected part in real time conveniently;

the control system of the invention comprises a computer and a display operator; the doctor gives instructions and observes the operating conditions through the display operator, and the computer controls the mechanical arm and other elements to operate according to the instructions;

the optical tracking system comprises an optical tracking instrument and a plurality of tracers; the tracer is arranged at the tail end of the mechanical arm and the operation area, the optical tracking instrument is arranged on the box body and used for identifying the position of the tracer, transmitting data to the computer and calculating the space positions of the surgical instrument at the tail end of the mechanical arm and the operation area through the computer; the mechanical arm is controlled to move, so that the surgical instrument is guided to reach a designated position, and the surgical precision is improved;

when surgical instruments are replaced, the electric flip component is opened firstly, and the mechanical arm puts the original surgical instruments into the instrument recovery mechanism for recovery processing through the clamping mechanism according to instructions of the computer; then remove the arm to being close to electronic austral window, sliding sash department, drive the carousel subassembly through the driving piece and stretch out to the box outside along the slide rail, and then stretch out surgical instruments to the arm bottom, the arm of being convenient for reduces the tool changing time according to presetting instruction quick replacement surgical instruments, and then reduces the operation risk, improves operation efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of the multi-functional medical surgical device of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1;

FIG. 3 is an enlarged view of a portion B of FIG. 1;

FIG. 4 is an enlarged view of a portion C of FIG. 1;

FIG. 5 is an enlarged view of a portion D of FIG. 1;

FIG. 6 is a schematic view showing a clamping state of the clamping mechanism according to the present invention;

FIG. 7 is a schematic structural view of the clamping mechanism of the present invention in a relaxed state;

FIG. 8 is a schematic view of another aspect of the clamping mechanism of the present invention;

wherein, 1, a box body; 2. a bacterium isolation plate; 3. a mechanical arm; 4. a surgical instrument; 5. an imaging device; 6. a drive member; 7. a slide rail; 8. a computer; 9. a display operator; 10. an optical tracking instrument; 11. a tracer; 12. a tray; 13. a traveler; 14. a first gear; 15. a bearing; 16. a stepping motor; 17. a second gear; 18. a disc; 19. a column; 20. carrying a plate; 21. a first chute; 22. a second chute; 23. a first spring; 24. a pressure sensor; 25. placing a box; 26. an introduction box; 27. an inclined guide plate; 28. a channel; 29. turning over a plate; 30. a limiting rod; 31. a return spring; 32. a transverse ejector rod; 33. a rotating shaft; 34. an end cap; 35. a flip motor; 36. a first magnetic attraction block; 37. a second magnetic attraction block; 38. a sealing strip; 39. a cover plate; 40. a push-pull cylinder; 41. connecting blocks; 42. adjusting the shell; 43. a locking cylinder; 44. a drive block; 45. a sliding notch; 46. a driven block; 47. an inclined surface; 48. a third chute; 49. a first slider; 50. a clamping plate; 51. a second slider; 52. a fourth chute; 53. a base; 54. an adjustment hole; 55. a lifting cylinder; 56. a universal wheel; 57. an ultraviolet disinfection lamp; 58. a displacement sensor; 59. provided is a multi-axis mechanical arm.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Referring to fig. 1-8, the present invention provides a multifunctional medical surgical device comprising:

one side of the box body 1 is provided with an electric push-pull window, and the inner wall of the box body 1 is provided with a bacterium isolation plate 2; the internal elements of the device are protected and bacteria are blocked through the box body 1; the inner cavity of the box body 1 is divided into an upper clean area and a lower polluted area by the bacteria isolation plate 2, the instrument supply mechanism is installed in the clean area, the instrument recovery mechanism is installed in the polluted area, and therefore the work efficiency is improved through partition processing;

the plurality of mechanical arms 3 are arranged on the box body 1, the tail ends of the mechanical arms are provided with surgical instruments 4 through clamping mechanisms, and the tail end of one mechanical arm 3 is provided with an imaging device 5; the plurality of mechanical arms 3 replace the traditional doctor to perform operation, and the corresponding surgical instruments 4 are selected according to the operation requirements, so that the surgical device can cover departments of neurosurgery, spine, orthopaedics, ear, nose, throat and the like, and has a wide application range; the imaging device 5 is used for carrying out camera shooting and photographic processing on the affected part, so that a doctor can observe the affected part in real time conveniently;

the instrument supply mechanism comprises a turntable assembly and a driving piece 6; the rotary table component is connected with the bacteria isolation plate 2 in a sliding mode through a sliding rail 7, a plurality of surgical instruments 4 are placed in the rotary table component, the sliding rail 7 faces the electric push-pull window, and the driving piece 6 is used for driving the rotary table component to slide along the sliding rail 7; the type of the surgical instrument 4 may be set according to a specific use environment, and the surgical instrument 4 in this embodiment includes, but is not limited to, an ultrasonic scalpel, a surgical drill, and a bone knife; different types of surgical instruments are selected for different parts, ultrasonic knife treatment can be added on the basis of completing conventional drilling, milling and grinding functions, the application range is widened, efficient surgery can be performed, and the safety of patients is guaranteed;

the instrument recovery mechanism is arranged in the box body 1, the feeding end extends out of the box body 1, and an electric flip component is arranged on the instrument recovery mechanism; when the surgical instrument 4 is replaced, firstly, the electric flip component is opened, and the mechanical arm 3 puts the original surgical instrument 4 into the instrument recovery mechanism for recovery processing through the clamping mechanism according to the instruction of the computer 8; then the mechanical arm 3 is moved to a position close to the electric sliding window, the driving piece drives the turntable assembly to extend out of the box body 1 along the sliding rail 7, and then the surgical instrument 4 extends out of the bottom of the mechanical arm 3, so that the mechanical arm 3 can rapidly replace the surgical instrument 4 according to a preset instruction, the tool changing time is shortened, the surgical risk is reduced, and the surgical efficiency is improved;

the control system is arranged on the box body 1 and comprises a computer 8 and a display operator 9; the doctor gives instructions and observes the operation condition through the display operator 9, and the computer 8 controls the mechanical arm 3 and other elements to operate according to the instructions;

the optical tracking system comprises an optical tracking instrument 10 and a plurality of tracers 11; the tracer 11 is arranged at the tail end of the mechanical arm 3 and the operation area, and the optical tracking instrument 10 is arranged on the box body 1 and used for identifying the position of the tracer 11 and transmitting data to the computer 8; the optical tracking instrument 10 is mounted on the top of the box 1 by a multi-axis mechanical arm 59, so that the position of the optical tracking instrument 10 can be adjusted conveniently; calculating the space positions of the surgical instrument 4 at the tail end of the mechanical arm 3 and the surgical area through a computer 8; the mechanical arm 3 is controlled to move, the surgical instrument 4 is guided to reach a designated position, and the surgical precision is improved;

the mechanical arm 3, the imaging device 5, the display operator 9, the turntable assembly, the driving member 6, the clamping mechanism, the electric flip assembly and the optical tracking instrument 10 are all electrically connected with the computer 8.

In a further preferred embodiment, the turntable assembly comprises:

one end of the tray 12 is fixedly connected with the driving piece 6, and the bottom of the tray 12 is connected with the bacteria isolation plate 2 in a sliding way through a sliding rail 7;

a sliding column 13 mounted on the top of the tray 12;

the outer side wall of the circular bearing disc is provided with a first gear 14, a plurality of surgical instruments 4 are placed in the circular bearing disc, and the bottom of the circular bearing disc is rotatably connected with the sliding column 13 through a bearing 15;

the stepping motor 16 is arranged on the tray 12, the output end of the stepping motor is fixedly connected with a second gear 17, the second gear 17 is in meshing transmission with the first gear 14, and the stepping motor 16 is electrically connected with the computer 8; so set up, drive second gear 17 through step motor 16 and rotate, and then drive first gear 14 and rotate, realize the circular rotation that bears the dish, and then realize rotating required surgical instruments 4 to the one side that is close to box 1 outer wall, make driving piece 6 drive tray 12 along electronic push-and-pull window see-out to the box 1 when outer, the surgical instruments 4 of required change are located the outside, the arm 3 quick replacement surgical instruments 4 of being convenient for shortens the change time.

In a further optimized scheme, the circular bearing plate comprises a disc 18, a column 19 and a plurality of bearing plates 20; the first gear 14 is circumferentially and fixedly connected to the outer wall of the disc 18, the bottom of the disc 18 is rotatably connected with the sliding column 13 through a bearing 15, the upright column 19 is fixedly connected to the center of the inner wall of the disc 18, a plurality of first sliding grooves 21 are circumferentially formed in the outer side wall of the upright column 19, a plurality of second sliding grooves 22 are circumferentially formed in the inner side wall of the disc 18, two ends of the bearing plate 20 respectively extend into the first sliding grooves 21 and the second sliding grooves 22, and first springs 23 are fixedly connected between the bearing plate 20 and the groove walls of the first sliding grooves 21 and between the bearing plate 20 and the groove walls of the second sliding grooves 22; the bearing plate 20 is provided with a through hole, the surgical instrument 4 is placed on the bearing plate 20 through the through hole, and the bottom of the bearing plate 20 is provided with a pressure sensor 24 electrically connected with the computer 8; so set up, after arm 3 passed through fixture centre gripping lie in the surgical instruments 4 on loading board 20, the pressure value that pressure sensor 24 monitoring of this loading board 20 bottom reduced, and pressure sensor 24 transmits pressure numerical value to computer 8, and computer 8 drives tray 12 and contracts to box 1 in according to the change control driving piece 6 of pressure numerical value to control electronic push-and-pull window and close, realize the airtight storage to disc 18 interior cutter.

In a further optimized scheme, the instrument recovery mechanism comprises a placing box 25 and an introducing box 26; the placing box 25 and the leading-in box 26 are arranged at the bottom of the inner wall of the box body 1 side by side and are both positioned below the bacteria separation plate 2; the placing box 25 is communicated with the leading-in box 26 through a one-way flap assembly, one end of the leading-in box 26 extends out of the box body 1, the top of the leading-in box 26 is provided with an electric flip assembly, an inclined guide plate 27 is arranged in the leading-in box 26, and the one-way flap assembly is positioned at the lower end of the inclined guide plate 27; with the arrangement, the replaced surgical instrument 4 enters the guiding box 26 through the electric flip component, slides down through the inclined guide plate 27, and falls into the placing box 25 along the one-way flap component for centralized collection and treatment.

In a further optimized scheme, a channel 28 is formed between the placing box 25 and the leading-in box 26, and the one-way flap assembly comprises a flap 29, a limiting rod 30 and a return spring 31;

the turning plate 29 is rotatably connected to the top of the channel 28, the limiting rod 30 is fixedly installed on the inner wall of the guide box 26, the bottom of the limiting rod extends to the channel 28, and a gap is formed between the bottom of the limiting rod 30 and the bottom of the channel 28; a transverse ejector rod 32 is fixedly connected to the top of the limiting rod 30, and a return spring 31 is fixedly connected between the transverse ejector rod 32 and the turnover plate 29; so set up for surgical instruments 4 can only fall into from leading-in case 26 along turning over board 29 and place the case 25, and surgical instruments 4 falls into and places the case 25 after, and reset spring 31 drives turning over board 29 and resets, seals passageway 28 for surgical instruments 4 that change down keep apart in placing case 25, the reduction of pollution.

In a further optimized scheme, a feed inlet is formed in the top of the lead-in box 26, and the electric flip component comprises a rotating shaft 33, an end cover 34 and a flip motor 35; the end cover 34 is rotatably connected with the feed inlet through a rotating shaft 33, the rotating shaft 33 is fixedly connected with an output shaft of a flip motor 35, the flip motor 35 is fixedly connected on the outer wall of the introducing box 26, one end of the end cover 34, which is far away from the rotating shaft 33, is fixedly connected with a first magnetic suction block 36, the side wall of the feed inlet is fixedly connected with a second magnetic suction block 37 which is magnetically connected with the first magnetic suction block 36, a sealing strip 38 is arranged between the side wall of the feed inlet and the end cover 34, and the flip motor 35 is electrically connected with the computer 8; so set up, drive end cover 34 through flip motor 35 and turn up and be closed, be convenient for put into the surgical instruments 4 of changing, inhale piece 36 and second magnetism through first magnetism and inhale the closed back leakproofness of piece 37 increase end cover 34, further promote sealed effect through sealing strip 38, pollution abatement.

In a further optimized scheme, an inlet and an outlet are formed in the side wall of the box body 1, and the electric push-pull window comprises a covering plate 39 and a push-pull cylinder 40; the push-pull cylinder 40 is fixedly connected to the top of the inner wall of the box body 1, the piston end of the push-pull cylinder 40 is fixedly connected with the top of the covering plate 39 through a connecting block 41, the top and the bottom of the covering plate 39 are in sliding connection with the inlet and the outlet, the size of the covering plate 39 is matched with that of the inlet and the outlet, and the push-pull cylinder 40 is electrically connected with the computer 8; with the arrangement, the push-pull cylinder 40 drives the connecting block 41 and the covering plate 39 to slide left and right, so that the inlet and the outlet are opened and closed, the rotary table assembly can conveniently enter and exit, the inner part of the box body 1 is sealed when the replacement is not carried out, and the pollution is reduced.

According to a further optimized scheme, the clamping mechanism comprises an adjusting shell 42, the top of the adjusting shell 42 is fixedly connected with the tail end of the mechanical arm 3, a locking cylinder 43 is fixedly connected to the top of the inner wall of the adjusting shell 42, a driving block 44 is fixedly connected to the piston end of the locking cylinder 43, and the section of the driving block 44 is in an inverted trapezoid shape; a sliding gap 45 is formed in the bottom wall of the adjusting shell 42, two driven blocks 46 are connected in the sliding gap 45 in a sliding manner, inclined surfaces 47 are formed on the opposite side walls of the two driven blocks 46, third sliding grooves 48 are formed in the inclined surfaces 47, a first sliding block 49 which is connected with the third sliding grooves 48 in a sliding manner is fixedly connected to the end surface, close to the inclined surfaces 47, of the driving block 44, the bottom of each driven block 46 extends out of the adjusting shell 42 and is fixedly connected with a clamping plate 50, and the surgical instrument 4 is installed between the two clamping plates 50; a second slide block 51 is fixedly connected to the bottom of the side wall of the driven block 46, a fourth slide groove 52 is formed in the side wall of the sliding gap 45, and the second slide block 51 is in sliding connection with the fourth slide groove 52; the bottom width of the third runner 48 is greater than the top width, and the bottom width of the fourth runner 52 is greater than the top width; the locking cylinder 43 is electrically connected with the computer 8; so set up, drive the flexible of drive block 44 through locking cylinder 43, drive block 44 drives two driven pieces 46 and moves relatively or in opposite directions, realizes the centre gripping of two grip blocks 50 and relaxs the operation, and then realizes the centre gripping and relaxing to surgical instruments 4.

According to a further optimized scheme, the imaging device 5 comprises a three-dimensional camera and an infrared imaging machine, the three-dimensional camera and the infrared imaging machine are integrated at the tail end of the mechanical arm 3, and the three-dimensional camera and the infrared imaging machine are electrically connected with the computer 8; improve the formation of image effect in art district, the doctor of being convenient for carries out state monitoring to the art district, can carry out the observation of state to the art district through 8 wireless connection external display equipment of computer simultaneously, realizes that the operating room carries out the operation condition to the family members of the patient of being convenient for or medical personnel.

According to the further optimized scheme, the mechanical arm 3 is a six-axis mechanical arm, in the embodiment, the mechanical arm 3 is an industrial-grade high-precision six-axis mechanical arm, has high degree of freedom, and can be freely programmed and finely operated according to instructions of the computer 8; the bottom of box 1 is rigid coupling has base 53, installs liftable universal wheel subassembly in the base 53.

According to a further optimized scheme, adjusting holes 54 are formed in four corners of the bottom of the base 53, the lifting universal wheel assembly comprises a lifting cylinder 55 fixedly connected in the adjusting holes 54, and the lifting cylinder 55 is electrically connected with the computer 8; a universal wheel 56 is fixedly connected to the piston end of the lifting cylinder; when box 1 is removed to needs, control lift cylinder 55 stretches out for universal wheel 56 stretches out regulation hole 54, is convenient for carry out moving of box 1, and when carrying out the operation, control lift cylinder 55 contracts back, makes universal wheel 56 contract back to in the regulation hole 54, through base 53 direct contact ground, improves the stability of box 1, is convenient for carry out the operation.

In a further optimized scheme, a displacement sensor 58 is installed at the top of the outer wall of the covering plate 39, the end cover 34 is provided with the displacement sensor 58, and the displacement sensor 58 is electrically connected with the computer 8; when a replacement instruction is issued, the tail end of the mechanical arm 3 firstly moves to the top of the end cover 34, when the displacement sensor 58 on the end cover 34 detects that the mechanical arm 3 approaches, the computer 8 controls the flip motor 35 to drive the end cover 34 to flip upwards, and after the mechanical arm 3 leaves, the flip motor 35 is controlled to drive the end cover 34 to close, when the displacement sensor 58 on the cover plate 39 detects that the mechanical arm 3 approaches, the computer 8 controls the push-pull cylinder 40 to extend to drive the cover plate 39 to open, and then the driving part 6 is controlled to extend out, so that the surgical instrument 4 extends out of the bottom of the mechanical arm 3, and the replacement of the surgical instrument 4 is facilitated; after the replacement is finished, the mechanical arm 3 is far away from the covering plate 39, the computer 8 controls the driving piece 6 to retract and controls the push-pull air cylinder 40 to retract, so that the disc 18 retracts into the box body 1, the covering plate 39 seals the inlet and the outlet, the tool changing operation is finished, the opening time of the end cover 34 and the covering plate 39 can be effectively shortened, and the pollution is reduced.

In a further optimized scheme, the driving part 6 is an air cylinder which is arranged on the bacteria isolation plate 2.

According to a further optimized scheme, an ultraviolet disinfection lamp 57 is mounted at the top of the inner wall of the box body 1, and the ultraviolet disinfection lamp 57 faces the bearing plate 20 and is used for disinfecting surgical instruments 4 on the bearing plate 20; ultraviolet sterilizing lamps 57 are installed in both the placing box 25 and the introducing box 26 to sterilize the surgical instruments 4 which are replaced, thereby reducing pollution.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims (10)

1. A multi-functional medical surgical device, comprising:

the box comprises a box body (1), wherein an electric push-pull window is arranged on one side of the box body (1), and a bacterium isolation plate (2) is arranged on the inner wall of the box body (1);

the equipment comprises a box body (1), a plurality of mechanical arms (3), a plurality of clamping mechanisms and a plurality of imaging devices, wherein the mechanical arms (3) are arranged on the box body (1), the tail ends of the mechanical arms are provided with surgical instruments (4) through the clamping mechanisms, and the tail end of one mechanical arm (3) is provided with the imaging device (5);

the instrument supply mechanism comprises a turntable assembly and a driving piece (6); the rotary table assembly is connected with the bacteria isolation plate (2) in a sliding mode through a sliding rail (7), a plurality of surgical instruments (4) are placed in the rotary table assembly, the sliding rail (7) faces the electric push-pull window, and the driving piece (6) is used for driving the rotary table assembly to slide along the sliding rail (7);

the instrument recovery mechanism is arranged in the box body (1), the feeding end extends out of the box body (1), and an electric flip component is arranged on the instrument recovery mechanism;

the control system is arranged on the box body (1) and comprises a computer (8) and a display operator (9);

an optical tracking system comprising an optical tracking instrument (10), a number of tracers (11); the tracer (11) is arranged at the tail end of the mechanical arm (3) and the operation area, and the optical tracking instrument (10) is arranged on the box body (1) and is used for identifying the position of the tracer (11) and transmitting data to the computer (8);

the mechanical arm (3), the imaging device (5), the display operator (9), the turntable assembly, the driving piece (6), the clamping mechanism, the electric flip assembly and the optical tracking instrument (10) are all electrically connected with the computer (8).

2. The multifunctional medical surgical device of claim 1, wherein: the carousel subassembly includes:

one end of the tray (12) is fixedly connected with the driving piece (6), and the bottom of the tray (12) is connected with the bacteria isolation plate (2) in a sliding mode through the sliding rail (7);

a sliding column (13) mounted on top of the tray (12);

the outer side wall of the circular bearing disc is provided with a first gear (14), a plurality of surgical instruments (4) are placed in the circular bearing disc, and the bottom of the circular bearing disc is rotatably connected with the sliding column (13) through a bearing (15);

step motor (16), install on tray (12), the output rigid coupling has second gear (17), second gear (17) with first gear (14) meshing transmission, step motor (16) with computer (8) electric connection.

3. The multi-functional medical surgical device of claim 2, wherein: the circular bearing plate comprises a circular disc (18), an upright post (19) and a plurality of bearing plates (20); the first gear (14) is fixedly connected to the outer wall of the disc (18) in the circumferential direction, the bottom of the disc (18) is rotatably connected with the sliding column (13) through the bearing (15), the upright column (19) is fixedly connected to the center of the inner wall of the disc (18), a plurality of first sliding grooves (21) are circumferentially formed in the outer side wall of the upright column (19), a plurality of second sliding grooves (22) are circumferentially formed in the inner side wall of the disc (18), two ends of the bearing plate (20) respectively extend into the first sliding grooves (21) and the second sliding grooves (22), and a first spring (23) is fixedly connected between the bearing plate (20) and the groove wall of the first sliding groove (21) as well as the groove wall of the second sliding groove (22); the bearing plate (20) is provided with a through hole, the surgical instrument (4) is placed on the bearing plate (20) through the through hole, and the bottom of the bearing plate (20) is provided with a pressure sensor (24) electrically connected with the computer (8).

4. The multifunctional medical surgical device of claim 1, wherein: the instrument recovery mechanism comprises a placing box (25) and a guiding-in box (26); the placing box (25) and the introducing box (26) are arranged at the bottom of the inner wall of the box body (1) side by side and are both positioned below the bacteria separation plate (2); the placing box (25) is communicated with the introducing box (26) through a one-way flap assembly, one end of the introducing box (26) extends out of the box body (1), the electric flip assembly is installed at the top of the introducing box, an inclined guide plate (27) is installed in the introducing box (26), and the one-way flap assembly is located at the low end of the inclined guide plate (27).

5. The multifunctional medical surgical device of claim 4, wherein: a channel (28) is arranged between the placing box (25) and the introducing box (26), and the one-way turning plate component comprises a turning plate (29), a limiting rod (30) and a return spring (31);

the turning plate (29) is rotatably connected to the top of the channel (28), the limiting rod (30) is fixedly installed on the inner wall of the guide box (26), the bottom of the limiting rod extends to the channel (28), and a gap is formed between the bottom of the limiting rod (30) and the bottom of the channel (28); the top of the limiting rod (30) is fixedly connected with a transverse ejector rod (32), and the return spring (31) is fixedly connected between the transverse ejector rod (32) and the turning plate (29).

6. The multifunctional medical surgical device of claim 4, wherein: the top of the guide box (26) is provided with a feed inlet, and the electric flip component comprises a rotating shaft (33), an end cover (34) and a flip motor (35); end cover (34) pass through pivot (33) with the feed inlet rotates to be connected, pivot (33) with the output shaft rigid coupling of flip motor (35), flip motor (35) rigid coupling is in on the outer wall of leading-in case (26), keep away from end cover (34) the one end rigid coupling of pivot (33) has first magnetism and inhales piece (36), the lateral wall rigid coupling of feed inlet have with piece (37) are inhaled to first magnetism second magnetism that inhales piece (36) magnetism and connect, the lateral wall of feed inlet with install sealing strip (38) between end cover (34), flip motor (35) with computer (8) electric connection.

7. The multifunctional medical surgical device of claim 1, wherein: an inlet and an outlet are formed in the side wall of the box body (1), and the electric push-pull window comprises a covering plate (39) and a push-pull cylinder (40); the push-pull air cylinder (40) is fixedly connected to the top of the inner wall of the box body (1), the piston end of the push-pull air cylinder (40) is fixedly connected with the top of the covering plate (39) through a connecting block (41), the top and the bottom of the covering plate (39) are in sliding connection with the inlet and the outlet, the size of the covering plate (39) is matched with that of the inlet and the outlet, and the push-pull air cylinder (40) is electrically connected with the computer (8).

8. The multifunctional medical surgical device of claim 1, wherein: the clamping mechanism comprises an adjusting shell (42), the top of the adjusting shell (42) is fixedly connected with the tail end of the mechanical arm (3), the top of the inner wall of the adjusting shell (42) is fixedly connected with a locking cylinder (43), the piston end of the locking cylinder (43) is fixedly connected with a driving block (44), and the section of the driving block (44) is in an inverted trapezoid shape; a sliding gap (45) is formed in the bottom wall of the adjusting shell (42), two driven blocks (46) are connected in the sliding gap (45) in a sliding mode, inclined surfaces (47) are arranged on the side walls, opposite to the two driven blocks (46), of the two driven blocks (47), a third sliding groove (48) is formed in the inclined surfaces (47), a first sliding block (49) which is connected with the third sliding groove (48) in a sliding mode is fixedly connected to the end face, close to the inclined surfaces (47), of the driving block (44), the bottom of each driven block (46) extends out of the adjusting shell (42) and is fixedly connected with a clamping plate (50), and the surgical instrument (4) is installed between the two clamping plates (50); a second sliding block (51) is fixedly connected to the bottom of the side wall of the driven block (46), a fourth sliding groove (52) is formed in the side wall of the sliding notch (45), and the second sliding block (51) is in sliding connection with the fourth sliding groove (52); the third runner (48) has a bottom width greater than a top width, and the fourth runner (52) has a bottom width greater than a top width.

9. The multifunctional medical surgical device of claim 1, wherein: the imaging equipment (5) comprises a three-dimensional camera and an infrared imaging machine, the three-dimensional camera and the infrared imaging machine are integrated at the tail end of the mechanical arm (3), and the three-dimensional camera and the infrared imaging machine are electrically connected with the computer (8).

10. The multifunctional medical surgical device of claim 1, wherein: the mechanical arm (3) is a six-shaft mechanical arm, a base (53) is fixedly connected to the bottom of the box body (1), and a lifting universal wheel assembly is installed in the base (53).

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