CN115444585A - Multi-degree-of-freedom connecting rod type supporting and locking device and using method - Google Patents
Multi-degree-of-freedom connecting rod type supporting and locking device and using method Download PDFInfo
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- CN115444585A CN115444585A CN202211416906.2A CN202211416906A CN115444585A CN 115444585 A CN115444585 A CN 115444585A CN 202211416906 A CN202211416906 A CN 202211416906A CN 115444585 A CN115444585 A CN 115444585A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/57—Accessory clamps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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Abstract
The invention provides a multi-freedom connecting rod type supporting and locking device, which comprises: the device comprises a supporting seat and an attitude adjusting unit, wherein the attitude adjusting unit comprises a first rotating shaft, a second rotating shaft and a third rotating shaft; the first rotating shaft is arranged at one end of the third rotating shaft in a non-contact manner, can move along the direction of the axis of the first rotating shaft and rotate around the axis of the first rotating shaft, and one end of the first rotating shaft is fixedly connected with the supporting seat; the second rotating shaft vertically penetrates through the axis of the third rotating shaft, is connected with the third rotating shaft in a sliding manner, and can move along the direction of the axis of the second rotating shaft and rotate around the axis of the second rotating shaft; the axis of the third rotating shaft is vertical to the axis of the first rotating shaft, and the third rotating shaft can rotate around the axis of the third rotating shaft so as to synchronously drive the second rotating shaft to rotate; when one end of the locking knob is abutted against the second rotating shaft, the degrees of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft are synchronously locked; otherwise, the constraint on the freedom degrees of the first rotating shaft, the second rotating shaft and the third rotating shaft is synchronously released. It can be high-efficient, convenient adjustment medical instrument gesture.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a multi-degree-of-freedom connecting rod type supporting and locking device and a using method thereof.
Background
When operating an interventional medical device, the medical device needs to be supported and installed by the supporting device. The arrangement mode leads to that the space position of the medical instrument needs to be properly adjusted during the operation, for example, the spatial position includes 3-dimensional rotation adjustment and/or 3-dimensional movement adjustment, so that the posture of the medical instrument can be adjusted in multiple degrees of freedom to improve the convenience of the operation. In the related art, when the supporting device is used, the supporting device and the medical instrument need to be adjusted together and/or moved to find a proper position and angle. The whole structure formed by the whole supporting device and the medical instrument has larger mass, and the angle and the position of the whole supporting device are adjusted and inconvenient, so that an operator is difficult to obtain the ideal position and angle of the medical instrument in a short time, the operation efficiency is low, and the operation risk is improved. Therefore, there is a need for an apparatus and a method for adjusting the posture of a medical device in an efficient and convenient manner.
Disclosure of Invention
In order to overcome at least one of the problems of the posture adjustment scheme of the medical instrument in the related art, the invention provides a multi-degree-of-freedom connecting rod type supporting and locking device and a using method thereof.
Specifically, according to an aspect of the embodiments of the present invention, there is provided a method for using a multiple degree of freedom connecting rod type support locking device, including:
detachably mounting the medical apparatus on the support seat;
rotating the locking knob along a first direction to synchronously remove the freedom degree constraint of the first rotating shaft, the second rotating shaft and the third rotating shaft;
adjusting at least one of the first rotating shaft, the second rotating shaft and the third rotating shaft to obtain a target posture of the medical instrument;
rotating the locking knob along a second direction to synchronously lock the freedom degrees of the first rotating shaft, the second rotating shaft and the third rotating shaft;
wherein the content of the first and second substances,
the first rotating shaft is arranged at one end of the third rotating shaft in a non-contact manner, and can move along the direction of the axis of the first rotating shaft and rotate around the axis of the first rotating shaft;
the second rotating shaft vertically penetrates through the axis of the third rotating shaft, is connected with the third rotating shaft in a sliding manner, and can move along the direction of the axis of the second rotating shaft and rotate around the axis of the second rotating shaft;
the axis of the third rotating shaft is vertical to the axis of the first rotating shaft, and the third rotating shaft can rotate around the axis of the third rotating shaft so as to synchronously drive the second rotating shaft to rotate;
when the locking knob is rotated along the second direction to enable one end of the locking knob to be abutted against the second rotating shaft, the degrees of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft are synchronously locked; when the locking knob is rotated along the first direction to enable the one end to be released from abutting connection with the second rotating shaft, locking constraint on the degree of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft is synchronously released.
In an alternative embodiment, the third shaft includes a first end and a second end, wherein:
the first end part is provided with a blind hole extending along the axis of the third rotating shaft, waist-shaped holes are symmetrically formed in the side wall of the blind hole, and the second rotating shaft penetrates through the waist-shaped holes; the second end portion is provided with a threaded hole extending along the axis of the third rotating shaft, the threaded hole is communicated with the blind hole, one end of the locking knob is in threaded connection with the threaded hole, and the locking knob is screwed into the blind hole and then is abutted to the second rotating shaft.
In an alternative embodiment, the device comprises a first shell and a second shell, wherein the first rotating shaft penetrates through the matching surfaces of the first shell and the second shell and is in clearance fit with the matching surfaces; the first end of the third rotating shaft is connected with the second shell in a clamping mode, so that the first rotating shaft is arranged at one end of the third rotating shaft in a non-contact mode.
In an optional embodiment, a stepped hole is formed in the end portion of the second housing, which is clamped with the third rotating shaft, a boss is arranged on the end face of the first end portion of the third rotating shaft, and the boss is clamped in the stepped hole to realize the clamping connection.
In an optional embodiment, the apparatus further comprises a first damping block and a second damping block, wherein:
one end of the first damping block is provided with an arc concave surface, and the arc concave surface is matched and assembled with the outer wall of the first rotating shaft; one end of the second damping block is provided with an arc concave surface, and the arc concave surface is matched and assembled with the outer wall of the second rotating shaft; the other end of the first damping block and the other end of the second damping block are assembled in a matching mode, and the second damping block is partially arranged in the blind hole;
when the locking knob is rotated along the second direction to enable one end of the locking knob to be abutted against the second rotating shaft, the locking knob is sequentially locked between the first rotating shaft and the first damping block, between the first damping block and the second damping block and between the second damping block and the second rotating shaft.
In an optional embodiment, a friction part is arranged on the arc concave surface of the first damping block; a friction part is arranged on the arc concave surface of the second damping block; and a friction part is arranged at the other end of the first damping block and/or the other end of the second damping block.
According to another aspect of an embodiment of the present invention, there is provided a multiple degree of freedom connecting rod type support locking device, including:
a support base configured to support a medical instrument;
a posture adjustment unit configured to adjust the support base to change a posture of the medical instrument;
the posture adjusting unit comprises a first rotating shaft, a second rotating shaft and a third rotating shaft;
the first rotating shaft is arranged at one end of the third rotating shaft in a non-contact manner, can move along the direction of the axis of the first rotating shaft and rotate around the axis of the first rotating shaft, and one end of the first rotating shaft is fixedly connected with the supporting seat;
the second rotating shaft vertically penetrates through the axis of the third rotating shaft, is connected with the third rotating shaft in a sliding manner, and can move along the direction of the axis of the second rotating shaft and rotate around the axis of the second rotating shaft;
the axis of the third rotating shaft is vertical to the axis of the first rotating shaft, and the third rotating shaft can rotate around the axis of the third rotating shaft so as to synchronously drive the second rotating shaft to rotate;
the posture adjusting unit also comprises a locking knob, and when one end of the locking knob is abutted against the second rotating shaft, the degrees of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft are synchronously locked; when the one end of the locking knob is released from abutting with the second rotating shaft, the locking constraint on the degree of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft is synchronously released.
In an alternative embodiment, the third shaft includes a first end and a second end, wherein:
the first end part is provided with a blind hole extending along the axis of the third rotating shaft, waist-shaped holes are symmetrically formed in the side wall of the blind hole, and the second rotating shaft penetrates through the waist-shaped holes; the second end portion is provided with a threaded hole extending along the axis of the third rotating shaft, the threaded hole is communicated with the blind hole, one end of the locking knob is in threaded connection with the threaded hole, and the locking knob is screwed into the blind hole and then is abutted to the second rotating shaft.
In an alternative embodiment, the first rotating shaft penetrates through the matching surfaces of the first shell and the second shell and is in clearance fit with the matching surfaces; the first end of the third rotating shaft is connected with the second shell in a clamping mode, so that the first rotating shaft is arranged at one end of the third rotating shaft in a non-contact mode.
In an optional embodiment, a stepped hole is formed in the end portion of the second housing, which is clamped with the third rotating shaft, a boss is arranged on the end face of the first end portion of the third rotating shaft, and the boss is clamped in the stepped hole to realize the clamping connection.
In an optional embodiment, the apparatus further comprises a first damping block and a second damping block, wherein:
one end of the first damping block is provided with an arc concave surface, and the arc concave surface is matched and assembled with the outer wall of the first rotating shaft; one end of the second damping block is provided with an arc-shaped concave surface, and the arc-shaped concave surface is matched and assembled with the outer wall of the second rotating shaft; the other end of the first damping block and the other end of the second damping block are matched and assembled, and the second damping block is partially arranged in the blind hole.
In an optional embodiment, a friction part is arranged on the arc concave surface of the first damping block; a friction part is arranged on the arc concave surface of the second damping block; and a friction part is arranged at the other end of the first damping block and/or the other end of the second damping block.
The technical scheme of the invention has the following advantages or beneficial effects:
(1) In the embodiment of the invention, only the supporting seat is adopted, and a supporting device commonly used in the prior art is omitted, so that various inconveniences caused by integrally adjusting the postures of the supporting device and the medical instrument are avoided. In the using method, an adjusting space with 5 degrees of freedom is provided by arranging the three rotating shafts, and the degrees of freedom of the three rotating shafts can be synchronously controlled by adopting one locking knob; after the medical instrument is fixed, the multi-degree-of-freedom connecting rod mechanism of the supporting seat rotates and moves, an ideal position and angle suitable for operation can be found easily, the posture of the medical instrument can be locked at any position and angle, the convenience of operation is greatly improved, and the accuracy of the operation is improved.
(2) The clamping connection of the third rotating shaft and the second shell not only solves the assembling problem of the third rotating shaft, but also enables the third rotating shaft to rotate relative to the second shell and along the axis of the third rotating shaft, thereby driving the second rotating shaft to rotate and facilitating the posture adjustment of the medical instrument.
(3) Through setting up first damping piece and second damping piece, its effectual three pivot of connecting makes the degree of freedom through three pivots of only locking knob control possible to make things convenient for the operator to control the degree of freedom of three pivots, reduced the adjustment degree of difficulty of apparatus.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic view of an assembly structure of a multiple degree of freedom connecting rod type support locking device according to an embodiment of the present invention;
FIG. 2 is an exploded view of the core structure of a multiple degree of freedom connecting rod type bracing and locking device according to an embodiment of the invention;
FIG. 3 is a schematic view of a core locking structure of a multiple degree of freedom connecting rod type support locking device according to an embodiment of the present invention;
FIG. 4 is a cross-sectional schematic view of a multiple degree of freedom connecting rod support locking apparatus according to an embodiment of the present invention;
fig. 5 is a schematic view of a third rotary shaft of the multiple degree of freedom connecting rod type support locking apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic view of a first damping mass of a multiple degree of freedom connecting rod support and locking device according to an embodiment of the present invention;
fig. 7 is a schematic view of a second damping block of a multiple degree of freedom connecting rod type support locking apparatus according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
To address at least one of the problems of the background art, a method for using a multiple degree of freedom connecting rod type support locking device is provided according to an aspect of an embodiment of the present invention. In use, the first step in the method is to removably mount the medical device 501 on the support base. As shown in fig. 1 and 2, the support base 300 is disposed at an end, such as a tip, of the first rotating shaft 101. The support base 300 can be provided with a universal interface so as to be connected with various types of medical instruments, and the interface is convenient for the detachment and installation of the medical instruments. It should be noted that in the embodiment of the present invention, only the supporting seat is adopted, and a supporting device commonly used in the prior art is omitted, so that inconvenience caused by overall adjustment of the posture of the supporting device and the medical instrument is avoided. It can be understood that the supporting device in the related art has a relatively large mass in common with the medical instrument, which is a main reason why the posture of the medical instrument is inconvenient to adjust. The posture adjustment comprises the spatial position movement adjustment and the spatial position rotation adjustment of the medical instrument. Secondly, rotating the locking knob 104 along the first direction to synchronously release the freedom degree constraint of the first rotating shaft 101, the second rotating shaft 102 and the third rotating shaft 103; the synchronous release here means that the control of the degree of freedom of the three rotating shafts is realized by only using the locking knob as a unique control mechanism, which greatly reduces the operation difficulty of the instrument and is convenient for an operator to use. In the second step, at least one of the first rotating shaft 101, the second rotating shaft 102 and the third rotating shaft 103 is adjusted to obtain the target posture of the medical instrument. The target pose may be any desired pose of the medical instrument by the operator. After the attitude is adjusted, the operator can rotate the locking knob 104 in the second direction to lock the degrees of freedom of the first, second, and third shafts synchronously. The second direction is opposite to the first direction, and the two directions greatly simplify the learning and operation difficulty of the user. As shown in fig. 1 and 2, the first rotating shaft 101 is provided at one end of the third rotating shaft 103 without contact, and is movable in the direction of its own axis and rotatable around its own axis; the second rotating shaft 102 vertically penetrates through the axis of the third rotating shaft 103 and then is connected with the third rotating shaft in a sliding manner, and can move along the direction of the axis of the second rotating shaft and rotate around the axis of the second rotating shaft. In one embodiment as shown in fig. 5, a through waist-shaped hole 506 may be formed on the third shaft, and then the second shaft is inserted into the waist-shaped hole; in an alternative embodiment, the inner wall of the kidney-shaped hole is in clearance fit with the second rotating shaft, so that the second rotating shaft can slide along the axis of the third rotating shaft. The axis of the third rotating shaft is vertical to the axis of the first rotating shaft, and the third rotating shaft can rotate around the axis of the third rotating shaft so as to synchronously drive the second rotating shaft to rotate. In the above embodiment, three rotating shafts are provided, and each rotating shaft can rotate along its own axis, that is, an adjustment space with 3 rotational degrees of freedom is provided. Meanwhile, the first rotating shaft and the second rotating shaft can move along the axes of the first rotating shaft and the second rotating shaft respectively, and a movement space with 2 degrees of freedom is provided. Therefore, the above-mentioned embodiment can realize the posture adjustment of 5 degrees of freedom of the medical instrument through the spatial matching relationship of the three rotating shafts. When the locking knob is used, when an operator rotates the locking knob along the second direction to enable one end of the locking knob to be abutted against the second rotating shaft, the degrees of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft are synchronously locked; when the locking knob is rotated along the first direction to enable the one end to be released from abutting connection with the second rotating shaft, locking constraint on the degree of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft is synchronously released. Therefore, the use method of the invention can easily find the ideal position and angle suitable for the operation by rotating and moving the multi-degree-of-freedom link mechanism of the supporting seat after the medical instrument is fixed on the supporting seat 300, and can lock the posture of the medical instrument at any position and angle, thereby improving the accuracy of the operation. The link mechanism comprises the first rotating shaft, the second rotating shaft and the third rotating shaft. The use method avoids the problem that the supporting device and the medical instrument need to be integrally adjusted in the related art, and reduces the operation difficulty.
In an alternative embodiment, as shown in fig. 5, the third rotating shaft 103 includes a first end portion 304 and a second end portion 302, wherein the first end portion is provided with a blind hole 505 extending along the axis of the third rotating shaft, side walls of the blind hole are symmetrically provided with a kidney-shaped hole 506, and the second rotating shaft 102 penetrates through the kidney-shaped hole 506; the second end portion 302 is provided with a threaded hole 507 extending along the axis of the third rotating shaft, the threaded hole is communicated with the blind hole, one end of the locking knob 104 is in threaded connection with the threaded hole, and the locking knob is screwed into the blind hole and then is abutted to the second rotating shaft. In the embodiment shown in fig. 2, the third shaft provides not only one degree of rotational freedom, but also a mounting portion for the second shaft and a control mounting portion for the locking knob. Specifically, the third rotating shaft includes a first end portion 304 on the left side, which has a hollow blind hole 505, and a second end portion 302 on the right side, which has a threaded hole 507, and the threaded hole and the blind hole are coaxially arranged and are coaxial with the third rotating shaft. In practical use, the side wall of the blind hole is symmetrically provided with a waist-shaped hole 506, the second rotating shaft penetrates through the waist-shaped hole, and the end, with the thread, of the locking knob is screwed into the threaded hole. When the freedom degree of each rotating shaft needs to be locked, the locking knob can be screwed into the blind hole and abutted against the side wall of the second rotating shaft, and the locking knob is pushed to the direction of the first rotating shaft.
In an alternative embodiment, the device includes a first housing 201 and a second housing 202, wherein the first shaft 101 penetrates through a mating surface between the first housing and the second housing and is in clearance fit with the mating surface; the first end of the third rotating shaft 103 is engaged with the second housing, so that the first rotating shaft is disposed at one end of the third rotating shaft without contact. In an alternative embodiment, as shown in fig. 4, a stepped hole is formed in an end portion of the second housing, which is engaged with the third rotating shaft, and a boss is arranged on an end surface of the first end portion of the third rotating shaft, and the boss is engaged with the stepped hole to achieve the engagement connection. In the embodiment shown in fig. 2, the first housing and the second housing each have a semicircular structure, and the two semicircular structures are spliced to form a substantially circular structure to accommodate the first rotating shaft, and the first rotating shaft can rotate or move in the matching surface between the first housing and the second housing to adjust the degree of freedom. In one embodiment, in order to connect the third rotating shaft, an annular protrusion is provided on an end surface of the first end portion of the third rotating shaft, and a stepped hole is provided inside the second housing. During assembly, the third rotating shaft penetrates into the stepped hole from one side, and the protrusion is clamped and connected with the stepped hole to connect the third rotating shaft with the second shell. Accordingly, the first housing and the second housing may be fixedly connected by a connecting member, including but not limited to a screw. The clamping connection not only solves the assembly problem of the third rotating shaft, but also enables the third rotating shaft to rotate relative to the second shell and along the axis of the third rotating shaft, so that the second rotating shaft is driven to rotate, and the posture of the medical instrument can be conveniently adjusted.
In an alternative embodiment, the device further comprises a first damping block 401 and a second damping block 402, wherein, as shown in fig. 6, one end of the first damping block is provided with an arc concave surface 702, and the arc concave surface 702 is matched and assembled with the outer wall of the first rotating shaft; as shown in fig. 7, one end of the second damping block has an arc concave 601, and the arc concave 601 is fitted with the outer wall of the second rotating shaft; as shown in fig. 7, the other end of the first damping mass and the other end 602 of the second damping mass are fitted, and the second damping mass is partially disposed in the blind hole. In the embodiment shown in fig. 6, a protrusion 701 is disposed at the end of the first damping block connected to the second damping block, and correspondingly, a circular hole 603 is disposed at the end of the second damping block connected to the first damping block, and the protrusion 701 is inserted into the circular hole 603. When the locking knob is rotated along the second direction to enable one end of the locking knob to be abutted to the second rotating shaft, the first rotating shaft and the first damping block, the first damping block and the second rotating shaft are sequentially locked. In the embodiment shown in fig. 2 and 3, in order to realize synchronous control of the degrees of freedom of the three rotating shafts by one locking knob, the embodiment solves the problem by arranging two damping blocks. In particular, as can be seen from the foregoing description, the three shafts are orthogonal to each other, and the second shaft and the third shaft are coupled together in a matching manner, so that it is necessary to further couple the first shaft and the second shaft or the third shaft, so that there is a mechanical coupling relationship between the three shafts, thereby making it possible to control the degrees of freedom of the three shafts by using one locking knob. Specifically, a first damping block 401 and a second damping block 402 are arranged in the device, and one end, such as the left end, of the first damping block is provided with an arc concave surface which is matched and assembled with the outer wall of the first rotating shaft; one end of the second damping block is provided with an arc concave surface, and if the right end of the second damping block is provided with an arc concave surface, the arc concave surface is matched and assembled with the outer wall of the second rotating shaft; the other end of the first damping block and the other end of the second damping block are assembled in a matching mode, and the second damping block is partially arranged in the blind hole; when the locking knob is loosened, the screw rod of the locking knob is separated from the second rotating shaft so as to eliminate the thrust applied to the rotating shaft 2, the corresponding second rotating shaft does not apply the thrust to the second damping block, the second damping block does not apply the thrust to the first damping block, and the first damping block does not apply the thrust to the first rotating shaft; thereby releasing the degree of freedom constraint between the structures. At this time, the first rotating shaft can rotate and move relative to the first damping block, the first damping block and the second damping block can rotate relative to each other, and the second rotating shaft can rotate and move relative to the second damping block. Namely, the supporting seat can rotate freely or adjust the spatial position thereof, thereby facilitating the users to adjust the posture of the medical appliance. When the locking knob is in a locking state, the screw of the locking knob applies thrust to the second rotating shaft, the second rotating shaft applies thrust to the second damping block, the second damping block applies thrust to the first damping block, and the first damping block applies thrust to the first rotating shaft. At this time, the rotation and movement of the first rotating shaft and the first damping block are locked, the rotation of the first damping block and the second damping block is locked, and the rotation and movement of the second rotating shaft and the second damping block are locked. Namely, the supporting seat is locked, and the degree of freedom of the whole connecting rod structure is locked.
In an optional embodiment, a friction part is arranged on the arc concave surface of the first damping block; a friction part is arranged on the arc concave surface of the second damping block; and a friction part is arranged at the other end of the first damping block and/or the other end of the second damping block. In an alternative embodiment, in order to stabilize the adjusted structural locking state, in one embodiment, a friction part is further provided on each end surface of the first damping block and the second damping block to increase the friction force on the mating surfaces thereof. The friction portion has an uneven structure, such as a saw-tooth structure.
According to another aspect of the embodiments of the present invention, there is provided a multiple degree of freedom connecting rod type bracing and locking device, which has the same functions as the same structural features described in the method of the first aspect of the present invention and will not be described herein. Specifically, the device comprises: a support base 300 configured to support a medical instrument; an attitude adjusting unit 100 configured to adjust the support base to change an attitude of the medical instrument; the posture adjusting unit comprises a first rotating shaft, a second rotating shaft and a third rotating shaft; the first rotating shaft is arranged at one end of the third rotating shaft in a non-contact manner, can move along the direction of the axis of the first rotating shaft and can rotate around the axis of the first rotating shaft, and one end of the first rotating shaft is fixedly connected with the supporting seat; the second rotating shaft vertically penetrates through the axis of the third rotating shaft, is connected with the third rotating shaft in a sliding manner, and can move along the direction of the axis of the second rotating shaft and rotate around the axis of the second rotating shaft; the axis of the third rotating shaft is vertical to the axis of the first rotating shaft, and the third rotating shaft can rotate around the axis of the third rotating shaft so as to synchronously drive the second rotating shaft to rotate; the posture adjusting unit also comprises a locking knob, and when one end of the locking knob is abutted against the second rotating shaft, the degrees of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft are synchronously locked; when the one end of the locking knob is released from abutting with the second rotating shaft, the locking constraint of the degrees of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft is synchronously released.
In an optional embodiment, the third rotating shaft includes a first end portion and a second end portion, wherein the first end portion is provided with a blind hole extending along an axis of the third rotating shaft, side walls of the blind hole are symmetrically provided with waist-shaped holes, and the second rotating shaft penetrates through the waist-shaped holes; the second end portion is provided with a threaded hole extending along the axis of the third rotating shaft, the threaded hole is communicated with the blind hole, one end of the locking knob is in threaded connection with the threaded hole, and the locking knob is screwed into the blind hole and then is abutted to the second rotating shaft.
In an alternative embodiment, the first rotating shaft penetrates through the matching surfaces of the first shell and the second shell and is in clearance fit with the matching surfaces; the first end of the third rotating shaft is connected with the second shell in a clamping mode, so that the first rotating shaft is arranged at one end of the third rotating shaft in a non-contact mode.
In an optional embodiment, a stepped hole is formed in the end portion of the second housing, which is clamped with the third rotating shaft, a boss is arranged on the end face of the first end portion of the third rotating shaft, and the boss is clamped in the stepped hole to realize the clamping connection.
In an alternative embodiment, the apparatus further comprises a first damping mass and a second damping mass, wherein,
one end of the first damping block is provided with an arc concave surface, and the arc concave surface is matched and assembled with the outer wall of the first rotating shaft; one end of the second damping block is provided with an arc-shaped concave surface, and the arc-shaped concave surface is matched and assembled with the outer wall of the second rotating shaft; the other end of the first damping block and the other end of the second damping block are matched and assembled, and the second damping block is partially arranged in the blind hole.
In an optional embodiment, a friction part is arranged on the arc concave surface of the first damping block; a friction part is arranged on the arc concave surface of the second damping block; and a friction part is arranged at the other end of the first damping block and/or the other end of the second damping block.
The above-described embodiments should not be construed as limiting the scope of the invention. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (7)
1. A multi-freedom-degree connecting rod type supporting and locking device comprises:
a support base configured to support a medical instrument;
an attitude adjustment unit configured to adjust the support base to change an attitude of the medical instrument;
the method is characterized in that:
the posture adjusting unit comprises a first rotating shaft, a second rotating shaft and a third rotating shaft;
the first rotating shaft is arranged at one end of the third rotating shaft in a non-contact manner, can move along the direction of the axis of the first rotating shaft and rotate around the axis of the first rotating shaft, and one end of the first rotating shaft is fixedly connected with the supporting seat;
the second rotating shaft vertically penetrates through the axis of the third rotating shaft, is connected with the third rotating shaft in a sliding manner, and can move along the direction of the axis of the second rotating shaft and rotate around the axis of the second rotating shaft;
the axis of the third rotating shaft is vertical to the axis of the first rotating shaft, and the third rotating shaft can rotate around the axis of the third rotating shaft so as to synchronously drive the second rotating shaft to rotate;
the posture adjusting unit further comprises a locking knob, and when one end of the locking knob is abutted to the second rotating shaft, the degrees of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft are synchronously locked; when the one end of the locking knob is released from abutting with the second rotating shaft, the locking constraint on the degree of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft is synchronously released.
2. The multiple degree of freedom connecting rod type support locking device of claim 1,
the third rotating shaft comprises a first end part and a second end part, wherein
The first end part is provided with a blind hole extending along the axis of the third rotating shaft, waist-shaped holes are symmetrically formed in the side wall of the blind hole, and the second rotating shaft penetrates through the waist-shaped holes; the second end portion is provided with a threaded hole extending along the axis of the third rotating shaft, the threaded hole is communicated with the blind hole, one end of the locking knob is in threaded connection with the threaded hole, and the locking knob is screwed into the blind hole and then is abutted to the second rotating shaft.
3. The multiple degree of freedom connecting rod type support locking device of claim 2,
the device also comprises a first shell and a second shell, wherein the first rotating shaft penetrates through a matching surface between the first shell and the second shell and is in clearance fit with the matching surface; the first end of the third rotating shaft is connected with the second shell in a clamping mode, so that the first rotating shaft is arranged at one end of the third rotating shaft in a non-contact mode.
4. The multiple degree of freedom connecting rod type support locking device of claim 3,
the end part of the second shell clamped with the third rotating shaft is provided with a step hole, the end face of the first end part of the third rotating shaft is provided with a boss, and the boss is clamped in the step hole to realize clamping connection.
5. The multiple degree of freedom connecting rod type support locking device of claim 4,
the device also comprises a first damping block and a second damping block, wherein
One end of the first damping block is provided with an arc concave surface, and the arc concave surface is matched and assembled with the outer wall of the first rotating shaft; one end of the second damping block is provided with an arc concave surface, and the arc concave surface is matched and assembled with the outer wall of the second rotating shaft; the other end of the first damping block and the other end of the second damping block are assembled in a matching mode, and the second damping block is partially arranged in the blind hole.
6. The multiple degree of freedom connecting rod type support locking device of claim 5,
a friction part is arranged on the arc concave surface of the first damping block; a friction part is arranged on the arc concave surface of the second damping block; and a friction part is arranged at the other end of the first damping block and/or the other end of the second damping block.
7. A method of using the multiple degree of freedom connecting rod type bracing and locking device according to any one of claims 1 to 6, wherein:
detachably mounting a medical instrument on a support seat of the device;
rotating the locking knob along a first direction to synchronously remove the freedom degree constraint of the first rotating shaft, the second rotating shaft and the third rotating shaft;
adjusting at least one of the first rotating shaft, the second rotating shaft and the third rotating shaft to obtain a target posture of the medical instrument;
rotating the locking knob along a second direction to synchronously lock the freedom degrees of the first rotating shaft, the second rotating shaft and the third rotating shaft;
wherein the content of the first and second substances,
the first rotating shaft is arranged at one end of the third rotating shaft in a non-contact manner, and can move along the direction of the self axis and rotate around the self axis;
the second rotating shaft vertically penetrates through the axis of the third rotating shaft, is connected with the third rotating shaft in a sliding manner, and can move along the direction of the axis of the second rotating shaft and rotate around the axis of the second rotating shaft;
the axis of the third rotating shaft is vertical to the axis of the first rotating shaft, and the third rotating shaft can rotate around the axis of the third rotating shaft so as to synchronously drive the second rotating shaft to rotate;
when the locking knob is rotated along the second direction to enable one end of the locking knob to be abutted against the second rotating shaft, the degrees of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft are synchronously locked; when the locking knob is rotated along the first direction to enable the one end to be released from abutting connection with the second rotating shaft, locking constraint on the degree of freedom of the first rotating shaft, the second rotating shaft and the third rotating shaft is synchronously released.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211416906.2A CN115444585B (en) | 2022-11-14 | 2022-11-14 | Multi-degree-of-freedom connecting rod type supporting and locking device and using method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211416906.2A CN115444585B (en) | 2022-11-14 | 2022-11-14 | Multi-degree-of-freedom connecting rod type supporting and locking device and using method |
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| CN115444585A true CN115444585A (en) | 2022-12-09 |
| CN115444585B CN115444585B (en) | 2023-03-14 |
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| CN202211416906.2A Active CN115444585B (en) | 2022-11-14 | 2022-11-14 | Multi-degree-of-freedom connecting rod type supporting and locking device and using method |
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|---|---|
| CN115444585B (en) | 2023-03-14 |
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Address after: 201207 3rd floor, building 1, 400 Fangchun Road, Pudong New Area, Shanghai Patentee after: Shanghai Huihe Medical Instrument Co.,Ltd. Patentee after: Shanghai Huihe Medical Technology Co.,Ltd. Address before: 201207 3rd floor, building 1, 400 Fangchun Road, Pudong New Area, Shanghai Patentee before: Shanghai Huihe Medical Instrument Co.,Ltd. Patentee before: Shanghai Huihe Medical Technology Co.,Ltd. |