CN115645066A

CN115645066A - Adjustable supporting device of interventional operation robot

Info

Publication number: CN115645066A
Application number: CN202211424724.XA
Authority: CN
Inventors: 赵煌旋; 郑传胜; 向东桥; 陈磊
Original assignee: Tongji Medical College of Huazhong University of Science and Technology
Current assignee: Tongji Medical College of Huazhong University of Science and Technology
Priority date: 2022-11-14
Filing date: 2022-11-14
Publication date: 2023-01-31
Anticipated expiration: 2042-11-14
Also published as: CN115645066B

Abstract

The invention relates to the technical field of blood vessel interventional operation equipment, and discloses an adjustable supporting device of an interventional operation robot, which comprises a connecting part for fixing a slave end of the interventional operation robot, a first supporting arm used for being connected with the connecting part, a second supporting arm used for being connected with the first supporting arm and a height adjusting part used for being connected with the second supporting arm, wherein rotary adjusting parts are arranged between the connecting part and the first supporting arm and between the first supporting arm and the second supporting arm, the rotary adjusting parts are provided with rotary positioning devices used for limiting the rotary adjusting angles, and the height adjusting parts are arranged on a movable supporting device.

Description

Adjustable supporting device of interventional operation robot

Technical Field

The invention relates to the technical field of vascular interventional operation equipment, in particular to an adjustable supporting device of an interventional operation robot.

Background

The minimally invasive vascular interventional therapy is a main treatment means for vascular diseases, can reduce the wound and pain of a patient caused by the traditional operation, has short postoperative recovery time, and can effectively improve the utilization rate of medical resources. However, in conventional vascular intervention, a physician manually introduces instruments such as a catheter, a guide wire and a stent into a patient. On one hand, in the operation process, due to the influence of radioactive rays, the physical strength of a doctor is reduced quickly, the attention and the stability are reduced, the operation precision is reduced, accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to happen, and the life risk of a patient is caused. On the other hand, the cumulative damage of long-term ionizing radiation can greatly increase the probability of patients suffering from leukemia, cancer and acute cataract, and seriously threaten the occupational life safety of doctors.

The operation method for remotely operating the catheter and the guide wire by means of the robot technology can effectively solve the problems, so that the precision and the stability of the operation can be greatly improved, the efficiency and the cure rate of the operation can be greatly improved by improving the precision and the accuracy of the operation, the injury of radiation to a doctor with a main knife can be effectively reduced, and the occurrence probability of accidents in the operation can be reduced. Therefore, the assisted robot for cardiovascular and cerebrovascular interventional surgery is more and more concerned by people and gradually becomes a key research and development object in the field of medical robots in all the science and technology strong countries at present.

In the prior art, before blood vessel intervention operation, the slave end equipment of the interventional operation robot needs to be installed on an operation bed, and then the angle and the position of the slave end equipment of the interventional operation robot relative to the operation bed are adjusted according to the body information and the operation position of a patient, so that the operation position of the slave end equipment of the robot is matched with the operation position of the patient, and smooth operation is ensured. Therefore, an adjustable supporting structure of the driven end equipment of the interventional surgical robot is needed to assist in rotating and moving the driven end equipment of the interventional surgical robot, most of the existing adjustable supporting devices are complex in structure, the requirements of multi-directional rotation and height adjustment of the driven end equipment of the interventional surgical robot are difficult to meet simultaneously, and improvement is needed urgently.

Disclosure of Invention

The invention aims to provide an adjustable supporting device of an interventional operation robot, which can effectively ensure the requirements of the angle, the position and the height of the interventional operation robot driven end equipment during operation and the stability during operation, and has the advantages of simple structure, good safety, convenient operation, high precision and good reliability.

The technical purpose of the invention is realized by the following technical scheme:

the utility model provides an intervene adjustable strutting arrangement of surgical robot, including be used for fixed surgical robot from the connecting portion of end, be used for with the first support arm that connecting portion are connected, be used for the second support arm be connected with first support arm and be used for the altitude mixture control portion of being connected with the second support arm, connecting portion with the junction of first support arm with all be equipped with rotation regulation portion between the junction of first support arm and second support arm, rotation regulation portion installs the rotational positioning device who is used for restricting rotation regulation angle, altitude mixture control portion installs on removing strutting arrangement.

By adopting the technical scheme, after the interventional operation robot driven end equipment is connected with the connecting part, according to actual operation needs, the connecting part and the first support arm are automatically controlled by the rotary adjusting part arranged between the connecting part and the connecting part of the first support arm and the second support arm, and the first support arm and the second support arm rotate at different angles relatively, so that the interventional operation robot driven end equipment is adjusted at different angles relative to the operating table.

The invention is further configured as follows: the height adjusting part comprises a supporting column connected with the second supporting arm, the lower end of the supporting column is in sliding fit with a supporting cylinder fixed on the movable supporting device, one end of the supporting column in sliding fit with the movable supporting cylinder is provided with a plurality of annular grooves I coaxial with the supporting column, the upper end of the supporting cylinder is provided with a first pin hole, and a first fixing bolt is arranged in the first pin hole.

Through adopting the above-mentioned technical scheme, according to the operation demand, when needs carry out altitude mixture control, make fixed bolt one and ring channel one separation, but relative slip between support column this moment and the support cylinder, slide from top to bottom along the support cylinder through the drive support column, can realize carrying out altitude mixture control to the support column, thereby realize fixing the second support arm in the support column upper end, first support arm, connecting portion and the intervention operation robot slave end equipment of being connected with connecting portion carry out altitude mixture control, through inserting fixed bolt one in pinhole one and the ring channel one relative with pinhole one position after the altitude mixture control is accomplished, make the unable longitudinal movement of support column, thereby realize fixing the second support arm in the support column upper end, first support arm, connecting portion and the intervention operation robot slave end equipment of being connected with connecting portion carry out height limiting, avoid intervention operation robot slave end equipment to appear the circumstances that reciprocates in the in-process of performing the operation, the stability of intervention operation robot slave end equipment when performing the operation has been guaranteed greatly, and simple structure, and convenient operation.

The invention is further provided with: an angle adjusting cylinder is still established to the cover on the support column, be equipped with a helicla flute that runs through on the angle adjusting cylinder, the helicla flute with fix the fixed pin sliding fit on the support column, an angle adjusting cylinder still with adjust the telescopic shaft of cylinder, adjust the cylinder and fix on removing strutting arrangement.

Through adopting above-mentioned technical scheme, after fixing pin inserts ring channel one, the unable longitudinal movement of support column, but circumferential direction, therefore, after starting the air cylinder, the telescopic shaft of air cylinder stretches out and drives angle modulation section of thick bamboo along support column upward movement, angle modulation section of thick bamboo is when along support column upward movement, the helicla flute on the angle modulation section of thick bamboo constantly extrudees the fixed pin of fixing on the support column, thereby make support column circumferential direction rotate, and the flexible length of the telescopic shaft through control adjustment cylinder, can effectively control the movement distance of angle modulation section of thick bamboo, thereby effectively control the circumference rotation angle size of support column, realized fixing the second support arm at the support column upper end, first support arm, connecting portion and the intervention operation robot driven end equipment of being connected with connecting portion carry out circumference rotation angle and adjust, guaranteed that intervention operation robot driven end equipment is suitable angle for the operation table, further make the operation position of intervention operation robot driven end equipment and patient's operation position phase-match, guarantee going on smoothly of operation.

The invention is further provided with: the upper end of the support column is provided with a second annular groove, the outer wall of the angle adjusting cylinder is provided with a second pin hole, and a second fixing bolt is arranged in the second pin hole.

Through adopting above-mentioned technical scheme, after the angle modulation of intervene operation robot driven end equipment for the operation table is accomplished, adjust cylinder stop work, insert back in the ring channel two with fixing bolt two this moment, the unable support column longitudinal movement of following again of angle modulation section of thick bamboo, consequently, the support column can not the rotation about can not under the helicla flute extrusion, guarantee to intervene operation robot driven end equipment and can not control rocking at the in-process of operation, consequently, stability when further having guaranteed to intervene operation robot driven end equipment operation.

The invention is further configured as follows: the rotary adjusting part comprises an adjusting motor and a fluted disc, the adjusting motor and the fluted disc are respectively fixed at two connecting ends of the connecting part, and a first gear meshed with the fluted disc is arranged on an output shaft of the adjusting motor.

Through adopting above-mentioned technical scheme, it is rotatory to control gear one through the output shaft rotation of control accommodate motor, drive when rotatory back drive of gear one rather than the fluted disc tooth of meshing and link relative rotation rather than fixed connection, utilize two links of rotation regulation portion to select the pairing rotation can realize connecting portion and first support arm, relative rotation between first support arm and the second support arm, thereby realize connecting portion and first support arm, the control of different angles is adjusted between first support arm and the second support arm, the regulation of the angle of intervention operation robot driven end equipment after further having realized being connected with the operation table, further accurate the control of the relative position and the angle with the operation position of intervention operation robot driven end equipment.

The invention is further configured as follows: the utility model discloses an angle sensor, including adjusting motor, regulating motor, fluted disc, angle sensor and adjusting motor, adjusting motor one side still is equipped with an angle sensor, angle sensor and adjusting motor install in the junction with one end, still be equipped with a pinion in angle sensor's the pivot, pinion and fluted disc meshing, angle sensor and adjusting motor all are connected with the controller electricity.

By adopting the above technical scheme, the controller is used for sending angle accommodate instruction to accommodate motor, accommodate motor rotates certain angle according to the accommodate instruction received, accommodate motor pivoted in-process drives the fluted disc through gear one and rotates, the fluted disc pivoted still drives the pinion rotation rather than the kernel simultaneously, because the pinion is fixed in angle sensor's pivot, consequently, pinion rotation time can drive angle sensor's pivot synchronous rotation, the turned angle of fluted disc can be surveyed according to pivot pivoted angle, angle sensor feeds back to the controller after turning angle information of fluted disc turns into the signal of telecommunication, and adjust accommodate motor's rotational speed through controller send-out instruction, thereby realize angle regulation's closed-loop control, make angle accommodation process reliability higher, the precision is higher.

The invention is further configured as follows: the rotary positioning device comprises a positioning block arranged at the same end of the joint with the fluted disc, the positioning block is fixedly connected with the telescopic shaft of the positioning cylinder, the connection is connected, the gear teeth on the positioning block located on the fluted disc are opposite, and the positioning block is made of rubber.

By adopting the technical scheme, after the adjustment of the relative rotation angle between the connecting portion and the first support arm and between the first support arm and the second support arm is completed, the adjusting motor stops working and the positioning cylinder is started, the positioning cylinder drives the positioning block to move towards one side close to the fluted disc so as to tightly abut against the fluted disc, the fluted disc is fixed, and the positioning block is made of rubber, so that the positioning block can be embedded into a gap between inward teeth on the fluted disc after the positioning block abuts against the fluted disc and realize the mutual occlusion effect, the fixing effect of the fluted disc is further ensured, the relative rotation angle between the connecting portion and the first support arm and between the first support arm and the second support arm is ensured to be adjusted and then the rotation adjusting portion is locked, the relative angle between the connecting portion and the first support arm and between the first support arm and the second support arm is fixed, the risk of accidents caused by the random swinging of the connecting portion, the first support arm and the second support arm in the operation process is avoided, and the stability and reliability of the driven end device of the interventional surgical robot in the operation are further ensured.

The invention is further configured as follows: the movable supporting device comprises a movable supporting plate, the supporting cylinder is fixed above the movable supporting plate, and a plurality of universal wheels used for walking are arranged at the bottom of the movable supporting plate.

Through adopting above-mentioned technical scheme, remove the backup pad and pass through the universal wheel and realize the bulk movement to the transfer of different positions when accomodating or using is convenient, laborsaving when guaranteeing the operation doctor operation.

The invention is further configured as follows: the utility model discloses a support the operation table, including a support section of thick bamboo, still be equipped with on the outer wall of a support section of thick bamboo with the T type platform sliding fit's of operation table side slide rail, be equipped with the locating hole on the slide rail, the axis of locating hole is located the coplanar with the axis of pinhole one, T type bench is equipped with a plurality ofly and different operation position assorted mating holes of human body, the locating hole can be connected with different mating holes through the locating pin, the upper end of locating pin is passed through reset spring and is connected with the top of slide rail, the top of locating pin still is equipped with toothed portion's cam, the cam passes through the cam pivot and is connected with the mount rotation, the mount is fixed on the slide rail, toothed portion sets up the main aspects outer fringe at the cam, the tip outer fringe of cam offsets with the top of fixing bolt, the toothed portion of cam with fix the rack toothing in a fixing bolt bottom.

By adopting the technical scheme, before an operation, the movable supporting device is moved from one side of the operation bed to the direction close to the operation bed, the sliding rail on the outer wall of the supporting cylinder is ensured to be opposite to the T-shaped table on the side of the operation bed until the sliding rail on the outer wall of the supporting cylinder is matched with the T-shaped table on the side of the operation bed, then the movable supporting device is continuously moved until the driven end equipment of the interventional operation robot mounted above the movable supporting device reaches the operation position of a patient, at the moment, the positioning hole on the sliding rail is opposite to the matching hole corresponding to the operation position of the patient, then, the adjusting cylinder is started to adjust the driven end equipment of the interventional operation robot to a proper height and then the first fixing bolt is inserted, the first fixing bolt is fixed at the bottom of the first fixing bolt in the process of inserting the first fixing bolt into the annular groove to drive the cam to rotate, the outer circle of the small end of the cam gradually rotates to press the positioning pin into the matching hole, so that the relative positions of the sliding rail and the T-shaped table on the horizontal plane are limited, the driven end equipment is relatively fixed between the movable supporting device and the operation bed, the driven end equipment and the operation bed, and the whole operation bed is convenient and simple operation bed.

The beneficial effects of the invention are:

1. according to the invention, after the interventional operation robot slave end equipment is connected with the connecting part, the connecting part and the first support arm as well as the first support arm and the second support arm can be automatically controlled to rotate at different angles relatively by the rotary adjusting part arranged between the connecting part and the first support arm and between the connecting part and the second support arm according to actual operation requirements, so that the interventional operation robot slave end equipment can be adjusted at different angles relative to the operating table.

2. According to the invention, the support column is connected with the support cylinder and the angle adjusting cylinder through the first fixing bolt and the first fixing bolt, so that the adjusting cylinder is used for adjusting the height and the angle of the support column respectively, and the height and the angle of the adjustment of the driven end equipment of the interventional operation robot arranged on the support column can be adjusted through only one adjusting cylinder.

3. The first fixing bolt is inserted into the first annular groove to realize height limit of the supporting column, and simultaneously can drive the rack driving cam to press the positioning pin into the matching hole to realize limit of the relative position of the sliding rail and the T-shaped table on the horizontal plane, so that relative fixing between the movable supporting device and the operating bed is realized, the limit of the relative position of the driven end equipment of the interventional operation robot and the operation position of a patient on the operating bed on the vertical and horizontal planes is ensured, the operation is ensured to be carried out safely and stably, the transverse and longitudinal fixing of the driven end equipment of the interventional operation robot is realized while the first fixing bolt is fixed in the whole process, the structure is simple, and the operation is convenient.

4. The positioning block made of rubber is adopted to fix the fluted disc, so that the positioning block can be embedded into a gap between the inward teeth parts on the fluted disc after the positioning block is tightly propped against the fluted disc, the mutual meshing effect is realized, the fixing effect of the fluted disc is further ensured, the rotation adjusting part is locked after the relative rotation angle between the connecting part and the first support arm and between the connecting part and the second support arm is adjusted, the relative angle between the connecting part and the first support arm and between the first support arm and the second support arm is fixed, the risk of accidents caused by random swinging of the connecting part, the first support arm and the second support arm in the operation process is avoided, and the stability and the reliability of the slave end equipment of the interventional surgical robot in the operation are further ensured.

5. The rotary adjusting part sends an angle adjusting instruction to the adjusting motor through the controller during angle adjustment, the adjusting motor rotates for a certain angle according to the received adjusting instruction, the fluted disc is driven to rotate through the first gear in the rotating process of the adjusting motor, the fluted disc drives the pinion of the inner core of the fluted disc to rotate simultaneously when rotating, the pinion is fixed on the rotating shaft of the angle sensor, the rotating shaft of the angle sensor can be driven to synchronously rotate when the pinion rotates, the rotating angle of the fluted disc can be measured according to the rotating angle of the rotating shaft, the rotating angle information of the fluted disc is converted into an electric signal by the angle sensor and then fed back to the controller, and the rotating speed of the adjusting motor is adjusted through the instruction sent by the controller, so that the closed-loop control of angle adjustment is realized, the reliability of the angle adjusting process is higher, and the precision is higher.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced 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 based on these drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of an adjustable supporting device of an interventional operation robot.

Fig. 2 is a partially enlarged schematic view of a in fig. 1.

Fig. 3 is a schematic partial sectional structure view of an adjustable supporting device of an interventional operation robot.

Fig. 4 is a partially enlarged schematic view of B in fig. 3.

Fig. 5 is a partial structural schematic diagram of a rotary adjusting part and a rotary positioning device in the adjustable supporting device of the interventional operation robot.

In the figure, 1 connecting part; 2. a first support arm; 3. a second support arm; 4. a height adjusting section; 401. a support pillar; 402. a support cylinder; 403. a first annular groove; 404. a first pin hole; 405. a first fixing bolt; 406. an angle adjusting cylinder; 407. a helical groove; 408. A fixing pin; 409. an adjusting cylinder; 410. a second annular groove; 411. a pin hole II; 412. a second fixing bolt; 5. a rotation adjusting part; 501. adjusting the motor; 502. a fluted disc; 503. an angle sensor; 504. a pinion gear; 505. a first gear; 6. a rotary positioning device; 601. positioning blocks; 602. positioning the air cylinder; 7. moving the support device; 701. moving the support plate; 702. a universal wheel; 8. an operating bed; 9. a T-shaped table; 10. a slide rail; 11. positioning holes; 12. a mating hole; 13. positioning pins; 14. a return spring; 15. a tooth portion; 16. a cam; 17. a cam shaft; 18. a fixed mount; 19. a rack.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to specific embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, shall fall within the scope of protection of the present invention.

As shown in fig. 1, an adjustable strutting arrangement of intervention operation robot, including be used for fixed intervention operation robot from connecting portion 1 of end, be used for with first support arm 2 that connecting portion 1 is connected, be used for the second support arm 3 be connected with first support arm 2 and be used for the high adjustment portion 4 be connected with second support arm 3, connecting portion 1 with the junction of first support arm 2 with all be equipped with rotation regulation portion 5 between the junction of first support arm 2 and second support arm 3, rotation regulation portion 5 is installed and is used for the rotatory positioner 6 that adjusts angle of regulation of restriction, high adjustment portion 4 is installed on removing strutting arrangement 7.

Specifically, as shown in fig. 2 and 3, the height adjusting portion 4 includes a supporting column 401 connected to the second support arm 3, a lower end of the supporting column 401 is in sliding fit with a supporting cylinder 402 fixed on the movable supporting device 7, one end of the supporting column 401 in sliding fit with the movable supporting cylinder 402 is provided with a plurality of annular grooves one 403 coaxial with the supporting column 401, an upper end of the supporting cylinder 402 is provided with a pin hole one 404, and a fixing pin one 405 is arranged in the pin hole one 404.

Further, an angle adjusting cylinder 406 is further sleeved on the supporting column 401, a penetrating spiral groove 407 is formed in the angle adjusting cylinder 406, the spiral groove 407 is in sliding fit with a fixing pin 408 fixed on the supporting column 401, the angle adjusting cylinder 406 is further connected with an adjusting cylinder 409 telescopic shaft, and the adjusting cylinder 409 is fixed on the movable supporting device 7.

Further, an annular groove II 410 is formed in the upper end of the supporting column 401, a pin hole II 411 is formed in the outer wall of the angle adjusting cylinder 406, and a fixing bolt II 412 is arranged in the pin hole II 411.

Specifically, as shown in fig. 2 and 5, the rotation adjusting portion 5 includes an adjusting motor 501 and a toothed disc 502, the adjusting motor 501 and the toothed disc 502 are respectively fixed at two connecting ends of the connecting portion, and a first gear 505 engaged with the toothed disc 502 is disposed on an output shaft of the adjusting motor 501.

Further, an angle sensor 503 is further arranged on one side of the adjusting motor 501, the angle sensor 503 and the adjusting motor 501 are arranged at the same end of the connecting portion, a pinion 504 is further arranged on a rotating shaft of the angle sensor 503, the pinion 504 is meshed with the fluted disc 502, and the angle sensor 503 and the adjusting motor 501 are both electrically connected with the controller.

Specifically, the rotary positioning device 6 includes a positioning block 601 mounted at the same end of the connection with the toothed disc 502, the positioning block 601 is fixedly connected with the telescopic shaft of the positioning cylinder 602, the positioning block 601 is located on one side of the toothed disc 502, and the positioning block 601 is made of rubber.

Specifically, as shown in fig. 1, the moving support device 7 includes a moving support plate 701, the support cylinder 402 is fixed above the moving support plate 701, and a plurality of universal wheels 702 for walking are disposed at the bottom of the moving support plate 701.

Further, as shown in fig. 1 to 4, a sliding rail 10 which is in sliding fit with a T-shaped table 9 on the side of the operating table 8 is further arranged on the outer wall of the supporting cylinder 402, a positioning hole 11 is arranged on the sliding rail 10, the axis of the positioning hole 11 and the axis of the first pin hole 404 are located on the same plane, a plurality of matching holes 12 which are matched with different surgical positions of a human body are arranged on the T-shaped table 9, the positioning hole 11 can be connected with different matching holes 12 through a positioning pin 13, the upper end of the positioning pin 13 is connected with the top of the sliding rail 10 through a return spring 14, a cam 16 with a tooth portion 15 is further arranged above the positioning pin 13, the cam 16 is rotatably connected with a fixing frame 18 through a cam rotating shaft 17, the fixing frame 18 is fixed on the sliding rail 10, the tooth portion 15 is arranged on the outer edge of the large end of the cam 16, the outer edge of the small end of the cam 16 abuts against the top of the positioning pin 13, and the tooth portion 15 of the cam 16 is engaged with a rack 19 fixed at the bottom of the first fixing pin 405.

The working principle of the invention is as follows: firstly, before an operation, the movable supporting device 7 is moved from one side of the operating bed 8 to a direction close to the operating bed 8, a sliding rail 10 on the outer wall of a supporting cylinder 402 fixed on the movable supporting device 7 is ensured to be opposite to a T-shaped table 9 on the side of the operating bed 8 until the sliding rail 10 on the outer wall of the supporting cylinder 402 is matched with the T-shaped table 9 on the side of the operating bed 8, then the movable supporting device 7 is continuously moved until an interventional operation robot driven end device arranged above the movable supporting device 7 reaches an operation position of a patient, and at the moment, a positioning hole 11 on the sliding rail 10 is opposite to a matching hole 12 corresponding to the operation position of the patient;

then, inserting the second fixed bolt 412 into the second annular groove 410, starting the adjusting motor 501, driving the angle adjusting cylinder 406 to ascend and descend by the adjusting motor 501 to drive the supporting column 401 to ascend and descend, so that the height of the supporting column 401 is adjusted, adjusting the height of the driven end equipment of the interventional operation robot installed above the supporting column 401 by adjusting the height of the supporting column 401, and pulling the second fixed bolt 412 out of the second annular groove 410 until the height of the driven end equipment of the interventional operation robot is matched with the operation requirement;

then, a first fixing bolt 405 is inserted into a corresponding first annular groove 403, so that the supporting column 401 and the supporting cylinder 402 cannot slide relatively, the supporting column 401 cannot move longitudinally, the angle adjusting cylinder 406 can move longitudinally along the supporting column 401, the adjusting cylinder 409 is started again to drive the angle adjusting cylinder 406 to lift up and down, when the angle adjusting cylinder 406 lifts up and down, the supporting column 401 cannot lift up and down under the limit of the first fixing bolt 405, the spiral groove 407 on the angle adjusting cylinder 406 continuously extrudes the fixing pin 408 fixed on the supporting column 401, so that the supporting column 401 rotates circumferentially, the movement distance of the angle adjusting cylinder 406 can be effectively controlled by controlling the telescopic length of the telescopic shaft of the adjusting cylinder 409, the circumferential rotation angle of the supporting column 401 is effectively controlled, circumferential rotation angle adjustment of the driven end equipment of the interventional operation robot fixed on the supporting column 401 is realized until the driven end equipment of the interventional operation robot forms a proper angle relative to the interventional bed 8, and the operation position of the driven end equipment of the interventional operation robot is further matched with the operation position of a patient;

in addition, in the process that the first fixing bolt 405 is inserted into the first annular groove 403, the rack 19 below the first fixing bolt 405 is gradually meshed with the tooth part of the cam 16 and drives the cam 16 to rotate, so that the cam 16 presses the positioning pin into the matching hole 12 to limit the relative position of the slide rail 10 and the T-shaped table 9 on the horizontal plane, the relative fixing between the movable supporting device 7 and the operating bed 8 is realized, further, the driven end equipment of the interventional operation robot and the operation position of a patient on the operating bed 8 are relatively fixed, the safe and stable operation is effectively guaranteed, the first fixing bolt 405 simultaneously realizes the transverse and longitudinal fixing of the driven end equipment of the interventional operation robot in the whole process, the structure is simple, and the operation is convenient.

Claims

1. The utility model provides an intervene adjustable strutting arrangement of surgical robot which characterized in that: including connecting portion (1) that is used for fixed intervention operation robot from the end, be used for with first support arm (2) that connecting portion (1) are connected, be used for second support arm (3) be connected with first support arm (2) and be used for high regulation portion (4) be connected with second support arm (3), connecting portion (1) with the junction of first support arm (2) with all be equipped with rotation regulation portion (5) between the junction of first support arm (2) and second support arm (3), rotation regulation portion (5) are installed and are used for restricting rotation regulation angle regulation's rotational positioning device (6), high regulation portion (4) are installed on removal strutting arrangement (7).

2. An adjustable support device of an interventional surgical robot as set forth in claim 1, wherein: height adjusting portion (4) include support column (401) be connected with second support arm (3), the lower extreme of support column (401) with fix a support section of thick bamboo (402) sliding fit on removing strutting arrangement (7), support column (401) are equipped with a plurality ofly with support column (401) coaxial ring channel one (403) with removal support section of thick bamboo (402) sliding fit's one end, the upper end of supporting section of thick bamboo (402) is equipped with pinhole one (404), be equipped with fixed bolt one (405) in pinhole one (404).

3. An adjustable support device of an interventional surgical robot according to claim 2, characterized in that: still overlap an angle modulation section of thick bamboo (406) of establishing on support column (401), be equipped with a helicla flute (407) that runs through on the angle modulation section of thick bamboo (406), helicla flute (407) and fixed pin (408) sliding fit on support column (401), an angle modulation section of thick bamboo (406) still is connected with adjust cylinder (409) telescopic shaft, adjust cylinder (409) are fixed on removing strutting arrangement (7).

4. An adjustable support device of an interventional surgical robot as set forth in claim 3, wherein: an annular groove II (410) is formed in the upper end of the supporting column (401), a pin hole II (411) is formed in the outer wall of the angle adjusting cylinder (406), and a fixing bolt II (412) is arranged in the pin hole II (411).

5. An adjustable support device of an interventional surgical robot as set forth in claim 1, wherein: the rotary adjusting part (5) comprises an adjusting motor (501) and a fluted disc (502), the adjusting motor (501) and the fluted disc (502) are respectively fixed at two connecting ends of a connecting part, and a first gear (505) meshed with the fluted disc (502) is arranged on an output shaft of the adjusting motor (501).

6. An adjustable support device of an interventional surgical robot as set forth in claim 5, wherein: adjusting motor (501) one side still is equipped with an angle sensor (503), angle sensor (503) and adjusting motor (501) are installed at the junction with one end, still be equipped with a pinion (504) in angle sensor's (503) the pivot, pinion (504) and fluted disc (502) meshing, angle sensor (503) and adjusting motor (501) all are connected with the controller electricity.

7. An adjustable support device of an interventional surgical robot as set forth in claim 3, wherein: rotatory positioner (6) include and install locating piece (601) at the same end of junction with fluted disc (502), the telescopic shaft fixed connection of locating piece (601) and location cylinder (602), locating piece (601) are located one side of fluted disc (502), locating piece (601) are the rubber material.

8. An adjustable support device of an interventional surgical robot as set forth in claim 4, wherein: the movable supporting device (7) comprises a movable supporting plate (701), the supporting cylinder (402) is fixed above the movable supporting plate (701), and a plurality of universal wheels (702) used for walking are arranged at the bottom of the movable supporting plate (701).

9. An adjustable support device of an interventional surgical robot as defined in claim 7, wherein: still be equipped with on the outer wall of a support section of thick bamboo (402) with T type platform (9) sliding fit's of operation table (8) side slide rail (10), be equipped with locating hole (11) on slide rail (10), the axis of locating hole (11) is located the coplanar with the axis of pinhole (404), be equipped with a plurality of cooperation holes (12) with the different operation position assorted of human body on T type platform (9), locating hole (11) can be connected with different cooperation holes (12) through locating pin (13), the upper end of locating pin (13) is connected with the top of slide rail (10) through reset spring (14), the top of locating pin (13) still is equipped with cam (16) of taking tooth portion (15), cam (16) rotate with mount (18) through cam pivot (17) and are connected, mount (18) are fixed on slide rail (10), tooth portion (15) set up the main aspects outer fringe at cam (16), the tip outer fringe and the top of cam (16) offsets, the tooth portion (15) of cam (16) are fixed in the bottom of a fixed bolt (19) meshing.