CN115645066B - Adjustable strutting arrangement of intervention operation robot - Google Patents
Adjustable strutting arrangement of intervention operation robot Download PDFInfo
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- CN115645066B CN115645066B CN202211424724.XA CN202211424724A CN115645066B CN 115645066 B CN115645066 B CN 115645066B CN 202211424724 A CN202211424724 A CN 202211424724A CN 115645066 B CN115645066 B CN 115645066B
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Abstract
The invention relates to the technical field of vascular intervention operation equipment and discloses an adjustable supporting device of an intervention operation robot, which comprises a connecting part used for fixing the slave end of the intervention operation robot, a first support arm used for being connected with the connecting part, a second support arm used for being connected with the first support arm and a height adjusting part used for being connected with the second support arm, wherein a rotary adjusting part is arranged between the connecting part of the connecting part and the first support arm and between the connecting part of the first support arm and the connecting part of the second support arm, the rotary adjusting part is provided with a rotary positioning device used for limiting the rotary adjusting angle, and the height adjusting part is arranged on a movable supporting device.
Description
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 vascular minimally invasive interventional therapy is a main treatment means for vascular diseases, can reduce the trauma and pain brought to patients by the traditional operation, has short postoperative recovery time, and can effectively improve the utilization rate of medical resources. However, conventional vascular interventional procedures involve the physician manually delivering catheters, guidewires, stents, and other devices into the patient. On the one hand, in the operation process, due to the influence of radioactive rays, the physical strength of doctors is reduced rapidly, the attention and the stability are reduced along with the physical strength, the operation accuracy is reduced, and accidents such as vascular intima injury, vascular perforation and rupture and the like caused by improper pushing force are easy to occur, so that the life of patients is dangerous. On the other hand, the accumulated damage of the long-term ionizing radiation can greatly increase the probability of leukemia, cancer and acute cataract of operators, and seriously threaten professional life safety of doctors.
The surgical method for teleoperation of the catheter and the guide wire by means of the robot technology can effectively solve the problems, so that the precision and stability of the surgical operation can be greatly improved, the surgical efficiency and cure rate can be greatly improved by improving the surgical precision and accuracy, meanwhile, the damage of radioactive rays 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 auxiliary robots for cardiovascular and cerebrovascular intervention operation are more and more focused, and become the key research and development objects of the present science and technology in the field of medical robots.
The prior art needs to install the driven end equipment of the interventional operation robot on an operation table before vascular interventional operation, then adjusts the angle and the position of the driven end equipment of the interventional operation robot relative to the operation table according to the body information and the operation position of a patient, so that the operation position of the driven end equipment of the robot is matched with the operation position of the patient, and the smooth operation is ensured. Therefore, there is a need for an adjustable support structure for a driven end device of an interventional surgical robot to assist in rotation and movement of the driven end device of the interventional surgical robot, and most of the existing adjustable support devices are complex in structure and difficult to meet the requirements of multi-directional rotation and height adjustment of the driven end device of the interventional surgical robot at the same time, so that improvement is needed.
Disclosure of Invention
The invention aims to provide an adjustable supporting device for an interventional operation robot, which can effectively ensure the requirements on the angle, the position and the height of a driven end device of the interventional operation robot 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 aim 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 intervention surgical robot follow connecting portion, be used for with the first support arm that connecting portion are connected, be used for with the second support arm that first support arm is connected 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 is provided with the rotation positioning device who is used for restricting rotation regulation angle, altitude mixture control portion installs on removal strutting arrangement.
Through adopting above-mentioned technical scheme, will intervene after surgical robot driven end equipment is connected with connecting portion, according to actual operation needs, utilize the rotation regulation portion automatic control connecting portion that sets up between connecting portion and the junction of first support arm and the second support arm and first support arm, rotate different angles relatively between first support arm and the second support arm, thereby realize intervene the regulation that surgical robot driven end equipment is different angles relative to the operation table, simultaneously, utilize rotation positioning device to fix connecting portion after the rotation regulation in proper angle with first support arm and second support arm in proper order, make intervene surgical robot driven end equipment be fixed at the corresponding angle for the operation table, then utilize the high demand of high regulation portion control connecting portion, first support arm and second support arm, the angle to intervene surgical robot driven end equipment during the assurance operation, position and high and stability during the operation, not only the security is good, and easy operation.
The invention is further provided with: the height adjusting part comprises a support column connected with the second support arm, the lower end of the support column is in sliding fit with a support cylinder fixed on the movable support device, one end of the support column, which is in sliding fit with the movable support cylinder, is provided with a plurality of annular grooves I which are coaxial with the support column, the upper end of the support cylinder is provided with a first pin hole, and a first fixing bolt is arranged in the first pin hole.
Through adopting above-mentioned technical scheme, when the needs carry out the altitude mixture control, make first and the separation of ring channel of fixed bolt, but the relative slip between support column and the support section of thick bamboo this moment, slide along the support section of thick bamboo from top to bottom through the drive support column, can realize carrying out the 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 driven end equipment who is connected with connecting portion carries out the altitude mixture control, after the altitude mixture control is accomplished through inserting first the fixed bolt in the pin hole and the ring channel one relative with a pin hole position, make the support column unable longitudinal movement, thereby realize carrying out the altitude mixture control to the second support arm that fixes in the support column upper end, first support arm, connecting portion and the intervention operation robot driven end equipment who is connected with connecting portion, avoid intervention operation robot driven end equipment appear the circumstances of reciprocating at the in-process of operation, stability when carrying out the operation has been guaranteed greatly, and simple structure, convenient operation.
The invention is further provided with: an angle adjusting cylinder is further sleeved on the supporting column, a penetrating spiral groove is formed in the angle adjusting cylinder, the spiral groove is in sliding fit with a fixing pin fixed on the supporting column, the angle adjusting cylinder is further connected with an adjusting cylinder telescopic shaft, and the adjusting cylinder is fixed on the movable supporting device.
Through adopting above-mentioned technical scheme, after fixed bolt is inserted in the ring channel one, the support column can't longitudinal movement, but can circumferential rotation, consequently, after starting the governing cylinder, the telescopic shaft of governing cylinder stretches out and drives angle adjustment section of thick bamboo along support column upward movement, angle adjustment section of thick bamboo is at the time of following the support column upward movement, the fixed pin on the support column is constantly extruded to the helicla flute on the angle adjustment section of thick bamboo, thereby make support column circumferential rotation, and through the flexible length of the telescopic shaft of control governing cylinder, can effectively control the motion distance of angle adjustment section of thick bamboo, thereby the circumferential rotation angle size of effective control support column, the second support arm of fixing in the support column upper end has been realized, first support arm, connecting portion and the intervention operation robot driven end equipment that is connected with connecting portion carries out circumferential rotation angle adjustment, it is suitable angle to have guaranteed intervention operation robot driven end equipment for the operation bed, further make the operation position phase-match of intervention operation robot driven end equipment and patient, guarantee the smooth going on 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 intervention operation robot driven end equipment is accomplished for the angle modulation of operating table, adjust the cylinder stop work, insert fixed bolt second this moment in the ring channel back, angle modulation section of thick bamboo can not follow the support column longitudinal movement any more, consequently, the support column can not side-to-side rotation under the helicla flute extrusion, guarantees to intervene operation robot driven end equipment and can not control the rocking at the in-process of operation, consequently has further guaranteed the stability when intervention operation robot driven end equipment operation.
The invention is further provided with: the rotation adjusting part comprises an adjusting motor and a fluted disc, wherein 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, through controlling the output shaft rotation of accommodate motor and controlling the rotation of gear, drive rather than the fluted disc tooth of meshing when rotatory back of gear drives rather than fixed connection's link relative rotation for accommodate motor fixed connection's link, utilize two link selection pair rotations of rotatory adjusting part can realize the relative rotation between connecting portion and first support arm, first support arm and the second support arm, thereby realize the control regulation of the different angles between connecting portion and first support arm, first support arm and the second support arm, further realized the regulation of the angle of intervention operation robot driven end equipment after being connected with the operation table, further accurate intervention operation robot driven end equipment relative and the control of operation position and angle.
The invention is further provided with: the angle sensor is arranged at the same end of the joint with the adjusting motor, a pinion is further arranged on a rotating shaft of the angle sensor, the pinion is meshed with the fluted disc, and the angle sensor and the adjusting motor are electrically connected with the controller.
Through adopting above-mentioned technical scheme, the controller is used for sending angle regulation command to accommodate motor, accommodate motor rotates certain angle according to the regulation command who receives, accommodate motor pivoted in-process drives the fluted disc through gear one and rotates, still drive the pinion rotation rather than the kernel when the fluted disc pivoted, because the pinion is fixed in angle sensor's pivot, can drive angle sensor's pivot synchronous rotation when consequently the pinion rotates, can survey the rotation angle of fluted disc according to pivot pivoted angle, angle sensor converts the rotation angle information of fluted disc into the electrical signal back feedback and gives the controller, and instruct the rotational speed of adjustment motor through the controller, thereby realize angle regulation's closed loop control, make angle regulation process reliability better, the precision is higher.
The invention is further provided with: the rotary positioning device comprises a positioning block which is arranged at the same end of the connecting part with the fluted disc, the positioning block is fixedly connected with a telescopic shaft of the positioning cylinder, the positioning block is connected with the telescopic shaft of the positioning cylinder, the positioning block is positioned on the fluted disc and is opposite to the gear teeth, and the positioning block is made of rubber.
Through adopting above-mentioned technical scheme, after the relative rotation angle adjustment between connecting portion and first support arm, first support arm and second support arm is accomplished, start the location cylinder when regulating motor stop work, thereby the location cylinder drive locating piece is to being close to on the side of fluted disc remove to support tight fluted disc, fixed with the fluted disc, because the locating piece is the rubber material, consequently, can imbed in the space between the tooth portion inwards on the fluted disc and realize the effect of interlock each other when it supports tightly on the fluted disc to the locating piece, further guarantee the fixed effect of interlock, thereby guarantee to lock the rotary adjustment portion after the relative rotation angle adjustment is accomplished between connecting portion and first support arm, first support arm and second support arm, make the relative angle between connecting portion and first support arm, first support arm and the second support arm be fixed, avoid connecting portion in the operation in-process, first support arm and second swing at will and cause unexpected risk, stability and reliability when carrying out the operation of intervention operation robot driven end equipment has further been guaranteed.
The invention is further provided with: 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 for walking are arranged at the bottom of the movable supporting plate.
Through adopting above-mentioned technical scheme, remove the backup pad and realize the overall movement through the universal wheel to the transfer of different positions when accomodating or using, convenient, laborsaving when guaranteeing the doctor operation.
The invention is further provided with: the utility model discloses a surgical operation machine, including support section of thick bamboo, support are equipped with T type platform sliding fit's of side, 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, be equipped with a plurality of and human different operation position assorted mating holes on the T type bench, the locating hole can be connected with different mating holes through the locating pin, the upper end of locating pin is connected with the top of slide rail through reset spring, the top of locating pin still is equipped with the cam of taking tooth portion, the cam passes through the cam pivot and rotates with the mount to be connected, the mount is fixed on the slide rail, tooth portion sets up the outer fringe of the large end at the cam, the tip outer fringe of cam offsets with the top of locating pin, the tooth portion of cam meshes with the rack of fixing in a fixed bolt bottom.
Through adopting above-mentioned technical scheme, before the operation, remove the direction that removes strutting arrangement from one side of operation table to being close to the operation table, the slide rail on the support section of thick bamboo outer wall is relative with the T type platform of operation table side, until the slide rail on the support section of thick bamboo outer wall and the T type platform of operation table side mutually support, then continue to remove the strutting arrangement, until the intervention operation robot driven end equipment of removing strutting arrangement top installation reaches patient's operation position, at this moment, the locating hole on the slide rail is relative with the corresponding mating hole in patient operation position, then, start the adjusting cylinder and will intervene operation robot driven end equipment and adjust to suitable height back and insert fixed bolt one, fixed bolt one inserts rack drive cam rotation in fixed bolt one bottom of ring channel one in-process, make the tip excircle of cam rotate gradually and impress the locating pin in the mating hole, thereby realize the spacing of slide rail and T type platform relative position on the horizontal plane, thereby realized moving the relative fixation between strutting arrangement and the operation table, guarantee the intervention operation robot driven end equipment and the operation position on the operation table on vertical and horizontal plane relative position's of patient, thereby guarantee safety and stability of operation robot driven end equipment, the whole operation is carried out in the fixed operation, and a fixed structure is realized, and a longitudinal operation is stable, and a fixed operation is easy.
The beneficial effects of the invention are as follows:
1. according to the invention, after the driven end equipment of the interventional operation robot is connected with the connecting part, the connecting part of the connecting part and the first support arm and the connecting part of the first support arm and the second support arm can be utilized to automatically control different angles of relative rotation between the connecting part and the first support arm as well as between the first support arm and the second support arm according to actual operation requirements, so that the driven end equipment of the interventional operation robot is regulated at different angles relative to an operation table, and simultaneously, the rotationally regulated connecting part, the first support arm and the second support arm are fixed at corresponding angles by sequentially utilizing the rotary positioning device, so that the driven end equipment of the interventional operation robot is fixed at corresponding angles relative to the operation table, and then the heights of the connecting part, the first support arm and the second support arm are controlled by utilizing the height regulating part, thereby ensuring the requirements on the angle, the position and the height of the driven end equipment of the interventional operation robot during operation and the stability during operation.
2. According to the invention, the first fixing bolt and the first fixing bolt are used for respectively realizing the connection of the support column and the support cylinder and the angle adjusting cylinder, so that the adjusting cylinders are used for respectively realizing the height and the angle adjustment of the support column, and the height and the angle adjustment of the driven end equipment of the interventional operation robot arranged on the support column can be respectively realized through only one adjusting cylinder.
3. According to the invention, the first fixing bolt is inserted into the annular groove to realize the height limit of the support column, and meanwhile, the rack driving cam can be driven to press the positioning pin into the matching hole to realize the limit of the relative position of the sliding rail and the T-shaped table on the horizontal plane, so that the relative fixation between the movable supporting device and the operating table is realized, the limit of the relative positions of the driven end equipment of the interventional operation robot and the operating position of a patient on the operating table on the vertical and horizontal planes is ensured, the safe and stable operation is ensured, and the first fixing bolt realizes the transverse and longitudinal fixation of the driven end equipment of the interventional operation robot in the whole process.
4. According to the invention, the positioning block made of rubber is used for fixing the fluted disc, so that the positioning block can be embedded into a gap between inward tooth parts on the fluted disc and realize the mutual engagement effect after the positioning block is abutted against the fluted disc, the fixing effect of the fluted disc is further ensured, the rotation adjusting part is locked after the relative rotation angle adjustment between the connecting part and the first support arm and between the first support arm and the second support arm is completed, the relative angles between the connecting part and the first support arm and between the first support arm and the second support arm are fixed, the unexpected risk caused by random swing 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 driven end equipment of the interventional operation robot in the operation process are further ensured.
5. According to the invention, the rotation adjusting part sends an angle adjusting instruction to the adjusting motor through the controller when the angle is adjusted, the adjusting motor rotates a certain angle according to the received adjusting instruction, the gear I drives the fluted disc to rotate in the rotating process of the adjusting motor, the fluted disc rotates and drives the pinion gear of the inner core of the fluted disc to rotate, and the pinion gear is fixed on the rotating shaft of the angle sensor, so that the rotating shaft of the angle sensor is driven to synchronously rotate when the pinion gear rotates, the rotating angle of the fluted disc can be measured according to the rotating angle of the rotating shaft, the angle sensor converts the rotating angle information of the fluted disc into an electric signal and then feeds the electric signal 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 the angle adjustment is realized, and the reliability and the precision of the angle adjusting process are higher.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of the overall structure of an adjustable support device for an interventional surgical robot according to the present invention.
Fig. 2 is an enlarged partial schematic view of a in fig. 1.
Fig. 3 is a schematic view showing a partial cross-sectional structure of an adjustable support device for an interventional operation robot according to the present invention.
Fig. 4 is an enlarged partial schematic view of B in fig. 3.
Fig. 5 is a schematic view of a part of the structure of a rotation adjusting part and a rotation positioning device in an adjustable supporting device of an interventional operation robot.
In the figure, 1 a connecting part; 2. a first arm; 3. a second arm; 4. a height adjusting section; 401. a support column; 402. a support cylinder; 403. an annular groove I; 404. pin holes I; 405. a first fixed bolt; 406. an angle adjusting cylinder; 407. a spiral groove; 408. a fixing pin; 409. adjusting a cylinder; 410. annular groove II; 411. a pin hole II; 412. a second fixed bolt; 5. a rotation adjusting section; 501. adjusting a motor; 502. fluted disc; 503. an angle sensor; 504. a pinion gear; 505. a first gear; 6. a rotary positioning device; 601. a positioning block; 602. positioning a cylinder; 7. a movable support device; 701. a movable 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. a positioning pin; 14. a return spring; 15. a tooth portion; 16. a cam; 17. a cam shaft; 18. a fixing frame; 19. a rack.
Detailed Description
The technical scheme of the present invention will be clearly and completely described in connection with specific embodiments. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
As shown in fig. 1, an adjustable supporting device of an interventional operation robot comprises a connecting part 1 for fixing the slave end of the interventional operation robot, a first support arm 2 for connecting with the connecting part 1, a second support arm 3 for connecting with the first support arm 2 and a height adjusting part 4 for connecting with the second support arm 3, wherein a rotary adjusting part 5 is arranged between the connecting part 1 and the connecting part of the first support arm 2 and between the connecting part of the first support arm 2 and the connecting part of the second support arm 3, a rotary positioning device 6 for limiting the rotary adjusting angle is arranged on the rotary adjusting part 5, and the height adjusting part 4 is arranged on a movable supporting device 7.
Specifically, as shown in fig. 2 and 3, the height adjusting portion 4 includes a support column 401 connected to the second support arm 3, a lower end of the support column 401 is slidably matched with a support cylinder 402 fixed on the moving support device 7, one end of the support column 401 slidably matched with the moving support cylinder 402 is provided with a plurality of annular grooves 403 coaxial with the support column 401, an upper end of the support cylinder 402 is provided with a first pin hole 404, and a first fixing pin 405 is disposed in the first pin hole 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 through a telescopic shaft, and the adjusting cylinder 409 is fixed on the movable supporting device 7.
Further, the upper end of the support column 401 is provided with a second annular groove 410, the outer wall of the angle adjusting cylinder 406 is provided with a second pin hole 411, and a second fixing bolt 412 is arranged in the second pin hole 411.
Specifically, as shown in fig. 2 and 5, the rotation adjusting portion 5 includes an adjusting motor 501 and a toothed disc 502, where the adjusting motor 501 and the toothed disc 502 are respectively fixed at two connection ends of the connection portion, and a first gear 505 meshed with the toothed disc 502 is disposed on an output shaft of the adjusting motor 501.
Further, an angle sensor 503 is further disposed on one side of the adjusting motor 501, the angle sensor 503 and the adjusting motor 501 are mounted at the same end of the joint, a pinion 504 is further disposed 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 electrically connected with the controller.
Specifically, the rotary positioning device 6 includes a positioning block 601 mounted on the same end of the connecting portion with the fluted disc 502, the positioning block 601 is fixedly connected with a telescopic shaft of the positioning cylinder 602, the positioning block 601 is located on one side of the fluted disc 502, and the positioning block 601 is made of rubber.
Specifically, as shown in fig. 1, the movable supporting device 7 includes a movable supporting plate 701, the supporting cylinder 402 is fixed above the movable supporting plate 701, and a plurality of universal wheels 702 for walking are provided at the bottom of the movable supporting plate 701.
Further, as shown in fig. 1 to 4, the outer wall of the supporting cylinder 402 is further provided with a sliding rail 10 slidingly matched with the T-shaped table 9 at the side edge of the operating table 8, the sliding rail 10 is provided with a positioning hole 11, the axis of the positioning hole 11 and the axis of the pin hole one 404 are located on the same plane, the T-shaped table 9 is provided with a plurality of matching holes 12 matched with different operation positions of a human body, 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 15 is further arranged above the positioning pin 13, the cam 16 is rotationally 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 15 is arranged at the outer edge of the large end of the cam 16, the outer edge of the small end of the cam 16 is propped against the top of the positioning pin 13, and the tooth 15 of the cam 16 is meshed with a rack 19 fixed at the bottom of the fixing frame 405.
The working principle of the invention is as follows: firstly, before an operation, moving a movable supporting device 7 from one side of an operation table 8 to a direction approaching the operation table 8, ensuring that a slide rail 10 on the outer wall of a supporting cylinder 402 fixed on the movable supporting device 7 is opposite to a T-shaped table 9 on the side of the operation table 8 until the slide rail 10 on the outer wall of the supporting cylinder 402 is matched with the T-shaped table 9 on the side of the operation table 8, and then continuing to move the movable supporting device 7 until an interventional operation robot driven end device arranged above the movable supporting device 7 reaches the operation position of a patient, wherein a positioning hole 11 on the slide rail 10 is opposite to a matching hole 12 corresponding to the operation position of the patient;
then, a second fixing bolt 412 is inserted into the second annular groove 410, an adjusting motor 501 is started, the angle adjusting cylinder 406 is driven by the adjusting motor 501 to ascend and descend so as to drive the support column 401 to ascend and descend, the height of the support column 401 is adjusted, the height of a driven end device of the interventional operation robot arranged above the support column 401 can be adjusted through the height adjustment of the support column 401, and the second fixing bolt 412 is pulled out of the second annular groove 410 after the height of the driven end device of the interventional operation robot is matched with an operation requirement;
then, the first fixing bolt 405 is inserted into the corresponding first annular groove 403, so that the support column 401 and the support cylinder 402 cannot slide relatively, the support column 401 cannot move longitudinally, the angle adjustment cylinder 406 can move longitudinally along the support column 401, the adjusting cylinder 409 is started again to drive the angle adjustment cylinder 406 to lift up and down, when the angle adjustment cylinder 406 lifts up and down, the support column 401 cannot lift up and down under the limit of the first fixing bolt 405, the spiral groove 407 on the angle adjustment cylinder 406 continuously extrudes the fixing pin 408 fixed on the support column 401, and therefore the support column 401 rotates circumferentially, the movement distance of the angle adjustment cylinder 406 can be effectively controlled by controlling the telescopic length of the telescopic shaft of the adjusting cylinder 409, and therefore the circumferential rotation angle of the support column 401 is effectively controlled, the circumferential rotation angle adjustment of the driven end equipment of the interventional operation robot fixed on the support column 401 is realized until the driven end equipment of the interventional operation robot is at a proper angle relative to the operation bed 8, and the operation position of the driven end equipment of the interventional operation robot is further matched with the position of a patient;
in addition, in the process of inserting the first fixing bolt 405 into the annular groove 403, the rack 19 below the first fixing bolt 405 is meshed with the tooth part of the cam 16 gradually 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, thereby realizing the relative fixation between the movable supporting device 7 and the operating table 8, further ensuring the relative fixation of the driven end equipment of the interventional operation robot and the operating position of a patient on the operating table 8, effectively ensuring safe and stable operation, and simultaneously realizing the transverse and longitudinal fixation of the driven end equipment of the interventional operation robot by the first fixing bolt 405 in the whole process, along with simple structure and convenient operation.
Claims (5)
1. An adjustable strutting arrangement of intervention operation robot, its characterized in that: the device comprises a connecting part (1) used for fixing the slave end of an interventional operation robot, a first support arm (2) used for being connected with the connecting part (1), a second support arm (3) used for being connected with the first support arm (2) and a height adjusting part (4) used for being connected with the second support arm (3), wherein a rotary adjusting part (5) is arranged between the connecting part (1) of the connecting part and the first support arm (2) and between the connecting part of the first support arm (2) and the second support arm (3), a rotary positioning device (6) used for limiting a rotary adjusting angle is arranged on the rotary adjusting part (5), and the height adjusting part (4) is arranged on a movable supporting device (7);
the height adjusting part (4) comprises a support column (401) connected with the second support arm (3), the lower end of the support column (401) is in sliding fit with a support cylinder (402) fixed on the movable support device (7), one end of the support column (401) in sliding fit with the support cylinder (402) is provided with a plurality of annular grooves I (403) coaxial with the support column (401), the upper end of the support cylinder (402) is provided with a pin hole I (404), and a fixed bolt I (405) is arranged in the pin hole I (404);
an angle adjusting cylinder (406) is 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 a telescopic shaft of an adjusting cylinder (409), and the adjusting cylinder (409) is fixed on the movable supporting device (7);
the upper end of the support column (401) is provided with a second annular groove (410), the outer wall of the angle adjusting cylinder (406) is provided with a second pin hole (411), and a second fixing bolt (412) is arranged in the second pin hole (411);
still be equipped with on the outer wall of support section of thick bamboo (402) with T type platform (9) sliding fit's of operating 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 one (404), be equipped with a plurality of and human different operation position assorted mating holes (12) on T type platform (9), locating hole (11) can be connected with different mating 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) are connected through cam pivot (17) and mount (18) rotation, mount (18) are fixed on slide rail (10), tooth portion (15) set up in the big end outer fringe of cam (16), the outer fringe of cam (16) offsets with the top of locating pin (13) and the top of locating pin (13), the tooth portion (16) is fixed in tooth portion (405) of a fixed engagement.
2. An interventional procedure robot adjustable support device according to claim 1, characterized in that: the rotary adjusting part (5) comprises an adjusting motor (501) and a fluted disc (502), wherein the adjusting motor (501) and the fluted disc (502) are respectively fixed at two connecting ends of the connecting part, and a first gear (505) meshed with the fluted disc (502) is arranged on an output shaft of the adjusting motor (501).
3. An interventional procedure robot adjustable support device according to claim 2, characterized in that: 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 mounted at the same end of the joint, 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 electrically connected with the controller.
4. An interventional procedure robot adjustable support device according to claim 1, characterized in that: the rotary positioning device (6) comprises a positioning block (601) which is arranged at the same end of the connecting part with the fluted disc (502), the positioning block (601) is fixedly connected with a telescopic shaft of the positioning cylinder (602), the positioning block (601) is positioned at one side of the fluted disc (502), and the positioning block (601) is made of rubber.
5. An interventional procedure robot adjustable support device according to claim 1, characterized in that: 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) for walking are arranged at the bottom of the movable supporting plate (701).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211424724.XA CN115645066B (en) | 2022-11-14 | 2022-11-14 | Adjustable strutting arrangement of intervention operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211424724.XA CN115645066B (en) | 2022-11-14 | 2022-11-14 | Adjustable strutting arrangement of intervention operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115645066A CN115645066A (en) | 2023-01-31 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102274077A (en) * | 2011-05-09 | 2011-12-14 | 无锡佑仁科技有限公司 | Robot for minimally invasive vascular intervention surgery |
| CN111449752A (en) * | 2020-03-20 | 2020-07-28 | 北京理工大学 | Passive positioning mechanical arm for propelling mechanism of vascular cavity interventional operation robot |
| CN114191089A (en) * | 2021-11-09 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Intervention operation robot slave end supporting device capable of being adjusted in multiple positions |
| CN114533276A (en) * | 2022-02-24 | 2022-05-27 | 上海神玑医疗科技有限公司 | Positioning mechanical arm and auxiliary operation system for vascular intervention operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10376324B2 (en) * | 2014-10-30 | 2019-08-13 | Intuitive Surgical Operations, Inc. | System and method for articulated arm stabilization |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102274077A (en) * | 2011-05-09 | 2011-12-14 | 无锡佑仁科技有限公司 | Robot for minimally invasive vascular intervention surgery |
| CN111449752A (en) * | 2020-03-20 | 2020-07-28 | 北京理工大学 | Passive positioning mechanical arm for propelling mechanism of vascular cavity interventional operation robot |
| CN114191089A (en) * | 2021-11-09 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Intervention operation robot slave end supporting device capable of being adjusted in multiple positions |
| CN114533276A (en) * | 2022-02-24 | 2022-05-27 | 上海神玑医疗科技有限公司 | Positioning mechanical arm and auxiliary operation system for vascular intervention operation |
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