CN115998444A - Positioning device of operation arm sliding table, operation platform and operation system - Google Patents
Positioning device of operation arm sliding table, operation platform and operation system Download PDFInfo
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- CN115998444A CN115998444A CN202310010676.8A CN202310010676A CN115998444A CN 115998444 A CN115998444 A CN 115998444A CN 202310010676 A CN202310010676 A CN 202310010676A CN 115998444 A CN115998444 A CN 115998444A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention relates to the technical field of detection mechanisms, in particular to a positioning device of an operation arm sliding table, an operation platform and an operation system. The positioning device of the operation arm sliding table comprises a sliding table upper cover and a sensor, wherein the sensor is arranged as a three-dimensional force control sensor, and the upper end and the lower end of the three-dimensional force control sensor are both induction ends; the upper cover of the sliding table is arranged on the three-dimensional force control sensor and is connected with the upper end of the three-dimensional force control sensor, the sliding table comprises a sliding table outer shell, the lower end of the three-dimensional force control sensor is connected with the sliding table outer shell, and a gap is arranged between the lower end of the upper cover of the sliding table and the sliding table outer shell. The sensor is arranged as a three-dimensional force control sensor and is arranged on the sliding table, so that acting forces in three directions can be directly sensed, errors can be reduced, and the structure is simplified. And gaps are formed between the upper cover of the sliding table and the outer shell of the sliding table, so that a plurality of detection results are not generated to generate interference, and the detection accuracy of the three-dimensional force control sensor is improved.
Description
Technical Field
The invention relates to the technical field of detection mechanisms, in particular to a positioning device of an operation arm sliding table, an operation platform and an operation system.
Background
The operation system comprises a doctor console, an operation platform, an image trolley and the like. The surgical arm is the final component of the surgical platform and is the end control mechanism of the surgical robot in direct contact with the patient. The operation sliding table is an actuating mechanism at the forefront end of the operation arm, and is provided with an operation instrument. Before laparoscopic surgery begins, the surgical arm needs to be positioned, and a worker can drag the positioning through holding the sliding table so as to achieve the optimal surgical angle and surgical space.
In the prior art, in order to facilitate the dragging of a sliding table by a worker, a torque sensor is arranged in each joint of an operation arm, when the worker applies acting force to the sliding table, a plurality of torque sensors detect stress direction data of each joint, the stress direction of the sliding table is obtained after the data measured by the plurality of torque sensors are coupled, and then the driving mechanism is used for driving the sliding table to move towards the stress direction so as to assist the worker. Because the data measured by the torque sensor may have errors, the stress direction of the sliding table obtained through coupling may have larger errors, the direction of the sliding table is driven by the driving mechanism to be different from the actual stress direction of the sliding table, the driving mechanism is difficult to assist the staff, and then the positioning process of the sliding table is difficult.
Disclosure of Invention
The invention solves the problem of how to improve the accuracy of the detection of the stress direction of the sliding table so as to conveniently position the sliding table.
In order to solve the problems, the invention provides a positioning device of a surgical arm sliding table, which comprises a sliding table upper cover and a sensor, wherein the sensor is arranged as a three-dimensional force control sensor, the upper end and the lower end of the three-dimensional force control sensor are both induction ends, the three-dimensional force control sensor is used for being in data connection with a driving mechanism, and the driving mechanism is used for driving the sliding table to move; the sliding table upper cover is covered on the three-dimensional force control sensor and is connected with the upper end of the three-dimensional force control sensor, the sliding table comprises a sliding table outer shell, the lower end of the three-dimensional force control sensor is connected with the sliding table outer shell, and a gap is formed between the lower end of the sliding table upper cover and the sliding table outer shell.
The invention has the technical effects that: when acting force is applied to the upper cover of the sliding table to position the sliding table, the upper cover of the sliding table is connected with the upper end of the sensor, the sensor is arranged as a three-dimensional force control sensor, and the upper end of the sensor is arranged as an induction end, so that the direction of the acting force can be induced by the upper end of the sensor; because the sensor is in data connection with the driving mechanism, the driving mechanism can drive the sliding table to move towards the direction of the acting force. Therefore, the sensor is arranged as a three-dimensional force control sensor and is arranged on the sliding table, so that acting forces in three directions can be directly sensed, and compared with the arrangement of moment sensors on a plurality of joints of the operation arm, the structure of the positioning device of the operation arm sliding table is simplified; the data of a plurality of moment sensors are not required to be coupled, errors can be reduced, the detection result of the moment sensors on the acting force direction is accurate, the driving accuracy of the driving mechanism on the sliding table is guaranteed, the driving mechanism can provide a good power-assisting effect for workers, and the sliding table is convenient to swing. Meanwhile, a gap is formed between the upper cover of the sliding table and the outer shell of the sliding table, and acting force cannot be transmitted to the outer shell of the sliding table through the upper cover of the sliding table, so that the acting force cannot be transmitted to the lower end of the three-dimensional force control sensor connected with the outer shell of the sliding table. Therefore, the direction of the acting force can be detected only by the upper end face of the three-dimensional force control sensor, a plurality of detection results cannot be generated to generate interference, the detection accuracy of the three-dimensional force control sensor is improved, the driving mechanism can accurately drive the sliding table, the power-assisted effect of the driving mechanism on the working personnel is improved, and the sliding table is conveniently placed.
Optionally, the slip table upper cover is established on the three-dimensional force control sensor and with three-dimensional force control sensor's upper end is connected, the slip table includes slip table shell body, three-dimensional force control sensor's lower extreme with slip table shell body is connected, slip table upper cover's lower extreme with be provided with the clearance between the slip table shell body.
Optionally, the lower extreme of slip table upper cover is provided with first baffle, the upper end of slip table shell body is provided with the second baffle, the second baffle with first baffle overlaps the setting from inside to outside, just first baffle with be provided with the clearance between the second baffle.
Optionally, the positioning device of the operation arm sliding table further comprises a force control installation seat, wherein the lower end face of the force control installation seat is connected with the sliding table outer shell, and the upper end face of the force control installation seat is connected with the lower end face of the three-dimensional force control sensor.
Optionally, the upper end of power accuse mount pad is provided with the third baffle, the third baffle with first baffle overlaps the setting from inside to outside, just first baffle with be provided with the clearance between the third baffle.
Optionally, the positioning device of the operation arm sliding table further comprises a force control mounting plate, wherein the upper end face of the force control mounting plate is connected with the sliding table upper cover, and the lower end face of the force control mounting plate is connected with the upper end face of the three-dimensional force control sensor.
Optionally, the lower end surface of the force control mounting plate is set to be a plane and is parallel to the upper end surface of the three-dimensional force control sensor.
Optionally, the positioning device of the surgical arm sliding table further comprises a control mechanism, wherein the control mechanism is electrically connected with the driving mechanism and used for controlling the opening and closing of the driving mechanism.
Optionally, the control mechanism includes power control location button, power control location keypad, power control location button the power control location keypad all sets up in the slip table upper cover, power control location button passes the slip table upper cover is located in the holding area, power control location button power control location keypad the actuating mechanism is electric connection in proper order.
Optionally, the control mechanism includes power control location button, power control location keypad, power control location button the power control location keypad all sets up in the slip table upper cover, power control location keypad respectively with power control location button the actuating mechanism electricity is connected.
The invention also provides a surgical platform, which comprises the positioning device of the surgical arm sliding table.
The invention has the technical effects that: the operation platform comprises all structures of the positioning device of the operation arm sliding table, and the operation platform has the same action and effect as the positioning device of the operation arm sliding table, so that the operation platform is not repeated.
The invention also provides a surgical system comprising a surgical platform as described above.
The invention has the technical effects that: the operation system comprises all structures of the operation platform, the operation platform comprises all structures of the positioning device of the operation arm sliding table, and the operation system has the same effect as the positioning device of the operation arm sliding table, so that the operation system is not repeated.
Drawings
FIG. 1 is a schematic diagram of a sliding table according to the present invention;
FIG. 2 is an enlarged view of area A of FIG. 1;
fig. 3 is a schematic structural view of a positioning device of the surgical arm sliding table of the present invention;
FIG. 4 is a front view of the positioning device of the arm slipway of FIG. 3;
fig. 5 is a bottom view of the positioning device of the arm ramp of fig. 3.
Reference numerals:
1. a slipway upper cover; 11. a first baffle; 12. a grip region; 13. a positioning area; 2. a sensor; 3. a slipway outer shell; 31. a second baffle; 4. a force control mounting seat; 41. a third baffle; 5. a force control mounting plate; 6. a control mechanism; 61. force control positioning keys; 62. force control positioning key board; 7. a sliding table.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In this embodiment, an XYZ axis coordinate system is established, the X axis forward direction is forward, the X axis backward direction is backward, the Y axis forward direction is left, the Y axis backward direction is right, the Z axis forward direction is upward, and the Z axis backward direction is downward.
In order to solve the above problems, as shown in fig. 1-5, a positioning device of a sliding table of an operation arm in an embodiment of the present invention includes a sliding table upper cover 1 and a sensor 2, the sensor 2 is set as a three-dimensional force control sensor, the upper and lower ends of the three-dimensional force control sensor are both sensing ends, the three-dimensional force control sensor is used for being in data connection with a driving mechanism, and the driving mechanism is used for driving the sliding table 7 to move; the slip table upper cover 1 cover is established on three-dimensional force accuse sensor and is connected with three-dimensional force accuse sensor's upper end, and slip table 7 includes slip table shell body 3, and three-dimensional force accuse sensor's lower extreme is connected with slip table shell body 3, is provided with the clearance between slip table upper cover 1's lower extreme and the slip table shell body 3.
The three-dimensional force control sensor is generally arranged into a cylindrical structure, the upper end and the lower end are induction ends, and the detection result of the three-dimensional force control sensor is interfered when the upper end and the lower end of the three-dimensional force control sensor are simultaneously sensed. For example, when the sliding table upper cover 1 is connected with the sliding table outer shell 3, the sliding table upper cover 1 is stressed, and the sliding table upper cover 1 is connected with the upper end of the three-dimensional force control sensor, so that part of acting force can be transmitted to the upper end of the three-dimensional force control sensor; the sliding table outer shell 3 is connected with the lower end of the three-dimensional force control sensor, and the sliding table upper cover 1 can transmit partial acting force to the lower end of the three-dimensional force control sensor through the sliding table outer shell 3; that is, the upper end and the lower end of the three-dimensional force control sensor sense acting forces, the three-dimensional force control sensor can detect two groups of different stress direction data, the transmission path of the acting force of the sliding table upper cover 1 to the lower end of the three-dimensional force control sensor is long, and a larger error can occur in the detection result, so that the accuracy of the detection result of the three-dimensional force control sensor can be influenced, and the boosting effect of the driving mechanism on the working personnel is influenced.
In this embodiment, the driving mechanism may be provided as a motor, and the three-dimensional force control sensor may sense the forces F in three directions X 、F Y 、F Z Parallel to X, Y, Z axis, the upper cover 1 is arranged as a cover structure and is arranged at the upper end of the outer shell 3 of the sliding table, and the three-dimensional force control sensor is wrapped by the upper cover 1 of the sliding table toAnd protecting the structure of the three-dimensional force control sensor. A slipway main body structure is arranged in the slipway outer shell 3. Covering the sliding table upper cover 1 on the three-dimensional force control sensor, connecting the sliding table upper cover 1 with the upper end of the three-dimensional force control sensor, and transmitting acting force applied to the sliding table upper cover 1 to the upper end surface of the three-dimensional force control sensor through the sliding table upper cover 1; a gap is arranged between the sliding table upper cover 1 and the sliding table outer shell 3, and acting force cannot be transmitted to the sliding table outer shell 3 through the sliding table upper cover 1, so that the acting force cannot be transmitted to the lower end of the three-dimensional force control sensor connected with the sliding table outer shell 3. The three-dimensional force control sensor is in data connection with the driving mechanism, the obtained acting force direction data can be transmitted to the driving mechanism, and the driving mechanism is utilized to drive the sliding table 7 to move towards the acting force direction, so that the assistance to the staff is realized.
In summary, when an acting force is applied to the sliding table upper cover 1 to position the sliding table 7, since the sliding table upper cover 1 is connected with the upper end of the sensor 2, the sensor 2 is set as a three-dimensional force control sensor, and the upper end of the sensor 2 is set as an induction end, the direction of the acting force can be induced by the upper end of the sensor 2; since the sensor 2 is in data connection with the drive mechanism, the drive mechanism can drive the slide table 7 to move in the direction of the force. Therefore, the sensor 2 is arranged as a three-dimensional force control sensor, and the sensor 2 is arranged on the sliding table 7, so that acting forces in three directions can be directly sensed, and compared with the arrangement of moment sensors on a plurality of joints of an operation arm, the structure of a positioning device of the operation arm sliding table is simplified; the data of a plurality of moment sensors are not required to be coupled, errors can be reduced, the detection result of the action force direction is accurate, the driving accuracy of the driving mechanism on the sliding table 7 is guaranteed, the driving mechanism can provide a good power-assisted effect for workers, and the sliding table 7 is convenient to swing. Meanwhile, the direction of the acting force can be detected only by the upper end face of the three-dimensional force control sensor, a plurality of detection results are not generated to generate interference, the detection accuracy of the three-dimensional force control sensor is improved, the driving mechanism can accurately drive the sliding table 7, the assistance effect of the driving mechanism on workers is improved, and the sliding table 7 is conveniently located.
Alternatively, as shown in fig. 2, the lower end of the slide table upper cover 1 is provided with a first baffle 11, the upper end of the slide table outer case 3 is provided with a second baffle 31, the second baffle 31 and the first baffle 11 are overlapped from inside to outside, and a gap is provided between the first baffle 11 and the second baffle 31.
In the present embodiment, the first barrier 11 is exemplarily provided in a ring-shaped structure and extends downward to the lower end face of the three-dimensional force control sensor, and the second barrier 31 is provided in a semi-ring-shaped structure and is located at the rear side of the slide table upper cover 1 and extends upward to the lower end face of the three-dimensional force control sensor. The upper cover 1 of the sliding table is covered at the upper end of the three-dimensional force control sensor, and can shield the upper part of the three-dimensional force control sensor so as to protect the upper part structure of the three-dimensional force control sensor. The lower extreme of slip table upper cover 1 is provided with first baffle 11, and first baffle 11 downwardly extending to three-dimensional force accuse sensor's lower terminal surface, simultaneously, slip table shell body 3's upper end rear side sets up second baffle 31, and second baffle 31 upwards extends to three-dimensional force accuse sensor's lower terminal surface, then second baffle 31 and first baffle 11 overlap the setting from inside to outside and can shelter from three-dimensional force accuse sensor's lower part rear side, can prevent that air impurity from entering into three-dimensional force accuse sensor by slip table upper cover 1 lower extreme rear side to protect three-dimensional force accuse sensor's structure. Meanwhile, a gap is formed between the second baffle 31 and the first baffle 11, so that the sliding table upper cover 1 can be prevented from being connected with the sliding table outer shell 3 through the first baffle 11 and the second baffle 31, the acting force of a worker on the sliding table upper cover 1 is prevented from being transmitted to the lower end of the three-dimensional force control sensor through the sliding table outer shell 3, and the detection accuracy of the three-dimensional force control sensor is ensured.
Optionally, as shown in fig. 2, the positioning device of the operation arm sliding table further comprises a force control installation seat 4, wherein the lower end surface of the force control installation seat 4 is connected with the sliding table outer shell 3, and the upper end surface of the force control installation seat 4 is connected with the lower end surface of the three-dimensional force control sensor.
In this embodiment, the lower end surface of the force control mount 4 is connected with the slide table outer case 3 using a screw, and then the three-dimensional force control sensor is connected with the upper end surface of the force control mount 4 using a screw. Thus, by providing the force control mount 4, the three-dimensional force control sensor can be assembled easily.
Alternatively, the upper end face and the lower end face of the force control mount 4 are both provided as planes and are parallel to each other.
In the present embodiment, illustratively, the guide rail of the slide table 7 is provided on the slide table outer case 3 in parallel with the XZ plane, specifically, F in the three-dimensional force sensor Y Is perpendicular to the rails of the ramp 7. The lower end face of the force control mounting seat 4 is parallel to the XY plane, and the lower end face of the force control mounting seat 4 is parallel to the slipway outer shell 3. Therefore, the force control mounting seat 4 is arranged, the upper end face of the force control mounting seat 4 is set to be a plane, the lower end face of the three-dimensional force control sensor is arranged in parallel with the upper end face of the force control mounting seat 4, and three induction directions F of the three-dimensional force control sensor can be ensured X 、F Y 、F Z Respectively parallel to the X, Y, Z axes, thereby ensuring the detection accuracy of the three-dimensional force control sensor.
Optionally, as shown in fig. 2, a third baffle 41 is disposed at the upper end of the force control mount 4, the third baffle 41 and the first baffle 11 are overlapped from inside to outside, and a gap is disposed between the first baffle 11 and the third baffle 41.
In the present embodiment, the third barrier 41 extends upward to the lower end face of the three-dimensional force control sensor, for example. The upper end front side of the force control installation seat 4 is provided with the third baffle 41, and the third baffle 41 extends upwards to the lower end face of the three-dimensional force control sensor, so that the third baffle 41 and the first baffle 11 can be overlapped from inside to outside to shield the front side of the lower part of the three-dimensional force control sensor, and air impurities can be prevented from entering the three-dimensional force control sensor from the front side of the lower end of the sliding table upper cover 1, so that the structure of the three-dimensional force control sensor is protected. Meanwhile, a gap is formed between the third baffle 41 and the first baffle 11, so that the sliding table upper cover 1 can be prevented from being connected with the force control mounting seat 4 through the first baffle 11 and the third baffle 41, the fact that acting force of a worker on the sliding table upper cover 1 is transmitted to the lower end of the three-dimensional force control sensor through the force control mounting seat 4 is avoided, and the detection accuracy of the three-dimensional force control sensor is guaranteed.
Optionally, as shown in fig. 2, the positioning device of the operation arm sliding table further comprises a force control mounting plate 5, wherein the force control mounting plate 5 is connected with the sliding table upper cover 1, and the lower end surface of the force control mounting plate 5 is connected with the upper end surface of the three-dimensional force control sensor.
In this embodiment, the lower end surface of the force control mounting plate 5 is connected with the three-dimensional force control sensor by using a screw, and then the upper cover 1 of the sliding table is connected with the upper end surface of the force control mounting plate 5 by using a screw. Thus, by providing the force control mounting plate 5, the assembling of the slide table upper cover 1 can be facilitated.
Alternatively, the lower end surface of the force-controlled mounting plate 5 is provided as a plane and parallel to the upper end surface of the three-dimensional force-controlled sensor.
In the present embodiment, the lower end surface of the force control mounting plate 5 is illustratively parallel to the upper end surface of the three-dimensional force control sensor, and is an XY surface. The lower end face of the force control mounting plate 5 is connected with the upper end face of the three-dimensional force control sensor, and when acting force is applied to the sliding table 7, the stress direction of the sliding table upper cover 1 is the same as that of the three-dimensional force control sensor. Therefore, the sensing direction of the three-dimensional force control sensor corresponds to the stress direction of the sliding table upper cover 1, and the three-dimensional force control sensor can be ensured to accurately detect the stress direction of the sliding table upper cover 1.
Alternatively, as shown in fig. 3 and 4, the upper cover 1 of the sliding table is provided with a holding area 12, and the holding area 12 is used for matching with the palm.
In the present embodiment, the holding section 12 is illustratively located on the front side of the slide table upper cover 1 and is flared rearward to form a structure fitted with the palm of the hand. The palm is convenient for the staff to laminate with the holding area 12 of slip table upper cover 1, sets up and exerts effort on slip table upper cover 1. Therefore, on one hand, the force application position can be conveniently confirmed by a worker, the worker is prevented from applying force to the sliding table 7, the simultaneous stress of the upper end and the lower end of the three-dimensional force control sensor is avoided, and the detection accuracy of the three-dimensional force control sensor is improved; on the other hand, the palm of the hand is attached to the holding area 12 on the upper cover 1 of the sliding table, so that the hand can apply force to the upper cover 1 of the sliding table conveniently.
Optionally, as shown in fig. 3, a positioning area 13 is further disposed on the sliding table upper cover 1.
In the present embodiment, the positioning areas 13 are exemplarily provided in two, and are located on the left and right sides of the slide table upper cover 1, which are recesses toward the inside. When the palm is attached to the holding area 12, the fingers are conveniently arranged in the concave, so that the contact area between the palm and the upper cover 1 of the sliding table is increased, and the force application is facilitated.
Optionally, as shown in fig. 2, the positioning device of the operation arm sliding table further includes a control mechanism 6, where the control mechanism 6 is electrically connected to the driving mechanism and is used for controlling the opening and closing of the driving mechanism.
In this embodiment, the control mechanism 6 is provided, so that the opening and closing of the driving mechanism can be controlled, the situation that the worker unintentionally touches the upper cover 1 of the sliding table to cause the position and the angle of the sliding table 7 to deviate is avoided, and the stability of the sliding table 7 is improved.
Alternatively, as shown in fig. 2 and 5, the control mechanism 6 includes a force control positioning key 61 and a force control positioning key board 62, where the force control positioning key 61 and the force control positioning key board 62 are both disposed in the sliding table upper cover 1, and the force control positioning key board 62 is electrically connected with the force control positioning key 61 and the driving mechanism in sequence, respectively.
In the present embodiment, the force control positioning key 61 is located in the holding area of the slide table upper cover 1 and penetrates the slide table upper cover 1, for example. The force control positioning key board 62 is electrically connected with a driving mechanism, and the driving mechanism is in transmission connection with the sliding table 7. The force control positioning key board 62 is a circuit board, a palm covers the sliding table upper cover 1, the palm center is abutted against the force control positioning key 61 to apply force to the force control positioning key 61 so as to trigger the force control positioning key board 62, the circuit of the force control positioning key board 62 can be closed and conducted, an electric signal is further formed to control the opening of the driving mechanism, and at the moment, when working personnel apply force to the sliding table upper cover 1, the driving mechanism can be utilized to drive the sliding table 7 to move so as to assist the working personnel. Meanwhile, when the palm center is separated from the force control positioning key 61 or the force is not applied to the force control positioning key 61, a circuit in the force control positioning key board 62 is disconnected, the driving mechanism is closed, and at the moment, when the worker applies the force to the sliding table upper cover 1, the driving mechanism does not drive the sliding table 7 to move. Therefore, the control mechanism 6 is set to be the force control positioning key 61 and the force control positioning key board 62, and the sliding table 7 can be positioned only when the palm is covered on the holding area 12 of the sliding table upper cover 1, so that the action effect of the control mechanism 6 is ensured, and the stability of the sliding table 7 is improved.
The surgical platform according to another embodiment of the present invention includes a positioning device of the surgical arm sliding table described above.
In this embodiment, the operation platform includes all structures of the positioning device of the operation arm sliding table, and the same effects as those of the positioning device of the operation arm sliding table, so that the description is omitted.
A surgical system according to another embodiment of the present invention includes a surgical platform as described above.
In this embodiment, the surgical system includes all structures of the surgical platform, and the surgical platform includes all structures of the positioning device of the surgical arm sliding table, and the effect of the surgical system is the same as that of the positioning device of the surgical arm sliding table, so that the description thereof is omitted.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (10)
1. The positioning device of the operation arm sliding table is characterized by comprising a sliding table upper cover (1) and a sensor (2), wherein the sensor (2) is arranged as a three-dimensional force control sensor, the upper end and the lower end of the three-dimensional force control sensor are both induction ends, the three-dimensional force control sensor is used for being in data connection with a driving mechanism, and the driving mechanism is used for driving the sliding table (7) to move;
the three-dimensional force control sensor is characterized in that the three-dimensional force control sensor is covered by the sliding table upper cover (1) and is connected with the upper end of the three-dimensional force control sensor, the sliding table (7) comprises a sliding table outer shell body (3), the lower end of the three-dimensional force control sensor is connected with the sliding table outer shell body (3), and a gap is formed between the lower end of the sliding table upper cover (1) and the sliding table outer shell body (3).
2. The positioning device of the operation arm sliding table according to claim 1, wherein a first baffle (11) is arranged at the lower end of the sliding table upper cover (1), a second baffle (31) is arranged at the upper end of the sliding table outer shell (3), the second baffle (31) and the first baffle (11) are overlapped from inside to outside, and a gap is arranged between the first baffle (11) and the second baffle (31).
3. The positioning device of the operation arm sliding table according to claim 2, further comprising a force control mounting seat (4), wherein a lower end face of the force control mounting seat (4) is connected with the sliding table outer shell (3), and an upper end face of the force control mounting seat (4) is connected with a lower end face of the three-dimensional force control sensor.
4. A positioning device of a surgical arm sliding table according to claim 3, characterized in that a third baffle (41) is arranged at the upper end of the force control mounting seat (4), the third baffle (41) and the first baffle (11) are overlapped from inside to outside, and a gap is arranged between the first baffle (11) and the third baffle (41).
5. The positioning device of the operation arm sliding table according to claim 4, further comprising a force control mounting plate (5), wherein an upper end surface of the force control mounting plate (5) is connected with the sliding table upper cover (1), and a lower end surface of the force control mounting plate (5) is connected with an upper end surface of the three-dimensional force control sensor.
6. The positioning device of the surgical arm sliding table according to claim 5, characterized in that the lower end face of the force control mounting plate (5) is arranged as a plane and is parallel to the upper end face of the three-dimensional force control sensor.
7. The positioning device of the surgical arm sliding table according to claim 1, further comprising a control mechanism (6), wherein the control mechanism (6) is electrically connected to the driving mechanism and is used for controlling the opening and closing of the driving mechanism.
8. The positioning device of the operation arm sliding table according to claim 7, wherein the control mechanism (6) comprises a force control positioning key (61) and a force control positioning key board (62), the force control positioning key (61) and the force control positioning key board (62) are arranged in the sliding table upper cover (1), and the force control positioning key board (62) is electrically connected with the force control positioning key (61) and the driving mechanism respectively.
9. A surgical platform comprising a positioning device for a surgical arm ramp according to any one of claims 1 to 8.
10. A surgical system comprising the surgical platform of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310010676.8A CN115998444A (en) | 2023-01-05 | 2023-01-05 | Positioning device of operation arm sliding table, operation platform and operation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310010676.8A CN115998444A (en) | 2023-01-05 | 2023-01-05 | Positioning device of operation arm sliding table, operation platform and operation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115998444A true CN115998444A (en) | 2023-04-25 |
Family
ID=86018905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310010676.8A Pending CN115998444A (en) | 2023-01-05 | 2023-01-05 | Positioning device of operation arm sliding table, operation platform and operation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115998444A (en) |
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2023
- 2023-01-05 CN CN202310010676.8A patent/CN115998444A/en active Pending
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