CN116327386A - Balance arm hovering force adjusting mechanism of operation microscope equipment - Google Patents
Balance arm hovering force adjusting mechanism of operation microscope equipment Download PDFInfo
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- CN116327386A CN116327386A CN202310324133.3A CN202310324133A CN116327386A CN 116327386 A CN116327386 A CN 116327386A CN 202310324133 A CN202310324133 A CN 202310324133A CN 116327386 A CN116327386 A CN 116327386A
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Abstract
The invention discloses a balance arm hovering force adjusting mechanism of operation microscope equipment, which relates to the technical field of medical auxiliary instruments, wherein a balance suspension assembly consists of an upper suspension and a lower suspension, the upper suspension and the lower suspension can carry out rectangular hinging corresponding to an upper mounting head and a lower mounting head, the upper suspension is used as a structure for bearing the weight of the operation microscope equipment, the lower suspension is used as a supporting structure relative to the operation microscope equipment, a thrust value Ni, a pull value Nb and an action length Li are used as dynamic variables, and an installation length La and an output torque Lk are used as static quantification, and a dynamic model is arranged, so that the purpose is that: the thrust value Ni is calculated by the tension value Nb, and is used as a compensation upper suspension and a lower suspension, and the final purpose is to play a role in stabilizing and balancing the suspension component and to realize timely positioning and timely stopping in cooperation with the hovering process of the surgical microscope equipment because of the force difference generated when the hovering position of the surgical microscope equipment is switched.
Description
Technical Field
The invention relates to the technical field of medical auxiliary instruments, in particular to a balance arm hovering force adjusting mechanism of operation microscope equipment.
Background
The operation microscope equipment is one of auxiliary instruments in clinical operation and generally consists of an optical system, an illumination system, a movable support, a rotating joint, an image shooting and recording system and the like, in order to meet the requirements of different operation positions, the operation microscope needs to hover at different operation positions, a doctor views an observed object through an eyepiece or an image shooting and recording system, the rotating joint is important, the rotating joint mainly consists of a cross arm and a hovering balance arm, one end of the hovering balance arm is arranged on the cross arm, and the operation microscope is arranged at the other end of the hovering balance arm, wherein hovering balance is used as a direct bearing structure of the weight of the operation microscope equipment;
the hover balance arm needs to be described as follows: in clinical operation, the operation position is flexible and changeable, in order to cooperate with the operation position to change the hovering position of the operation microscope device, so the weight configuration of the hovering balance arm is changed, the force born by the hovering balance arm is changed under the condition of different weight configurations, particularly when the hovering height of the operation microscope device is changed, the counterweight is greatly changed, and the influence of inertia force is caused, so that the actual position of the operation microscope device is unstable, and the method can be understood as: in the actual operation process, the operation microscope equipment is difficult to adjust and stop in time, and the progress of the operation is not utilized.
Disclosure of Invention
The invention aims to provide a balance arm hovering force adjusting mechanism of operation microscope equipment, which is used for solving the problem that the balance hovering arm used in the current operation microscope equipment is influenced by inertial force and gravity when a counterweight is changed in the actual operation process, so that the operation microscope equipment is difficult to adjust and stop in time and does not utilize the progress of operation.
The aim of the invention can be achieved by the following technical scheme:
the balance arm hovering force adjusting mechanism of the operation microscope equipment comprises a movable support, a seat head, an upper mounting head and a lower mounting head, wherein a balance suspension assembly is arranged between the upper mounting head and the lower mounting head, the upper mounting head is arranged at the lower side of the seat head, the balance suspension assembly comprises an upper suspension and a lower suspension which are arranged from top to bottom, and the two ends of the upper suspension and the lower suspension are respectively in rotary connection with the upper mounting head and the lower mounting head;
an adjusting block is slidably arranged in the upper mounting head along the vertical direction, a displacement sensor is rotatably arranged on one side, close to the balance suspension assembly, of the adjusting block, a positioning clamping head is arranged on the middle section position in the lower suspension, a supporting head is arranged on the tail end position of a transmission rod of the displacement sensor, and a clamping groove is formed in one side, close to the supporting head, of the positioning clamping head;
a positioning block is arranged at the position of the upper suspension close to the lower mounting head, a directional rod is arranged in the positioning block, the directional rod is arranged in parallel with the upper suspension, one end of the directional rod is in rotary connection with the lower mounting head, an electric push cylinder is arranged in the lower suspension, and a thrust wedge block corresponding to the positioning block is arranged at the tail end of a transmission rod of the electric push cylinder;
the seat head is arranged on the movable support, and a return force interaction system is arranged in the seat head and comprises an integrated module, a tension sensor and an adjusting frame.
Further provided is that: a traction rope is tied on the transmission shaft of the tension sensor, two threading rods are arranged between the adjusting frames, the traction ropes are respectively wound on the threading rods, and the traction ropes penetrate to the outside of the seat head;
the wire fixing seat is arranged at one end, close to the lower mounting head, of the upper surface of the upper suspension, a plurality of wire loops are arranged on one side of the wire fixing seat, the traction rope is arranged in the wire loops, and the tail end of the traction rope is arranged on the wire fixing seat.
Further provided is that: two offer on the threading pole with the line spout of haulage rope matching, and install the card wire loop on the threading pole corresponds the position of line spout, two the opening direction of line spout is upwards and downwards respectively, install two miniature servo motor on the position that the seat head corresponds the regulation frame, two miniature servo motor is the symmetry setting along the regulation frame, and is connected between miniature servo motor's output shaft and the central point position of regulation frame.
Further provided is that: the screw thread connection is arranged at the lower side of the upper mounting head, the screw thread connection is arranged between the adjusting screw and the adjusting block, the intersection of the adjusting screw and the adjusting block and the upper mounting head is provided with a screw thread groove, and the tapping directions of the screw thread grooves in the adjusting block and the upper mounting head are opposite.
Further provided is that: the displacement sensor is obliquely arranged relative to the lower suspension, the upper suspension and the lower suspension are parallel, and the lengths of the upper suspension and the lower suspension are equal.
Further provided is that: the angle of the upper suspension and the lower suspension through the adjusting frame is provided with three forms, and the three forms are as follows:
a: the upper suspension and the lower suspension are inclined upwards relative to the horizontal plane, and the adjusting frame in the state rotates anticlockwise, so that the winding quantity of the traction rope on the threading rod is increased;
b: the upper suspension, the lower suspension and the horizontal plane are parallel, and in this state, the position of the adjusting frame relative to the adjusting frame in the A form is clockwise rotation;
c: the upper suspension and the lower suspension are inclined downwards relative to the horizontal plane, and in this state, the rotation angle of the adjusting frame is larger than that of the adjusting frame in the B mode.
Further provided is that: the integrated module consists of a data collection module, a data analysis module and a data interaction module, and is specifically as follows:
and a data collection module: the device comprises a data analysis module, a positioning clamp, a push rod, a pull force sensor, a displacement sensor, a positioning clamp and a positioning clamp, wherein the push force value Ni of the electric push rod, the pull force value Nb of the pull force sensor, the output torque Lk of the displacement sensor, the acting length Li of the displacement sensor and the positioning clamp are used for collecting the output torque Li of the displacement sensor, the acting length Li of the displacement sensor and the installation length La of the positioning clamp relative to the lower suspension, the acting length Li of the displacement sensor is equal to the radial distance between the positioning clamp and the positioning clamp along the vertical direction, the push force value Ni, the pull force value Nb and the output torque Lk are converted into electric signals and transmitted to the data analysis module, the push force value Ni, the pull force value Nb and the acting length Li are dynamic variables, and the installation length La and the output torque Lk are static quantitative;
and a data analysis module: the electric signal data fed back by the data collection module is used for establishing a dynamic model about the thrust value Ni:
wherein t= [ (Li-La) × (Lk/La)] 2 WhereinLi is larger than Lk, wherein the value of Lk is changed by shifting the adjusting block through the adjusting screw, and according to the A, B, C three forms in the upper suspension and the lower suspension, the value of Nb is set as follows: the upper limit of the Nb value in the A form is marked as Nb ≡, the upper limit of the Nb value in the B form is marked as delta Nb, the upper limit of the Nb value in the C form is marked as Nb ≡, and the logarithmic Nb is divided into three ranges: nb ≡ -;
the length of the displacement sensor is given as a value Lo, li=La and DeltaLo in the form B, lo ∈ and Lo ∈ are respectively given to the values Lo in the form A and the form C, lo ∈ is smaller than Lo, and the calculation formula converted to Li is as follows:
and substitute into +.>
And t= [ (Li-La) × (Lk/La)] 2 From the calculated structure, the following analytical data were derived:
data one: when the upper suspension and the lower suspension are parallel to the horizontal plane, the suspension is in a B form, li=La, wherein T=0, the calculated Ni=Nb/(Lk/La), and the tensile force value Nb is satisfied as DeltaNb > Nb > (1-Lk/La) DeltaNb;
data two: when the upper suspension and the lower suspension are in the A-state,
and the tensile force value Nb satisfies (1-Lk/La) delta Nb < Nb ++;
data three: when the upper suspension and the lower suspension are in the C-shape,
and the tensile force value Nb satisfies delta Nb < Nb +.;
obtaining Ni through calculation according to Li obtained in the three data;
and a data interaction module: the data interaction module receives the analysis data from the data analysis module, and responds to the following actions according to the analysis data:
the method comprises the steps of starting an electric pushing cylinder according to analysis data in data one, data two and data three, controlling a pushing wedge block to move along a direction close to a positioning block, applying pushing force Ni to the positioning block, wherein the applied pushing force Ni takes a pulling force value Nb in a corresponding form as reference data, takes Li as a variable, data of Lk/La are calibrated as correction factor fixed parameters, controlling dynamic balance between an upper suspension and a lower suspension through pushing force Ni applied by the electric pushing cylinder, performing dynamic force compensation on the upper suspension and the lower suspension, and performing data collection again through actions executed by a data interaction module by a data collection module
The invention has the following beneficial effects:
1. the invention comprises a balancing suspension assembly composed of an upper suspension and a lower suspension, wherein the upper suspension and the lower suspension can be hinged in a rectangular shape corresponding to an upper mounting head and a lower mounting head, the upper suspension is used as a structure for bearing the weight of the operation microscope equipment, the lower suspension is used as a supporting structure relative to the operation microscope equipment, the upper suspension and the lower suspension are parallel 'slide' through hinging, a traction rope is used as a structure for detecting the weight of the operation microscope equipment, a real-time tension value is detected by a tension sensor, and the tension value and a displacement value displayed in a displacement sensor are used for setting
And t= [ (Li-La) × (Lk/La)] 2 The dynamic model of (a) uses a thrust value Ni, a tension value Nb and an action length Li as dynamic variables, and a mounting length La and an output torque Lk as static quantification, and the purpose is as follows: the displacement change generated when the upper suspension and the lower suspension are mutually hinged is combined with the real-time numerical value displayed on the tension sensor, and the real-time numerical value is substituted into the dynamic model to calculate the driving thrust of the electric push rod, so that the driving thrust is used for compensating the force difference generated when the upper suspension and the lower suspension are used for switching the hovering position of the operation microscope equipment, and the final purpose is to play a role in stabilizing and balancing the suspension assembly and to realize timely positioning and timely stopping in cooperation with the hovering process of the operation microscope equipment;
2. it should be noted that: the displacement sensor is arranged obliquely relative to the lower suspension, and the purpose of the displacement sensor is that: by limiting the real-time position of the adjusting block to achieve the effect of adjusting the output torque Lk, during normal use, the output torque Lk can be limited to the maximum or minimum acting length Li of the displacement sensor in a certain range, and it is necessary to explain again: the installation length La and the output torque Lk are used as static quantification purposes, so that the value of the Lk/La is obtained through calculation, the value is used as a correction factor fixed parameter of the overall calculation value, and the influence of dynamic variables on the calculation structure is not interfered.
The attached drawings are regarded as
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of a balance arm hover force adjustment mechanism of a surgical microscope apparatus according to the present invention;
FIG. 2 is a cut-away view of a balance suspension assembly in a balance arm hover force adjustment mechanism of a surgical microscope apparatus according to the present invention;
FIG. 3 is a front view of FIG. 2 in a balance arm hover force adjustment mechanism of a surgical microscope apparatus according to the present invention;
FIG. 4 is a cut-away view of a head component of a balance arm hover force adjustment mechanism of a surgical microscope apparatus according to the present invention;
FIG. 5 is a schematic view of the structure of the adjusting frame member in the balance arm hover force adjusting mechanism of the surgical microscope apparatus according to the present invention;
fig. 6 is a block diagram of a return force interaction system in a balance arm hover force adjustment mechanism of a surgical microscope device according to the present invention.
In the figure: 1. a movable support; 2. a seat head; 3. an upper mounting head; 4. a traction rope; 5. threading a wire ring; 6. an upper suspension; 7. a lower suspension; 8. a wire fixing seat; 9. a lower mounting head; 10. a positioning block; 11. a thrust wedge; 12. an adjusting block; 13. an electric pushing cylinder; 14. positioning a clamping head; 15. a clamping groove; 16. a bracket; 17. a displacement sensor; 18. an adjusting frame; 19. a miniature servo motor; 20. a tension sensor; 21. an integration module; 22. an adjusting screw; 23. a threading rod; 24. a wire chute; 25. a wire clamping ring; 26. and orienting the rod.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. 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 be within the scope of the invention.
Example 1
For a surgical microscope apparatus, mainly composed of a medical imaging set-up, such as an optical microscope, in which the accessory comprises the mobile carriage 1, the head 2 and the balanced suspension assembly according to the invention, the invention is described only with respect to the balanced suspension assembly, and it is to be briefly described that: the surgical microscope apparatus is mounted by means of the lower mounting head 9 and the balancing suspension assembly is mounted by means of the upper mounting head 3 on the seat head 2, not described much here, mainly the balancing suspension assembly is described and the following optimisation is made with respect to the conventional balancing arm structure:
referring to fig. 1 to 5, a balance arm hovering force adjusting mechanism of a surgical microscope device in the invention comprises a movable bracket 1, a seat head 2, an upper mounting head 3 and a lower mounting head 9, wherein a balance suspension assembly is arranged between the upper mounting head 3 and the lower mounting head 9, the upper mounting head 3 is arranged at the lower side position of the seat head 2, the balance suspension assembly comprises an upper suspension 6 and a lower suspension 7 which are arranged from top to bottom, and the two ends of the upper suspension 6 and the lower suspension 7 are respectively in rotary connection with the upper mounting head 3 and the lower mounting head 9;
an adjusting block 12 is slidably arranged in the upper mounting head 3 along the vertical direction, a displacement sensor 17 is rotatably arranged on one side, close to the balance suspension assembly, of the adjusting block 12, a positioning clamping head 14 is arranged on the middle section position in the lower suspension 7, a supporting head 16 is arranged on the tail end position of a transmission rod of the displacement sensor 17, and a clamping groove 15 is formed in one side, close to the supporting head 16, of the positioning clamping head 14;
a positioning block 10 is arranged at the position of the upper suspension 6 close to the lower mounting head 9, a positioning rod 26 is arranged in the positioning block 10, the positioning rod 26 is arranged in parallel with the upper suspension 6, one end of the positioning rod 26 is in rotary connection with the lower mounting head 9, an electric push cylinder 13 is arranged in the lower suspension 7, and a thrust wedge 11 corresponding to the positioning block 10 is arranged at the tail end of a transmission rod of the electric push cylinder 13;
the seat head 2 is arranged on the movable support 1, a force return interaction system is arranged in the seat head 2 and comprises an integrated module 21, a tension sensor 20 and an adjusting frame 18, a traction rope 4 is tied on a transmission shaft of the tension sensor 20, two threading rods 23 are arranged between the adjusting frames 18, the traction ropes 4 are respectively wound on the threading rods 23, and the traction ropes 4 penetrate to the outside of the seat head 2;
the wire fixing seat 8 is installed to one end that upper suspension 6 upper surface is close to lower installation head 9, and a plurality of wire loops 5 are installed to upper suspension 6 upper surface in wire fixing seat 8 one side, haulage rope 4 is located the inside of wire loops 5, and the haulage rope 4 end is installed on wire fixing seat 8, go up installation head 3 downside position threaded connection and have adjusting screw 22, be threaded connection between adjusting screw 22 and the regulating block 12, the screw thread groove has been seted up with the crossing department of regulating block 12, last installation head 3 to adjusting screw 22, the screw thread groove tapping opposite direction in the regulating block 12, the last installation head 3.
The advantages are that: referring to fig. 3, the balance arm assembly is composed of an upper suspension 6 and a lower suspension 7, and it should be noted that: the upper suspension 6 and the lower suspension 7 can move in parallel through the upper mounting head 3 and the lower mounting head 9, the lower suspension 7 is of a static structure relative to the upper suspension 6, the upper suspension 6 can slide in a small range along the length direction relative to the lower suspension 7, and the radial distance between the upper suspension 6 and the lower suspension 7 is reduced;
one end of the traction rope 4 is fixed at one end of the upper suspension 6, so that the tension sensor 20 senses the weight born by the balance cantilever assembly from the operation microscope device mounted on the lower mounting head 9, so that it is said that: when the hovering position of the operation microscope equipment is switched, a specific value can be obtained through real-time detection by the tension sensor 20;
further explanation is needed: wherein the lower suspension 7 is part of a balanced suspension assembly, but is primarily a support structure for the upper suspension 6, such as: when the balance cantilever assembly is turned upwards and the radial distance between the upper suspension 6 and the lower suspension 7 is reduced, the value displayed on the displacement sensor 17 is changed, and the upper suspension 6 moves towards the direction approaching the upper mounting head 3 relative to the lower suspension 7, namely: the positioning block 10 moves in a direction approaching to the upper mounting head 3, so that the electric push cylinder 13 can be started to drive the inclined wedge 11 to "push against" the positioning block 10, and a pushing force is applied to the positioning block 10.
Example two
The present embodiment optimizes the traction rope structure in the first embodiment, and aims to match the active form of the balanced suspension assembly, specifically as follows:
the two threading rods 23 are provided with wire sliding grooves 24 matched with the traction ropes 4, the positions of the threading rods 23 corresponding to the wire sliding grooves 24 are provided with wire clamping rings 25, the opening directions of the two wire sliding grooves 24 are respectively upward and downward, the seat head 2 is provided with two micro-servo motors 19 corresponding to the position of the adjusting frame 18, the two micro-servo motors 19 are symmetrically arranged along the adjusting frame 18, and the output shafts of the micro-servo motors 19 are connected with the center point position of the adjusting frame 18.
The angle of the upper suspension 6 and the lower suspension 7 through the adjusting frame 18 is set to three modes, specifically as follows:
a: the upper suspension 6 and the lower suspension 7 are inclined upwards relative to the horizontal plane, the adjusting frame 18 in the state rotates anticlockwise, and the winding amount of the traction rope (4) on the threading rod (23) is increased;
b: the upper suspension 6, the lower suspension 7 and the horizontal plane are parallel, and in this state, the position of the adjusting frame 18 relative to the adjusting frame 18 in the A shape is clockwise rotation;
c: the upper and lower suspensions 6, 7 are inclined downward with respect to the horizontal plane, and in this state, the rotation angle of the adjustment frame 18 is larger than that of the adjustment frame 18 in the B-mode.
The advantages are that: referring specifically to fig. 5 and 3, in the form a, the balance cantilever assembly is limited to be inclined upwards, for this purpose, the micro-servo motor 19 needs to be started to drive the adjusting frame 18 to rotate anticlockwise for increasing the winding amount of the pulling rope 4 on the threading rod 23 until the balance cantilever assembly is inclined upwards, if the balance cantilever assembly needs to be restored to the form B, the adjusting frame 18 needs to be rotated instantaneously for pulling out the pulling rope 4 until the balance cantilever assembly is in a horizontal parallel state, for example, the pulling out of the pulling rope 4 is continued, that is, the rotation angle in the form C is greater than that in the form B until the balance cantilever assembly is inclined downwards;
in all three states, the weight force borne by the balanced cantilever assembly can be detected by the tension sensor 21.
Example III
The present embodiment is a technical feature incorporated into the first and second embodiments, and the adjusting force of the entire balanced cantilever assembly is performed as the hovering position of the operation microscope apparatus is changed, specifically as follows:
referring to fig. 6, the integration module 21 is composed of a data collection module, a data analysis module, and a data interaction module, and is specifically as follows:
and a data collection module: the device is used for collecting a thrust value Ni of the electric push cylinder 13, a tension value Nb of the tension sensor 20, output torque Lk of the displacement sensor 17, an acting length Li of the displacement sensor 17 and an installation length La of the positioning chuck 14 relative to the lower suspension 7, wherein the output torque Lk of the displacement sensor 17 is equal to a radial distance of the lower surface of the adjusting block 12 relative to the positioning chuck 14 along the vertical direction, the acting length Li of the displacement sensor 17 is equal to a radial distance of the positioning chuck 14 and the adjusting block 12 along the horizontal direction, the thrust value Ni, the tension value Nb and the output torque Lk are transmitted to the data analysis module through conversion into electric signals, and the thrust value Ni, the tension value Nb and the acting length Li are dynamic variables, wherein the installation length La and the output torque Lk are static quantitative;
and a data analysis module: the number of electric signals fed back by the data collecting moduleAccording to the above, a dynamic model is established for the thrust value Ni:
wherein t= [ (Li-La) × (Lk/La)] 2 Wherein Li is greater than Lk, the value of Lk is changed by the movement of the adjusting block 12 by the adjusting screw 22, and the value of Nb is set as follows according to three forms of A, B, C in the upper suspension 6 and the lower suspension 7: the upper limit of the Nb value in the A form is marked as Nb ≡, the upper limit of the Nb value in the B form is marked as delta Nb, the upper limit of the Nb value in the C form is marked as Nb ≡, and the logarithmic Nb is divided into three ranges: nb ≡ -;
the length of the displacement sensor 17 is given as a value Lo, li=la and Δlo in the form B, lo ∈ and Lo ∈ are given to the values Lo in the form a and the form C, respectively, and Lo ∈ is < Lo, and the calculation formula converted to Li is as follows:
and substitute into +.>
And t= [ (Li-La) × (Lk/La)] 2 From the calculated structure, the following analytical data were derived:
data one: when the upper suspension 6 and the lower suspension 7 are parallel to the horizontal plane, the suspension is in a B form, li=La, wherein T=0, calculated Ni=Nb/(Lk/La), and the tensile force value Nb is satisfied as DeltaNb > Nb > (1-Lk/La) DeltaNb;
data two: when the upper and lower suspensions 6, 7 are in the a-configuration,
and the tensile force value Nb satisfies (1-Lk/La) delta Nb < Nb ++;
data three: when the upper and lower suspensions 6, 7 are in the C-configuration,
and the tensile force value Nb satisfiesNb＜Nb＜Nb↑；
Obtaining Ni through calculation according to Li obtained in the three data;
and a data interaction module: the data interaction module receives the analysis data from the data analysis module, and responds to the following actions according to the analysis data:
in combination with the analysis data in the data I, the data II and the data III, the electric pushing cylinder 13 is started, the pushing wedge 11 is controlled to move along the direction close to the positioning block 10, the pushing force Ni is applied to the positioning block 10, the applied pushing force Ni takes a pulling force value Nb in a corresponding form as reference data, li is taken as a variable, the data of Lk/La are calibrated as correction factor fixed parameters, the pushing force Ni applied by the electric pushing cylinder 13 is used for controlling the upper suspension 6 and the lower suspension 7 to be in dynamic balance, dynamic force compensation is carried out on the upper suspension 6 and the lower suspension 7, and the data collection module is used for carrying out data collection again through actions executed by the data interaction module.
The working process comprises the following steps: therein of the pair of
And->
Explaining mainly based on trigonometric functions, the differences are: where Lk is a constant quantity and Li is a function of the radial distance between the upper and lower suspensions 6, 7, li can be used as a dynamic model since the radial distance between the upper and lower suspensions 6, 7 changes when the surgical microscope device switches hover positions>
Wherein La and Lk are quantitative, with the difference that: wherein Lk may be varied by turning the set screw 22, but is also quantitative relative to the overall value;
the data collecting module, the data analyzing module and the data interacting module are related to each other, that is, the data collecting module, the data analyzing module and the data interacting module exchange information in a closed loop manner, referring to fig. 6 specifically, the data interacting module responds to the analyzing structure in the data analyzing module to control the electric pushing cylinder 13 to execute related actions in the invention, the data analyzing module analyzes and identifies based on the information data collected in the data collecting module, and finally, when the data interacting module executes related actions, the data collecting module executes actions in the data interacting module to collect again and feeds back to the data analyzing module, and the actions in different modules are executed in the sequence to maintain the balance of the balance cantilever assembly when the operation microscope device switches the hovering position.
To sum up: the upper suspension and the lower suspension form a balance cantilever component, the upper suspension and the lower suspension can carry out rectangular hinging corresponding to the upper mounting head and the lower mounting head, the upper suspension is used as a structure for bearing the weight of the operation microscope equipment, the lower suspension is used as a supporting structure relative to the operation microscope equipment, a thrust value Ni, a tension value Nb and an action length Li are used as dynamic variables, the mounting length La and an output torque Lk are used as static quantification, and a dynamic model is arranged, so that the purpose is that: and calculating a thrust value Ni by using the tension value Nb, and taking the thrust value Ni as a compensating upper suspension. And the lower suspension is used for playing a role in stabilizing and balancing the suspension component due to the force difference generated when the hovering position of the operation microscope equipment is switched, and the lower suspension is matched with the operation microscope equipment to realize timely position adjustment and timely stop in the hovering process.
The foregoing is merely illustrative and explanatory of the invention, as it is well within the scope of the invention as claimed, as it relates to various modifications, additions and substitutions for those skilled in the art, without departing from the inventive concept and without departing from the scope of the invention as defined in the accompanying claims.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (7)
1. The balance arm hovering force adjusting mechanism of the operation microscope equipment comprises a movable support (1), a seat head (2), an upper mounting head (3) and a lower mounting head (9), and is characterized in that a balance suspension assembly is arranged between the upper mounting head (3) and the lower mounting head (9), the upper mounting head (3) is arranged at the lower side of the seat head (2), the balance suspension assembly comprises an upper suspension (6) and a lower suspension (7) which are arranged from top to bottom, and the two ends of the upper suspension (6) and the lower suspension (7) are respectively in rotary connection with the upper mounting head (3) and the lower mounting head (9);
an adjusting block (12) is slidably arranged in the upper mounting head (3) along the vertical direction, a displacement sensor (17) is rotatably arranged on one side, close to the balance suspension assembly, of the adjusting block (12), a positioning clamping head (14) is arranged at the middle section position in the lower suspension (7), a supporting head (16) is arranged at the tail end position of a transmission rod of the displacement sensor (17), and a clamping groove (15) is formed in one side, close to the supporting head (16), of the positioning clamping head (14);
the positioning block (10) is arranged at the position, close to the lower mounting head (9), of the upper suspension (6), a positioning rod (26) is arranged in the positioning block (10), the positioning rod (26) and the upper suspension (6) are arranged in parallel, one end of the positioning rod (26) is rotationally connected with the lower mounting head (9), an electric push cylinder (13) is arranged in the lower suspension (7), and a thrust wedge block (11) corresponding to the positioning block (10) is arranged at the tail end of a transmission rod of the electric push cylinder (13);
the seat head (2) is arranged on the movable support (1), and a return force interaction system is arranged inside the seat head (2) and comprises an integrated module (21), a tension sensor (20) and an adjusting frame (18).
2. The balance arm hovering force adjusting mechanism of the surgical microscope equipment according to claim 1, wherein a traction rope (4) is tied on a transmission shaft of the tension sensor (20), two threading rods (23) are arranged between the adjusting frames (18), the traction ropes (4) are respectively wound on the threading rods (23), and the traction ropes (4) penetrate to the outside of the seat head (2);
the one end that goes up suspension (6) upper surface and is close to lower installation head (9) is installed and is fixed line seat (8), and goes up suspension (6) upper surface and be located fixed line seat (8) one side and install a plurality of wire loops (5), haulage rope (4) are located the inside of wire loop (5), and haulage rope (4) end-mounting is on fixed line seat (8).
3. The balance arm hovering force adjusting mechanism of surgical microscope equipment according to claim 2, wherein two threading rods (23) are provided with wire sliding grooves (24) matched with the traction ropes (4), wire clamping rings (25) are arranged at positions of the threading rods (23) corresponding to the wire sliding grooves (24), opening directions of the two wire sliding grooves (24) are respectively upward and downward, two micro servo motors (19) are arranged at positions of the seat head (2) corresponding to the adjusting frame (18), the two micro servo motors (19) are symmetrically arranged along the adjusting frame (18), and an output shaft of each micro servo motor (19) is connected with a center point position of the adjusting frame (18).
4. The balance arm hovering force adjusting mechanism of the surgical microscope equipment according to claim 1, wherein an adjusting screw (22) is connected to the lower side of the upper mounting head (3) in a threaded mode, the adjusting screw (22) is connected with an adjusting block (12) in a threaded mode, a threaded groove is formed in the intersection of the adjusting screw (22) with the adjusting block (12) and the upper mounting head (3), and tapping directions of the threaded grooves in the adjusting block (12) and the upper mounting head (3) are opposite.
5. The balance arm hovering force adjusting mechanism of a surgical microscope device according to claim 1, characterized in that the displacement sensor (17) is arranged obliquely with respect to the lower suspension (7), the upper suspension (6) and the lower suspension (7) are parallel, and the lengths of the upper suspension (6) and the lower suspension (7) are equal.
6. The balance arm hover force adjusting mechanism of a surgical microscope device according to claim 1, characterized in that the upper suspension (6) and the lower suspension (7) are provided with three modes by adjusting the angle of the frame (18), in particular as follows:
a: the upper suspension (6) and the lower suspension (7) are inclined upwards relative to the horizontal plane, the adjusting frame (18) in the state rotates anticlockwise, and the winding amount of the traction rope (4) on the threading rod (23) is increased;
b: the upper suspension (6), the lower suspension (7) are parallel to the horizontal plane, and in this state, the position of the adjusting frame (18) relative to the adjusting frame (18) in the A form is clockwise rotation;
c: the upper suspension (6) and the lower suspension (7) are inclined downwards relative to the horizontal plane, and in this state, the rotation angle of the adjusting frame (18) is larger than that of the adjusting frame (18) in the B mode.
7. The balance arm hover force adjusting mechanism of a surgical microscope device according to claims 1-6, characterized in that the integration module (21) consists of a data collection module, a data analysis module and a data interaction module, in particular as follows:
and a data collection module: the device comprises a data analysis module, a control module and a control module, wherein the data analysis module is used for collecting a thrust value Ni of an electric push rod (13), a tension value Nb of a tension sensor (20), an output torque Lk of a displacement sensor (17), an acting length Li of the displacement sensor (17) and an installation length La of a positioning chuck (14) relative to a lower suspension (7), wherein the output torque Lk of the displacement sensor (17) is equal to a radial distance of the lower surface of an adjusting block (12) relative to the positioning chuck (14) along a vertical direction, the acting length Li of the displacement sensor (17) is equal to a radial distance of the positioning chuck (14) and the adjusting block (12) along a horizontal direction, and the thrust value Ni, the tension value Nb and the output torque Lk are transmitted to the data analysis module through conversion into electric signals, and the thrust value Ni, the tension value Nb and the acting length Li are dynamic variables, and the installation length La and the output torque Lk are static quantitative;
and a data analysis module: the electric signal data fed back by the data collection module is used for establishing a dynamic model about the thrust value Ni:
wherein t= [ (Li-La) × (Lk/La)] 2 Wherein Li is greater than Lk, the value of Lk is changed by shifting the adjusting block (12) by the adjusting screw (22), and the value of Nb is set as follows according to three forms of A, B, C in the upper suspension (6) and the lower suspension (7): the upper limit of the Nb value in the A form is marked as Nb ≡, the upper limit of the Nb value in the B form is marked as delta Nb, the upper limit of the Nb value in the C form is marked as Nb ≡, and the logarithmic Nb is divided into three ranges: nb ≡ -;
the length of the displacement sensor (17) is given as a value Lo, li=La and DeltaLo in the B form, lo ∈ and Lo ∈ are given to the values Lo in the A form and the C form respectively, lo ∈ is smaller than Lo, and the calculation formula converted to Li is as follows:
and substitute into +.>
And t= [ (Li-La) × (Lk/La)] 2 From the calculated structure, the following analytical data were derived:
data one: when the upper suspension (6) and the lower suspension (7) are parallel to the horizontal plane, the suspension is in a B form, li=La, wherein T=0, the calculated Ni=Nb/(Lk/La), and the tensile force value Nb is satisfied as DeltaNb > Nb > (1-Lk/La) DeltaNb;
data two: when the upper suspension (6) and the lower suspension (7) are in the A form,
and the tensile force value Nb satisfies (1-Lk/La) delta Nb < Nb ++;
data three: when the upper suspension (6) and the lower suspension (7) are in the C shape,
and the tensile force value Nb satisfies delta Nb < Nb +.;
obtaining Ni through calculation according to Li obtained in the three data;
and a data interaction module: the data interaction module receives the analysis data from the data analysis module, and responds to the following actions according to the analysis data:
and starting an electric pushing cylinder (13) by combining analysis data in the data I, the data II and the data III, controlling a thrust wedge block (11) to move along a direction close to a positioning block (10), applying thrust Ni to the positioning block (10), wherein the applied thrust Ni takes a tensile force value Nb in a corresponding form as reference data, takes Li as a variable, and takes data calibration of Lk/La as a correction factor as a fixed parameter, controlling dynamic balance between an upper suspension (6) and a lower suspension (7) by the thrust Ni applied by the electric pushing rod (13), performing dynamic force compensation on the upper suspension (6) and the lower suspension (7), and performing data collection again by using actions executed by a data interaction module.
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| CN217007846U (en) * | 2022-03-30 | 2022-07-19 | 晨星基因(北京)智能科技有限公司 | Automatic balance adjusting mechanism for microscope head angle |
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| CN101702050A (en) * | 2009-11-12 | 2010-05-05 | 江苏科技大学 | 6-DOF (degree of freedom) gravity balanced operating microscope frame |
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| CN109602498A (en) * | 2018-12-06 | 2019-04-12 | 哈尔滨工业大学 | A kind of Ophthalimic microsurgery auxiliary robot scaling method |
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