CN116576357A - Display adjusting mechanism of main control console and minimally invasive surgery robot - Google Patents

Display adjusting mechanism of main control console and minimally invasive surgery robot Download PDF

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Publication number
CN116576357A
CN116576357A CN202310530087.2A CN202310530087A CN116576357A CN 116576357 A CN116576357 A CN 116576357A CN 202310530087 A CN202310530087 A CN 202310530087A CN 116576357 A CN116576357 A CN 116576357A
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CN
China
Prior art keywords
display
sliding block
gear
stage
transmission
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Pending
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CN202310530087.2A
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Chinese (zh)
Inventor
请求不公布姓名
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Hangzhou Weijing Medical Robot Co ltd
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Hangzhou Weijing Medical Robot Co ltd
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Application filed by Hangzhou Weijing Medical Robot Co ltd filed Critical Hangzhou Weijing Medical Robot Co ltd
Priority to CN202310530087.2A priority Critical patent/CN116576357A/en
Publication of CN116576357A publication Critical patent/CN116576357A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F9/00—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Devices For Indicating Variable Information By Combining Individual Elements (AREA)

Abstract

The invention relates to a display adjusting mechanism of a main control console and a minimally invasive surgery robot, comprising: the display is in running fit with the support upright post, the movable connecting rod is arranged between the display and the support upright post, and the compensation adjusting component is arranged between the movable connecting rod and the support upright post; the compensation adjusting component comprises a sliding block which is in sliding fit with the supporting upright post, and a transmission structure which is arranged in the sliding block; and the movable link rod is suitable for linking the transmission structure to drive the sliding block to slide on the support upright post. The invention can reduce the displacement difference of the eyepiece synchronous adjustment in the adjustment process of the main control desk.

Description

Display adjusting mechanism of main control console and minimally invasive surgery robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to a display adjusting mechanism of a main control console and a minimally invasive surgery robot.
Background
Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. A common minimally invasive surgical robot consists of a physician console, a patient side cart, and a display device, where the surgeon operates an input device and communicates input to the patient side cart that is connected to a teleoperated surgical instrument. However, since the heights, sitting habits and the like of each doctor are different, and the minimally invasive surgery robot is a public device, the minimally invasive surgery robot can be used by different doctors, and therefore the fixed display can not reach an optimal visual angle, and the observation habits of man-machine interaction can not be met, so that the use comfort is affected.
In view of the above, for example, CN206377417U discloses a fixing and fine adjusting device for a display, and an adjusting structure of a display disclosed in a similar prior art is generally only aimed at angle adjustment, so as to adjust an angle of the display, but for a display device of a doctor console applied in a minimally invasive surgery machine, an eyepiece opening is provided, a doctor can see an image of a surgery position through the eyepiece opening, therefore, when the angle of the display is adjusted, the eyepiece opening can synchronously change a use position along with rotation of the display, so that deviation of the position of the eyepiece opening can occur, and a displacement difference is generated between an abscissa and an ordinate corresponding to the eyepiece opening.
Disclosure of Invention
The first objective of the present invention is to provide a display adjusting mechanism of a main control console, so as to solve the technical problem of reducing the displacement difference of the eyepiece synchronous adjustment during the adjustment of the main control console.
The second object of the present invention is to provide a minimally invasive surgical robot, so as to solve the technical problem of reducing the displacement difference of the eyepiece synchronous adjustment during the adjustment of the main control console of the minimally invasive surgical robot.
The display adjusting mechanism of the main control desk is realized by the following steps:
a display adjustment mechanism for a console, comprising: the display is in running fit with the support upright post, the movable connecting rod is arranged between the display and the support upright post, and the compensation adjusting component is arranged between the movable connecting rod and the support upright post; wherein the method comprises the steps of
The compensation adjusting component comprises a sliding block which is in sliding fit with the supporting upright post, and a transmission structure which is arranged in the sliding block; and
the movable link rod is suitable for linking the transmission structure to drive the sliding block to slide on the support upright post.
In an alternative embodiment of the invention, the sliding block has a receiving slot formed therein for receiving a transmission structure; and
a connecting piece is arranged between the transmission structure and the movable connecting rod;
the movable link rod is pivotally connected with the groove wall of the accommodating groove of the sliding block;
when the transmission structure rotates relative to the sliding block, the transmission structure is suitable for driving the sliding block to slide on the support upright post through the connecting piece.
In an alternative embodiment of the present invention, the engagement member is a sector-shaped toothed plate provided on the movable link.
In an alternative embodiment of the present invention, the transmission structure includes at least one stage of transmission gear connected to the sector gear, and a toothed bar meshed with the at least one stage of transmission gear and disposed along the sliding direction of the sliding block;
the transmission gear is connected with the accommodating groove through a gear shaft;
the tooth-shaped strip is fixed on the end surface of the support upright post in sliding fit with the sliding block.
In an alternative embodiment of the invention, the transmission gear comprises a first stage transmission gear meshed with the sector gear, a first stage transition gear coaxially distributed with the first stage transmission gear, a second stage transition gear meshed with the first stage transition gear, and a second stage transmission gear coaxially distributed with the second stage transition gear; wherein the method comprises the steps of
The second-stage transmission gear is meshed and matched with the toothed bar; and
a first transmission shaft penetrates through the space between the first-stage transmission gear and the first-stage transition gear;
a second transmission shaft penetrates through the space between the second-stage transmission gear and the second-stage transition gear; and
the cell wall of holding tank is equipped with first shaft hole with first transmission shaft pivot cooperation, with second transmission shaft pivot cooperation's second shaft hole, and with movable link pivot cooperation's third shaft hole.
In an alternative embodiment of the invention, the slider includes a pair of sliders that are oppositely coupled, and the receiving slot is cooperatively formed by the pair of sliders.
In an alternative embodiment of the invention, guide rail structures are arranged between the end surfaces of the pair of sliding blocks, which are respectively in sliding fit with the supporting upright posts.
In an alternative embodiment of the present invention, the rail structure includes a chute formed in an end surface of the slider in sliding engagement with the support post, a first rail disposed in the chute, a second rail disposed on an end surface of the support post in sliding engagement with the slider, and a plurality of rollers disposed in a bar arrangement on contact end surfaces of the first rail and the second rail.
In an alternative embodiment of the invention, a yielding groove corresponding to the toothed bar is arranged on the end surface of at least one sliding block of the pair of sliding blocks, which is in sliding fit with the supporting upright post.
The minimally invasive surgical robot is realized by the following steps:
a minimally invasive surgical robot, comprising: the display adjusting mechanism of the main control desk and the driving structure which is arranged between the display and the movable link rod and used for adjusting the matching angle of the supporting upright post and the display are arranged.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: according to the display adjusting mechanism of the main control console and the minimally invasive surgery robot, the movable link rod is movably connected to the support upright post through the sliding block, and when the movable link rod drives the display to move relative to the support upright post to adjust the matching angle between the display and the support upright post, the horizontal movement of the sliding block on the support upright post can compensate the horizontal coordinate displacement difference generated by the ocular lens due to the angular rotation of the display relative to the support upright post.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 shows a schematic diagram of a part of a structure of a main control console of a minimally invasive surgery robot provided by the invention;
fig. 2 is a schematic diagram showing a part of a structure of a display adjusting mechanism of a main control console of a minimally invasive surgery robot provided by the invention;
fig. 3 is an exploded view of a compensation adjusting assembly of a display adjusting mechanism of a main control console of a minimally invasive surgery robot according to the present invention;
fig. 4 shows a schematic diagram of a transmission structure of a compensation adjusting assembly of a display adjusting mechanism of a main control console of a minimally invasive surgery robot provided by the invention;
fig. 5 shows a schematic diagram of the matching of a sliding block of a compensation adjusting component of a display adjusting mechanism of a main control console of a minimally invasive surgery robot and a transmission structure;
fig. 6 shows an exploded schematic view of a support column and a sliding block of a compensation adjusting assembly and a transmission structure of a display adjusting mechanism of a main control console of a minimally invasive surgery robot provided by the invention;
fig. 7 shows a schematic structural diagram of a sliding block of a compensation adjusting assembly of a display adjusting mechanism of a main control console of a minimally invasive surgery robot;
fig. 8 shows a schematic view of a guide rail structure of a compensation adjustment assembly of a display adjustment mechanism of a main console of a minimally invasive surgery robot provided by the invention;
FIG. 9 is a schematic diagram of the structure of the movable block and the driving structure of the main control console of the minimally invasive surgery robot;
fig. 10 is a schematic view of the minimally invasive surgical robot of the present invention with the reference surface a of the display of the console in a horizontal downward state;
FIG. 11 is a schematic view of the minimally invasive surgical robot of the present invention with the reference surface A of the display of the console in a horizontal downward orientation;
fig. 12 is a schematic view of the range of angular adjustment of the display and eyepiece of the console of the minimally invasive surgical robot of the present invention relative to the support post.
In the figure: the display 1, the eyepiece 100, the support post 2, the toothed bar 21, the connecting seat 3, the sliding block 4, the movable link rod 5, the movable block 6, the screw rod 7, the motor 8, the support frame 9, the elastic stretching piece 10, the travel limit switch 11, the slide rail 12, the magnetic stripe 13, the induction head 15, the driving gear 16, the transmission gear 17, the sliding block 41, the accommodating groove 42, the first shaft hole 43, the second shaft hole 44, the third shaft hole 45, the sliding groove 46, the yielding groove 47, the sector gear 51, the first-stage transmission gear 52, the first-stage transition gear 53, the second-stage transition gear 54, the second-stage transmission gear 55, the first transmission shaft 56, the second transmission shaft 57, the second guide rail 18, the first guide rail 19, the roller 20 and the toothed bar 21.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
Referring to fig. 1 to 12, an embodiment provides a display 1 adjusting mechanism of a main control console, including: the display comprises a support upright post 2, a display 1 in running fit with the support upright post 2, a movable link rod 5 arranged between the display 1 and the support upright post 2, and a compensation adjusting component arranged between the movable link rod 5 and the support upright post 2.
In general terms, the compensation adjustment assembly comprises a sliding block 4 slidingly coupled with the support column 2, and a transmission structure provided in the sliding block 4; and the movable link rod 5 is suitable for linking the transmission structure to drive the sliding block 4 to slide on the support upright 2.
Specifically, a receiving groove 42 for receiving the transmission structure is preformed in the slider 4, and an engagement member is provided between the transmission structure and the movable link 5 to achieve the interlocking effect of the movable link 5 and the transmission structure. On the basis of the structure, the movable link rod 5 is pivotally connected with the groove wall of the accommodating groove 42 of the sliding block 4, and when the movable link rod 5 rotates relative to the sliding block 4, the transmission structure is suitable for driving the sliding block 4 to slide on the supporting upright 2 through the connecting piece.
The following is a detailed description of one example of a situation in conjunction with the accompanying drawings:
first, with respect to the slider 4, in the present embodiment, the slider 4 includes a pair of sliders 41 that are oppositely coupled, and the accommodating groove 42 is cooperatively formed by the pair of sliders 41. The convenience in the process of assembling the transmission structure to the receiving groove 42 can be improved by adopting a structure in which a pair of sliders 41 are used in combination. The receiving slot 42 is here formed substantially directly in the shape of a rectangle, which is not only easy to machine, but also the slot opening is large for the installation of the drive structure and the movable link 5.
Next, the whole accommodating groove 42 is of a through groove structure, and openings communicated with the accommodating groove 42 are respectively formed on the end face of the sliding block 4 in sliding fit with the supporting upright 2 and the end face of the sliding block 4 back to the sliding fit supporting upright 2.
Furthermore, the engagement member is a sector-shaped toothed plate 51 provided on the movable link. The transmission structure comprises at least one stage of transmission gear connected with the sector-shaped tooth piece 51 and a tooth-shaped strip 21 meshed with the at least one stage of transmission gear and arranged along the sliding direction of the sliding block 4; at least one stage of transmission gear is connected with the accommodating groove 42 through a gear shaft; an opening penetrating the accommodating groove 42 is formed on the end surface of the sliding block 4 in sliding fit with the supporting upright post 2; and the tooth-shaped strip 21 is fixed on the end surface of the support upright post 2 which is in sliding fit with the sliding block 4. Here, it is also necessary to say that at least one slider 41 of the pair of sliders 41 is provided with a relief groove 47 corresponding to the toothed bar 21 on the end face that slidably cooperates with the support column 2.
On the basis of the above structure, in particular to the case of taking an example with reference to the drawings, the transmission gear comprises a first stage transmission gear 52 meshed with the sector gear piece 51, a first stage transition gear 53 coaxially distributed with the first stage transmission gear 52, a second stage transition gear 54 meshed with the first stage transition gear 53, and a second stage transmission gear 55 coaxially distributed with the second stage transition gear 54; wherein the second stage drive gear 55 is in meshing engagement with the toothed bar 21. For the reduction ratio of the transmission gear of the present embodiment, for example, but not limited to, a reduction ratio of 1:15 may be used, and of course, the reduction ratio may be adjusted according to practical situations, and the specific reduction ratio is not absolutely limited in the present embodiment.
In addition, it is also necessary to explain that at least one stage of the transmission gear in the present embodiment is connected to the accommodating groove 42 through a gear shaft, and the specific structure thereof is as follows in one case in conjunction with the accompanying drawings: a first transmission shaft 56 penetrates through the space between the first-stage transmission gear 52 and the first-stage transition gear 53; a second transmission shaft 57 penetrates through the space between the second-stage transmission gear 55 and the second-stage transition gear 54; the groove wall of the accommodation groove 42 is provided with a first shaft hole 43 pivotally engaged with the first transmission shaft 56, a second shaft hole 44 pivotally engaged with the second transmission shaft 57, and a third shaft hole 45 pivotally engaged with the movable link 5. Here, the first shaft hole 43, the first transmission shaft 56, the second shaft hole 44, the second transmission shaft 57, and the third shaft hole 45 may be directly in a sliding fit with the shaft hole, or may be in a transitional fit with a bearing, which is not limited in this embodiment.
In addition, in order to precisely define the sliding track of the sliding block 41 on the support column 2, and in order to form a firm fit between the support column 2 and the sliding block 41 and prevent the sliding block 41 from being separated from each other, in this embodiment, guide rail structures are disposed between the end surfaces of the pair of sliding blocks 41 respectively in sliding fit with the support column 2.
Based on the above, an alternative case is exemplified in which the rail structure includes a slide groove 46 formed in the end face of the slide block 41 in sliding engagement with the support column 2, a first rail 19 provided in the slide groove 46, a second rail 18 provided on the end face of the support column 2 in sliding engagement with the slide block 41, and a plurality of rollers 20 provided on the contact end face of the first rail 19 and the second rail 18 in a stripe arrangement. Here, that is to say, on the end faces of the first guide rail 19 facing the second guide rail 18, sliding grooves for engaging the plurality of rollers 20 are provided.
For the adjusting mechanism of the display 1 of the main control console in this embodiment, the movable link rod 5 is movably connected to the support column 2 through the sliding block 4, and when the movable link rod 5 drives the display 1 to move relative to the support column 2 to adjust the matching angle between the display 1 and the support column 2, the sliding block 4 can horizontally move on the support column 2 under the action of the movable link rod 5.
Embodiment 2, referring to fig. 1 to 12, on the basis of a display adjusting mechanism of a console of embodiment 1, this embodiment provides a minimally invasive surgery robot, which includes: the display adjusting mechanism of the main control console of embodiment 1, and the driving structure for adjusting the fitting angle of the support column and the display are provided between the display and the movable link 5.
Specifically, the supporting upright 2 keeps the basic position unchanged during the use of the main control console, and the display 1 can rotate relative to the supporting upright 2 to adjust the matching angle between the display 1 and the supporting upright 2.
The running fit between the support post 2 and the display 1 is mainly achieved by the following two dimensional connection structure:
first dimension: the display 1 and the support column 2 are movably connected through a sliding block 4101 and a connecting seat 3 which are pivotally connected. The sliding block 4101 and the connecting seat 3 can be in a rotating fit relationship by adopting a matched fixed shaft and an oil-free shaft sleeve. Based on the above structure, when the display 1 rotates relative to the support column 2, the sliding block 4101 can also rotate relative to the connecting base 3, and both have only rotational degrees of freedom, and other degrees of freedom are limited.
Second dimension: the movable connection between the display 1 and the support upright post 2 is realized by a driving structure.
In combination with the accompanying drawings, the driving structure adopted in this embodiment includes a movable link rod 5 with one end movably connected with the support column 2, a movable block 6 connected with the other end of the movable link rod 5, and a linear motion module arranged on the display 1 and used for driving the movable block 6 to perform linear reciprocating motion. An alternative is illustrated in the figures, in which one end of the movable link 5 is in hinged engagement with the support column 2 and the other end of the movable link 5 is in hinged connection with the movable block 6. Based on this structure, when the movable block 6 moves in the display 1 toward the side away from the support stand 2, the display 1 makes a tilting movement with respect to the support stand 2; and when the movable block 6 moves in the display 1 toward the side close to the support column 2, the display 1 makes a depression movement with respect to the support column 2.
In consideration of convenience of structural design and reduction of design and production cost of the overall structure, in an alternative implementation case, a fixed shaft and an oilless shaft sleeve which are matched with each other can be adopted between the movable block 6 and the movable link 5 to realize pivot matching between the movable block and the movable link 5. The movable link 5 and the support column 2 may be pivotally coupled to each other by, for example, but not limited to, a fixed shaft and an oilless sleeve, or may be configured to be capable of movably connecting the movable link 5 and the support column 2.
Further, the linear motion module herein may be a linear push rod structure, and may further include, for example, a nut connected to the movable block 6, a screw rod 7 coupled to the nut, and a driving structure connected to the screw rod 7 to drive the screw rod 7 to rotate. The driving structure can be directly connected with the motor 8 connected with the screw rod 7, and can also comprise a transmission gear 17 fixedly connected with the screw rod 7, a driving gear 16 meshed with the transmission gear 17 and the motor 8 connected with the driving gear 16. The present embodiment is exemplified only in the latter case in conjunction with the accompanying drawings. More specifically, in this embodiment, the driving gear 16 is perpendicular to the axial direction of the transmission gear 17, and this arrangement can reduce the length of the whole driving structure to the greatest extent, so that the structure is more compact and more attractive. In addition, the embodiment adopts the T-shaped screw rod, has a self-locking function, is high in safety coefficient, can self-lock the screw rod 7 under the condition that the motor 8 fails, cannot rotate by an angle, and prevents the display 1 from falling off excessively due to insufficient supporting force.
The nut of the present embodiment may be formed integrally with the movable block 6, or may be formed in a split type, and the present embodiment is not limited in any way. Here, in order to support and limit the screw rod 7, a support frame 9 for supporting both end portions of the screw rod 7 is provided on the display 1. In an alternative case, the support frame 9 relatively far away from the support upright 2 in the two support frames 9 adopts an L-shaped frame body, so that the L-shaped frame body not only can be used for supporting the screw rod 7, but also can be used for supporting the motor 8, thus simplifying the structure on the whole display 1 and simplifying the assembly process.
In addition, in order to limit the linear motion trajectory of the movable block 6, the present embodiment further includes at least one sliding rail 12 disposed between the movable block 6 and the display 1 and distributed along a direction parallel to the linear motion direction of the movable block 6, and the drawing of the present embodiment exemplifies a case of a pair of sliding rails 12 distributed on two sides of the screw rod 7, where the movable block 6 is slidably engaged with the pair of sliding rails 12. The movable block 6 may be directly prefabricated with a sliding slot 46 matched with the linear sliding rail 12, or the movable block 6 may be assembled with a sliding block 41 for use, which is not limited in any way.
On the basis of the above structure, the embodiment also makes the following structural improvement: i.e. at least one pair of elastic stretching members 10 is provided on the display 1 in the direction of movement of the movable block 6. In this embodiment, taking the case where a pair of elastic stretching members 10 are provided on both sides of the screw rod 7 as an example in conjunction with the accompanying drawings, it is preferable that the pair of elastic stretching members 10 are symmetrically distributed on both sides of the screw rod 7 in order to make the pair of elastic stretching members 10 generate an even elastic force on the movable block 6. Specifically, one ends of the pair of elastic stretching members 10 are fixed on the supporting frame 9 of the L-shaped frame body, and the other ends of the pair of elastic stretching members 10 are connected with the movable block 6.
Specifically, without the elastic tension member 10, the display 1 has a tendency to rotate downward relative to the support post 2 due to the influence of gravity, and the tension provided by the elastic tension member 10 causes the display 1 to slide upward, and due to the limitation of the mechanical structures such as the movable link 5, the movable block 6 and the slide rail 12, the display 1 has a tendency to rotate upward, so that the downward rotation tendency of the display 1 is counteracted, and gravity balance is achieved. In this case, only a small external force (provided by the linear motion module in this embodiment) is required to adjust the fitting angle of the display 1 with respect to the support post 2.
It should be noted that, during the process of raising the head of the display 1 relative to the supporting upright 2, the angle between the display 1 and the vertical direction gradually decreases, and if the tensile force of the elastic stretching member 10 is unchanged, the component force in the vertical direction becomes larger, and the gravity to be balanced may be exceeded. Therefore, it is necessary that the tension of the elastic tension member 10 is reduced at the same time as the head of the display 1 is raised.
In an alternative embodiment, the elastic tension member 10 employs a gas tension spring (constant tension spring), and referring to fig. 9, for better illustration of the fitting relationship, the gas tension spring is shown only at one end thereof assembled with the support frame 9, while the other end of the metal tension spring (the side near the movable block 6) is not assembled; at this time, an air tension spring is provided on each side of the screw rod 7. The air tension spring can provide constant tension to balance the influence of gravity, so that the adjustment of the matching angle of the display 1 relative to the supporting upright post 2 is facilitated. Compared with a metal tension spring, the speed of the gas tension spring is relatively slow, the dynamic force is not changed greatly (generally within 1:1.2), and the gas tension spring is easy to control. It can be understood that the tension of the gas tension spring can be determined after the mechanical analysis of the display 1, and belongs to the mechanical conventional technical means, so that the description of this embodiment is omitted.
Of course, the air tension spring can be replaced by a metal tension spring, and the metal tension spring has better follow-up performance on the gravity which needs to be balanced for adjusting the matching angle of the display 1 relative to the supporting upright post 2, because the tension of the metal tension spring can be changed along with deformation, and parameters such as the material, the elastic coefficient, the length and the like of the metal tension spring can be determined through conventional mechanical analysis and are not repeated here.
In addition, in an optional implementation case, the following structural design is further made in this embodiment: two travel limit switches 11 for sensing the position of the movable block 6 are also arranged on the display 1 at intervals. After the movable block 6 slides to a fixed position through the cooperation of the two travel limit switches 11, the induction signals are transmitted to the controller, and the controller receives information, processes the information and sends signals to the motor 8 to control the starting and stopping, so that the purpose of limiting the travel is achieved, and the display 1 is limited to be adjusted in a certain angle.
The movable link 5 itself is then:
in the present embodiment, the movable link 5 is a C-shaped structure; here, the movable link 5 of the C-shaped structure is used in order to increase the strength of the movable link 5, that is, a structure such as a straight bar may be used instead of the C-shaped structure provided that the strength is appropriately reduced.
To sum up, the specific adjustment principle of the matching angle of the display 1 of the minimally invasive surgery robot of the present embodiment with respect to the support column 2 is as follows:
three pivot coordination points are formed among the display 1, the support upright 2 and the movable link 5, a first pivot connection point is formed between the display 1 and the support upright 2, a second pivot connection point is formed between the movable link 5 and a movable block on the display, and a third pivot connection point is formed between the movable link 5 and the support upright 2. When the movable block 6 moves linearly on the display 1, the movable link 5 rotates by taking the third pivot connection point as a rotation point, and the display 1 rotates by taking the first pivot connection point as a rotation point, so that the angle adjustment is realized.
When the movable block 6 moves towards the side far away from the support upright 2 in the display 1, the display 1 moves upwards relative to the support upright 2; and when the movable block 6 moves in the display 1 toward the side close to the support column 2, the display 1 makes a depression movement with respect to the support column 2. The angle adjusting mechanism of the angle adjusting display of the embodiment is adopted, wherein the bottom end face of the display 1 is taken as a reference face A, and when the reference face A is positioned on a horizontal plane, the reference face A is taken as a reference face to realize an adjusting range K of plus or minus 10 degrees.
More specifically, for example, when the display 1 needs to be adjusted upwards (similar to head raising of a person) in combination with the orientation shown in the drawings, the linear motion module drives the movable block 6 to move upwards along the sliding rail 12 (corresponding to the first direction in the embodiment), the movable link 5 synchronously rotates relative to the movable block 6 and the support upright 2, and the sliding block 4 synchronously rotates relative to the connecting seat 3, so that the upward adjustment of the display 1 is realized; when the display 1 needs to be adjusted downwards (similar to the case of lowering the head of a person), the linear motion module stretches out to drive the movable block 6 to move downwards along the sliding rail 12 (corresponding to the second direction in the embodiment), the movable link rod 5 synchronously rotates relative to the movable block 6 and the supporting upright post 2, and meanwhile, the sliding block 4 and the connecting seat 3 synchronously rotate, so that the downward adjustment of the display 1 is realized.
Through the swing joint between the movable link 5 and the display 1 and the support column 2 respectively, the linear motion of the movable block 6 of the movable link 5 on the display 1 and the pivotal fit between the movable piece and the fixed piece are cooperatively connected, namely, the direct connection relationship between the display 1 and the support column 2 exists, and the indirect connection relationship between the display 1 and the support column 2 formed by the movable link 5 exists, for a main control desk with heavy weight, on one hand, the effective support of the display 1 can be ensured so as to be used for improving the stability of the use state of the display 1, thereby improving the balance of the support column 2 and the display 1 in the process of adjusting the fit angle. On the other hand, the connection strength between the display 1 and the support upright post 2 can be effectively ensured, and the phenomenon of damage caused by long-term bearing fatigue is prevented.
In addition, referring to fig. 2, when the sliding block 4 can slide horizontally relative to the plane end of the support column (the reference plane a in the middle position is in the horizontal plane), and the display 1 can perform an angular adjustment of ±10° relative to the support column 2 with the first pivot connection point as the axis, at this time, the corresponding movable link 5 performs an angular adjustment of ±6° relative to the support column 2 with the third pivot connection point as the axis, after the angle adjustment, it can be observed that a deviation in the abscissa direction occurs in the eyepiece 100 position on the display (in this embodiment, only a deviation difference in the abscissa is adjusted, a displacement difference due to the ordinate is not considered), and a right deviation occurs in the eyepiece 100 position after the middle position is rotated counterclockwise, and a left compensation is required after the middle position is rotated clockwise. In this embodiment, the movable link 5 is movably connected to the support post 2 through the sliding block 4, and when the movable link 5 drives the display 1 to move relative to the support post 2 to adjust the fitting angle between the display 1 and the support post 2, the horizontal movement of the sliding block 4 on the support post 2 can compensate the difference of the horizontal displacement of the eyepiece 100 caused by the angular rotation of the display 1 relative to the support post 2.
Embodiment 3, on the basis of the minimally invasive surgery robot of embodiment 3 or embodiment 2, the minimally invasive surgery robot provided in this embodiment further makes the following structural improvement:
the display 1 is also provided with a magnetic stripe 13 along the sliding track of the movable block 6, namely the magnetic stripe 13 is arranged in parallel with the sliding rail 12, and the length of the magnetic stripe is at least the same as the maximum sliding track of the movable block 6, thereby meeting the use requirements of recording the movable block 6 at different positions; and a sensing head 15 which is suitable for being matched with the magnetic stripe 13 is arranged on the movable block 6, and the sensing head 15 can be connected to a control system in a wireless or wired mode.
Based on this structure, when the display angle adjusting mechanism of the doctor console of this embodiment is in a specific doctor console, the specific position of the adjusted movable block 6 can be recorded, and recording of the adjustment habit of each doctor can be completed. When the doctor uses the system next time, the pitching angle can be automatically adjusted through the control system only by logging in the system. Of course, the magnetic stripe 13 and the sensor head 15 used in combination can be replaced by other systems capable of recording the position or the angle (the rotation angle of the movable link 5 or the operation state of the motor 8) to realize the memory function of the display angle adjusting mechanism of the whole doctor console.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are more fully described herein with reference to the accompanying drawings, in which the principles of the present invention are shown and described, and in which the general principles of the invention are defined by the appended claims.
In the description of the present invention, it should be understood that the terms "orientation" or "positional relationship" are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and to simplify the description, rather than to indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the present invention, unless expressly stated or limited otherwise, a first feature may include first and second features directly contacting each other, either above or below a second feature, or through additional features contacting each other, rather than directly contacting each other. Moreover, the first feature being above, over, and on the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being below, beneath, and beneath the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is less level than the second feature.

Claims (10)

1. A display adjustment mechanism for a console, comprising: the display is in running fit with the support upright post, the movable connecting rod is arranged between the display and the support upright post, and the compensation adjusting component is arranged between the movable connecting rod and the support upright post; wherein the method comprises the steps of
The compensation adjusting component comprises a sliding block which is in sliding fit with the supporting upright post, and a transmission structure which is arranged in the sliding block; and
the movable link rod is suitable for linking the transmission structure to drive the sliding block to slide on the support upright post.
2. The display adjustment mechanism of the main control station of claim 1, wherein the sliding block has a receiving slot formed therein for receiving a transmission structure; and
a connecting piece is arranged between the transmission structure and the movable connecting rod;
the movable link rod is pivotally connected with the groove wall of the accommodating groove of the sliding block;
when the transmission structure rotates relative to the sliding block, the transmission structure is suitable for driving the sliding block to slide on the support upright post through the connecting piece.
3. The display adjustment mechanism of a console of claim 2, wherein the engagement member is a scalloped tooth disposed on the movable link.
4. A display adjustment mechanism for a master console according to claim 3, wherein the transmission structure comprises at least one stage of transmission gear connected to the sector gear, and a toothed bar meshed with the at least one stage of transmission gear and arranged along the sliding direction of the sliding block;
the transmission gear is connected with the accommodating groove through a gear shaft;
the tooth-shaped strip is fixed on the end surface of the support upright post in sliding fit with the sliding block.
5. The display adjustment mechanism of the main control console according to claim 4, wherein the transmission gear comprises a first stage transmission gear meshed with the sector gear, a first stage transition gear coaxially distributed with the first stage transmission gear, a second stage transition gear meshed with the first stage transition gear, and a second stage transmission gear coaxially distributed with the second stage transition gear; wherein the method comprises the steps of
The second-stage transmission gear is meshed and matched with the toothed bar; and
a first transmission shaft penetrates through the space between the first-stage transmission gear and the first-stage transition gear;
a second transmission shaft penetrates through the space between the second-stage transmission gear and the second-stage transition gear; and
the cell wall of holding tank is equipped with first shaft hole with first transmission shaft pivot cooperation, with second transmission shaft pivot cooperation's second shaft hole, and with movable link pivot cooperation's third shaft hole.
6. The mechanism of any one of claims 2 to 5, wherein the slider comprises a pair of opposing sliders, and the receiving slot is cooperatively defined by the pair of sliders.
7. The display adjustment mechanism of a main control console of claim 6, wherein a pair of guide rail structures are respectively arranged between the end surfaces of the slide blocks, which are respectively in sliding fit with the support columns.
8. The display adjustment mechanism of the console of claim 7, wherein the rail structure comprises a chute formed in an end face of the slider in sliding engagement with the support post, a first rail disposed in the chute, a second rail disposed on an end face of the support post in sliding engagement with the slider, and a plurality of rollers disposed in a bar arrangement on a contact end face of the first rail and the second rail.
9. The display adjustment mechanism of a master control stand according to claim 6, wherein a yielding groove corresponding to the toothed bar is provided on an end surface of at least one of the pair of sliders, which is slidably engaged with the support column.
10. A minimally invasive surgical robot, comprising: the display adjusting mechanism of the main control console according to any one of claims 1 to 9, and a driving structure for adjusting the fitting angle of the support column and the display, which is provided between the display and the movable link.
CN202310530087.2A 2023-05-12 2023-05-12 Display adjusting mechanism of main control console and minimally invasive surgery robot Pending CN116576357A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310530087.2A CN116576357A (en) 2023-05-12 2023-05-12 Display adjusting mechanism of main control console and minimally invasive surgery robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310530087.2A CN116576357A (en) 2023-05-12 2023-05-12 Display adjusting mechanism of main control console and minimally invasive surgery robot

Publications (1)

Publication Number Publication Date
CN116576357A true CN116576357A (en) 2023-08-11

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310530087.2A Pending CN116576357A (en) 2023-05-12 2023-05-12 Display adjusting mechanism of main control console and minimally invasive surgery robot

Country Status (1)

Country Link
CN (1) CN116576357A (en)

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