CN117159151A

CN117159151A - Medical auxiliary equipment and medical system

Info

Publication number: CN117159151A
Application number: CN202210592824.7A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shenzhen Konuositeng Technology Co ltd
Current assignee: Shenzhen Konuositeng Technology Co ltd
Priority date: 2022-05-27
Filing date: 2022-05-27
Publication date: 2023-12-05

Abstract

The invention discloses medical auxiliary equipment and a medical system. The medical auxiliary device includes a lifting mechanism. The lifting mechanism comprises a stand column, a lifting device, a weight piece, a first cable, a second cable and a driving device. The upright has first and second sides opposite each other, and is provided with first and second rollers at the top and bottom thereof, respectively. The lifting device is arranged on the first side, and the counterweight is arranged on the second side. The first cable is arranged around the first roller, the second cable is arranged around the second roller, and two ends of the first cable and the second cable are respectively connected to the counterweight and the lifting device. The driving device is arranged on the first roller and/or the second roller, and can transmit torque to the first roller and/or the second roller so as to balance the force from the medical auxiliary equipment received by the lifting device vertically. According to the medical auxiliary equipment of the invention, the driving device can be used for providing compensation force for the lifting device, so that the resistance to the lifting device is as small as possible when an operator operates the lifting device to lift.

Description

Medical auxiliary equipment and medical system

Technical Field

The invention relates to the technical field of medical equipment, in particular to medical auxiliary equipment and a medical system.

Background

The surgical medical auxiliary equipment system is widely applied to various abdominal operations, prostate operations and gynecological operations, and has the remarkable advantages of reducing wounds, improving the success rate of the operations and the like. The surgeon can keep away from the operating table and operate the machine and perform the operation, can make the exhibition of operation more nimble when having bigger visual field, eliminates artificial shake through the system, makes the operation more stable. Research into surgical medical accessory systems has also become a new area of medical instrument application in recent years.

The surgical medical auxiliary equipment system mainly comprises a robot beside a patient, a doctor console, a visual cart and the like. In the surgical operation, as a patient side robot of a direct operation executing mechanism, four mechanical arms capable of moving independently are attached to the upright post, and the tail end of each mechanical arm is provided with a surgical instrument directly acting on a human body. The mechanical arm needs to have multiple degrees of freedom to adjust multiple postures, and meanwhile, the mechanical arm can move up and down integrally to adapt to the actual height required by an operation, and the lifting adjustment is generally carried out by nurses beside patients.

However, since the mechanical arm generally has a large mass, and various resistance changes frequently during lifting and moving, difficulty is brought to nurses in operating the mechanical arm to lift, and the height adjustment is difficult to accurately and laborious.

Accordingly, there is a need for a medical assistance device and medical system to at least partially address the above problems.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the above-mentioned problems, a first aspect of the present invention provides a medical assistance device comprising a lifting mechanism comprising:

the device comprises a stand column, a first roller and a second roller, wherein the top of the stand column is provided with the first roller, the bottom of the stand column is provided with the second roller, and the stand column is provided with a first side and a second side which are opposite to each other;

the lifting device is arranged on the first side and is configured to be capable of lifting along the upright post;

the counterweight piece is arranged on the second side and is configured to be capable of moving up and down along the upright post;

the first cable is arranged around the first roller, and two ends of the first cable are respectively connected to the weight piece and the lifting device;

the second cable is arranged around the second roller, and two ends of the second cable are respectively connected to the weight piece and the lifting device; and

the driving device is arranged on the first roller and/or the second roller, and is configured to transmit torque to the first roller and/or the second roller so that the force from the medical auxiliary equipment received by the lifting device is balanced vertically.

Optionally, the lifting device comprises an elastic assembly connected to the upright to provide an elastic force tending to move the lifting device upwards.

Optionally, the elastic assembly comprises at least one constant force spring;

wherein the sum of the weight of the counterweight and the nominal elastic force of at least one of the constant force springs is equal to the total weight of the lifting device and the load of the lifting device.

Optionally, at least two constant force springs are overlapped and rewound to form a spring rewinding group.

Optionally, the ends of the constant force springs of at least two of the spring rewind groups overlap to form the elastic assembly.

Optionally, the medical auxiliary device further comprises a braking device, and the braking device is arranged on the first roller and/or the second roller so as to brake the first roller and/or the second roller.

Optionally, the medical auxiliary device further comprises a position detection device at least partially arranged to the lifting device for detecting the height of the lifting device.

Optionally, the position detecting device is configured as a pull rope encoder, the pull rope encoder is located on the first side of the upright and between the lifting device and the second roller, the main body of the pull rope encoder is connected to the upright through a connecting seat, and the rope end of the pull rope encoder is connected to the lifting device.

Optionally, the medical auxiliary device further comprises a rotation direction detection device, wherein the rotation direction detection device is arranged on the driving device and is used for detecting the rotation direction of a driving shaft of the driving device, and the driving shaft is connected with the first roller and/or the second roller.

Optionally, the rotation direction detection device is configured as a rotary encoder, the rotary encoder comprising:

the fixed seat is arranged on the driving device and is provided with an encoder fixed part;

the rotating part is positioned in the fixing seat and connected with the driving shaft so as to be capable of rotating synchronously with the driving shaft, and the rotating part is provided with an encoder moving part, wherein the encoder moving part and the encoder fixing part can interact.

Optionally, the bottom of elevating gear is provided with the accommodation portion, be provided with compression spring in the accommodation portion, the tip of second cable runs through the accommodation portion and is connected to compression spring's top to make the second cable can be strained.

Optionally, the first side is provided with a first guide rail and a first moving block, the first guide rail is vertically arranged, the first moving block is arranged on the first guide rail and is configured to be capable of moving up and down along the first guide rail, and the lifting device is arranged on the first moving block;

the second side is provided with second guide rail and second movable block, the second guide rail sets up along vertical setting, the second movable block sets up in the second guide rail, and is constructed to follow the second guide rail lift removes, the counter weight piece set up in the second movable block.

Optionally, the upper portion and the lower part of the first guide rail are respectively provided with a limiting device so as to limit the lifting amplitude of the first moving block, and the end part of the limiting device, which faces the lifting device, is provided with an anti-collision block.

According to the medical auxiliary equipment, the driving device can be used for providing compensation force for the lifting device, so that the resistance applied to the lifting device is as small as possible when an operator operates the lifting device to lift, and the effect of light weight lifting is achieved.

A second aspect of the invention provides a medical system comprising:

the medical assistance apparatus of the first aspect described above, the medical assistance apparatus comprising:

a lifting mechanism, which comprises a lifting device,

the mechanical arm is arranged on the lifting device,

a driving device; and

the control device is in signal connection with the driving device;

wherein the control device is configured to:

the driving device is controlled to provide forward or reverse torque so that the force from the medical auxiliary equipment received by the lifting device can be balanced vertically.

Optionally, the medical auxiliary equipment further comprises a braking device, and the control device is in signal connection with the braking device;

the control device is configured to:

when the braking device releases the braking, controlling the driving device to operate so as to provide torque, so that the force from the medical auxiliary equipment received by the lifting device can be balanced vertically;

when the braking device brakes, the driving device is controlled to be locked to match the braking, so that the lifting device can be stationary.

Optionally, the lifting device of the medical auxiliary device comprises at least one constant force spring, an end of which is connected to the upright to provide an upward elastic force to the lifting device;

the medical auxiliary equipment further comprises a position detection device, wherein the position detection device is used for sensing the height of the lifting device;

the control device is in signal connection with the position detection device, the control device is pre-stored with average characteristic curve data of the constant force spring according to the extending length, and pre-stored with a mapping relation between the height of the lifting device and the extending length of the constant force spring, and the control device is configured to:

when the braking device releases the braking, the extending length of the constant force spring is judged according to the height of the lifting device detected by the position detection device and the mapping relation, and the driving device is controlled to operate according to the average characteristic curve data so as to provide torque, so that the force from the medical auxiliary equipment, received by the lifting device, can be balanced vertically.

Optionally, a rotation direction detection device is arranged in the driving device and is used for detecting the rotation direction of the driving shaft;

the control device is in signal connection with the rotation direction detection device;

the control device is configured to: and judging whether the lifting device is in a lifting state or a descending state according to the rotation direction of the driving shaft detected by the rotation direction detection device.

Optionally, the control device pre-stores the elongation characteristic curve data according to the extension length in the elongation process of the constant force spring, and pre-stores the contraction characteristic curve data according to the extension length in the shortening process of the constant force spring;

the control device is further configured to:

when the lifting device is in the ascending state, the driving device is controlled to operate according to the contraction characteristic curve data so as to provide torque, so that the force from the medical auxiliary equipment received by the lifting device can be balanced vertically;

when the lifting device is in the descending state, the driving device is controlled to operate according to the elongation characteristic curve data to provide torque, so that the force from the medical auxiliary equipment received by the lifting device can be balanced vertically.

Optionally, the control device is further configured to: when the position detection device detects that the height of the lifting device changes, but the rotation direction detection device does not detect the rotation of the driving shaft, the position detection device judges that slipping occurs and gives warning.

According to the medical system of the present invention, the technical effects similar to those of the medical auxiliary device of the first aspect described above can be further achieved.

Drawings

The following drawings are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and their description to explain the principles of the invention.

In the accompanying drawings:

FIG. 1 is a schematic view of a part of the structure of a main support column of a medical auxiliary device according to the present invention;

FIG. 2 is a schematic structural view of a lifting mechanism of a medical auxiliary device according to the present invention;

FIG. 3 is a side view of the lift mechanism of FIG. 2;

FIG. 4 is an enlarged schematic view of the top of the lift mechanism of FIG. 2;

FIG. 5 is a schematic view of the structure of a spring rewind group of the lifting mechanism of a medical auxiliary device according to the present invention; and

fig. 6 is a schematic structural view of an elastic assembly of a lifting mechanism of a medical auxiliary device according to the present invention.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.

In the following description, a detailed description will be given for the purpose of thoroughly understanding the present invention. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. It will be apparent that embodiments of the invention may be practiced without limitation to the specific details that are familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below, however, the present invention may have other embodiments in addition to these detailed descriptions.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component". It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like are used herein for illustrative purposes only and are not limiting.

An exemplary embodiment according to the present invention will now be described in more detail with reference to fig. 1 to 6.

In one aspect, the present invention provides a medical system (not shown) that includes a medical assistance device (not shown), a control device (not shown), a physician console (not shown), a vision cart (not shown), and the like. The medical auxiliary equipment can be a surgical robot, medical detection equipment or the like.

The medical auxiliary apparatus includes a base (not shown), a main support column 13 provided on the base, and four robot arms (not shown) provided on four sides of the main support column 13, respectively, and capable of being lifted.

Referring to fig. 1, the main support column 13 includes four sets of elevating mechanisms 100, one for each set of elevating mechanisms 100. Each set of lifting mechanisms 100 corresponds to one face of the main support column 13. In an alternative embodiment, four sets of lifting mechanisms 100 are assembled into a square column and then placed on the base plate 15, and a top cover (not shown) is placed on top of the square column to form the main support column 13.

Referring to fig. 2 to 3 for specific structure of the lifting mechanism 100, the lifting mechanism 100 includes a column 110, a lifting device 130, a counterweight 140, a first cable 119, a second cable 120, and a driving device 150. Wherein the post 110 may be generally configured as a plate having a first side 111 and a second side 112, the first side 111 being opposite the second side 112. The weight 140 may be a counter weight copper block, a counter weight or a counter weight lead block, etc. The first cable 119 and the second cable 120 may be a wire rope, a timing belt, a flat belt, a V-belt, or the like.

The first side 111 is provided with a first rail 115, which first rail 115 extends in the length/height direction of the upright 110. Or first rail 115 extends vertically. The first rail 115 is provided with a first moving block 117, and the first moving block 117 is configured to be capable of moving up and down along the first rail 115. For example, the first guide rail 115 is configured as a slide rail, and the first moving block 117 is configured as a slider that can slide along the slide rail.

Correspondingly, the second side 112 is provided with a second guide rail 116, which second guide rail 116 also extends vertically. A second moving block 118 is provided on the second rail 116, and the second moving block 118 is configured to be capable of moving up and down along the first rail 115. For example, the second guide rail 116 is configured as a slide rail, and the second moving block 118 is configured as a slider that is capable of sliding along the slide rail.

The lifting device 130 is disposed on the first side 111 and connected to the first moving block 117, and the weight 140 is disposed on the second side 112 and connected to the second moving block 118. The upper and lower parts of the first guide rail 115 are respectively provided with a stopper 122 to limit the lifting range of the first moving block 117, and an end of the stopper 122 facing the lifting device 130 is provided with an anti-collision block 123.

The top of the upright 110 is provided with a first roller 113 and the bottom is provided with a second roller 114. Wherein the first roller 113 may be coupled to the top end of the column 110 by a bracket 126, and a pivot shaft of the first roller 113 may be pivotally coupled to the bracket 126. The second roller 114 may be disposed at a notch at the bottom end of the upright 110, with its pivot shaft pivotally connected to the upright 110. Thus, when the four sets of lift mechanisms 100 are combined, the standoffs 126 may be provided at different heights, respectively, so that components at the first roller 113, such as the drive device 150 (described in detail below) and the brake device 160 (described in detail below), are offset in position and can be accommodated within the top cover 12.

The first cable 119 is disposed around the first roller 113 and both ends of the first cable 119 are connected to the weight 140 and the elevating device 130, respectively. That is, the first cable 119 wraps around the first roller 113 from the upper side of the first roller 113. The second cable 120 is disposed around the second roller 114 and both ends of the second cable 120 are connected to the weight 140 and the elevating device 130, respectively. I.e. the second cable 120 wraps around the second roller 114 from the underside of the second roller 114.

Preferably, both the first cable 119 and the second cable 120 are preferably connected to the weight 140 and the lifting device 130 through the connection post 125. The connection post 125 may be constructed in a hollow structure, and the first and second cables 119 and 120 extend into the connection post 125 to limit shaking of the cables at the connection of the first and second cables 119 and 120 with the weight 140 and the elevating device 130.

In this case, the first cable 119 is preferably pretensioned during assembly, so that the first cable 119 is automatically tensioned by the weight 140 and the lifting device 130 after the assembly. Further preferably, the bottom of the lifting device 130 is provided with a receiving portion 133, and a compression spring 134 is provided in the receiving portion 133. The connection post 125 provided at the bottom of the elevating device 130 preferably penetrates the receiving part 133 so that the end of the second cable 120 can be connected to the top of the compression spring 134. Thereby, the second cable 120 can be kept in tension all the time due to the pre-compression amount of the compression spring 134. The falling off of the cable is avoided.

In an alternative embodiment both the first cable 119 and the second cable 120 are provided in two strands. Of course, in alternative embodiments, more strands may be provided. And the number of the connection posts 125 and the number of the compression springs 134 correspond to the number of strands of the cable.

Optionally, a stopper (not shown) may be provided at the top of the plurality of compression springs 134 within the receiving part 133, and an end of the second cable 120 is connected to the stopper so that the plurality of compression springs 134 can be uniformly stressed.

Thus, the counterweight 140 and the lifting device 130 are connected into a closed loop by the pulley mechanism consisting of the first roller 113, the first cable 119, the second roller 114 and the second cable 120, so that the counterweight and the lifting device can be lifted in a linkage manner. That is, the lifting mechanism 100 is lowered when the weight 140 is raised, or conversely, the weight 140 is lowered when the lifting mechanism 100 is raised.

Wherein the first cable 119 and the second cable 120 are preferably steel cords. Therefore, the precision requirement during installation can be reduced, and the resistance is reduced. Especially compared with the transmission modes such as a screw rod or a gear, the resistance caused by the fact that the installation accuracy cannot meet the requirement is greatly reduced.

The driving device 150 is disposed on the first roller 113 and/or the second roller 114, so as to be capable of transmitting torque to the first roller 113 and/or the second roller 114. In alternative embodiments, the drive means 150 may be a drive motor or a servo motor or the like.

In the present embodiment, the driving device 150 is preferably provided on the first roller 113. Alternatively, the drive shaft 151 of the drive device 150 is fixedly coupled to the pivot shaft of the first roller 113 such that the drive device 150 is capable of transmitting torque to the first roller 113. Thus, the forces from the medical auxiliary equipment (i.e. forces other than the forces applied to the lifting device 130 by the operator) experienced by the lifting device 130 may be balanced vertically by the drive device 150.

According to the medical auxiliary equipment of the present invention, the driving device 150 can provide the compensating force to the lifting device 130, so that the resistance applied to the lifting device 130 when the operator operates the lifting device 130 to lift is as small as possible, and the effect of light weight lifting is achieved.

Illustratively, in an alternative embodiment, the weight of the two sides of the column 110 may be set to be approximately equal, e.g., the weight of the counterweight 140 is equal to the total weight of the drive 150 and the robotic arm. Thus, when the operator applies a force to the driving device 150, the lifting/lowering device 130 can be easily lifted and lowered.

However, due to the existence of resistance everywhere, such as friction at the rollers and friction at the rails, the torque opposite to the resistance can be provided by the driving device 150 to overcome, so that the operation of the operator is easier and more labor-saving.

For example, a control device of the medical system is in signal connection with the drive device 150, and the control device controls the drive device 150 to provide a positive or negative torque to enable the forces from the medical auxiliary equipment experienced by the lifting device 130 to be balanced vertically.

Since the driving shaft 151 of the driving device 150 rotates in synchronization with the first roller 113, the lifting device 130 is lowered when the driving shaft 151 rotates forward, and the lifting device 130 is raised when the driving shaft 151 rotates backward, as an example, which will be described in detail below.

When the lifting device 130 descends under the manipulation of the operator, the driving device 150 provides the first roller 113 with a forward torque to assist the lifting device 130 to descend against the resistance. When the lifting device 130 is lifted up under the manipulation of the operator, the driving device 150 provides a reverse torque to the first roller 113 to assist the lifting device 130 to lift up against the resistance.

Referring to fig. 1, 2 and 3, the lift mechanism 100 further includes a brake 160. The braking device 160 is disposed on the first roller 113 and/or the second roller 114 to brake the first roller 113 and/or the second roller 114. In embodiments, the braking device may employ a permanent magnet brake or an electromagnetic brake, or other electromagnetic brake. In the present embodiment, the braking device 160 is provided on the opposite side of the first roller 113 from the driving device 150.

The driving device 150 is also connected to a control device of the medical system in a signal manner, and a button or a sensor (not shown) capable of performing signal association mapping with the brake device 160 is provided on the medical assistance apparatus, so that the medical assistance apparatus can obtain a signal instruction from the button instruction or the sensor and issue a brake instruction or a brake release instruction to the brake device 160 according to the signal instruction.

In one embodiment, for example, the button may be a button provided on the robot arm, and the control device controls the braking device 160 to release the brake when the operator presses the button to prepare the robot arm for lifting. When the operator manipulates the arm to lift and release the button, the control device controls the braking device 160 to brake the first roller 113. In one embodiment, the sensor on the medical auxiliary equipment can obtain the movement trend of the mechanical arm by the operator, and the movement trend of the mechanical arm and the lifting device is analyzed by the control system, so that the braking of the braking device is controlled or released.

When the braking device 160 brakes the first roller 113, the control device preferably controls the driving device 150 to lock to cooperate with the braking, i.e., controls the driving device 150 to stop running and keeps the driving shaft 151 stationary so that the lifting device 130 can be immediately stationary. When the braking device 160 releases the brake, the control device controls the driving device 150 to provide torque so that the force from the medical auxiliary equipment received by the lifting device 130 can be balanced vertically.

With continued reference to fig. 1, 2 and 3, in a preferred embodiment, the lifting device 130 further includes an elastic assembly 170, and the elastic assembly 170 is connected to the upright 110. Or elastic assembly 170 is connected in tension between upright 110 and lifting device 130 to provide an elastic force that tends lifting device 130 to move upward.

In this case, it is preferable that the sum of the weight 140 and the elastic force of the elastic member 170 is approximately equal to the total weight of the lifting device 130 and the robot arm. To achieve this, the elastic member 170 preferably employs a constant force spring 171 so that the elastic member 170 can provide substantially the same elastic force regardless of whether the lifting device 130 is lifted or lowered.

In order to reduce the weight of the medical auxiliary device, it is preferable to use a plurality of constant force springs 171 in a group of constant force springs 171. The metal sheets of two constant force springs 171, such as shown in fig. 5, are overlapped and rewound to form a set of constant force springs 171. Alternatively, more constant force springs 171 may be rewound, such as 3, 4, 5, etc., without limitation.

It is further preferable that a plurality of spring winding sets 172 are juxtaposed or ends of the constant force springs 171 of the plurality of spring winding sets 172 are overlapped to form the elastic member 170. The sheet metal extensions of the four spring rewinder packs 172 shown in fig. 6, for example, overlap. Alternatively, other numbers of spring rewind groups 172 may be combined in parallel, such as 3 groups, 5 groups, 6 groups, etc., without limitation.

With continued reference to fig. 1-3, the lifting device 130 includes a mounting block 131 and a cover plate 132. Wherein the mount 131 is connected to the first moving block 117. The elastic assembly 170 is disposed in the mounting base 131, and the four spring rewinding groups 172 are vertically arranged. The cover plate 132 is mounted to the mounting base 131 to shield the elastic member 170. The mechanical arm may be mounted on the cover 132 or the mounting base 131. The upper portion of the upright post 110 is provided with a fixing portion 124, and the extended end of the metal sheet of the constant force spring 171 is connected to the fixing portion 124 to always provide an upward elastic force to the elevating device 130.

By rewinding and combining the constant force springs 171 in parallel, a large elastic force can be obtained by accommodating a plurality of constant force springs 171 in a small space. Thus, the weight 140 is used in combination with the constant force spring 171 to balance the proper weight and moderate force value fluctuations and elastic hysteresis while avoiding the drawbacks of high weight and high force value fluctuations.

There are force value fluctuations and elastic hysteresis due to the constant force spring 171. The force value fluctuation is represented by the fact that the output elastic force of the constant force springs 171 when the constant force springs 171 extend to different lengths is not the same, for example, the tensile force of a plurality of constant force springs 171 according to the extending amount deviates from the nominal elastic force by about + -15%. The elastic hysteresis is manifested in the difference between the elastic force at a certain extension when the constant spring is in the process of extension or extension and the elastic force at the extension when the constant spring is in the process of contraction. For example, most constant force springs 171 have a greater spring force during extension than during retraction.

However, since the elastic force of the constant force spring 171 varies substantially linearly with the amount of protrusion, the elastic force of the constant force spring 171 is substantially stable and measurable. Thus, in order to enable the driving device 150 to compensate for the operational resistance caused by the fluctuation of the force value and the elastic hysteresis of the constant force spring 171, it is preferable to provide a turning direction detecting device to detect the turning direction of the roller, thereby deriving whether the constant force spring 171 is in the process of extension or contraction. And preferably a position detecting means is provided to detect the height of the elevating means 130, thereby obtaining the protrusion amount of the constant force spring 171.

The rotation direction detecting device is disposed on the driving device 150, and is used for detecting the rotation direction of the driving shaft 151 of the driving device 150. Preferably, referring to fig. 4, the rotation direction detecting means is configured as a rotary encoder 190. The rotary encoder 190 includes a fixing base 192 and a rotary part 191. The fixing base 192 is disposed on a side surface of the driving device 150, and an encoder fixing portion 194 is disposed therein. The rotating portion 191 is located in the fixing seat 192 and connected to the driving shaft 151 so as to be rotatable in synchronization with the driving shaft 151. The rotation portion 191 is provided with an encoder moving portion 193, and the encoder moving portion 193 corresponds to the encoder fixed portion 194 in position so that the encoder moving portion 193 and the encoder fixed portion 194 can interact with each other when the driving shaft 151 rotates, thereby detecting the forward rotation or the reverse rotation of the first roller 113. In embodiments, the encoder may employ an incremental magnetic encoder or an absolute magnetic encoder, the encoder stator is an encoder PCB, the encoder rotor is an encoder magnet or encoder magnetic ring, and in some embodiments, the encoder may also employ a grating encoder.

The position detecting device is at least partially disposed on the lifting device 130. Which is preferably configured as a pull-cord encoder 180. Wherein the pull-cord encoder 180 is located at the first side 111 of the upright 110 and between the lifting device 130 and the second roller 114. The body of the string encoder 180 is connected to the upright 110 through the connection base 121, and the string end 181 of the string encoder 180 is connected to the elevating device 130, whereby the height or position of the elevating device 130 can be detected. Thus, a certain amount of protrusion of the constant force spring 171 can be correlated with the height of the lifting device 130. Alternatively, the position detection means may also be, for example, a multi-turn absolute value encoder, a grating ruler, a laser sensor, or the like.

Further, a control device of the medical system is signal-connected to both the pull-cord encoder 180 and the rotary encoder 190. The control device pre-stores a mapping relation between the height of the lifting device 130 and the extension length of the constant force spring 171, so as to judge the extension length of the constant force spring 171 according to the height of the lifting device 130 detected by the position detection device and combining the mapping relation. The control device also pre-stores average characteristic curve data of the constant force spring 171 according to the extension length, shrinkage characteristic curve data of the constant force spring 171 according to the extension length during shortening process, and extension characteristic curve data of the constant force spring 171 according to the extension length during extension process.

When the operator manipulates the mechanical arm to prepare for lifting and triggering the braking device 160 to release the braking, the control device obtains the current extension length of the constant force spring 171 according to the height of the lifting device 130 detected by the pull rope encoder 180 in combination with the mapping relationship between the height of the lifting device 130 and the extension length of the constant force spring 171. And then the elastic force of the current elongation of the constant force spring 171 is obtained by combining the average characteristic curve data of the constant force spring 171 according to the extension length, so that the force value to be compensated is calculated. Further, the control device controls the driving device 150 to operate to provide corresponding torque to overcome the elastic force variation caused by the fluctuation of the force value of the constant force spring 171, so that the force from the medical auxiliary equipment received by the lifting device 130 can be balanced vertically.

When the operator manipulates the mechanical arm to start lifting and lowering, so that the first roller 113 is jogged, the control device can determine that the lifting device 130 is in a lifting state or a lowering state according to the rotation direction of the driving shaft 151 detected by the rotation direction detecting device. For example, the lifting device 130 is determined to be in a lowered state or have a downward trend when the first roller 113 is jogged in a forward rotation, and the lifting device 130 is determined to be in a raised state or have a upward trend when the first roller 113 is jogged in a reverse rotation.

When the lifting device 130 is in the lifted state, the control device controls the driving device 150 to operate according to the contraction characteristic curve data to provide torque so that the force from the medical auxiliary equipment received by the lifting device 130 can be balanced vertically.

Specifically, the control device obtains the real-time extension length of the constant force spring 171 according to the real-time height of the lifting device 130 detected by the string encoder 180 in combination with the mapping relationship between the height of the lifting device 130 and the extension length of the constant force spring 171. And then, the real-time change of the elasticity of the constant force spring 171 in the contraction process is obtained according to the contraction characteristic curve data of the extension length by combining the contraction process of the constant force spring 171, so that the force value to be compensated is calculated in real time. Further, the control device controls the driving device 150 to operate to provide corresponding torque to overcome the elastic force variation caused by the elastic hysteresis of the contraction process of the constant force spring 171, so that the force from the medical auxiliary equipment received by the lifting device 130 can be balanced vertically.

When the lifting device 130 is in the lowered state, the control device controls the driving device 150 to operate according to the elongation characteristic curve data to provide torque so that the force from the medical auxiliary equipment received by the lifting device 130 can be balanced vertically.

Specifically, the control device obtains the real-time extension length of the constant force spring 171 according to the real-time height of the lifting device 130 detected by the string encoder 180 in combination with the mapping relationship between the height of the lifting device 130 and the extension length of the constant force spring 171. And then, the elasticity of the constant force spring 171 is changed in real time according to the elongation characteristic curve data of the elongation process of the constant force spring 171, so that the force value to be compensated is calculated in real time. Further, the control device controls the driving device 150 to operate to provide a corresponding torque to overcome the elastic force variation caused by the elastic hysteresis during the extension of the constant force spring 171, so that the force from the medical auxiliary equipment received by the lifting device 130 can be balanced vertically.

Further, when the rope encoder 180 detects that the elevation of the elevating device 130 is changed, but the rotary encoder 190 does not detect the rotation of the driving shaft 151, a phenomenon that the first cable 119 slips occurs. The control device gives a warning at this time.

In summary, the present invention adopts the rotary encoder 190 at the driving device 150 to detect the motion trend at the moment of lifting the mechanical arm, starts the driving device 150 to compensate the force value, and uses the pull rope encoder 180 to obtain the position and speed of the mechanical arm, and cooperates with the driving device 150 to perform active driving, so as to form closed-loop control. The force value fluctuation and the elastic hysteresis characteristic of the constant force spring 171 are known through the prior test and debugging, the elastic force values of different positions and the motion process are clarified, the corresponding elastic force characteristic curve of the constant force spring 171 is drawn, when the device is actually used, the position and the speed information are obtained through the stay cord encoder 180, the driving device 150 can adjust the output torque value and the output torque direction to compensate the force value fluctuation of the constant force spring 171, and the lifting mechanism 100 of the machine achieves the balanced optimal effect.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the invention. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present invention has been described by way of the above embodiments, but it should be understood that the above embodiments are for illustrative and explanatory purposes only and that the invention is not limited to the above embodiments, but is capable of numerous variations and modifications in accordance with the teachings of the invention, all of which fall within the scope of the invention as claimed.

Claims

1. A medical assistance device, characterized in that the medical assistance device comprises a lifting mechanism comprising:

the device comprises a stand column, wherein a first roller is arranged at the top of the stand column, a second roller is arranged at the bottom of the stand column, and the stand column is provided with a first side and a second side which are opposite to each other;

2. The medical auxiliary device according to claim 1, wherein the lifting means comprises an elastic assembly connected to the upright to provide an elastic force tending to move the lifting means upward.

3. The medical auxiliary device according to claim 2, wherein,

the elastic assembly comprises at least one constant force spring;

4. A medical auxiliary device according to claim 3, wherein at least two of said constant force springs are overlapped to form a spring stack.

5. The medical auxiliary device according to claim 4, wherein ends of the constant force springs of at least two of the spring rewind groups overlap to form the elastic assembly.

6. The medical auxiliary device according to any one of claims 1 to 5, further comprising a braking means provided to the first roller and/or the second roller to brake the first roller and/or the second roller.

7. The medical auxiliary device according to any one of claims 1-5, further comprising a position detection means at least partially provided to the lifting means for detecting the height of the lifting means.

8. The medical auxiliary device according to claim 7, wherein the position detection means is configured as a pull-cord encoder located on the first side of the upright and between the lifting means and the second roller, a body of the pull-cord encoder being connected to the upright by a connection mount, a cord end of the pull-cord encoder being connected to the lifting means.

9. The medical auxiliary device according to any one of claims 1-5, further comprising a rotational direction detection means provided to the drive means for detecting a rotational direction of a drive shaft of the drive means, wherein the drive shaft is connected to the first roller and/or the second roller.

10. The medical auxiliary device according to claim 9, wherein the rotational direction detection means is configured as a rotary encoder comprising:

11. The medical auxiliary device according to any one of claims 1-5, wherein a receiving portion is provided at a bottom of the lifting means, a compression spring is provided in the receiving portion, and an end portion of the second cable penetrates the receiving portion and is connected to a top end of the compression spring so that the second cable can be tensioned.

12. The medical auxiliary device according to any one of claims 1-5, wherein,

the first side is provided with a first guide rail and a first moving block, the first guide rail is vertically arranged, the first moving block is arranged on the first guide rail and is configured to be capable of moving up and down along the first guide rail, and the lifting device is arranged on the first moving block;

13. The medical auxiliary device according to claim 12, wherein the upper and lower portions of the first guide rail are respectively provided with a stopper to restrict a lifting amplitude of the first moving block, and an end of the stopper facing the lifting device is provided with an anti-collision block.

14. A medical system, comprising:

the medical assistance device according to any one of claims 1-13, comprising:

a lifting mechanism, which comprises a lifting device,

the mechanical arm is arranged on the lifting device,

a driving device; and

the control device is in signal connection with the driving device;

wherein the control device is configured to:

15. The medical system of claim 14, wherein the medical system further comprises a plurality of medical devices,

the medical auxiliary equipment further comprises a braking device, and the control device is in signal connection with the braking device;

the control device is configured to:

16. The medical system of claim 15, wherein the medical system comprises a plurality of medical devices,

the lifting device of the medical accessory comprises at least one constant force spring, an end of which is connected to the upright to provide an upward elastic force to the lifting device;

17. The medical system of claim 16, wherein the medical system further comprises a plurality of sensors,

a rotation direction detection device is arranged in the driving device and is used for detecting the rotation direction of the driving shaft;

18. The medical system of claim 17, wherein the medical system further comprises a plurality of sensors,

the control device pre-stores the extension characteristic curve data according to the extension length in the extension process of the constant force spring, and also pre-stores the contraction characteristic curve data according to the extension length in the shortening process of the constant force spring;

the control device is further configured to:

19. The medical system of claim 17, wherein the control device is further configured to: when the position detection device detects that the height of the lifting device changes, but the rotation direction detection device does not detect the rotation of the driving shaft, the position detection device judges that slipping occurs and gives warning.