CN117159159A - Base for movable medical platform and control method thereof - Google Patents
Base for movable medical platform and control method thereof Download PDFInfo
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- CN117159159A CN117159159A CN202311451026.3A CN202311451026A CN117159159A CN 117159159 A CN117159159 A CN 117159159A CN 202311451026 A CN202311451026 A CN 202311451026A CN 117159159 A CN117159159 A CN 117159159A
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Abstract
The application provides a base for a mobile medical platform. According to one embodiment, the base comprises: the device comprises a bracket, a plurality of electric supporting modules fixed on the bracket, a plurality of detection modules and a control module. Each electric support module comprises: an electric power source; a support mechanism configured to make telescopic movement using power from an electric power source; and the supporting feet are connected with the supporting mechanism. Each detection module is configured to detect, for a respective one of the plurality of electric support modules, a value of a parameter capable of reflecting electric power of the electric power source. The control module is configured to drive the plurality of electric support modules to extend or retract the support legs, and to stop the extending or retracting action of the electric support module corresponding to each detection module in response to a change in the value of the parameter detected by that detection module meeting a predetermined condition.
Description
Technical Field
The present disclosure relates to the field of medical devices, and more particularly to a base for a mobile medical platform and a control method thereof.
Background
Minimally invasive surgical robots generally include a physician console and a patient surgical platform. The patient surgical platform is equipped with one or more multi-axis surgical arms on which surgical instruments are mounted. Under the control instruction of the doctor console, the surgical instrument and the surgical arm move cooperatively to complete the corresponding surgical action.
Stability of the patient table is highly desirable because any unintended sloshing can cause irreparable damage to the patient. The base is the root of the entire patient operating platform and therefore stability of the base is very important. Furthermore, the patient table needs to have a removable function in the case of non-operative progress, and thus a reliable way of base fixation is required.
Disclosure of Invention
This section is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This section is not intended to identify essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
It is an object of the present disclosure to provide an improved base for a mobile medical platform and a control method thereof. In particular, one of the technical problems to be solved by the present disclosure is that the existing hydraulic lifting mechanism for a patient operation platform has a complex structure, occupies a large space, and is complex to control and poor in real-time performance of control.
According to a first aspect of the present disclosure, a base for a mobile medical platform is provided. The base includes: a bracket; a plurality of electric support modules fixed on the bracket; a plurality of detection modules; and a control module. Each electric support module comprises: an electric power source; a support mechanism configured to make telescopic movement using power from the electric power source; and the supporting feet are connected with the supporting mechanism. Each detection module is configured to detect, for a respective one of the plurality of electric support modules, a value of a parameter capable of reflecting electric power of the electric power source. The control module is configured to drive the plurality of electric support modules to extend or retract the support legs, and to stop the extending or retracting action of the electric support module corresponding to each detection module in response to a change in the value of the parameter detected by the detection module satisfying a predetermined condition.
According to the first aspect described above, since the extending or retracting action of the electric support module corresponding to each detection module is stopped in response to the variation in the value of the parameter detected by the detection module satisfying the predetermined condition, the movement can be stopped after the firm contact with or the reliable separation from the ground is detected, so that the stability/reliability of the base can be ensured. Moreover, as each electric supporting module is mutually independent, the extending length of the supporting legs can be different according to the ground conditions, so that each electric supporting module is firmly supported with the ground.
In one embodiment of the present disclosure, the electric power source includes: a motor; a decelerator connected to the motor; and a transmission member configured to transmit the power output from the speed reducer to the support mechanism.
In one embodiment of the present disclosure, the power from the electric power source is rotational motion power. The support mechanism includes: a housing having a hollow chamber; and a power conversion member configured to convert the rotational motion power into linear motion power such that an output shaft of the power conversion member is capable of linear motion.
In one embodiment of the present disclosure, the parameter capable of reflecting the electric power of the electric power source is one of the following parameters: the electric power consumed by the motor contained in the electric power source; and the current consumed by the motor contained in the electric power source.
In one embodiment of the present disclosure, each motorized support module is capable of providing a maximum support force for the ambulatory medical platform that is less than a weight of the ambulatory medical platform, and a sum of the maximum support forces of the plurality of motorized support modules is greater than the weight of the ambulatory medical platform.
In one embodiment of the present disclosure, the predetermined condition is one of the following conditions: an increase/decrease in the value of the parameter detected by the detection module is greater than or equal to a predetermined increase/decrease; and a state in which an increase/decrease amount of the value of the parameter detected by the detection module is greater than or equal to a predetermined increase/decrease amount has been continued for a predetermined time.
In one embodiment of the present disclosure, the control module is configured to start stopping the extending or retracting action of the respective electric support module when a change in the value of the parameter detected by the predetermined number of detection modules satisfies the predetermined condition.
In one embodiment of the present disclosure, the control module is configured to sequentially stop the extending or retracting actions of the respective electric support modules in order of the change in the values of the parameters detected by the plurality of detection modules satisfying the predetermined condition.
In one embodiment of the present disclosure, each of the motorized support modules includes: a limit switch configured to output a warning signal in response to the support foot being retracted to a predetermined position. The control module is configured to stop retraction of the respective electrically powered support module in response to a warning signal from the limit switch.
In one embodiment of the present disclosure, the limit switch is a micro switch or a photoelectric switch mounted within the support mechanism.
In one embodiment of the present disclosure, the mobile medical platform is a mobile surgical platform.
According to a second aspect of the present disclosure, a control method for a base of a mobile medical platform is provided. The base comprises a bracket and a plurality of electric support modules fixed on the bracket. Each electric support module includes an electric power source, a support mechanism configured to perform telescopic movement using power from the electric power source, and a support foot connected to the support mechanism. The control method comprises the following steps: a value of a parameter that is reflective of electrical power of the electric power source is detected by each detection module for a respective one of the plurality of electric support modules. The control method further includes: the control module drives the plurality of electric supporting modules to extend or retract the supporting feet. The control method comprises the following steps: the extending or retracting action of the electric support module corresponding to each detection module is stopped by the control module in response to the change in the value of the parameter detected by the detection module satisfying a predetermined condition.
According to a third aspect of the present disclosure, a computer-readable storage medium is provided. Program instructions are stored on the computer readable storage medium. The program instructions, when executed by at least one processor, cause the at least one processor to perform operations of the control module according to the second aspect described above.
Drawings
In order to more clearly illustrate the technical solutions of the present disclosure, the following description will briefly explain the drawings of the embodiments. Clearly, the structural schematic drawings in the following figures are not necessarily drawn to scale, but rather present features in simplified form. Moreover, the following drawings are only illustrative of some embodiments of the present disclosure and are not intended to limit the present disclosure.
FIG. 1 is a block diagram illustrating a base for a mobile medical platform according to an embodiment of the present disclosure;
FIGS. 2A-2C are schematic structural views of an exemplary implementation of the base of FIG. 1;
fig. 3A to 3D are schematic structural views of an electromotive support module included in one exemplary implementation of the base of fig. 1;
FIG. 4 is a block diagram illustrating one exemplary implementation of the base of FIG. 1; and
fig. 5 is a flowchart illustrating a method of controlling a base for a mobile medical platform according to an embodiment of the present disclosure.
Detailed Description
For purposes of explanation, certain details are set forth in the following description in order to provide a thorough understanding of the disclosed embodiments. It is apparent, however, to one skilled in the art that the embodiments may be practiced without these specific details or with an equivalent arrangement.
As previously mentioned, the stability of the base is very important for patient surgical platforms. The existing base for the patient operation platform adopts a hydraulic lifting mechanism, and has the defects of complex structure, large occupied space, complex control and poor real-time performance of control. For minimally invasive surgical robots, the fixation of their bases requires the distribution of supporting forces at multiple points. Therefore, the solution employing a hydraulic lifting mechanism is not a good solution for the base fixation of a minimally invasive surgical robot.
The present disclosure provides an improved base for a mobile medical platform and a control method thereof. Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
Fig. 1 is a block diagram illustrating a base for a mobile medical platform according to an embodiment of the present disclosure. For example, the mobile medical platform may be a mobile surgical platform for a surgical robot, or any other suitable medical platform having a mobile requirement and a stationary requirement. As shown in fig. 1, the base 10 includes: the device comprises a bracket 11, a plurality of electric support modules 12-1 to 12-N (N is an integer greater than or equal to 3) fixed on the bracket 11, a plurality of detection modules 13-1 to 13-N and a control module 14. The support 11 may have a shape that matches the shape of the movable medical platform it supports and may be made of metal or other suitable material. A plurality of moving wheels may be installed on the stand 11 to meet the moving requirement. The plurality of motorized support modules 12-1-12-N may be arranged such that a projected point of a center of mass of the movable medical platform along gravity is located inside a polygon formed by the plurality of motorized support modules 12-1-12-N. Each of the electrically powered support modules 12 (which may be any one of a plurality of electrically powered support modules 12-1-12-N) includes: an electric power source 121; a support mechanism 122 configured to make telescopic movement using power from the electric power source 121; and a support leg 123 connected to the support mechanism 122. Optionally, each motorized support module 12 may include a limit switch 124 configured to output a warning signal in response to the support foot 123 being retracted to a predetermined position. The electric supporting module can retract and retract supporting feet upwards (far away from the ground) when the movable medical platform moves by utilizing the moving wheels, and the supporting feet extend downwards (close to the ground) after the movable medical platform moves to a proper position.
Fig. 2A-2C are schematic structural views of an exemplary implementation of the base of fig. 1, where fig. 2A is a perspective view of the base, fig. 2B is a top view of the base, and fig. 2C is a side view of the base. As shown in fig. 2A and 2B, the stand 11 of the base is generally rectangular or square. The base has four motorized support modules 12. For simplicity, the moving wheel of the base is not shown in fig. 2A-2C.
Fig. 3A to 3D are schematic structural views of the electric support module included in the base of fig. 1, wherein fig. 3A is a side view of the electric support module, fig. 3B is a sectional view of the electric support module, fig. 3C is a plan view of the electric support module, and fig. 3D is a partially enlarged sectional view of the electric support module. The cross-sectional view of fig. 3B is taken along line B-B in fig. 3C. As shown in fig. 3A, the electric support module includes: a motor 3211; a decelerator 3212 connected to the motor 3211; a transmission member 3213 configured to transmit the power output from the speed reducer 3212 to the support mechanism 322; a support mechanism 322; and support legs 323. Thus, in this illustrative example, the electric power source of the electric support module is implemented to include a motor 3211, a speed reducer 3212, and a transmission member 3213 (in the example of fig. 3A, a transmission belt). The speed reducer has the function of increasing torque (or torsion) and properly reducing the movement speed of the motor rotating shaft. It should be noted that it is also possible to use other transmission components than belts.
Since the power supplied from the motor 3211 is rotational motion power, as shown in fig. 3B, the supporting mechanism 322 includes: a housing 3221 having a hollow chamber; and a power conversion part 3222 (a screw in the example of fig. 3B) configured to convert the rotational motion power into a linear motion power so that an output shaft of the power conversion part 3222 can make a linear motion. By adopting the structure shown in fig. 3A and 3B, a base with a simple and reliable structure can be provided.
As shown in fig. 3C, the electric support module may be fixed to the bracket 11 (for example, fixed to a support plate provided on the bracket 11 by screws) using a plurality of fixing holes 3223 (four fixing holes in the example of fig. 3C) provided on the top surface of the housing 3221 of the support mechanism 322.
As shown in fig. 3D, a limit switch (a micro switch in the example of fig. 3D, which includes a switch main body 3242 and a reed 3241) is mounted on the top of the housing 3221 of the support mechanism 322. The limit switch generates a warning signal when the power conversion part 3222 touches the reed 3241 to engage the reed 3241 with the switch main body 3242 in the process that the supporting mechanism makes a retracting motion to retract the supporting leg.
It should be noted that the present disclosure is not limited to the examples shown in fig. 3A to 3D. As another example, the electric power source may include only the motor and the transmission member, and not include the decelerator. As yet another example, the electric power source may be a linear motor that provides linear motion. Accordingly, the support mechanism may be a shaft member connected to the output shaft of the linear motor, and the support foot may be mounted on the shaft member. Accordingly, an optional limit switch may be installed inside the linear motor. As yet another example, limit switches are not limited to micro switches, but other suitable switches such as opto-electronic switches may be employed.
Referring back to fig. 1, each detection module 13 (which may be any one of the plurality of detection modules 13-1 to 13-N) is configured to detect, for a corresponding one of the plurality of electric support modules, a value of a parameter capable of reflecting electric power of the electric power source. As one example, the parameter may be the current consumed by a motor contained in the electric power source, which indirectly reflects the electric power of the electric power source. As another example, the parameter may be the electrical power consumed by a motor contained by the electric power source, which directly reflects the electrical power of the electric power source. Accordingly, the detection module 13 may be implemented using any existing or future developed technique for measuring current or electrical power.
The control module 14 is configured to drive the plurality of electrically powered support modules to extend or retract the support foot, and to stop the extending or retracting action of the electrically powered support module corresponding to each detection module in response to a change in the value of the parameter detected by that detection module meeting a predetermined condition. The control module 14 may drive the plurality of motorized support modules to extend or retract the support feet by applying drive power of opposite polarity to the motors contained in the motorized support modules to cause the motors to make, for example, forward or reverse rotations. It should be noted that, depending on the design of the mechanical structure, the correspondence relationship of the motor forward rotation/reverse rotation and the support leg extension/retraction may be "motor forward rotation corresponds to support leg extension and motor reverse rotation corresponds to support leg retraction", or "motor forward rotation corresponds to support leg retraction and motor reverse rotation corresponds to support leg extension", and the present disclosure is not particularly limited in this respect. As an example, the predetermined condition may be: the increase/decrease in the value of the parameter detected by the detection module is greater than or equal to a predetermined increase/decrease. When the increase in the value of the parameter detected by the detection module is greater than or equal to a predetermined increase, this indicates that the support foot of the electric support module corresponding to the detection module has been in firm contact with the ground. When the decrease in the value of the parameter detected by the detection module is greater than or equal to a predetermined decrease, this indicates that the support foot of the electric support module corresponding to the detection module has been separated from the ground.
As another example, the predetermined condition may be: the state in which the increase/decrease amount of the value of the parameter detected by the detection module is greater than or equal to the predetermined increase/decrease amount has continued for a predetermined time. When a state in which the increase in the value of the parameter detected by the detection module is greater than or equal to a predetermined increase has continued for a predetermined time, this indicates that the support foot of the electric support module corresponding to the detection module has come into firm contact with the ground. When a state in which the reduced amount of the value of the parameter detected by the detection module is greater than or equal to the predetermined reduced amount has continued for a predetermined time, this indicates that the support foot of the electric support module corresponding to the detection module has been separated from the ground.
Since the extending or retracting action of the electric support module corresponding to each detection module is stopped in response to the variation of the value of the parameter detected by the detection module satisfying a predetermined condition, the movement can be stopped after the firm contact with or the reliable separation from the ground is detected, so that the stability/reliability of the base can be ensured. Moreover, as each electric supporting module is mutually independent, the extending length of the supporting legs can be different according to the ground conditions, so that each electric supporting module is firmly supported with the ground.
In order to make the change in the value of the parameter detected by the detection module significant, the following configuration may be adopted: each motorized support module is capable of providing a maximum support force for the ambulatory medical platform that is less than the weight of the ambulatory medical platform, and a sum of the maximum support forces of the plurality of motorized support modules is greater than the weight of the ambulatory medical platform. That is, the weight of the movable surgical platform is commonly borne by the plurality of motorized support modules.
Alternatively, the control module 14 may be configured to start stopping the extension or retraction action of the respective electric support module when a change in the value of the parameter detected by the predetermined number of detection modules satisfies the predetermined condition. For example, when a change in the value of a parameter detected by three of the four detection modules (i.e., 75% or more of the detection modules) satisfies the predetermined condition, the control module 14 may start stopping the extending or retracting action of the electric support module corresponding to the three detection modules. In this way, the movable medical platform can be supported more stably in the process of extending or retracting the supporting feet. It should be noted that the above mentioned ratio 75% is only an illustrative example, which may be adjusted depending on the specific application scenario.
Alternatively, the control module 14 may be configured to sequentially stop the extending or retracting actions of the respective electric support modules in order of the sequence in which the changes in the values of the parameters detected by the plurality of detection modules satisfy the predetermined condition. For example, if the sequence in which the values of the parameters detected by the detection modules numbered 1, 2, 3, and 4 change to satisfy the predetermined condition is 1, 3, 4, and 2, and the detection modules numbered 1 to 4 correspond to the electric support modules numbered 1 to 4, respectively, the electric support module numbered 1 may be stopped first, the electric support module numbered 3 may be stopped, the electric support module numbered 4 may be stopped, and the electric support module numbered 2 may be stopped. Therefore, the movable medical platform can be ensured to maintain a relatively balanced state in the process of extending or retracting the supporting legs, and the problem of inclination of the platform is avoided.
Alternatively, where each of the electrically powered support modules includes a limit switch, the control module 14 may be configured to cease retraction of the respective electrically powered support module in response to a warning signal from the limit switch. In this way, it is possible to avoid a situation in which the support leg collides with a member during retraction to cause damage to the member (for example, in the example of fig. 3D, the power conversion member 3222 is prevented from colliding with a support plate for fixing the support mechanism above the housing 3221).
As one example, the control module 14 may be implemented as at least one processor and at least one memory storing program instructions. The program instructions, when executed by the at least one processor, cause the at least one processor to perform the operations of the control module 14 described above. Examples of processors include, but are not limited to, general purpose computers, special purpose computers, microprocessors, digital Signal Processors (DSPs), processors based on a multi-core processor architecture, micro Control Units (MCUs), and the like. The memory may be implemented using any suitable data storage technology, such as semiconductor-based memory devices, flash memory, magnetic memory devices and systems, optical memory devices and systems, fixed and removable memory, and so forth. As another example, the control module 14 may be implemented as a hardware circuit, such as an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or the like.
Accordingly, at least one aspect of the present disclosure provides a computer-readable storage medium. Program instructions are stored on the computer readable storage medium. The program instructions, when executed by at least one processor, cause the at least one processor to perform the operations of the control module 14 described above. Examples of a computer-readable storage medium include, but are not limited to, hard disks, optical disks, removable storage media, solid state memory, random Access Memory (RAM), and the like.
Fig. 4 is a block diagram illustrating an exemplary implementation of the base of fig. 1. As shown in fig. 4, in this illustrative example, four electrically powered support modules are provided, each including a limit switch 424. Each detection module 13 is implemented to include a current detection circuit 431 and 432 for the motor 4211 of the corresponding electric support module. The control module 14 is implemented to include a main control circuit 441, a power supply 442, and power supply control circuits 443-445 for the motor 4211 of each electric support module.
In the example of fig. 4, the control of each of the electric support modules by the main control circuit 441 is independent of each other, but in substantially the same manner. The main control circuit 441 controls whether or not current is supplied for forward/reverse rotation of the motor 4211 to achieve extension/retraction (and possibly retraction/extension as described above) of the support foot. The main control circuit 441 may deactivate the motor 4421 by providing a brake control signal to the motor 4421. And the brake control signal is controlled to be switched on and off by the main control circuit as the supporting legs extend and retract.
When a certain electric supporting module provides a larger lifting (or supporting) force, the output power of the motor of the electric supporting module can be increased, and the current of the main power supply provided for the motor can be increased, particularly, when the electric supporting module is switched from a state without contacting the ground to a state with the ground and starts to provide a lifting force, the current can be greatly increased. The main control circuit 441 takes this as a criterion for judging that the electric support module has firmly contacted the ground. When the plurality of motorized support modules all meet this criteria, the base may be considered to be stable.
The main control circuit 441 controls the braking failure of each of the motorized support modules when it is desired to secure the base. The main control circuit 441 includes a Micro Control Unit (MCU) that controls the power supply control circuit 443 for extending the current from the support legs to move the support legs in a direction approaching the ground. Meanwhile, the current detection circuit 431 detects the power supply current in real time. The detected current value may be converted into a voltage signal, which is collected by an analog-to-digital converter (ADC) and perceived by the MCU. When it is detected that the current of a certain electric support module suddenly rises and remains high, the main control circuit 441 opens the current and opens the brake. When all the electric support modules have been de-energized and the brake is turned on, the base can be considered to be stable.
When it is desired to move the base, the main control circuit 441 controls the braking failure of each of the motorized support modules. The MCU included in the main control circuit 441 controls the power supply control circuit 444 for retracting the supporting legs to be energized, so that the supporting legs are moved in a direction away from the ground. Meanwhile, the current detection circuit 432 detects the supply current in real time. The detected current value can be converted into a voltage signal, and the voltage signal is acquired by an ADC and perceived by an MCU. When a sudden large reduction in the current of a certain electric support module is detected and maintained, the main control circuit 441 opens the current. When all the motorized support modules have been de-energized, the support feet can be considered to have been fully retracted.
The base also has a limit switch detection function in the supporting leg withdrawing process. When the supporting leg is retracted to reach the limit position, the lead screw can enable the limit switch to execute the contact action. The main control circuit senses the change and immediately stops the retracting action of the support foot.
Fig. 5 is a flowchart illustrating a method of controlling a base for a mobile medical platform according to an embodiment of the present disclosure. The base to which the control method is applied comprises a bracket and a plurality of electric support modules fixed on the bracket. Each electric support module includes an electric power source, a support mechanism configured to perform telescopic movement using power from the electric power source, and a support foot connected to the support mechanism. As shown in FIG. 5, the control method includes steps 502-506. In step 502, a value of a parameter that is reflective of electrical power of the electrical power source is detected by each detection module for a respective one of the plurality of electrical support modules. As previously mentioned, the parameter may be the current or electrical power consumed by an electric motor comprised by the electric power source. In step 504, the plurality of motorized support modules are driven by the control module to extend or retract support feet. As previously described, the control module may drive the plurality of motorized support modules to extend or retract the support feet by applying opposite polarity drive power to the motors contained in the motorized support modules.
In step 506, the extending or retracting action of the electric support module corresponding to each detection module is stopped by the control module in response to the change in the value of the parameter detected by the detection module satisfying a predetermined condition. As described above, the predetermined condition may be one of the following conditions: an increase/decrease in the value of the parameter detected by the detection module is greater than or equal to a predetermined increase/decrease; and a state in which an increase/decrease amount of the value of the parameter detected by the detection module is greater than or equal to a predetermined increase/decrease amount has been continued for a predetermined time.
Since the extending or retracting action of the electric support module corresponding to each detection module is stopped in response to the variation of the value of the parameter detected by the detection module satisfying a predetermined condition, the movement can be stopped after the firm contact with or the reliable separation from the ground is detected, so that the stability/reliability of the base can be ensured. Moreover, as each electric supporting module is mutually independent, the extending length of the supporting legs can be different according to the ground conditions, so that each electric supporting module is firmly supported with the ground.
References in the present disclosure to "one embodiment," "an embodiment," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described. It should be noted that two blocks (or steps) shown in succession may in fact be executed substantially concurrently or the blocks (or steps) may sometimes be executed in the reverse order, depending upon the functionality involved.
It will be understood that, although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure. In this disclosure, the term "and/or" includes any and all combinations of one or more of the associated listed terms. It will be further understood that the terms "comprises," "comprising," "has," "including," and/or "having," when used herein, specify the presence of stated features, elements, and/or components, but do not preclude the presence or addition of one or more other features, elements, components, and/or groups thereof. The term "coupled" as used herein encompasses direct and/or indirect coupling between two elements.
It should be appreciated that the terms "top," "bottom," "inner," "outer," "upper," "lower," and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience and to simplify the description of the present disclosure, and do not indicate or imply that the elements, components, or devices referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present disclosure.
The disclosure includes any novel feature or combination of features disclosed herein either explicitly or in any of its generic forms. Various modifications and adaptations to the foregoing exemplary embodiments of this disclosure will become apparent to those skilled in the relevant arts in view of the foregoing description, when read in conjunction with the accompanying drawings. However, any and all modifications and adaptations will still fall within the scope of the non-limiting and exemplary embodiments of this disclosure.
Claims (13)
1. A base for a mobile medical platform, comprising:
a bracket;
a plurality of electrically powered support modules secured to the rack, each electrically powered support module comprising: an electric power source; a support mechanism configured to make telescopic movement using power from the electric power source; and a supporting leg connected with the supporting mechanism;
a plurality of detection modules, each detection module configured to detect, for a respective one of the plurality of electric support modules, a value of a parameter capable of reflecting electric power of the electric power source; and
and a control module configured to drive the plurality of electric support modules to extend or retract the support legs, and to stop the extending or retracting action of the electric support module corresponding to each detection module in response to a change in the value of the parameter detected by the detection module satisfying a predetermined condition.
2. The base of claim 1, wherein the electric power source comprises: a motor; a decelerator connected to the motor; and a transmission member configured to transmit the power output from the speed reducer to the support mechanism.
3. The base of claim 1, wherein the power from the electric power source is rotational motion power; and
wherein, the supporting mechanism includes: a housing having a hollow chamber; and a power conversion member configured to convert the rotational motion power into linear motion power such that an output shaft of the power conversion member is capable of linear motion.
4. The base of claim 1, wherein the parameter that can reflect the electric power of the electric power source is one of:
the electric power consumed by the motor contained in the electric power source; and
the electric power source includes an electric current consumed by a motor.
5. The base of claim 1, wherein each motorized support module is capable of providing a maximum support force for the ambulatory medical platform that is less than a weight of the ambulatory medical platform, and a sum of the maximum support forces of the plurality of motorized support modules is greater than the weight of the ambulatory medical platform.
6. The susceptor of claim 1, wherein the predetermined condition is one of:
an increase/decrease in the value of the parameter detected by the detection module is greater than or equal to a predetermined increase/decrease; and
the state in which the increase/decrease amount of the value of the parameter detected by the detection module is greater than or equal to the predetermined increase/decrease amount has continued for a predetermined time.
7. The base of claim 1, wherein the control module is configured to start stopping the extension or retraction action of the respective motorized support module when a change in the value of the parameter detected by the predetermined number of detection modules satisfies the predetermined condition.
8. The base of claim 1, wherein the control module is configured to sequentially stop the extending or retracting actions of the respective motorized support modules in order of the sequence in which the change in the values of the parameters detected by the plurality of detection modules satisfies the predetermined condition.
9. The base of claim 1, wherein each motorized support module comprises: a limit switch configured to output a warning signal in response to the support leg being retracted to a predetermined position; and
wherein the control module is configured to stop the retraction of the respective electrically powered support module in response to a warning signal from the limit switch.
10. The base of claim 9, wherein the limit switch is a micro switch or a photo switch mounted within the support mechanism.
11. The base of claim 1, wherein the mobile medical platform is a mobile surgical platform.
12. A control method for a base of a mobile medical platform, the base including a bracket and a plurality of electrically powered support modules secured to the bracket, each electrically powered support module including an electrically powered power source, a support mechanism configured for telescopic movement using power from the electrically powered power source, and a support foot coupled to the support mechanism, the control method comprising:
detecting, by each detection module, a value of a parameter capable of reflecting an electric power of the electric power source for a corresponding one of the plurality of electric support modules;
the control module drives the plurality of electric supporting modules to extend or retract supporting feet; and
the extending or retracting action of the electric support module corresponding to each detection module is stopped by the control module in response to the change in the value of the parameter detected by the detection module satisfying a predetermined condition.
13. A computer readable storage medium having stored thereon program instructions that, when executed by at least one processor, cause the at least one processor to perform the operations of the control module of claim 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311451026.3A CN117159159A (en) | 2023-11-03 | 2023-11-03 | Base for movable medical platform and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311451026.3A CN117159159A (en) | 2023-11-03 | 2023-11-03 | Base for movable medical platform and control method thereof |
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| CN117159159A true CN117159159A (en) | 2023-12-05 |
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