CN211633565U - Hovering joint for surgical manipulator and surgical manipulator - Google Patents
Hovering joint for surgical manipulator and surgical manipulator Download PDFInfo
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- CN211633565U CN211633565U CN201922419981.4U CN201922419981U CN211633565U CN 211633565 U CN211633565 U CN 211633565U CN 201922419981 U CN201922419981 U CN 201922419981U CN 211633565 U CN211633565 U CN 211633565U
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Abstract
The utility model discloses a hovering joint and operation controller for operation controller, the hovering joint is used for rotating the first rotating member and the second rotating member of connecting operation controller, the hovering joint includes joint axle, dynamic electromagnet and static electromagnet, the dynamic electromagnet cover is established on the joint axle, the dynamic electromagnet can move along the direction that the joint axle is far away from or is close to the second rotating member, a locking structure that triggers after the contact is arranged between the dynamic electromagnet and the second rotating member; the static electromagnet is used for providing a magnetic force for the movement of the dynamic electromagnet; resetting the dynamic electromagnet when the reset elastic piece electromagnet is powered off; when each electromagnet is electrified, the locking structure is unlocked, and the hovering joint freely rotates; when each electromagnet loses power, the locking structure is triggered to take effect, and the hovering joint hovers. Utilize the utility model discloses a joint and operation controller hover when performing the operation, the conversion that freely overrides and hovers only needs the outage just can realize, and operating resistance is little, and is more convenient for control.
Description
Technical Field
The utility model relates to a medical instrument especially relates to a joint and operation controller hover for operation controller.
Background
In a conventional surgical manner, a surgeon directly operates a surgical instrument to control the position and angle of the surgical instrument, and with the development of medical level, a surgical system has appeared in which the surgeon operates various manipulators at a master console to remotely control the surgical instrument to perform a surgical action at a position far from a patient. The controller is mainly divided into two types, one type is to output an operation command for control by adopting a mouse, a keyboard or a touch screen and the like; the other type is a mechanical controller with better control feeling, the operation of the mechanical controller is controlled to enable the surgical instrument to execute corresponding actions, but the operation principle of the existing mechanical controller is the same as that of a common execution instrument, a self-locking structure is arranged between each joint of the mechanical controller and the common execution instrument, the operation principle of the common execution instrument is the same, the self-locking structure (such as gear transmission self-locking) is arranged between each joint of the mechanical controller, the mechanical controller can be driven to operate and control only after the self-locking force of the self-locking structure is overcome under the driving action of external force of an operator, the operation is laborious, and in a complex operation, the operation time is long, and the fatigue of the wrist and the arm.
Disclosure of Invention
The main object of the present invention is to provide a hovering joint for a surgical manipulator and a surgical manipulator, so as to realize hovering in a non-operation state and corresponding movement in an operation state, and reduce the resistance in the operation process. In order to achieve the above objects and other related objects, the technical solution of the present invention is as follows:
a hover joint for a surgical manipulator for rotationally connecting a first rotational member and a second rotational member, comprising:
a joint shaft integrally connected to the first rotating member, the second rotating member being rotatably provided on the joint shaft;
the dynamic electromagnet is sleeved on the joint shaft, an anti-rotation structure is arranged between the dynamic electromagnet and the joint shaft, the dynamic electromagnet can move along the direction of the joint shaft away from or close to the second rotating component, and a locking structure which is triggered after contact is arranged between the dynamic electromagnet and the second rotating component;
the static electromagnet is arranged on the first rotating component or the second rotating component and is used for providing magnetic force for the dynamic electromagnet to approach or depart from the second rotating component;
the reset elastic piece is used for providing an elastic force for driving the dynamic electromagnet to be away from the second rotating component;
the dynamic electromagnet is far away from the second rotating component under the action of the magnetic force of the static electromagnet, so that the locking structure is unlocked, and the hovering joint freely rotates; the dynamic electromagnet is contacted with the second rotating component to separate under the action of elastic force or reverse magnetic force, the locking structure is triggered to take effect, and the hovering joint hovers.
Optionally, the hovering joint for a surgical manipulator further includes a restoring elastic element, where the restoring elastic element is configured to provide an elastic force for driving the dynamic electromagnet to approach the second rotating member;
when the dynamic electromagnet and the static electromagnet are both electrified, the dynamic electromagnet is far away from the second rotating component, the locking structure is unlocked, and the hovering joint freely rotates; when the dynamic electromagnet and the static electromagnet are both powered off, the dynamic electromagnet is in contact with the second rotating member under the action of the elastic force, the locking structure is triggered to take effect, and the hovering joint hovers.
Optionally, a joint cavity is arranged on the first rotating member, the joint shaft is arranged in the joint cavity, and both the dynamic electromagnet and the static electromagnet are located in the joint cavity;
the second rotating component is provided with a connecting shaft sleeve, and the connecting shaft sleeve extends into the joint cavity and is sleeved on the joint shaft, so that the first rotating component and the second rotating component can be rotatably connected.
Optionally, the magnetic force is a magnetic attraction force or a magnetic repulsion force.
Optionally, in the direction of the joint shaft, one side of the connecting shaft sleeve is provided with the dynamic electromagnet and the static electromagnet, the dynamic electromagnet is located between the connecting shaft sleeve and the static electromagnet, and the static electromagnet is used for providing a magnetic force that attracts or repels the dynamic electromagnet.
Optionally, the dynamic electromagnets are symmetrically arranged on two sides of the connecting shaft sleeve along the axial direction of the joint shaft, and the static electromagnets are symmetrically arranged on two sides of the connecting shaft sleeve.
Optionally, in the axial direction of the joint shaft, the static electromagnet is disposed on one side of the connecting shaft sleeve, the dynamic electromagnet is disposed on the other side of the connecting shaft sleeve, and the static electromagnet is configured to provide a magnetic force that is attracted to or repelled from the dynamic electromagnet.
Optionally, the anti-rotation structure includes:
a first sliding groove provided on the joint shaft;
a second sliding groove arranged on the dynamic electromagnet
And one part of the sliding key extends into the first sliding groove, the other part of the sliding key extends into the second sliding groove, and the width of the first sliding groove, the width of the second sliding groove and the width of the sliding key are equal.
Optionally, the anti-rotation structure includes:
the internal spline is arranged on the dynamic electromagnet;
an external spline provided on the joint shaft;
wherein the internal spline and the external spline are engaged with each other.
Optionally, the first rotating member is provided with an opening for limiting a rotation angle of the second rotating member, the connecting bushing of the second rotating member is inserted into the joint cavity from the opening, and the opening extends along a swinging direction of the second rotating member.
Optionally, the locking structure includes a first end face tooth disposed on the connecting shaft sleeve and a second end face tooth disposed on the dynamic electromagnet, and the first end face tooth and the second end face tooth are engaged with each other;
optionally, a friction plate is arranged on the connecting shaft sleeve, and the friction plate faces the dynamic electromagnet;
optionally, a friction plate is arranged on the dynamic electromagnet, and the friction plate faces the connecting shaft sleeve.
The utility model also provides an operation controller, including first rotating member, second rotating member and any kind of joint that hovers of the aforesaid, still be provided with the portion of gripping that is used for supplying operator input rotation power on the operation controller, be provided with the instruction input part of hovering on the operation controller, the instruction input part of hovering is used for input control dynamic electromagnet with the control command of static electromagnet circular telegram simultaneously or outage simultaneously.
Utilize the utility model discloses a joint and operation controller hover when performing the operation, only need to supply power just to each electro-magnet and enable to correspond the joint can the free rotation, and operating resistance is little, and only needs the disconnection just can realize operation in-process to the power supply of each electro-magnet and realize hovering, is more convenient for control.
Drawings
Fig. 1 is a schematic view illustrating an exemplary internal structure of a hovering joint according to the present invention;
FIG. 2 is an enlarged partial view of FIG. 1;
fig. 3 is a schematic diagram illustrating an exemplary three-dimensional structure of a manipulator according to the present invention;
fig. 4 is a schematic view of another exemplary internal structure of the hovering joint according to the present invention.
The description of reference numerals in the examples includes:
the device comprises a first rotating component 1, a joint cavity 101, an opening 102, a cavity shell 11, a second rotating component 2, a connecting shaft sleeve 21, a joint shaft 3, a first sliding groove 31, a dynamic electromagnet 4, a friction plate 41, a second sliding groove 401, a static electromagnet 5, a reset elastic piece 6, a sliding key 7, a bearing 8, a hovering joint A, a holding part B and a hovering instruction input part C.
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 present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, like reference numerals refer to like elements throughout.
With reference to fig. 1 and fig. 2, the hovering joint of the present invention is used in a surgical manipulator, and the hovering joint is used for rotatably connecting a first rotating member 1 and a second rotating member 2, and includes a joint shaft 3, a dynamic electromagnet 4, a static electromagnet 5, and a restoring elastic element 6, the joint shaft 3 and the first rotating member 1 are integrally connected, and the second rotating member 2 is rotatably disposed on the joint shaft 3; the dynamic electromagnet 4 is sleeved on the joint shaft 3, an anti-rotation structure is arranged between the dynamic electromagnet 4 and the joint shaft 3, the dynamic electromagnet 4 can move along the joint shaft 3 in a direction far away from or close to the second rotating component 2, and a locking structure which is triggered after contact is arranged between the dynamic electromagnet 4 and the second rotating component 2; a static electromagnet 5 is arranged on the first rotating member 1 or the second rotating member 2, and the static electromagnet 5 is used for providing a magnetic force for the dynamic electromagnet 4 to approach or depart from the second rotating member 2; the return elastic member 6 is used to provide an elastic force for urging the dynamic electromagnet 4 to approach the second rotating member 2.
When the dynamic electromagnet 4 and the static electromagnet 5 are both electrified, the dynamic electromagnet 4 is separated from the second rotating component 2 under the action of magnetic force, the locking structure is unlocked, and the hovering joint freely rotates; when the dynamic electromagnet 4 and the static electromagnet 5 are both powered off, the dynamic electromagnet 4 contacts the second rotating member 2 again under the action of the elastic force, the locking structure is triggered to take effect, and the hovering joint hovers.
When the surgical manipulator with the hovering joint is used for surgery, the corresponding joint can rotate freely only by supplying power to each electromagnet, hovering can be realized in the surgical process only by disconnecting the power supply to each electromagnet, and the operation manipulator is very convenient to convert between free operation and hovering and convenient to operate; and when the whole controller is powered off, each electromagnet is powered off, and the hovering joint is also in a hovering state.
In the practical implementation process, the reset elastic piece 6 is not arranged, and the direction of the magnetic force between the dynamic electromagnet 4 and the static electromagnet 5 is changed by changing the current direction, so that the unlocking of the hovering joint and the switching of hovering are realized.
In an actual implementation process, the coils of the electromagnets may be connected in series to the power supply switches in a one-to-one correspondence manner or connected in series to the same power supply switch, and power supply or power interruption of the electromagnets is achieved by controlling the power supply switches, for example, a switch button may be directly disposed on the surgical manipulator, or a button for controlling the power supply switch to be turned on or off may be disposed on the console, or a command input interface for controlling the power supply switch to be turned on or turned off may be disposed on the console.
Here, the rotational connection between the first rotating member 1 and the second rotating member 2 includes not only the case where the axial direction of the first rotating member 1 and the axial direction of the second rotating member 2 are not collinear as shown in fig. 1, but also a manner (not shown) where the first rotating member and the second rotating member are rotationally connected by a joint shaft, that is, the case where the axis of the first rotating member 1 and the axis of the second rotating member 2 are collinear; here, the joint shaft 3 and the first rotating member 1 are integrally connected, that is, the joint shaft 3 and the first rotating member 1 are integrally formed, and the first rotating member 1 is attached to the first rotating member 1 by an attachment structure, so long as the joint shaft 3 and the first rotating member 1 rotate in synchronization; in addition, the dynamic electromagnet 4 and the static electromagnet 5 both include an iron core and a coil, and in actual implementation, the generation and the disappearance of the magnetic force of the electromagnets are realized by powering on or off the coil.
In some embodiments, referring to fig. 1, the first rotating member 1 is provided with a joint cavity 101, the joint shaft 3 is disposed in the joint cavity 101, the dynamic electromagnet 4 and the static electromagnet 5 are both disposed in the joint cavity 101, the second rotating member 2 is provided with a connecting shaft sleeve 21, and the connecting shaft sleeve 21 extends into the joint cavity 101 and is sleeved on the joint shaft 3, so that the first rotating member 1 and the second rotating member 2 are rotatably connected. At this moment, the parts such as the dynamic electromagnet 4 and the static electromagnet 5 of the hovering joint are located in the joint cavity 101, and can play a certain protection role for the parts in the joint cavity 101, and in the actual implementation process, if the joint cavity 101 is enclosed by a cavity shell 11 arranged on the first rotating member, the shell can also play a magnetic shielding role, so that the influence of magnetism in the joint on external equipment is prevented.
In some embodiments, the magnetic force is a magnetic attraction force or a magnetic repulsion force.
In some embodiments, referring to fig. 1, the dynamic electromagnet 4 and the static electromagnet 5 are disposed on a single side of the connecting sleeve 21 along the direction of the joint axis 3, the dynamic electromagnet 4 is located between the connecting sleeve 21 and the static electromagnet 5, and the static electromagnet 5 is used for providing a magnetic force attracting the dynamic electromagnet 4. When the power is on, the magnetic force between the dynamic electromagnet and the static electromagnet 5 attracts each other, the dynamic electromagnet 4 is attracted by the magnetic force to be close to the static electromagnet 5 and far away from the connecting shaft sleeve 21, and is separated from the end face of the connecting shaft sleeve 21, so that the locking structure is invalid, and the hovering joint rotates freely. On the contrary, when the hovering joint needs to be suspended, the magnetic attraction force of the dynamic electromagnet 4 and the static electromagnet 5 can be converted into the magnetic repulsion force by changing the current direction; or the dynamic electromagnet 4 is pressed on the connecting shaft sleeve 42 again under the action of the reset elastic piece 6 by powering off each electromagnet, so that the reset is realized.
In some embodiments, the dynamic electromagnets 4 are symmetrically arranged on two sides of the connecting shaft sleeve 21 and the static electromagnets 5 are symmetrically arranged on two sides of the connecting shaft sleeve 21 along the axial direction of the joint shaft 3, so that the stress on two sides of the whole joint is more balanced when the joint is suspended.
In some embodiments, referring to fig. 4, in the axial direction of the joint shaft 3, the static electromagnet 5 is disposed on one side of the connecting sleeve 21, the dynamic electromagnet 4 is disposed on the other side of the connecting sleeve 21, and the static electromagnet 5 is configured to provide a magnetic force repulsive to the dynamic electromagnet 4. When the power is on, the dynamic electromagnet 4 repels the static electromagnet 5 under the magnetic force and is far away from the static electromagnet 5, namely, the dynamic electromagnet is separated from the connecting shaft sleeve 21, the locking structure is unlocked, and the hovering joint can rotate freely; on the contrary, when the hovering joint needs to be unlocked, the magnetic repulsive force of the dynamic electromagnet 4 and the static electromagnet 5 can be converted into the magnetic attractive force by changing the current direction; or the dynamic electromagnet 4 is pressed on the connecting shaft sleeve 42 again under the action of the reset elastic piece 6 by powering off each electromagnet, so that the reset is realized.
In some embodiments, referring to fig. 2, the anti-swiveling structure includes a first sliding groove 31, a second sliding groove 401, and a sliding key 7, the first sliding groove 31 being disposed on the joint shaft 3; the second sliding groove 401 is disposed on the dynamic electromagnet 4, a part of the sliding key 7 extends into the first sliding groove 31, another part of the sliding key 7 extends into the second sliding groove 401, and the width of the first sliding groove 31, the width of the second sliding groove 401 and the width of the sliding key 7 are equal, so that the sliding key 7 slides along the length direction of the first sliding groove 31 or the second sliding groove 401 under the driving of the dynamic electromagnet 4, that is, along the axial direction of the joint shaft 3. In other embodiments, the anti-rotation structure includes an internal spline and an external spline (not shown), the internal spline is disposed on the dynamic electromagnet 4, the external spline is disposed on the joint shaft 3, and the internal spline and the external spline are engaged with each other, so that the anti-rotation and the mutual sliding between the dynamic electromagnet 4 and the joint shaft 3 can also be realized.
In some embodiments, the first rotating member 1 is provided with an opening 102 for limiting the rotation angle of the second rotating member 2, the connecting sleeve 21 of the second rotating member 2 is inserted into the joint cavity 101 from the opening 102, and the opening 102 extends along the swinging direction of the second rotating member 2.
In some embodiments, the dynamic electromagnet 4 is provided with a friction plate 41, the friction plate 41 faces the connecting shaft sleeve 21, when the dynamic electromagnet 4 drives the friction plate 41 to press on the connecting shaft sleeve 21 by magnetic force, friction force is generated between the friction plate 41 and the connecting shaft sleeve 21, and the dynamic electromagnet 4 is locked; in actual practice, the friction plate 41 may be provided on the coupling boss 21, and the friction plate 41 may be directed toward the dynamic electromagnet 4. In other embodiments, the locking structure comprises a first face tooth provided on the connecting sleeve 21 and a second face tooth (not shown) provided on the dynamic electromagnet 4, the first face tooth and the second face tooth being engaged with each other. At this time, the connecting sleeve 21 and the dynamic electromagnet 4 are locked after the first end face teeth and the second end face teeth are meshed.
In some embodiments, a bearing 8 is disposed between the joint shaft 3 and the connecting sleeve 21 to facilitate smooth rotation between the joint shaft 3 and the connecting sleeve 21.
In some embodiments, the joint shaft 3 is provided with a retainer ring for limiting the axial position of the bearing 8.
In some embodiments, the first rotating member 1 is provided with a cavity shell 11 for forming the joint cavity 101, the cavity shell 11 is provided with a mounting inlet for installing the rotating shaft and each electromagnet, a cover plate is arranged at the mounting inlet, the cover plate is fastened on the cavity shell 11 through a bolt, one end of the joint shaft 3 is provided with a positioning head, the other end of the joint shaft 3 is provided with a thread, the joint shaft 3 extends into the joint cavity 101 after passing through the cavity shell 11, and is locked on the first rotating member 1 through a nut after penetrating through the cover plate. Of course, in practical implementation, the chamber housing 11 may also be formed by two half-chamber housings that are butted together.
The utility model also provides an operation controller, including first rotating member 1, second rotating member 2 and any kind of joint of hovering of the aforesaid, still be provided with the portion of gripping that is used for supplying operator input rotation power on the operation controller, be provided with the instruction input portion of hovering on the operation controller, the instruction input portion of hovering is used for input control dynamic electromagnet 4 with the control instruction of 5 power supply states of static electro-magnet, the power supply state of here includes that each electro-magnet syntropy circular telegram, each electro-magnet reverse circular telegram and each electro-magnet loses the electricity simultaneously. The hovering command input part can be used for controlling hovering while holding, in the practical implementation process, a switch button for controlling the on-off state of the electromagnet can be adopted at the command input part, and the command input part can be an inductive input device for sensing whether an operator holds the holding part, such as a force sensor, a photoelectric sensor and the like.
For example, fig. 3 shows a surgical manipulator provided with six hovering joints a, and a hovering command input portion C provided at a grip portion B is a hovering control button. In the practical implementation process, the hovering joint is suitable for any surgical manipulator provided with a rotary joint, and is not limited to the surgical manipulator shown in fig. 3.
In the description of the present invention, unless otherwise expressly specified or limited, the first feature "on" or "above" the second feature may include both the first and second features being in direct contact, and may also include the first and second features being in contact, not being in direct contact, but rather being in contact with each other via another feature therebetween.
In the description of the invention, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. 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, components, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, and/or groups thereof.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (11)
1. A hovering joint for a surgical manipulator for rotationally connecting a first rotating member and a second rotating member, comprising:
a joint shaft integrally connected to the first rotating member, the second rotating member being rotatably provided on the joint shaft;
the dynamic electromagnet is sleeved on the joint shaft, an anti-rotation structure is arranged between the dynamic electromagnet and the joint shaft, the dynamic electromagnet can move along the direction of the joint shaft away from or close to the second rotating component, and a locking structure which is triggered after contact is arranged between the dynamic electromagnet and the second rotating component;
the static electromagnet is arranged on the first rotating component or the second rotating component and is used for providing magnetic force for the dynamic electromagnet to approach or depart from the second rotating component;
the dynamic electromagnet is far away from the second rotating component under the action of the magnetic force of the static electromagnet, so that the locking structure is unlocked, and the hovering joint freely rotates; the dynamic electromagnet is contacted with the second rotating component to separate under the action of elastic force or reverse magnetic force, the locking structure is triggered to take effect, and the hovering joint hovers.
2. The hover joint for a surgical manipulator of claim 1, wherein: the reset elastic piece is used for providing elastic force for driving the dynamic electromagnet to be close to the second rotating component;
when the dynamic electromagnet and the static electromagnet are both electrified, the dynamic electromagnet is far away from the second rotating component, the locking structure is unlocked, and the hovering joint freely rotates; when the dynamic electromagnet and the static electromagnet are both powered off, the dynamic electromagnet is in contact with the second rotating member under the action of the elastic force, the locking structure is triggered to take effect, and the hovering joint hovers.
3. The hover joint for a surgical manipulator of claim 1, wherein:
the first rotating component is provided with a joint cavity, the joint shaft is arranged in the joint cavity, and the dynamic electromagnet and the static electromagnet are both positioned in the joint cavity;
the second rotating component is provided with a connecting shaft sleeve, and the connecting shaft sleeve extends into the joint cavity and is sleeved on the joint shaft, so that the first rotating component and the second rotating component can be rotatably connected.
4. The hover joint for a surgical manipulator of claim 3, wherein: the magnetic force is a magnetic attraction force or a magnetic repulsion force.
5. The hover joint for a surgical manipulator of claim 4, wherein:
and the dynamic electromagnet and the static electromagnet are arranged on one side of the connecting shaft sleeve along the direction of the joint shaft, the dynamic electromagnet is positioned between the connecting shaft sleeve and the static electromagnet, and the static electromagnet is used for providing a magnetic force which is attracted or repelled with the dynamic electromagnet.
6. The hover joint for a surgical manipulator of claim 5, wherein: the dynamic electromagnets are symmetrically arranged on two sides of the connecting shaft sleeve in the axial direction of the joint shaft, and the static electromagnets are symmetrically arranged on two sides of the connecting shaft sleeve.
7. The hover joint for a surgical manipulator of claim 4, wherein: and in the axial direction of the joint shaft, the static electromagnet is arranged on one side of the connecting shaft sleeve, the dynamic electromagnet is arranged on the other side of the connecting shaft sleeve, and the static electromagnet is used for providing magnetic force which is attracted or repelled with the dynamic electromagnet.
8. The hover joint for a surgical manipulator of claim 3, wherein: the first rotating component is provided with an opening used for limiting the rotating angle of the second rotating component, the connecting shaft sleeve of the second rotating component is arranged in the joint cavity from the opening, and the opening extends along the swinging direction of the second rotating component.
9. The hover joint for a surgical manipulator of claim 3, wherein:
the locking structure comprises a first end face tooth arranged on the connecting shaft sleeve and a second end face tooth arranged on the dynamic electromagnet, and the first end face tooth and the second end face tooth are meshed with each other;
or
A friction plate is arranged on the connecting shaft sleeve and faces the dynamic electromagnet;
or
And the dynamic electromagnet is provided with a friction plate, and the friction plate faces the connecting shaft sleeve.
10. The hover joint for a surgical manipulator of claim 1,
the anti-rotation structure includes:
a first sliding groove provided on the joint shaft;
a second sliding groove arranged on the dynamic electromagnet
A sliding key, wherein one part of the sliding key extends into the first sliding groove, the other part of the sliding key extends into the second sliding groove, and the width of the first sliding groove, the width of the second sliding groove and the width of the sliding key are equal;
or
The anti-rotation structure includes:
the internal spline is arranged on the dynamic electromagnet;
an external spline provided on the joint shaft;
wherein the internal spline and the external spline are engaged with each other.
11. A surgical manipulator, characterized by: the surgical manipulator comprises the first rotating member, the second rotating member and the hovering joint, wherein a holding part is arranged on the surgical manipulator, and the holding part is used for an operator to input rotating power, and a hovering command input part is arranged on the surgical manipulator and is used for inputting a control command for controlling the power supply state of the dynamic electromagnet and the static electromagnet.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922419981.4U CN211633565U (en) | 2019-12-27 | 2019-12-27 | Hovering joint for surgical manipulator and surgical manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922419981.4U CN211633565U (en) | 2019-12-27 | 2019-12-27 | Hovering joint for surgical manipulator and surgical manipulator |
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| CN211633565U true CN211633565U (en) | 2020-10-09 |
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| CN201922419981.4U Active CN211633565U (en) | 2019-12-27 | 2019-12-27 | Hovering joint for surgical manipulator and surgical manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112754519A (en) * | 2021-01-26 | 2021-05-07 | 秦毅 | Supplementary palm board of using of ultrasonic examination |
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2019
- 2019-12-27 CN CN201922419981.4U patent/CN211633565U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112754519A (en) * | 2021-01-26 | 2021-05-07 | 秦毅 | Supplementary palm board of using of ultrasonic examination |
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Address after: No. 359, jingdongfang Avenue, Beibei District, Chongqing 400700 Patentee after: Chongqing Haifu Medical Technology Co.,Ltd. Address before: 401121 No. 1 Pine Road, man Town, Chongqing, Yubei District Patentee before: Chongqing Haifu Medical Technology Co.,Ltd. |
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