CN214434475U - Head frame fixing mechanism and operation auxiliary robot system - Google Patents

Abstract

The utility model provides a headstock fixed establishment and operation auxiliary robot system. The head frame fixing mechanism is arranged in the operation auxiliary robot system and is connected with a head frame mechanism of a sickbed system, and the head frame fixing mechanism comprises: a telescoping assembly telescopically disposed in a support frame of the surgical assisted robotic system and connectable to the headgear mechanism; and the locking assembly is used for locking or unlocking the telescopic assembly, and when the locking assembly locks the telescopic assembly, the locking assembly limits the movement of the telescopic assembly. The locking assembly locks the telescopic assembly to reliably fix the head frame mechanism, so that the movement of the head frame mechanism is limited, the head of a patient is reliably fixed in the head frame mechanism, the calibration precision and the operation precision are guaranteed, the operation effect is good, the operation risk caused by head movement is reduced, and the operation safety is guaranteed.

Description

Head frame fixing mechanism and operation auxiliary robot system

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a headstock fixed establishment and operation auxiliary robot system.

Background

Currently, when the neurosurgical assisted robot system performs an operation on the head of a patient, the head of the patient is usually located on a head frame of an operating table. In order to solve the problem of accuracy of the surgical navigation equipment, the surgical navigation equipment needs to be calibrated with the head of a patient in the using process of the surgical navigation equipment so as to establish the coordinate relationship between the head of the patient and the mechanical arm of the surgical navigation equipment. If the calibration is completed or after the calibration is completed, the head of the patient moves. The calibration accuracy will be affected, thereby affecting the effect of the operation and even the safety of the patient.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a head frame fixing mechanism and an operation auxiliary robot system capable of fixing a head frame mechanism, aiming at the problem that the calibration precision is affected by the movement of the head of a patient in the existing head frame mechanism.

The above purpose is realized by the following technical scheme:

a head frame fixing mechanism arranged in a surgical auxiliary robot system and connected with a head frame mechanism of a hospital bed system, the head frame fixing mechanism comprising:

a telescoping assembly telescopically disposed in a support frame of the surgical assisted robotic system and connectable to the headgear mechanism; and

the locking assembly is used for locking or unlocking the telescopic assembly, and when the telescopic assembly is locked by the locking assembly, the locking assembly limits the movement of the telescopic assembly.

In one embodiment, the telescoping assembly includes a support arm and a linear motion member by which the support arm is movable relative to the support frame.

In one embodiment, the linear motion member includes a guide member disposed along an axial direction of the support arm, and a slide member slidably engaged with the guide member, the slide member being disposed in the support frame.

In one embodiment, the locking assembly includes a transmission member and a braking member, the braking member is disposed in the support housing, and the braking member is connected to the support arm through the transmission member.

In one embodiment, the transmission member comprises a locking gear and a locking rack which are meshed and matched, the locking gear is rotationally connected with the braking member, the locking rack is arranged along the axial direction of the supporting arm, and when the braking member locks the locking gear, the locking gear locks the locking rack.

In one embodiment, the brake member is an electromagnetic brake having a friction plate, and the friction plate is in contact with the locking gear when the electromagnetic brake is de-energized.

In one embodiment, the headgear fixing mechanism further includes a limiting assembly disposed at an end of the support arm for limiting movement of the linear motion member.

In one embodiment, the limiting assembly includes a limiting member disposed at an end of the supporting arm for limiting a movement stroke of the guiding member.

In one embodiment, the limiting assembly further includes a damping member disposed on a surface of the limiting member facing the guide member, and the damping member may abut against the sliding member.

A surgical auxiliary robot system comprises a supporting rack, a surgical mechanical arm arranged on the supporting rack and a head frame fixing mechanism with any one of the technical characteristics;

the surgical mechanical arm is movably arranged on the supporting rack, the headstock fixing mechanism is arranged in the supporting rack and can stretch and retract relative to the supporting rack, and after the headstock fixing mechanism extends out, the headstock fixing mechanism can be connected with the headstock mechanism after extending out and can fix the headstock mechanism.

After the technical scheme is adopted, the utility model discloses following technological effect has at least:

the utility model discloses a headstock fixed establishment and operation auxiliary robot system, during the operation, flexible subassembly stretches out operation auxiliary robot of operation auxiliary robot system to move sick bed system department, make flexible subassembly and headstock mechanism dock fixedly, afterwards, the flexible subassembly of locking subassembly locking, the flexible subassembly headstock adaptation mechanism of restriction locks in flexible subassembly. The locking assembly locks the telescopic assembly to reliably fix the head frame mechanism, the problem that the head movement of the patient affects the calibration precision at present is effectively solved, the movement of the head frame mechanism is limited, the head of the patient is reliably fixed in the head frame mechanism, the calibration precision and the operation precision are guaranteed, the operation effect is good, the operation risk caused by head movement is reduced, and the operation safety is guaranteed.

Drawings

Fig. 1 is a schematic view of a surgical assistant robot system according to an embodiment of the present invention;

FIG. 2 is a schematic view of the headgear attachment mechanism extending out of the support frame of the surgical assistant robotic system shown in FIG. 1;

FIG. 3 is a schematic view of the headgear attachment mechanism retracting support frame of the surgical assistant robotic system shown in FIG. 1;

FIG. 4 is a perspective view of a headgear attachment mechanism of the surgical assistant robotic system;

FIG. 5 is an enlarged partial view of the headgear attachment mechanism shown in FIG. 2;

fig. 6 is a cross-sectional view of the brake member coupled to the locking gear in the headgear attachment mechanism shown in fig. 4.

Wherein: 100. a head frame fixing mechanism; 110. a telescoping assembly; 111. a support arm; 112. a linear motion member; 1121. a guide member; 1122. a slider; 120. a locking assembly; 121. a transmission member; 1211. a locking gear; 1212. locking the rack; 122. a stopper; 1221. an output shaft; 130. a limiting component; 131. a limiting member; 132. a shock absorbing member; 200. a headstock adapter mechanism; 300. a support frame; 400. a surgical manipulator; 500. a hospital bed system; 510. a headstock mechanism; 520. an operating bed; 600. a patient; 610. a head portion.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element 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 invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1-4, the present invention provides a headgear attachment mechanism 100. The headgear fixing mechanism 100 is disposed in the surgical assistant robot system and connected to the headgear mechanism 510 of the patient bed system 500. The headgear attachment mechanism 100 may enable attachment of the headgear mechanism 510 of the patient bed system 500 such that the positional attachment of the headgear mechanism 510 does not play. In an embodiment of the present invention, the headgear fixing mechanism 100 is used to support and fix the headgear mechanism 510. Of course, in other embodiments of the present invention, the headgear attachment mechanism 100 may also support and secure other components. The headgear fixing mechanism 100 of the present invention is described by taking the use of the cooperating headgear mechanism 510 as an example, and the cooperation between the headgear fixing mechanism 100 and other components is substantially the same as the cooperation between the headgear fixing mechanism 100 and the headgear mechanism 510, which is not described in detail.

The head frame fixing mechanism 100 can reliably support and fix the head frame mechanism 510, so that the head 610 of the patient 600 is positioned behind the head frame mechanism 510, the head frame mechanism 510 can ensure that the position of the head 610 of the patient 600 is fixed, no movement occurs, and the relative position between the surgical auxiliary robot system and the head 610 of the patient 600 is fixed, so as to ensure the surgical precision. Moreover, after the surgical bed 520 collapses or other accidents, the headgear fixing mechanism 100 can be timely detached from the headgear mechanism 510, so that the headgear mechanism 510 moves synchronously with the hospital bed system 500, thereby playing a role of safety protection and preventing the patient 600 from being injured.

It will be appreciated that the surgical assisted robotic system is used in conjunction with the patient bed system 500. The patient bed system 500 includes an operating bed 520 and a headgear mechanism 510 disposed at one end of the operating bed 520. The patient 600 lies on the operating table 520 with the head 610 resting on the headgear mechanism 510, holding the head 610 of the patient 600 by the headgear mechanism 510. Further, the headgear mechanism 510 includes a headgear and a support rod for supporting the headgear on the operating table 520, the support rod plays a supporting role, and the headgear is reliably supported on the operating table 520 through the support rod. Moreover, the head frame can be lifted along with the operation table 520 through the supporting rods, and when the operation table 520 collapses, the head frame can also sink along with the operation table 520.

If the head 610 is supported by the support rods of the head mechanism 510, the head 610 may shake under the gravity of the head 610 after the head 610 is located on the head, so that the position of the head 610 of the patient 600 is not unique, which affects the calibration accuracy. Therefore, the present invention fixes the head frame mechanism 510 by the head frame fixing mechanism 100, and further supports the head frame mechanism 510, so that the head frame mechanism 510 is reliably fixed, and the head frame mechanism 510 is prevented from shaking. At this time, the position relationship between the head 610 of the patient 600 and the surgical robot arm 400 of the surgical auxiliary robot system can be calibrated, so that the relative position relationship between the head 610 of the patient 600 and the surgical robot arm 400 is unique, the movement cannot be generated, and the accuracy of calibration is ensured.

Also, the head frame fixing mechanism 100 of the present invention is installed in the support frame 300 of the surgical assistant robot system. In use, the headgear attachment mechanism 100 may extend from the support frame 300 and move to a position adjacent the headgear mechanism 510 to couple with the headgear mechanism 510. After the head frame fixing mechanism 100 is connected to the head frame mechanism 510, the head frame mechanism 510 can be reliably fixed, the head frame mechanism 510 is prevented from shaking, and the calibration accuracy is ensured to be accurate. When the surgical manipulator 400 performs surgery, the head 610 of the patient 600 can be operated according to the calibrated position relationship, the surgical precision is ensured, the surgical risk caused by the movement of the head 610 of the patient 600 is avoided, and the safety of the surgical process is ensured. After use, the head fixing mechanism 100 is separated from the head mechanism 510 and can be retracted into the support frame 300, so as to reduce the occupied space of the surgical assistant robot system, and the head fixing mechanism does not interfere with other components, thereby being convenient to use.

In one embodiment, headgear attachment mechanism 100 includes a retraction assembly 110 and a locking assembly 120. The retraction assembly 110 is telescopically disposed in the support frame 300 of the surgical assisted robotic system and is connectable to a headgear mechanism 510. Locking assembly 120 is used to lock or unlock retraction assembly 110, and locking assembly 120 limits movement of retraction assembly 110 when locking assembly 120 locks retraction assembly 110.

Alternatively, locking assembly 120 may be provided to retraction assembly 110, with retraction assembly 110 being directly locked by locking assembly 120. Of course, in other embodiments of the present invention, the locking assembly 120 may also be disposed independently of the telescoping assembly 110, and when it is desired to lock the telescoping assembly 110, the locking assembly 110 is then placed on the telescoping assembly, and when unlocked, the locking assembly 120 can be removed from the telescoping assembly 110. In this embodiment, only the locking assembly 120 can be disposed on the retractable assembly 110 for illustration.

The telescoping assembly 110 is a body portion of the headgear attachment mechanism 100. One end of the telescoping assembly 110 is connected to the support frame 300, and the other end of the telescoping assembly 110 is a connection end that is detachably connected to the headgear mechanism 510. The retraction assembly 110 is capable of telescoping movement relative to the support frame 300. After the retraction assembly 110 is extended relative to the support frame 300, the connection end of the retraction assembly 110 extends out of the support frame 300 and moves to the vicinity of the operating bed 520, at which time the connection end of the retraction assembly 110 may be connected to the headgear structure. The head frame mechanism 510 is supported by the telescoping assembly 110. After the operation is completed, the retraction assembly 110 is separated from the headgear mechanism 510, and the retraction assembly 110 can be retracted into the support frame 300, thereby avoiding interference of the retraction assembly 110 with other components or other operations that do not require support.

Since the telescopic assembly 110 is a moving part, after the telescopic assembly 110 is connected to the headgear mechanism 510, if the telescopic assembly 110 continues to move, the headgear mechanism 510 is driven to move, so that the headgear mechanism 510 cannot accurately fix the head 610 of the patient 600. Therefore, the locking assembly 120 is added to the headgear fixing mechanism 100 of the present invention, and the retractable assembly 110 is locked by the locking assembly 120, so that the retractable assembly 110 is fixed and cannot perform a retractable movement. Specifically, the locking assembly 120 unlocks the telescoping assembly 110, and the telescoping assembly 110 can perform telescoping movement; locking assembly 120 locks retraction assembly 110 and retraction assembly 110 is secured against retraction.

When the telescopic assembly 110 is in the supporting frame 300 and the locking assembly 120 is in the locked state, the telescopic assembly 110 is reliably fixed in the supporting frame 300 and does not extend, so that the extension assembly can be prevented from being extended by misoperation. When the retraction assembly 110 needs to be extended, the locking assembly 120 is unlocked, the retraction assembly 110 is extended relative to the support frame 300 and moved to the vicinity of the operating table 520, the retraction assembly 110 is locked by the locking assembly 120 such that the retraction assembly 110 is fixed, and then the retraction assembly 110 is connected to the headgear mechanism 510. At this time, the telescopic assembly 110 can reliably fix the head frame mechanism 510, so as to prevent the head frame mechanism 510 from moving and ensure the precision of the operation. After use, the locking assembly 120 is unlocked and the retraction assembly 110 may be retracted into the support housing 300. Of course, the retraction assembly 110 may be coupled to the headgear mechanism 510 first, and then the retraction assembly 110 may be locked by the locking assembly 120.

The head frame fixing mechanism 100 according to the above embodiment can reliably fix the head frame mechanism 510 by locking the telescopic assembly 110 through the locking assembly 120, effectively solve the problem that the calibration accuracy is affected by the head movement of the patient at present, limit the movement of the head frame mechanism 510, and further reliably fix the head 610 of the patient 600 in the head frame mechanism 510, ensure the calibration accuracy and the operation accuracy, ensure good operation effect, reduce the operation risk caused by the head 610 movement, and ensure the operation safety.

It is understood that the retraction assembly 110 may be directly connected to the headgear mechanism 510. At this time, the end of the telescopic assembly 110 has a fitting portion to the head frame mechanism 510, and the telescopic assembly 110 is connected to the head frame mechanism 510 through the fitting portion. Of course, in other embodiments of the present invention, there may be an indirect connection between the retraction assembly 110 and the headgear mechanism 510. Optionally, the end of the retraction assembly 110 may be detachably connected to the head frame adapter mechanism 200, and the retraction assembly 110 may be connected to the head frame mechanism 510 via the head frame adapter mechanism 200, establishing a mechanical connection between the retraction assembly 110 and the head frame mechanism 510. Of course, the retraction assembly 110 may be connected to the headgear mechanism 510 by other connection means.

When the telescopic assembly 110 is connected with the head frame mechanism 510 through the head frame adapting mechanism 200, the telescopic assembly 110 is locked after the telescopic assembly 110 moves to the vicinity of the operating bed 520. One end of headgear adaptation mechanism 200 is then connected to the connection end of retraction assembly 110, and the other end of headgear adaptation mechanism 200 is then connected to headgear mechanism 510. Of course, the headgear adapter mechanism 200 may also be coupled to the headgear mechanism 510 prior to coupling the retraction assembly 110.

Optionally, the head adapter 200 includes a plurality of connecting rods connected to each other and a connecting block disposed at an end of the connecting rods, the connecting block has end teeth, the connecting block can be connected to the fixing block of the head adapter 510 by a screw fitting, and the end teeth of the connecting block can be engaged with the end teeth of the fixing block to limit relative movement of the connecting block, so as to ensure that the head adapter 200 can reliably support the head adapter 510. And the connecting block can be driven by the medical personnel manually or by the rotation of the rotary power source. It should be noted that the improvement of the present invention lies in that the headgear fixing mechanism 100 fixes the headgear mechanism 510, and the headgear adapting and supporting mechanism is only a component for establishing the headgear fixing mechanism 100 and the headgear mechanism 510, which is not described herein in detail.

In one embodiment, the telescopic assembly 110 includes a support arm 111 and a linear motion member 112 slidably connecting the support arm 111 and the support frame 300, and the support arm 111 is movable relative to the support frame 300 via the linear motion member 112. The support arm 111 serves as a load bearing support to provide reliable support for the headgear mechanism 510. The end of the support arm 111 is connected to the head frame mechanism 510, and the head frame mechanism 510 is reliably supported by the support arm 111, so that the head frame mechanism 510 is reliably fixed, the head 610 of the patient 600 can be accurately supported, and the operation precision is ensured. The linear motion member 112 is used to output a linear motion. One end of the linear motion member 112 is fixed to the support frame 300, and the other end of the linear motion member 112 is connected to the support arm 111. The linear motion member 112 can drive the supporting arm 111 to extend out of the supporting frame 300 and move to the vicinity of the operating table 520; the support arm 111 may also be brought back into the support housing 300.

In an embodiment, the linear motion member 112 includes a guide member 1121 and a sliding member 1122 slidably engaged with the guide member 1121, the guide member 1121 is along the axial direction of the support arm 111, and the sliding member 1122 is disposed in the support frame 300. The guide 1121 can output a linear motion when moving along the sliding member 1122, and drives the supporting arm 111 to extend and retract. The guide 1121 and the slider 1122 are matched to realize the quick connection between the support arm 111 and the head frame mechanism 510, thereby shortening the operation time. Alternatively, the guide 1121 is a slide rail and the slider 1122 is a slider. Of course, in another embodiment of the present invention, the guide 1121 may be a slider, and the slider 1122 may be a slide rail. Of course, in other embodiments of the present invention, the linear motion member 112 may also be a telescopic rod, a rack and pinion structure, or a sprocket structure, etc. that can output linear motion. It should be noted that the axial direction of the support arm 111 refers to the length direction of the support arm 111.

Alternatively, the guide 1121 may be manually driven to move along the slider 1122. Illustratively, when the medical professional uses the telescoping assembly 110, the support arm 111 may be directly drawn, the support arm 111 being moved along the slider 1122 via the slider 1122 and extending out of the support housing 300; after use, the support arm 111 is pushed by the medical professional, and the support arm 111 is moved along the slider 1122 by the slider 1122 and extends out of the support housing 300. Of course, the movement of the guide 1121 along the slider 1122 may be driven by a linear power source such as a motor.

In one embodiment, the number of the sliding blocks is two, and the two sliding blocks are arranged at intervals along the extending direction of the sliding rail. The slide rail can be matched with the two slide blocks in a sliding mode at the same time, so that the accuracy of the motion track of the slide rail is guaranteed, and the slide rail is prevented from deflecting. Moreover, the two sliders can also enhance the rigidity of the linear motion member 112, ensure the bearing capacity of the support arm 111, and simultaneously reduce the installation space in the vertical direction and the overall volume.

In one embodiment, the number of the linear motion members 112 may also be at least two groups, and at least two groups of the linear motion members 112 are arranged side by side. The at least two sets of linear motion members 112 can be securely connected to the supporting arm 111, so as to improve the supporting capability of the supporting arm 111 and further improve the strength of the headgear fixing mechanism 100.

Referring to fig. 4 and 6, in one embodiment, the locking assembly 120 includes a transmission member 121 and a braking member 122, the braking member 122 is disposed in the support housing 300, and the braking member 122 is connected to the support arm 111 through the transmission member 121. The actuator 122 unlocks or locks the transmission member 121, and after the actuator 122 unlocks the transmission member 121, the transmission member 121 can move with the support arm 111. The transmission member 121 has unlocking and locking functions. When the transmission piece 121 is unlocked, the transmission piece 121 can synchronously move along with the supporting arm 111; when the transmission member 121 is locked, the transmission member 121 locks the support arm 111 to limit the telescopic movement of the support arm 111, so that the support arm 111 is reliably fixed. After the supporting arm 111 is connected to the head frame mechanism 510, the transmission member 121 can fix the position of the supporting arm 111, thereby realizing reliable fixation of the head frame mechanism 510.

Further, the transmission member 121 is connected to the braking member 122, and the locking and unlocking of the transmission member 121 is controlled by the braking member 122. The braking member 122 is coupled to the support frame 300, and the output shaft 1221 of the braking member 122 movably mounts the transmission member 121. The transmission member 121 is movable in the support arm 111. When the brake member 122 locks the transmission member 121 through the output shaft 1221, the transmission member 121 cannot move, and the transmission member 121 also locks the support arm 111 to restrict the movement of the support arm 111, so that the support arm 111 can fix the headgear mechanism 510. When the braking member 122 unlocks the transmission member 121, the supporting arm 111 moves along the sliding member 1122 via the guiding member 1121, so that the transmission member 121 is driven to move the braking member 122 relative to the braking member 122 via the output shaft 1221.

In one embodiment, the transmission member 121 includes a locking gear 1211 and a locking rack 1212, the locking gear 1211 is rotatably connected to the braking member 122, the locking rack 1212 is disposed along the axial direction of the support arm 111, and when the braking member 122 locks the locking gear 1211, the locking gear 1211 locks the locking rack 1212. The locking gear 1211 is mounted to the output shaft 1221 of the brake member 122, the locking gear 1211 rotates relative to the brake member 122 through the output shaft 1221, and the locking gear 1211 cannot rotate when the brake member 122 locks the output shaft 1221. When the stopper 122 unlocks the locking gear 1211, the guide 1121 of the support arm 111 moves telescopically along the slider 1122, and the support arm 111 rotates the locking gear 1211 via the locking rack 1212. When the brake 122 locks the output shaft 1221, the output shaft 1221 is fixed, and the locking gear 1211 cannot rotate relative to the brake 122. Thus, the locking gear 1211 cannot move along the locking rack 1212, and the locking gear 1211 can lock the locking rack 1212, limiting the expansion and contraction of the locking rack 1212, so that the support arm 111 is fixed, thereby achieving the fixation of the headgear mechanism 510.

In one embodiment, the side of the support arm 111 has a mounting slot, the locking rack 1212 is mounted to the inner wall of the mounting slot, and the locking gear 1211 is located in the mounting slot and engages with the locking rack 1212. Further, the locking rack 1212 is located on the bottom or top wall of the mounting slot.

Referring to fig. 4 and 6, in one embodiment, the brake member 122 is an electromagnetic brake having a friction plate that contacts the lock gear 1211 when the electromagnetic brake is de-energized. The brake 122 is electrically connected to a controller of the surgical assistant robot system, and the controller controls the brake 122 to be powered on or powered off. When the controller controls the brake 122 to be energized, the friction plate is disengaged from the output shaft 1221 connected to the lock gear 1211, and the lock gear 1211 is free to rotate. When the controller controls the brake member 122 to be deenergized, the friction plate abuts against the output shaft 1221 connected to the lock gear 1211, and the rotation of the lock gear 1211 is restricted. Moreover, the controller is used for realizing the on-off of the braking part 122, so that the locking and unlocking of the supporting arm 111 are controlled by medical personnel through the controller, the misoperation risk is reduced, and the safety of the operation is improved.

Of course, the brake member 122 may also be a motor having a motor shaft connected to the locking gear 1211. When the motor is braked, the motor can lock the locking gear 1211; when the motor is released, the locking gear 1211 is free to rotate. In other embodiments of the present invention, the braking member 122 may also be other members capable of fixing the locking gear 1211.

In one embodiment, the headgear attachment mechanism 100 includes a stop assembly 130, the stop assembly 130 being disposed at an end of the support arm 111 for stopping movement of the linear motion member 112. The limiting assembly 130 can limit the movement stroke of the guide 1121 along the sliding member 1122, so as to prevent the guide 1121 from overtravel operation, so that the guide 1121 is always matched with the sliding member 1122, and the accuracy of the movement process is ensured; the guide 1121 is prevented from being disengaged from the slider 1122, reducing the risk of use of the headgear attachment mechanism 100.

Referring to fig. 4 and 5, in an embodiment, the limiting assembly 130 further includes a limiting member 131, and the limiting member 131 is disposed at an end of the supporting arm 111 for limiting a movement stroke of the guiding member 1121. The limiting members 131 are disposed at two ends of the supporting arm 111, and can limit the extending distance and the retracting distance. When the supporting arm 111 performs the telescopic movement, the supporting arm 111 moves along the sliding member 1122 through the guiding member 1121, and when the limiting member 131 at the end of the supporting arm 111 abuts against the sliding member 1122, the supporting arm 111 cannot move along the sliding member 1122 through the guiding member 1121, which indicates that the telescopic movement of the supporting arm 111 is at the limit, and the supporting arm 111 stops further telescopic movement.

Moreover, when the locking assembly 120 cannot reliably lock the support arm 111, the guide 1121 is prevented from being disengaged from the slider 1122, so that the risk of using the headgear fixing mechanism 100 is reduced, and the safety of the operation is improved. Optionally, the limiting member 131 is a limiting baffle. The limit baffle is disposed at the end of the supporting arm 111 and protrudes from the supporting arm 111, so as to be in contact with the slider 1122.

In an embodiment, the position-limiting assembly 130 further includes a damping member 132, the damping member 132 is disposed on a surface of the position-limiting member 131 facing the guide member 1121, and the damping member 132 can abut against the sliding member 1122. The damping member 132 can play a role in buffering, so that the sliding member 1122 is prevented from directly contacting the limiting member 131, damage to parts is avoided, and the service life of the sliding member 1122 is prolonged. When the locking assembly 120 cannot lock the supporting arm 111, the sliding member 1122 may contact with the limiting member 131, and the shock absorbing member 132 cushions the sliding member 1122, thereby ensuring safety in use. Alternatively, the shock absorbing member 132 is a shock absorbing rubber pad or other member capable of absorbing shock.

Referring to fig. 1, the present invention further provides a surgical auxiliary robot system, which includes a support frame 300, a surgical robot arm 400 disposed on the support frame 300, and the head frame fixing mechanism 100 in the above embodiment. The surgical robot 400 is movably disposed on the support frame 300, the head fixing mechanism 100 is disposed in the support frame 300 and can extend and retract relative to the support frame 300, and after the head fixing mechanism 100 is extended, the head fixing mechanism 100 is extended and can be connected to the head mechanism 510 to fix the head mechanism 510. The surgical robot arm 400 has one end fixed to the support frame 300 and the other end holding the surgical instrument. Alternatively, the surgical instrument includes, but is not limited to, a puncture needle, a scalpel, etc., and may be other types of hand-held instruments.

The utility model discloses an operation auxiliary robot system adopts above-mentioned headstock fixed establishment 100 after, can reliably connect and fix headstock mechanism 510, guarantees patient 600's head 610 and operation arm 400's relative position, can not take place any relative displacement, improves the operation precision, guarantees the security of operation.

In one embodiment, the surgical robot 400 is a serial robot and/or a parallel robot. That is, the surgical robot 400 may include a plurality of serial robots, and the surgical operation may be performed by connecting the plurality of serial robots. The surgical robotic arm 400 may also include a plurality of parallel robotic arms coupled to perform a surgical procedure. Of course, the surgical robot 400 may further include at least one serial robot and at least one parallel robot, and the serial robot and the parallel robot cooperate to perform a surgical operation, in which case the parallel robot is located at the end of the serial robot. It will be appreciated that the tandem robot arm comprises a plurality of single arms, with rotatable connections between adjacent single arms. The parallel robotic arm may comprise, for example, a stewart platform.

The technical features of the embodiments described above can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A head frame fixing mechanism, which is arranged in an operation auxiliary robot system and connected with a head frame mechanism of a sickbed system, the head frame fixing mechanism comprises:

a telescoping assembly telescopically disposed in a support frame of the surgical assisted robotic system and connectable to the headgear mechanism; and

the locking assembly is used for locking or unlocking the telescopic assembly, and when the telescopic assembly is locked by the locking assembly, the locking assembly limits the movement of the telescopic assembly.

2. The headgear securement mechanism according to claim 1, wherein the retraction assembly includes a support arm and a linear motion member, the support arm being movable relative to the support frame by the linear motion member.

3. The headgear holding mechanism according to claim 2, wherein the linear motion member includes a guide member disposed along an axial direction of the support arm and a slide member slidably engaged with the guide member, the slide member being disposed in the support frame.

4. A headgear fixation mechanism according to claim 2, wherein said locking assembly comprises a transmission and a brake member, said brake member being provided in said support frame, said brake member being connected to said support arm by said transmission.

5. A headgear fastening mechanism according to claim 4, wherein said transmission member comprises a locking gear and a locking rack engaged with each other, said locking gear being rotatably connected to said braking member, said locking rack being disposed along an axial direction of said support arm, said locking gear locking said locking rack when said braking member locks said locking gear.

6. A headgear securement mechanism according to claim 5, wherein said brake member is an electromagnetic brake having a friction plate, said friction plate being in contact with said locking gear when said electromagnetic brake is de-energized.

7. A headgear holding mechanism according to claim 3, further comprising a limiting assembly provided at an end of said support arm for limiting movement of said linear motion member.

8. The headgear fastening mechanism according to claim 7, wherein the limiting assembly comprises a limiting member disposed at an end of the support arm for limiting a movement stroke of the guide member.

9. The headgear fastening mechanism according to claim 8, wherein the limiting assembly further comprises a shock absorbing member disposed on a surface of the limiting member facing the guide member, the shock absorbing member being abuttable to the slider member.

10. A surgical assistant robot system, comprising a support frame, a surgical robot arm provided to the support frame, and the head holding mechanism according to any one of claims 1 to 9;

the surgical mechanical arm is movably arranged on the supporting rack, the headstock fixing mechanism is arranged in the supporting rack and can stretch and retract relative to the supporting rack, and after the headstock fixing mechanism extends out, the headstock fixing mechanism can be connected with the headstock mechanism after extending out and can fix the headstock mechanism.

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