CN215960254U - Mobile structure and mobile device suitable for blood vessel intervention robot - Google Patents
Mobile structure and mobile device suitable for blood vessel intervention robot Download PDFInfo
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- CN215960254U CN215960254U CN202121566990.7U CN202121566990U CN215960254U CN 215960254 U CN215960254 U CN 215960254U CN 202121566990 U CN202121566990 U CN 202121566990U CN 215960254 U CN215960254 U CN 215960254U
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Abstract
The utility model provides a moving structure and a moving device suitable for a vascular intervention robot, which comprise a motor switch, a direction adjusting mechanism, a walking mechanism, a handle, a power assembly and a connecting mechanism, wherein the motor switch is connected with the direction adjusting mechanism; the traveling mechanism is installed at the bottom end of the direction adjusting mechanism, the power assembly is installed on the direction adjusting mechanism, and the handle is installed at the top end of the direction adjusting mechanism; the motor switch is electrically connected with the power assembly; the connecting mechanism comprises a first connecting component and a connecting plate; the connecting plate suit is in on the direction adjustment mechanism, and the one end of connecting plate is installed on power assembly through first coupling assembling detachable, and the other end of connecting plate is provided with connection structure, connection structure is used for connecting the load. The vascular robot is provided with the power assembly and the travelling mechanism, so that an operator can move the vascular robot in an electric driving mode, inconvenience caused by moving equipment by manpower originally is avoided, and manpower is saved.
Description
Technical Field
The utility model relates to an auxiliary moving structure of a vascular intervention robot, in particular to a moving structure and a moving device suitable for the vascular intervention robot.
Background
In the traditional vascular interventional operation process, doctors need to obtain the vascular image information of patients in time for a long time
The operation is performed by the intermittent exposure under the X-ray, which can cause the influence on the self health; meanwhile, the vascular interventional operation needs abundant clinical experience and high operation technique, and has high requirements on the technique and experience of doctors; in addition, the long-time continuous operation also forms a great test on the physical strength of doctors, and the doctors are easy to feel fatigue to influence the quality of the operation.
Therefore, a vascular intervention robot is produced, and the vascular intervention robot is essentially an organic combination of a surgical operation robot and a vascular intervention technology. The robot-operated interventional surgical instrument can work in an environment which is unfavorable for doctors, can be accurately positioned by referring to medical images, can execute continuous actions without vibration, can quickly and accurately pass through complex tracks, accurately position and reach target blood vessels, and finally completes the blood vessel interventional operation under the command of doctors or autonomously.
However, the existing blood vessel intervention robot moves equipment by manpower, and has the problem of inconvenient movement.
Patent document CN 110200700 a discloses a blood vessel intervention operation robot and a blood vessel intervention device, wherein a guide wire rotation and force feedback integration module of the robot can truly measure the axial force and torque applied to the guide wire, and a detachable shell is added to the robot, so as to meet the operation disinfection requirement and ensure the clinical safety and hygiene requirement. Meanwhile, the blood vessel intervention equipment is additionally provided with the mechanical arm structure with four degrees of freedom on the basis of the blood vessel intervention robot, the height, the position and the stable support of the guide wire propulsion module are adjusted according to the operation requirement, and wheels are arranged below the mechanical arm, so that the whole carrying and moving of the blood vessel intervention operation robot are facilitated. Although the wheels are arranged on the base, the wheels are still driven to rotate by pushing the handle manually, so that the purpose of moving the equipment is achieved, and the equipment still has the problem of inconvenient movement.
SUMMERY OF THE UTILITY MODEL
In view of the defects in the prior art, the utility model aims to provide a moving structure and a moving device suitable for a vascular intervention robot.
The utility model provides a moving structure suitable for a vascular intervention robot, which comprises a motor switch, a direction adjusting mechanism, a walking mechanism, a handle, a power assembly and a connecting mechanism, wherein the motor switch is connected with the direction adjusting mechanism;
the traveling mechanism is installed at the bottom end of the direction adjusting mechanism, the power assembly is installed on the direction adjusting mechanism, and the handle is installed at the top end of the direction adjusting mechanism;
the power assembly can drive the traveling mechanism to move, and the motor switch is electrically connected with the power assembly;
the connecting mechanism comprises a first connecting component and a connecting plate;
the connecting plate suit is in on the direction guiding mechanism to be located the power assembly with between the running gear, the one end of connecting plate is installed on the power assembly through first coupling assembling detachable, and the other end of connecting plate is provided with connection structure, connection structure is used for connecting the load.
Preferably, the first connecting assembly comprises a hook, a hanging pin and a rotating pin;
the hanging pin is fixedly arranged on the power assembly, one end of the hook is rotatably arranged on the connecting plate through the rotating pin, and the other end of the hook is detachably arranged on the hanging pin.
Preferably, a fixing pin is arranged on the load, and the connecting structure is a mounting hole;
when the connecting plate is installed on the power assembly, the connecting plate is in a first position, wherein in the first position, the fixing pin is inserted into the installation hole; when the connecting plate is separated from the power assembly, the connecting plate can move downwards from the first position to the second position along the direction adjusting mechanism, wherein in the second position, the upper end face of the connecting plate is lower than the lower end face of the fixing pin, and the fixing pin is separated from the mounting hole.
Preferably, the direction adjustment mechanism comprises a connecting rod;
one end of the connecting rod is connected with the traveling mechanism, and the other end of the connecting rod penetrates through the power assembly and is connected with the handle; the handle can drive the running gear to rotate around the axis of the connecting rod through the connecting rod.
Preferably, the direction adjusting mechanism comprises a connecting rod, a first rotating shaft and a first connecting piece;
one end of the first connecting piece is provided with an accommodating space, one end of the connecting rod extends into the accommodating space and is rotatably connected with one end of the first connecting piece through the first rotating shaft, the other end of the first connecting piece penetrates through the power assembly to be connected with the travelling mechanism, and the other end of the connecting rod is connected with the handle;
the handle can order about the connecting rod drives first connecting piece and rotates and then makes running gear rotates around the axle center of first connecting piece.
Preferably, the direction adjustment mechanism further comprises a first torsion spring;
the first torsion spring is arranged in the accommodating space and sleeved on the first rotating shaft, one end of the first torsion spring is connected with the connecting rod, and the other end of the first torsion spring is connected with the first connecting piece; under the condition of no external force, the elastic force of the first torsion spring enables the connecting rod to keep a vertical state.
Preferably, the walking mechanism comprises wheels and a transmission assembly;
the power assembly can drive the transmission assembly to drive the wheel to rotate around the axle center of the wheel.
Preferably, the motor switch is mounted on the handle.
Preferably, the end part of the power assembly is provided with a groove structure, and the groove structure is matched with the size and the shape of the connecting plate;
when the connecting plate is located at the first position, the connecting plate is clamped into the groove structure, and when the connecting plate is located at the second position, the upper end face of the connecting plate is separated from the upper end face of the groove structure.
The utility model also provides a moving device which comprises the moving structure suitable for the vascular intervention robot.
Compared with the prior art, the utility model has the following beneficial effects:
1. the vascular robot is provided with the power assembly and the travelling mechanism, so that an operator can move the vascular robot in an electric driving mode, inconvenience caused by moving equipment by manpower originally is avoided, and manpower is saved.
2. The direction adjusting mechanism arranged in the utility model allows an operator to freely adjust the direction of the handle, and is convenient for the operator to hold.
3. The first torsion spring is arranged in the direction adjusting mechanism, and after the use is finished, the elasticity of the first torsion spring drives the handle to return to the vertical initial position, so that the mistaken collision is prevented.
Drawings
Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a bottom schematic view of the present invention;
FIG. 3 is a schematic structural view of the coupling mechanism of the present invention;
fig. 4 is a schematic structural view of the present invention, wherein the base connected to the connecting plate is not shown.
The figures show that:
motor switch-1 hook-8
Handle-2 hanging pin-9
Connecting rod-3 rotating pin-10
First rotating shaft-4 connecting plate-11
Wheel-5 drive assembly-12
Power assembly-6 first connecting piece-13
Fixed pin-7 base-14
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the utility model. All falling within the scope of the present invention.
Example 1:
the utility model provides a moving structure suitable for a vascular intervention robot, which comprises a motor switch 1, a direction adjusting mechanism, a walking mechanism, a handle 2, a power assembly 6 and a connecting mechanism, as shown in figures 1-4.
Running gear installs in direction adjustment mechanism's bottom, and power assembly 6 installs on direction adjustment mechanism, and power assembly 6 can order about running gear motion to drive the removal structure and remove, motor switch 1 is connected with power assembly 6 electricity for control power assembly 6 opens or closes. Handle 2 is installed on direction adjustment mechanism's top, and the operator holds handle 2 during the use, control moving structure's direction of motion, and preferably, motor switch 1 installs on the handle, makes things convenient for operating personnel to operate.
The running gear comprises wheels 5 and a transmission assembly 12. The power assembly 6 can drive the transmission component 12 to drive the wheel 5 to rotate around the axle center of the wheel 5, so that the whole wheel drives the load to move.
The connecting mechanism comprises a first connecting component and a connecting plate 11. Connecting plate 11 suit is on direction adjustment mechanism to be located between power assembly 6 and the running gear, the one end of connecting plate 11 is installed on power assembly 6 through first coupling assembling detachable, the other end of connecting plate 11 is provided with connection structure, connection structure is used for connecting the load, intervene robot and base 14 for the blood vessel if the load, in concrete use, can intervene the robot with the blood vessel and place on base 14, realize the transportation of robot after connecting base 14 through connecting plate 11. For example, the base 14 is provided with a fixing pin 7, and the connecting structure is a mounting hole matched with the fixing pin 7.
When the connecting plate 11 is mounted on the drive unit 6, the connecting plate 11 is in a first position, wherein in the first position the fixing pins 7 are inserted into the mounting holes, i.e. the connecting plate 11 and the base 14 are connected to the mounting holes by the fixing pins 7. When the connecting plate 11 is separated from the power assembly 6, the connecting plate 11 can move downwards from the first position to the second position along the direction adjusting mechanism, wherein in the second position, the upper end face of the connecting plate 11 is lower than the lower end face of the fixing pin 7, and the fixing pin 7 is separated from the mounting hole. Preferably, the end of the power assembly 6 is provided with a groove structure, the groove structure is matched with the size and shape of the connecting plate 11, when the connecting plate 11 is located at the first position, the connecting plate is clamped in the groove structure, the groove structure limits the freedom degree of the connecting plate 11 relative to the left and right directions of the power assembly 6 at the moment, the connecting plate 11 is ensured not to move relative to the power assembly 6 in the working state, and the use process is more stable. The first connecting assembly comprises a hook 8, a hanging pin 9 and a rotating pin 10, the hanging pin 9 is tightly mounted on the power assembly 6, one end of the hook 8 is rotatably mounted on a connecting plate 11 through the rotating pin 10, and the other end of the hook 8 is detachably mounted on the hanging pin 9. When the connecting plate 11 is positioned at the first position, the hook 8 can be rotated to connect the hook 8 with the hanging pin 9; when the connecting plate 11 is in the second position, the upper end face of the connecting plate 11 is separated from the upper end face of the groove structure, and even if the hook 8 is rotated, the hook 8 cannot be connected with the hanging pin 9.
When the mobile structure works normally, the connecting plate 11 is in the first position, the hook 8 is hooked on the hanging pin 9, and when the connecting plate 11 is in the second position, the fixing pin 7 is separated from the mounting hole of the connecting plate 11, and the base 14 can be removed.
The working principle of the embodiment is as follows:
when the moving structure is needed, the position of the load is adjusted firstly, the fixing pin 7 on the load is enabled to be opposite to the mounting hole in the connecting plate 11, then the connecting plate 11 is adjusted to the first position, the fixing pin 7 is inserted into the mounting hole at the moment, the connecting plate 11 is connected with the load, the hook 8 is rotated again, the hook 8 is connected with the hanging pin 9, the connecting plate 11 is connected with the power assembly 6 at the moment, connection of the load and the moving structure is completed, and finally the motor switch 1 and the handle 2 are utilized to control starting and stopping of the traveling mechanism and direction respectively, so that the movement of the load is realized.
After the load is moved to the designated position, the hook 8 is rotated to enable the hook 8 and the hanging pin 9 to be unhooked, then the connecting plate 11 is adjusted to the second position, the fixing pin 7 is separated from the mounting hole, and the detachment of the load and the moving structure is completed.
Example 2:
this embodiment is a preferred embodiment of embodiment 1.
The direction adjusting mechanism comprises a connecting rod 3, the connecting rod 3 is of an integral structure, preferably a tubular structural part such as a steel pipe, one end of the connecting rod 3 is connected with the traveling mechanism, and the other end of the connecting rod 3 penetrates through the power assembly (6) and is connected with the handle 2; the handle 2 can drive the running mechanism to rotate around the axis of the connecting rod 3 through the connecting rod 3. The user can adjust the direction of the wheels 5 by rotating the handle 2 to control the moving direction of the moving structure.
Example 3:
this embodiment is another preferable embodiment of embodiment 1.
The direction adjusting mechanism comprises a connecting rod (3), a first rotating shaft 4 and a first connecting piece 13. One end of first connecting piece 13 has accommodation space, and the one end of connecting rod 3 extends to in the accommodation space and is connected with the one end of first connecting piece 13 through the rotatable and first pivot 4, utilizes first pivot 4, and the operator can drive connecting rod (3) through control handle 2, makes connecting rod 3 and handle 2 become certain angle with ground simultaneously, and the operator keeps the angle manually, and the operator of being convenient for operates moving the structure at suitable height. The other end of the first connecting piece 13 passes through the power assembly 6 to be connected with the traveling mechanism, and the other end of the connecting rod 3 is connected with the handle 2; the handle 2 can drive the connecting rod 3 to drive the first connecting piece 13 to rotate so as to enable the traveling mechanism to rotate around the axis of the first connecting piece 13, and a user can adjust the direction of the wheel 5 by rotating the handle 2 so as to control the moving direction of the moving structure.
The direction adjustment mechanism further comprises a first torsion spring. The first torsion spring is arranged in the accommodating space and sleeved on the first rotating shaft 4, one end of the first torsion spring is connected with the connecting rod 3, and the other end of the first torsion spring is connected with the first connecting piece 13; the elastic force of the first torsion spring keeps the connecting rod 3 in a vertical state in the absence of external force. When the angle does not need to be kept, the handle 2 can be driven to return to the vertical initial position by the elasticity of the first torsion spring, and the mistaken collision is prevented.
The utility model also provides a moving device which comprises a moving structure suitable for the vascular intervention robot. The moving device is provided with the power assembly and the walking mechanism, so that an operator can move the vascular robot in an electric driving mode, inconvenience caused by moving equipment by manpower originally is avoided, and manpower is saved. The direction adjusting mechanism arranged on the moving device allows an operator to freely adjust the direction of the handle, and the operator can conveniently hold the handle.
The utility model can be applied to other fields besides the vascular intervention robot, for example, the utility model can be used for moving other goods which are inconvenient to move depending on manpower, so that an operator can carry and move the goods more conveniently by using electric drive. For goods with different heights and different types, mobile structures or mobile devices with different types can be adopted to be matched with the goods for use.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A moving structure suitable for a vascular intervention robot is characterized by comprising a motor switch (1), a direction adjusting mechanism, a walking mechanism, a handle (2), a power assembly (6) and a connecting mechanism;
the traveling mechanism is installed at the bottom end of the direction adjusting mechanism, the power assembly (6) is installed on the direction adjusting mechanism, and the handle (2) is installed at the top end of the direction adjusting mechanism;
the power assembly (6) can drive the traveling mechanism to move, and the motor switch (1) is electrically connected with the power assembly (6);
the connecting mechanism comprises a first connecting component and a connecting plate (11);
connecting plate (11) suit is in on the direction guiding mechanism to be located power assembly (6) with between the running gear, the one end of connecting plate (11) is installed on power assembly (6) through first connecting assembly detachable, and the other end of connecting plate (11) is provided with connection structure, connection structure is used for connecting the load.
2. The moving structure suitable for vascular interventional robots according to claim 1, characterized in that the first connection assembly comprises a hook (8), a hanging pin (9), a rotation pin (10);
hang round pin (9) fastening installation on power assembly (6), the one end of couple (8) is passed through rotatory round pin (10) rotatable installation be in on connecting plate (11), the other end detachable of couple (8) is installed on hanging round pin (9).
3. The moving structure suitable for vascular interventional robots according to claim 1, characterized in that the load is provided with fixing pins (7), and the connecting structure is a mounting hole;
when the connecting plate (11) is mounted on the power assembly (6), the connecting plate (11) is in a first position, wherein in the first position the fixing pin (7) is inserted into the mounting hole; when the connecting plate (11) is separated from the power assembly (6), the connecting plate (11) can move downwards from the first position to the second position along the direction adjusting mechanism, wherein in the second position, the upper end face of the connecting plate (11) is lower than the lower end face of the fixing pin (7), and the fixing pin (7) is separated from the mounting hole.
4. The moving structure suitable for vascular interventional robots according to claim 1, characterized in that the direction adjustment mechanism comprises a connecting rod (3);
one end of the connecting rod (3) is connected with the travelling mechanism, and the other end of the connecting rod (3) penetrates through the power assembly (6) and is connected with the handle (2); the handle (2) can drive the travelling mechanism to rotate around the axis of the connecting rod (3) through the connecting rod (3).
5. The moving structure suitable for a robot for vascular intervention according to claim 1, wherein the direction adjustment mechanism comprises a connecting rod (3), a first rotating shaft (4) and a first connecting member (13);
one end of the first connecting piece (13) is provided with an accommodating space, one end of the connecting rod (3) extends into the accommodating space and is rotatably connected with one end of the first connecting piece (13) through the first rotating shaft (4), the other end of the first connecting piece (13) penetrates through the power assembly (6) to be connected with the travelling mechanism, and the other end of the connecting rod (3) is connected with the handle (2);
the handle (2) can drive the connecting rod (3) to drive the first connecting piece (13) to rotate so as to enable the travelling mechanism to rotate around the axis of the first connecting piece (13).
6. The mobile structure of claim 5, wherein the direction adjustment mechanism further comprises a first torsion spring;
the first torsion spring is arranged in the accommodating space and sleeved on the first rotating shaft (4), one end of the first torsion spring is connected with the connecting rod (3), and the other end of the first torsion spring is connected with the first connecting piece (13); under the condition of no external force, the elastic force of the first torsion spring enables the connecting rod (3) to keep a vertical state.
7. The mobile structure of claim 1, wherein the walking mechanism comprises wheels (5) and a transmission assembly (12);
the power assembly (6) can drive the transmission assembly (12) to drive the wheel (5) to rotate around the axle center of the wheel (5).
8. The moving structure applicable to vascular interventional robots according to claim 1, characterized in that the motor switch (1) is mounted on the handle.
9. The mobile structure of claim 3, characterized in that the end of the dynamic assembly (6) has a groove structure matching the size and shape of the connecting plate (11);
when the connecting plate (11) is in the first position, the connecting plate is clamped into the groove structure, and when the connecting plate (11) is in the second position, the upper end face of the connecting plate (11) is separated from the upper end face of the groove structure.
10. A mobile device, characterized in that the mobile structure suitable for the vascular intervention robot of any one of claims 1 to 9 is adopted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121566990.7U CN215960254U (en) | 2021-07-09 | 2021-07-09 | Mobile structure and mobile device suitable for blood vessel intervention robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121566990.7U CN215960254U (en) | 2021-07-09 | 2021-07-09 | Mobile structure and mobile device suitable for blood vessel intervention robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215960254U true CN215960254U (en) | 2022-03-08 |
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ID=80577691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121566990.7U Active CN215960254U (en) | 2021-07-09 | 2021-07-09 | Mobile structure and mobile device suitable for blood vessel intervention robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215960254U (en) |
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2021
- 2021-07-09 CN CN202121566990.7U patent/CN215960254U/en active Active
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