CN216021415U - Laser auxiliary positioning device and laser auxiliary positioning system - Google Patents

Abstract

The utility model relates to a laser auxiliary positioning device and a laser auxiliary positioning system. The laser positioning lamp is used for emitting laser. The bracket component is provided with a laser positioning lamp and is rotatably arranged on the shell. The driving assembly is connected with the bracket assembly and is used for driving the bracket assembly to rotate relative to the shell. The laser auxiliary positioning device and the laser auxiliary positioning system provided by the utility model have simple structures.

Description

Laser auxiliary positioning device and laser auxiliary positioning system

Technical Field

The utility model relates to the technical field of positioning instruments, in particular to a laser auxiliary positioning device and a laser auxiliary positioning system.

Background

With the continuous development of artificial intelligence technology and robot technology, robots play a role in more and more fields, and replace or assist humans in more and more work so as to better complete the work. As the world population continues to age, the medical industry is under tremendous pressure, and the addition of laser assisted positioning systems can greatly alleviate this pressure. Because the mark such as marking is very inaccurate when the doctor is carrying out operations such as puncture or local anesthesia to the patient, the mark can cause great error when the doctor is operating. Therefore, positioning using a laser is a better way. However, the method only aims at the treatments such as radiotherapy, chemotherapy and the like, and has the auxiliary positioning of the laser positioning lamp and then performs positioning treatment. Although there are several laser positioning lamp auxiliary positioning devices in the market at present, it has the problem of complicated structure.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a laser auxiliary positioning device and a laser auxiliary positioning system with simple structures, in order to solve the problem that the conventional laser positioning lamp auxiliary positioning device has a complicated structure.

The utility model provides a laser auxiliary positioning device which comprises a shell, a laser positioning lamp, a support assembly and a driving assembly. The laser positioning lamp is used for emitting laser. The bracket component is provided with a laser positioning lamp and is rotatably arranged on the shell. The driving assembly is connected with the bracket assembly and is used for driving the bracket assembly to rotate relative to the shell.

In an embodiment of the utility model, the bracket assembly includes a first bracket, a second bracket and a third bracket, the laser positioning lamp is mounted on the first bracket, the first bracket is rotatably mounted on the second bracket around a first axial direction, the second bracket is rotatably mounted on the third bracket around a second axial direction, and the third bracket is rotatably mounted on the housing around a third axial direction.

In an embodiment of the present invention, the first axis, the second axis and the third axis are perpendicular to each other.

In an embodiment of the utility model, the driving assembly includes a manual adjusting knob, the manual adjusting knob is installed on the housing, and the manual adjusting knob is connected to the third bracket through the third rotating shaft.

In an embodiment of the utility model, the laser auxiliary positioning device further includes a limiting member, and the limiting member is mounted on the housing to limit an angle range of the third bracket rotating around the third rotating shaft.

In an embodiment of the utility model, the driving assembly further includes a pressure adjusting member, the third rotating shaft is in threaded connection with the pressure adjusting member, and the third rotating shaft sequentially penetrates through the housing and the pressure adjusting member from an axial direction close to the third bracket to an axial direction far away from the third bracket.

In an embodiment of the present invention, a first friction plate is disposed between the pressure adjusting member and the casing, a second friction plate is disposed between the casing and the third bracket, a surface roughness of the first friction plate is greater than a surface roughness of the pressure adjusting member and a surface roughness of the casing, and a surface roughness of the second friction plate is greater than a surface roughness of the casing and a surface roughness of the third bracket.

In an embodiment of the present invention, the laser positioning lamp is a cross-shaped cursor laser positioning lamp.

In an embodiment of the utility model, the side wall of the housing is provided with a light hole and a camera, the driving assembly is mounted on the other opposite side wall of the housing, the light hole is provided with optical glass, the laser positioning lamp emits laser outwards through the optical glass, and the camera is used for capturing an image of an irradiation part of the laser positioning lamp.

The utility model also provides a laser auxiliary positioning system which comprises a first supporting arm, a second supporting arm and the laser auxiliary positioning device in any one of the embodiments, wherein the second supporting arm is vertical to the first supporting arm, and the shell is connected with the second supporting arm.

According to the laser auxiliary positioning device and the laser auxiliary positioning system, the laser positioning lamp is arranged on the support component, and the drive component drives the support component to rotate, so that the laser positioning lamp and the support component can synchronously rotate, and the laser auxiliary positioning of the laser auxiliary positioning device can be realized. Therefore, the laser auxiliary positioning device is simple in structure and convenient for doctors to perform laser auxiliary positioning when patients are treated.

Drawings

FIG. 1 is a schematic structural diagram of a laser-assisted positioning system according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a laser-assisted positioning apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic partial structural diagram of a laser-assisted positioning apparatus according to an embodiment of the present invention;

FIG. 4 is a schematic partial structural view of a laser-assisted positioning apparatus according to an embodiment of the present invention;

FIG. 5 is a schematic view of a partial structure of a laser-assisted positioning device according to an embodiment of the present invention;

FIG. 6 is a schematic view of a partial structure of a laser-assisted positioning apparatus according to an embodiment of the present invention;

fig. 7 is a schematic partial structural view of a laser-assisted positioning device according to an embodiment of the present invention.

Reference numerals: 100. a laser auxiliary positioning device; 1. a laser positioning lamp; 2. a bracket assembly; 21. a first bracket; 211. a stent body; 212. a first projecting portion; 213. a second projection; 214. a third projecting portion; 215. a fourth projecting portion; 22. a second bracket; 221. a first installation space; 222. a first side wall; 223. a second side wall; 224. a third side wall; 225. a fourth side wall; 23. a third support; 231. a second installation space; 232. a limiting block; 233. a fifth side wall; 234. a sixth side wall; 235. a seventh side wall; 236. a boss; 24. a housing; 241. a third installation space; 242. a limiting member; 243. a limiting bulge; 244. a circular hole; 25. a first rotating shaft; 251. a first bevel gear; 26. a second rotating shaft; 27. a third rotating shaft; 3. a first driving member; 31. a first motor; 311. a first output shaft; 312. a second bevel gear; 32. a first absolute encoder; 4. a second driving member; 41. a second motor; 42. a second absolute encoder; 5. a drive assembly; 51. a manual adjustment knob; 52. a pressure regulating member; 53. a first friction plate; 54. a second friction plate; 55. locking the nut; 6. a control device; 7. a first support arm; 8. a second support arm; 81. a light-transmitting hole; 82. an optical glass; 83. a camera is provided.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "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 are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

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," "secured," and the like are to be construed broadly and can, 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 meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. 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.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a laser-assisted positioning system according to an embodiment of the utility model. The utility model provides a laser auxiliary positioning system which comprises a first supporting arm 7, a second supporting arm 8 and a laser auxiliary positioning device 100, wherein the laser auxiliary positioning device 100 can emit laser towards a positioned human body or object, and particularly, the laser auxiliary positioning device 100 can be used for carrying out laser auxiliary positioning when a patient is punctured or locally anesthetized. The laser auxiliary positioning device 100 is installed in the second support arm 8, and one end of the first support arm 7 is connected to the second support arm 8, and the other end is installed on a fixture, so that the installation and fixation of the laser auxiliary positioning system are realized. The fixture may be on the ground, wall or other mounting platform. For the laser-assisted positioning system to be more beautiful and safer to use, the inner walls of the first support arm 7 and the second support arm 8 are usually configured as hollow structures, so as to facilitate the wiring harnesses such as power lines and signal lines to pass through the internal connection external devices of the first support arm 7 and the second support arm 8. Moreover, in the present embodiment, the first support arm 7 and the second support arm 8 are perpendicular to each other, specifically, the first support arm 7 is disposed vertically, the second support arm 8 is disposed horizontally, and the laser auxiliary positioning device 100 is disposed at one end of the second support arm 8 far away from the first support arm 7. Thus, the laser auxiliary positioning device 100 can emit laser with a larger irradiation range.

Fig. 2 is a schematic structural diagram of a laser-assisted positioning apparatus 100 according to an embodiment of the utility model. The laser auxiliary positioning device 100 provided by the utility model comprises a laser positioning lamp 1, a bracket assembly 2, a first driving piece 3, a second driving piece 4, a driving assembly 5 and a shell 24. The laser positioning lamp 1 is used for emitting laser, and the laser positioning lamp 1 is installed on the bracket component 2. In this embodiment, the laser positioning lamp 1 is a cross cursor laser positioning lamp. The first driving component 3, the second driving component 4 and the driving component 5 respectively drive at least part of the structure of the bracket component 2 to rotate around different axial directions, so as to drive the laser positioning lamp 1 arranged on the bracket component 2 to rotate around different axial directions.

In one embodiment, as shown in FIG. 2. The rack assembly 2 comprises a first rack 21, a second rack 22 and a third rack 23. The laser positioning lamp 1 is disposed on the first bracket 21, the first bracket 21 is rotatably mounted on the second bracket 22, and the first driving member 3 is connected to the first bracket 21 to drive the first bracket 21 to rotate around the first axial direction S. The second bracket 22 is rotatably mounted on the third bracket 23, and the second driving member 4 is connected to the second bracket 22 to drive the second bracket 22 to rotate around the second axial direction P. The third bracket 23 is rotatably mounted to the housing 24, and the driving assembly 5 is connected to the third bracket 23 to drive the third bracket 23 to rotate around the third axial direction Q. And the first axial direction, the second axial direction and the third axial direction are mutually vertical in pairs. Thus, the laser positioning lamp 1 can achieve a wide range of angular adjustment. It should be noted that the housing 24 is connected to the second support arm 8.

As shown in fig. 1, a side wall of the housing 24 is provided with a light transmission hole 81, and the driving assembly 5 is mounted on the other opposite side wall of the housing 24, and the laser positioning lamp 1 emits laser light toward the outside of the second support arm 8 through the light transmission hole 81. Further, in order to better protect the laser auxiliary positioning device 100, an optical glass 82 is installed at the light transmission hole 81, and the laser positioning lamp 1 emits laser towards the outer side of the second supporting arm 8 through the optical glass 82. In order to continue the operation of the laser positioning aid 100 in a narrow space or in a place having radiation such as a CT apparatus, a camera 83 is further attached to a side wall of the housing 24 where the light transmission hole 81 is provided, and the camera 83 is used to pick up an image of the irradiation portion of the laser positioning lamp 1 instead of human eyes.

Specifically, as shown in fig. 3, fig. 3 is a partial schematic structural diagram of a laser-assisted positioning device 100 according to an embodiment of the present invention. The first bracket 21 includes a bracket body 211, a first protrusion 212 protruding from the bracket body 211, a second protrusion 213, a third protrusion 214, and a fourth protrusion 215. The first projection 212 projects axially away from the second projection 213. The third projection 214 projects axially opposite to the projection of the fourth projection 215. The projecting axial directions of the third projecting portion 214 and the fourth projecting portion 215 are perpendicular to the projecting axial directions of the first projecting portion 212 and the second projecting portion 213, so that the first bracket 21 is formed in a substantially cross shape. The laser positioning lamp 1 may be mounted on the first projection 212 of the first bracket 21 by a locking screw (not shown).

In an embodiment, as shown in fig. 4, fig. 4 is a partial structural schematic view of a laser-assisted positioning device 100 according to an embodiment of the utility model. The second bracket 22 has a first mounting space 221, and the first bracket 21 is located in the first mounting space 221 and is fitted into the first mounting space 221. Specifically, the second bracket 22 includes a first sidewall 222, a second sidewall 223, a third sidewall 224, and a fourth sidewall 225 connected end to end in this order. The first, second, third, and fourth sidewalls 222, 223, 224, and 225 enclose the first installation space 221. The first sidewall 222 is disposed opposite the third sidewall 224, and the second sidewall 223 is disposed opposite the fourth sidewall 225. The first bracket 21 and the second bracket 22 are rotatably connected by a first rotating shaft 25, specifically, the first rotating shaft 25 is sequentially inserted through the first side wall 222, the third protruding portion 214, the fourth protruding portion 215 and the third side wall 224 to rotatably connect the first bracket 21 to the second bracket 22.

As shown in fig. 4, the first driving member 3 includes the first motor 31, the first motor 31 is mounted to the third side wall 224, and the first motor 31 is disposed outside the first mounting space 221. The first motor 31 is provided with a first output shaft 311, the first output shaft 311 is perpendicular to the first rotating shaft 25, and the first output shaft 311 and the first rotating shaft 25 are in meshing connection through a bevel gear structure. The bevel gear structure includes a first bevel gear 251 and a second bevel gear 312 which are engaged with each other, wherein the first bevel gear 251 is disposed coaxially with the first rotation shaft 25, and the second bevel gear 312 is disposed coaxially with the first output shaft 311. Since the first bevel gear 251 and the second bevel gear 312 perform a steering function between the first motor 31 and the first support 21, so that the axial direction of the first motor 31 is parallel to the axial direction of the second motor 41, the laser auxiliary positioning device 100 can be made compact in overall structure and small in size.

It is understood that in other embodiments, the first bracket 21 may be rotated by a crank-rocker mechanism or the like.

In an embodiment, the first driving member 3 further comprises a first speed reducer (not shown). An input shaft (not shown) of the first reduction gear is connected to the first motor 31, and an output shaft (not shown) of the first reduction gear is connected to the second bevel gear 312. The first motor 31 is decelerated by the first decelerator, so that the first bracket 21 can rotate around the first axial direction at a low speed, and the vibration phenomenon is not easily generated.

In one embodiment, as shown in fig. 1, the laser auxiliary positioning device 100 further includes a control device 6, and the control device 6 is electrically connected to the first driving member 3 to control the operation of the first driving member 3. Specifically, the control device 6 may be a controller, a microprocessor, a single chip microcomputer, or the like. The control device 6 may be disposed inside the first motor 31 and integrated with the first motor 31, or may be independently disposed outside the first motor 31.

A first incremental encoder (not shown) is disposed in the first motor 31, and is used for measuring the rotation speed of the first motor 31. The control device 6 can control the amount of change in the rotation speed of the first motor 31 based on the measurement result of the first incremental encoder so that the rotation speed of the first motor 31 reaches the target rotation speed. The rotational speed of the laser positioning lamp 1 and the first support 21 in the first axial direction can be accurately controlled by measuring and controlling the rotational speed of the first motor 31 by the first incremental encoder.

The target rotation speed of the first motor 31 may be set in the control device 6, the current rotation speed of the first motor 31 may be measured through the first incremental encoder, and the current rotation speed data of the first motor 31 may be transmitted to the control device 6, so that the control device 6 may control the rotation speed variation of the first motor 31 according to the target rotation speed and the current rotation speed of the first motor 31, so that the rotation speed of the first motor 31 reaches the target rotation speed. The rotational speed of the first motor 31 is measured and controlled by the first incremental encoder, so that the rotational speed of the laser positioning lamp 1 and the first support 21 in the first axial direction can be precisely controlled.

As shown in fig. 4, the laser auxiliary positioning device 100 further includes a first absolute encoder 32, the first absolute encoder 32 is used for measuring a rotation position of the first support 21 when rotating around the first axial direction, and the control device 6 can control a rotation angle variation of the first motor 31 according to a measurement result of the first absolute encoder 32. The first absolute encoder 32 is disposed outside the first mounting space 221, and the first absolute encoder 32 and the first motor 31 are mounted on two opposite sides of the second bracket 22. Specifically, the first absolute encoder 32 is mounted on the first sidewall 222, and the first absolute encoder 32 is disposed coaxially with the first rotating shaft 25.

The target rotation position of the first support 21 around the first axial direction can be set in the control device 6, the current rotation position of the first support 21 around the first axial direction is measured through the first absolute encoder 32, and the data of the current rotation position of the first support 21 around the first axial direction is transmitted to the control device 6, so that the control device 6 can control the rotation angle variation of the first motor 31 according to the target rotation position and the current rotation position of the first support 21 around the first axial direction, so that the rotation position of the first support 21 around the first axial direction reaches the target rotation position, and further the rotation positions of the laser positioning lamp 1 and the first support 21 when rotating around the first axial direction can be accurately controlled. For example, the range of the rotation angle of the first carrier 21 about the first axial direction may be controlled to ± 90 °.

In an embodiment, as shown in fig. 5, fig. 5 is a schematic partial structural view three of a laser-assisted positioning device 100 according to an embodiment of the present invention. The third bracket 23 has a second mounting space 231, and the second bracket 22 is located in the second mounting space 231 and is fitted into the second mounting space 231. Specifically, the third frame 23 includes a fifth sidewall 233, a sixth sidewall 234, and a seventh sidewall 235 connecting the fifth sidewall 233 and the sixth sidewall 234, and the fifth sidewall 233, the sixth sidewall 234, and the seventh sidewall 235 form an "n" shaped structure. The fifth, sixth, and seventh sidewalls 233, 234, 235 enclose the second installation space 231. The fifth sidewall 233 is disposed opposite to the sixth sidewall 234. The second bracket 22 and the third bracket 23 are rotatably connected by a second rotating shaft 26.

As shown in fig. 5, the second driving member 4 includes a second motor 41, the second motor 41 is mounted on the sixth side wall 234, the second motor 41 is disposed outside the second mounting space 231, and the second motor 41 is directly connected to the second rotating shaft 26 to drive the second support 22 to rotate via the second rotating shaft 26.

It is understood that in other embodiments, the second frame 22 may be rotated by a crank-rocker mechanism or the like.

As shown in fig. 5, a limiting block 232 is disposed in the second mounting space 231, one end of the limiting block 232 is connected to the third bracket 23, and the other end extends toward the second bracket 22, and the limiting block 232 is used for limiting an angular range of the second bracket 22 rotating around the second axial direction. The limiting block 232 is made of an elastic material.

Specifically, as shown in fig. 5, one end of the limiting block 232 is connected to the seventh side wall 235, and the other end extends toward the second bracket 22. The limiting block 232 is located on a rotation path of the second bracket 22 when rotating around the second axial direction, so that when the second bracket 22 rotates around the second axial direction to a position where the limiting block 232 is located, the limiting block 232 can prevent the second bracket 22 from continuing to rotate, and then the effect of limiting the range of the rotation angle of the second bracket 22 around the second axial direction is achieved, and the second bracket 22 is prevented from rotating too much around the second axial direction.

It can be understood that when the second bracket 22 rotates around the second axial direction, the first motor 31 synchronously rotates around the second axial direction, so that the limit block 232 limits the angular range of the second bracket 22 around the second axial direction, and at the same time, the angular range of the first motor 31 around the second axial direction can be limited, so that the first motor 31 can be prevented from interfering with the third bracket 23.

The number of the stoppers 232 may be two, and the two stoppers 232 are respectively located at different sides of the seventh side wall 235, so that the rotation angle range of the second bracket 22 can be determined between the two stoppers 232. For example, the range of the rotation angle of the second bracket 22 can be limited to ± 90 ° by two limit blocks 232.

In one embodiment, the stopper 232 is made of an elastic material, such as a polyurethane foam. Because the limiting block 232 is made of elastic material, when the second bracket 22 collides with the buffer structure, mechanical hard collision cannot be generated, and the impact sound is small.

In other embodiments, the material used for the stop block 232 may also be nylon 66, ABS, or the like.

In an embodiment, the second drive member 4 further comprises a second reduction gear (not shown). An input shaft (not shown) of the second reduction gear is connected to the second motor 41, and an output shaft (not shown) of the second reduction gear is connected to the second rotating shaft 26. The second motor 41 is decelerated by the second decelerator, so that the second holder 22 can be rotated in the second axial direction at a low speed, and the chattering phenomenon is not easily generated.

In one embodiment, the control device 6 is electrically connected to the second driving member 4 to control the operation of the second driving member 4. The control device 6 may be disposed inside the second motor 41 and integrated with the second motor 41, or may be independently disposed outside the second motor 41. A second incremental encoder (not shown) is disposed in the second motor 41, and is used for measuring the rotation speed of the second motor 41. The control device 6 can control the amount of change in the rotation speed of the second motor 41 based on the measurement result of the second incremental encoder so that the rotation speed of the second motor 41 reaches the target rotation speed. The rotational speed of the laser positioning lamp 1, the first support 21, and the second support 22 in the second axial direction can be precisely controlled by measuring and controlling the rotational speed of the second motor 41 by the second incremental encoder.

The target rotation speed of the second motor 41 may be set in the control device 6, the current rotation speed of the second motor 41 may be measured through the second incremental encoder, and the current rotation speed data of the second motor 41 may be transmitted to the control device 6, so that the control device 6 may control the rotation speed variation of the second motor 41 according to the target rotation speed and the current rotation speed of the second motor 41, so that the rotation speed of the second motor 41 reaches the target rotation speed. The rotation speed of the second motor 41 is measured and controlled by the second incremental encoder, so that the rotation speed of the second bracket 22 in the rotation around the second axial direction can be accurately controlled, and the rotation speed of the laser positioning lamp 1, the first bracket 21 and the second bracket 22 in the rotation around the second axial direction can be accurately controlled.

As shown in fig. 5, the laser auxiliary positioning device 100 further includes a second absolute encoder 42, the second absolute encoder 42 is used for measuring the rotation position of the second support 22 when rotating around the second axial direction, and the control device 6 can control the rotation angle variation of the second motor 41 according to the measurement result of the second absolute encoder 42. The second absolute encoder 42 is disposed outside the second mounting space 231, and the second absolute encoder 42 and the second motor 41 are mounted on two opposite sides of the third bracket 23. Specifically, the second absolute encoder 42 is mounted on the fifth sidewall 233, and the second absolute encoder 42 is disposed coaxially with the second rotating shaft 26.

The target rotational position of the second bracket 22 about the second axial direction can be set in the control device 6, the current rotational position of the second bracket 22 about the second axial direction is measured by the second absolute encoder 42, and the data of the current rotational position of the second bracket 22 about the second axial direction is transmitted to the control device 6, so that the control device 6 can control the amount of change of the rotational angle of the second motor 41 according to the target rotational position and the current rotational position of the second bracket 22 about the second axial direction, so that the rotational position of the second bracket 22 about the second axial direction reaches the target rotational position, and further, the rotational positions of the laser positioning lamp 1, the first bracket 21, and the second bracket 22 when rotating about the second axial direction can be accurately controlled.

In an embodiment, as shown in fig. 6, fig. 6 is a partial schematic structural view of a laser-assisted positioning device 100 according to an embodiment of the present invention. The housing 24 has a third mounting space 241, and the third bracket 23 is located in the third mounting space 241 and is fitted to the third mounting space 241. In particular, the housing 24 is part of a side wall of the second support arm 8. The third bracket 23 and the housing 24 are rotatably connected by a third rotating shaft 27, and specifically, the third rotating shaft 27 penetrates through the seventh side wall 235 and the housing 24 in sequence to rotatably connect the third bracket 23 to the housing 24.

As shown in fig. 6, the driving assembly 5 includes a manual adjustment knob 51, the manual adjustment knob 51 is mounted to the housing 24, and the manual adjustment knob 51 is disposed outside the third mounting space 241. The manual adjusting knob 51 is connected to the third bracket 23 through the third rotating shaft 27.

As shown in fig. 6, two limiting members 242 are disposed in the third installation space 241, one end of each limiting member 242 is connected to the housing 24, the other end of each limiting member 242 extends toward the third bracket 23, the third bracket 23 is provided with a limiting protrusion 243, and the limiting members 242 stop at two sides of the limiting protrusion 243 to limit the angular range of the third bracket 23 rotating around the third axis.

Specifically, as shown in fig. 6 and 7, fig. 7 is a schematic partial structural view of a laser-assisted positioning device 100 according to an embodiment of the present invention. The housing 24 has two circular holes 244, one end of the cylindrical limiting member 242 is inserted into the circular hole 244, and the other end extends toward the third bracket 23. One side of the seventh side wall 235 facing the housing 24 is provided with a block-shaped limiting protrusion 243, the limiting protrusion 243 is located between the two limiting members 242, that is, the two limiting members 242 are located on a rotation path of the third bracket 23 when rotating around the third axial direction, so that when the third bracket 23 rotates around the third axial direction to a position where the limiting protrusion 243 is located, the limiting protrusion 243 can prevent the third bracket 23 from continuing to rotate, thereby limiting a rotation angle range of the third bracket 23 around the third axial direction, and preventing the third bracket 23 from rotating around the third axial direction by an excessively large angle.

In an embodiment, as shown in fig. 6, the driving assembly 5 further includes a pressure adjusting member 52, the third rotating shaft 27 is in threaded connection with the pressure adjusting member 52, and the third rotating shaft 27 sequentially penetrates through the housing 24 and the pressure adjusting member 52 from an axial direction close to the third bracket 23 to an axial direction away from the third bracket 23, and the pressure adjusting member 52 can adjust the magnitude of the friction force between the pressure adjusting member 52 and the housing 24. Since the third rotating shaft 27 is threadedly coupled to the pressure adjusting member 52, when the manual adjustment knob 51 is rotated, the third rotating shaft 27 rotates the pressure adjusting member 52. When the pressure adjusting member 52 is rotated to increase the positive pressure between the pressure adjusting member 52 and the housing 24, the friction force between the pressure adjusting member 52 and the housing 24 is increased, and the rotational friction force of the manual adjusting knob 51 is increased, which is beneficial to reducing the adjusting range of the manual adjusting knob 51, thereby improving the adjusting precision of the manual adjusting knob 51.

Further, as shown in fig. 6, a first friction plate 53 is provided between the pressure adjusting member 52 and the case 24, a second friction plate 54 is provided between the case 24 and the third bracket 23, the surface roughness of the first friction plate 53 is larger than the surface roughness of the pressure adjusting member 52 and the surface roughness of the case 24, and the surface roughness of the second friction plate 54 is larger than the surface roughness of the case 24 and the surface roughness of the third bracket 23. In this manner, when the pressure adjusting member 52 is rotated to increase the positive pressure between the pressure adjusting member 52 and the housing 24, the frictional force between the pressure adjusting member 52 and the housing 24 is further increased, and the frictional force between the third bracket 23 and the housing 24 is also further increased. Therefore, the rotating friction force of the manual adjusting knob 51 is further increased, which is beneficial to further reducing the adjusting range of the manual adjusting knob 51 and greatly improving the adjusting precision of the manual adjusting knob 51.

The material used for the first friction plate 53 and the second friction plate 54 may be rubber, silica gel, foam, or the like.

In an embodiment, as shown in fig. 6, the third bracket 23 further includes a boss 236, and the boss 236 is disposed between the second friction plate 54 and the third bracket 23, and a height of the boss 236 along the axial direction of the third rotating shaft 27 is greater than a height of the limiting protrusion 243 along the axial direction of the third rotating shaft 27. Thus, the distance between the housing 24 and the third bracket 23 is increased, which is beneficial to the movable fit between the limiting protrusion 243 and the limiting member 242.

As shown in fig. 6, the driving assembly 5 further includes a lock nut 55, the lock nut 55 is threadedly coupled to an end of the third rotating shaft 27 remote from the third bracket 23, and the lock nut 55 and the housing 24 lock the first friction plate 53 and the pressure adjusting member 52 to the third rotating shaft 27. The manual adjusting knob 51 is sleeved outside the locking nut 55, and the manual adjusting knob 51 drives the third rotating shaft 27 to rotate through the locking nut 55. Thus, the difficulty in assembling the manual adjusting knob 51 and the third rotating shaft 27 is reduced.

As shown in fig. 2, according to the laser auxiliary positioning device 100 and the laser auxiliary positioning system provided by the present invention, the laser positioning lamp 1 is disposed on the first support 21, and the first support 21 is driven to rotate around the first axial direction by the first driving member 3, so that the laser positioning lamp 1 can rotate around the first axial direction, and thus, the laser auxiliary positioning of the laser auxiliary positioning device 100 in the first axial direction can be achieved. The first bracket 21 and the second bracket 22 are driven by the second driving member 4 to rotate around the second axial direction, so that the laser positioning lamp 1 can synchronously rotate around the second axial direction, and the laser auxiliary positioning of the laser auxiliary positioning device 100 in the second axial direction can be realized. The first support 21, the second support 22 and the third support 23 are driven by the driving assembly 5 to rotate around the third axial direction, so that the laser positioning lamp 1 can synchronously rotate around the third axial direction, and laser auxiliary positioning of the laser auxiliary positioning device 100 in the third axial direction can be realized. Because first axial, second axial and third axial are two liang mutually perpendicular, consequently, can realize the ascending laser assistance-localization real-time in three quadrature axial through laser assistance-localization real-time device 100, adjust the precision height and simple structure, make things convenient for the doctor to carry out laser assistance-localization real-time when treating the patient.

The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.

Claims (10)

1. A laser auxiliary positioning device is characterized by comprising

A housing (24);

the laser positioning lamp (1) is used for emitting laser;

the bracket component (2) is provided with the laser positioning lamp (1), and the bracket component (2) is rotatably arranged on the shell (24); and the number of the first and second groups,

the driving assembly (5) is connected with the bracket assembly (2), and the driving assembly (5) is used for driving the bracket assembly (2) to rotate relative to the shell (24).

2. The laser-assisted positioning device according to claim 1, characterized in that the bracket assembly (2) comprises a first bracket (21), a second bracket (22) and a third bracket (23), the laser positioning lamp (1) being mounted to the first bracket (21), the first bracket (21) being rotatably mounted to the second bracket (22) about a first axial direction, the second bracket (22) being rotatably mounted to the third bracket (23) about a second axial direction, the third bracket (23) being rotatably mounted to the housing (24) about a third axial direction.

3. The laser assisted positioning device of claim 2, wherein the first, second and third axial directions are perpendicular to each other two by two.

4. Laser assisted positioning device according to claim 2, characterized in that the drive assembly (5) comprises a manual adjustment knob (51), the manual adjustment knob (51) being mounted to the housing (24) and the manual adjustment knob (51) being connected to the third bracket (23) by a third rotation shaft (27).

5. The laser-assisted positioning device according to claim 4, further comprising a limiting member (242), wherein the limiting member (242) is mounted to the housing (24) to limit an angular range of rotation of the third bracket (23) about the third rotation axis (27).

6. The laser-assisted positioning device according to claim 4, characterized in that the driving assembly (5) further comprises a pressure adjusting member (52), the third rotating shaft (27) is in threaded connection with the pressure adjusting member (52), and the third rotating shaft (27) sequentially penetrates through the housing (24) and the pressure adjusting member (52) from the axial direction close to the third bracket (23) to the axial direction far from the third bracket (23).

7. The laser-assisted positioning device according to claim 6, characterized in that a first friction plate (53) is arranged between the pressure adjusting member (52) and the housing (24), a second friction plate (54) is arranged between the housing (24) and the third bracket (23), the surface roughness of the first friction plate (53) is larger than the surface roughness of the pressure adjusting member (52) and the surface roughness of the housing (24), and the surface roughness of the second friction plate (54) is larger than the surface roughness of the housing (24) and the surface roughness of the third bracket (23).

8. Laser auxiliary positioning device according to claim 1, characterized in that the laser positioning lamp (1) is a cross cursor laser positioning lamp.

9. The laser auxiliary positioning device according to claim 1, wherein a side wall of the housing (24) is provided with a light hole (81) and a camera (83), the driving assembly (5) is mounted on the other opposite side wall of the housing (24), an optical glass (82) is mounted at the light hole (81), the laser positioning lamp (1) emits laser outwards through the optical glass (82), and the camera (83) is used for capturing an image of an irradiation part of the laser positioning lamp (1).

10. Laser assisted positioning system, characterized in that it comprises a first support arm (7), a second support arm (8) and a laser assisted positioning device (100) according to any of claims 1 to 9, the second support arm (8) being arranged perpendicular to the first support arm (7) and the housing (24) being connected to the second support arm (8).

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