CN216908118U - Positioning adjustment system of operation trolley - Google Patents
Positioning adjustment system of operation trolley Download PDFInfo
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- CN216908118U CN216908118U CN202122837245.8U CN202122837245U CN216908118U CN 216908118 U CN216908118 U CN 216908118U CN 202122837245 U CN202122837245 U CN 202122837245U CN 216908118 U CN216908118 U CN 216908118U
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Abstract
The utility model provides a positioning adjustment system of an operation trolley, which relates to the field of medical instruments and comprises a base, a mobile positioning mechanism, a hanging plate, an image acquisition device and a control center, wherein the base is provided with a positioning mechanism; the suspension disc is fixed on the lower surface of the tail end of the mobile positioning mechanism through a first rotary joint; the image acquisition device comprises an image processor and an image collector fixed on the lower surface of the suspension disc; the collection range of the image collector at least covers the focus area; the control center is in communication connection with the mobile positioning mechanism, the hanging scaffold and the image acquisition device; the control center is provided with a positioning interface, and the data information acquired by the image acquisition device is displayed on the positioning interface. Compared with the existing mode of carrying out initial positioning through manual observation, the scheme provided by the utility model has the advantages of high positioning accuracy and strong reliability.
Description
Technical Field
The utility model relates to the field of medical instruments, in particular to a positioning and adjusting system of an operation trolley.
Background
With the continuous development of medical instruments, computer technology and control technology, surgical robots are increasingly widely applied by the advantages of high stability, small surgical trauma, short rehabilitation time, less pain of patients and the like. Among them, the abdominal cavity surgical robot is a representative of surgical robots, and the abdominal cavity surgical robot is also called as an "endoscopic surgical instrument control system" and is composed of a doctor console, a patient surgical platform, and an image platform. Compare traditional operation auxiliary robot, abdominal cavity operation robot possesses the location more accurate in clinical application, can reduce the operation wound, promote patient's wound healing speed. When the operation is performed, one end of an operation arm of the patient operation platform is provided with an operation instrument, the operation instrument is enabled to go deep into the human body by controlling the movement of the mechanical arm, and the surgical operations of different parts are realized.
The surgical robot hand needs to be placed before operation according to the operation requirement. Specifically, by medical personnel with patient's operation platform push away the operating room to place beside the sick bed, manually adjust the operation platform truck by medical personnel people again, make the workspace of the operation arm that the operation platform truck carried on cover the internal operation region of patient, mainly rely on the eyes to judge whether the adjustment of robot targets in place, it is higher to medical personnel's technical ability requirement.
Chinese patent with application number CN201811174941.1 discloses a flexible surgical robot for single-hole minimally invasive surgery and a using method thereof, comprising a main control trolley, an equipment trolley, at least two surgical trolleys beside a surgical bed and a single-hole puncture outfit, wherein, the first surgical trolley carries a laparoscope tool to collect images of a surgical part, and the other second surgical trolleys carry surgical tools to perform surgery. The main control trolley is used for providing a platform for operating the operation trolley remotely and observing images of an operation part for an operator, and the equipment trolley is used for positioning the operation trolley, receiving signals from the main control trolley and providing power and control signals for tools carried by the operation trolley. The utility model can send the signal to the equipment trolley on the platform through the collected image, and the equipment trolley controls the operation trolley to position according to the control signal of the main control trolley, but the equipment has more quantity, large occupied area, high cost and inconvenient operation.
If the initial positioning of the operation trolley carrying the operation robot is not ideal enough, the operation in the operation is often influenced, multi-arm interference or frequent touching of the boundary of the working space is caused, the operation time is prolonged by a light person, and the operation failure can be caused seriously. Therefore, it is necessary to design a positioning adjustment system for an operation trolley, in which an operation arm is mounted on the operation trolley, so that the accurate positioning between the operation trolley and a patient can be realized before an operation, the working space and the working smoothness of the operation robot are ensured, and the system has a simple and compact structure and is convenient to operate.
SUMMERY OF THE UTILITY MODEL
Based on the above problems, the present invention aims to provide a positioning adjustment system for a surgical trolley.
In order to achieve the purpose, the utility model provides the following technical scheme:
the utility model provides a positioning adjustment system of operation platform truck, includes the base and fixes the mobile location mechanism on the base, its characterized in that: the device also comprises a hanging plate, an image acquisition device and a control center;
the suspension disc is fixed on the lower surface of the tail end of the mobile positioning mechanism through a first rotary joint;
the image acquisition device comprises an image processor and an image collector fixed on the lower surface of the suspension disc; the acquisition range of the image collector at least covers the operation focus area;
the image processor, the image collector and the control center are in communication connection;
the image processor is used for analyzing the image information acquired by the image acquirer, acquiring data information and transmitting the data information to the control center;
the control center is in communication connection with the mobile positioning mechanism, the hanging scaffold and the image acquisition device;
the control center is provided with a positioning interface, and the data information is displayed on the positioning interface.
Preferably, the surgical marker is positioned in the surgical lesion area; and a central mark of the suspension disc is arranged on the positioning interface.
Preferably, the image collector is fixed on the rotation center of the hanging scaffold.
Preferably, the mobile positioning mechanism comprises a lifting mechanism and a telescopic mechanism, the telescopic mechanism is connected with the lifting mechanism through a second rotary joint, and the telescopic mechanism rotates around the axis of the second rotary joint under the control of the control center.
Preferably, an axis of the second rotary joint coincides with an axis of the lifting mechanism.
Preferably, the lifting mechanism comprises a lifting rod seat and a lifting rod, the lifting rod seat is fixed on the base, the lifting rod part is coaxially embedded into the lifting rod seat, and the lifting rod moves along the axis of the lifting rod under the control of the control center.
Preferably, the telescopic mechanism comprises a telescopic rod seat and a telescopic rod which are coaxially arranged, the telescopic rod part is coaxially embedded in the telescopic rod seat, and the telescopic rod moves along the axis of the telescopic rod under the control of the control center.
Preferably, the first rotary joint is fixed to a lower surface of the telescopic rod.
Preferably, the steering center is mounted on a side of the mobile positioning mechanism.
Preferably, more than two operation mechanical arms are carried on the suspension platform; the operation mechanical arm is electrically connected with the operation center.
Compared with the prior art, the utility model has the following advantages:
according to the technical scheme of the utility model, the movement positioning mechanism and the suspension disc are controlled by the control center to move to the proper positions, and the image collector can collect the image information of the surgical lesion area.
The image processor is used for analyzing and identifying the image information collected by the image collector to obtain data information and then transmitting the data information to the control center; the operation center is provided with a positioning interface, data information can be displayed on the positioning interface, medical workers can clearly see the data information of the operation focus area by adjusting the positioning interface of the operation center, and the operation focus on the positioning interface can be quickly adjusted to the most reasonable position by manually adjusting the position of the movable positioning mechanism through the operation center.
Compared with a mode of judging manually by naked eyes, the scheme disclosed by the utility model has the advantages of high positioning accuracy and strong reliability.
Drawings
FIG. 1 is a schematic view of the overall structure of a positioning adjustment system of a surgical trolley;
FIG. 2 is a partial schematic view of a portion of a hanging scaffold in the positioning adjustment system of the surgical trolley;
FIG. 3 is an image acquisition range of an image acquisition device in a positioning adjustment system of a surgical trolley;
fig. 4 is a workflow of the positioning adjustment system of the surgical trolley.
Reference numerals:
i, image acquisition range;
1-a base; 2-a lifting mechanism; 201-lifting rod base; 202-a lifting rod;
3-a telescoping mechanism; 301-a telescopic rod seat; 302-a telescoping rod;
4-hanging a hanging scaffold; 5-an image collector; 6-a steering centre; 7-a first rotary joint; 8-a second rotary joint; 9-a surgical robotic arm; 10-operating table; 11-image collector stand.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention.
In the description of the present application, it is to be understood that the terms "length," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. indicate orientations or positional relationships based on those illustrated in the drawings, which are merely for convenience in describing the present application 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 thus should not be considered limiting of the present application.
Example one
As shown in fig. 1-3, a positioning adjustment system for a surgical trolley comprises a base 1, a mobile positioning mechanism, a hanging plate 4, an image acquisition device and a control center 6.
Four caster wheel components are installed at four corners of the lower surface of the base 1, so that the whole mechanism can be moved and parked conveniently.
The mobile positioning mechanism is used for realizing the pose transformation of the tail end of the mechanism, in the application, the mobile positioning mechanism comprises a telescopic mechanism 3 and a lifting mechanism 2, the telescopic mechanism 3 is connected with the lifting mechanism 2 through a second rotary joint 8 and is perpendicular to the lifting mechanism 2, the telescopic mechanism 3 can rotate around the axis of the second rotary joint 8 under the control of the control center 6, wherein the axis of the second rotary joint 8 is overlapped with the axis of the lifting mechanism 2, and therefore the whole telescopic mechanism 3 can rotate around the axis of the lifting mechanism 2.
The lifting mechanism 2 comprises a lifting rod seat 201 and a lifting rod 202, the lifting rod seat 201 is fixed on the base 1, the lifting rod 202 is partially embedded in the lifting rod seat 201 coaxially, and the lifting rod 202 can move along the axis of the lifting rod 202 under the control of the operating center 6. The telescopic mechanism 3 comprises a telescopic rod seat 301 and a telescopic rod 302 which are coaxially arranged, the telescopic rod 302 is partially embedded in the telescopic rod seat 301 coaxially, and the telescopic rod 302 moves along the axis of the telescopic rod seat 301 under the control of the control center 6.
As shown in fig. 1, the lifting rod 202 in the lifting mechanism 2 can move up and down along the Z direction, and since the telescopic mechanism 3 is perpendicular to the lifting mechanism 2 and the telescopic rod base 301 in the telescopic mechanism 3 is connected with the lifting rod 202 through the second rotary joint 8, the telescopic mechanism 3 can rotate around the Z axis, and the telescopic rod 302 can move back and forth in the Y direction.
The suspension platform 4 is fixed on the lower surface of the tail end of the mobile positioning mechanism through a first rotary joint 7; the suspended platform 4 rotates around the axis of the first rotary joint 7 under the control of the steering center 6; wherein the first rotary joint 7 is fixed on the telescopic rod 302 and moves along with the movement of the telescopic rod 302; the first rotary joint 7 may be fixed to an end or a lower surface of the telescopic rod 302. The suspension platform 4 is driven by the first rotary joint 7 to move synchronously along the direction of the telescopic rod 302, and the suspension platform 4 rotates around the axis of the first rotary joint 7, i.e. also around the Z-axis.
The image acquisition device comprises an image processor and an image collector 5 fixed on the lower surface of the hanging plate 4; the image collector 5 can collect pictures and videos, and a video camera, a camera and the like can be selected. The image collector 5 is fixed on the lower surface of the hanging plate 4 through the image collector seat 11, and as the rotation center is more stable and has better anti-shaking performance, the shot picture is clearer and is fixed on the rotation center, the deviation generated when the image collector 5 collects the image when the hanging plate 4 rotates can be avoided, and therefore the image collector 5 is preferably fixed on the rotation center of the hanging plate 4. The image acquisition range I of the image acquirer 5 covers the operation focus area. Preferably, the image acquisition opening of the image acquirer 5 is opposite to the operation area.
And a control center 6 is arranged on the side surface of the mobile positioning mechanism, and the control center 6 is in communication connection with the mobile positioning mechanism, the suspension disc 4 and the image acquisition device. The steering center 6 can control the movement of the moving positioning mechanism and the suspension plate 4.
The image data transmission is carried out between the image collector 5 and the image processor through an image data transmission line; the image processor is in communication connection with the control center 6 and is used for analyzing and identifying the image information acquired by the image acquirer 5 to obtain data information and then transmitting the data information to the control center 6; the control center 6 has a positioning interface on which the data information is displayed.
More than two operation mechanical arms 9 are carried on the hanging scaffold 4; the surgical robot 9 is electrically connected to the manipulation center 6. In the process of initial positioning movement, the surgical robot arm 9 is in a position that does not obstruct the view of the image collector 5, and after the initial positioning is finished, the control center 6 starts to control the surgical robot arm 9 to perform surgical preparation.
As shown in fig. 4, the operation flow of the positioning adjustment system of the surgical trolley is as follows:
s1, medical staff performs other operation preparations including sleeving sterile bags and the like;
s2, medical staff operates the operation trolley to move to the position near the operation bed, and the positioning adjustment system is started;
s3, a positioning interface appears on a panel of a control center 6 of the operation trolley, and data information is displayed on the positioning interface in real time;
s4, operating the mobile positioning mechanism and the adjusting mechanism of the mobile operation trolley by operating the panel of the control center 6 to make the operation area in the image acquisition range;
s5, the medical staff manually controls and operates the mobile positioning mechanism to enable the data information in the positioning interface to be in the best operation position, and the initial positioning is completed.
Example two
The technical scheme adopted in the second embodiment is similar to that in the first embodiment, wherein the second embodiment is different from the first embodiment in the following points:
1. adding a surgical marker attached to a surgical site of a surgical target; taking a laparoscopic surgery as an example, the surgical marker can be a poking card used for surgery, and medical personnel need to establish a channel through the poking card and put in a lens of an endoscope, and complete cutting and suturing of the surgery by operating instruments in a poking card hole, so that the surgical site of a patient can be effectively represented. The lens of the image collector 5 faces the operation site of the patient on the operation table 10, and the image collection range i of the image collector 5 covers all the operation markers.
2. The control center 6 is provided with a positioning interface, and data information acquired by the image acquisition device is displayed on the positioning interface, wherein the data information comprises surgical marker information; a central mark of the suspension disc is arranged on the positioning interface; the control center 6 generates a central target position of the suspension platform on the positioning interface based on the relative position of the marker, and the central target position of the suspension platform and the central mark of the suspension platform have certain position deviation at the moment, and the central target position of the suspension platform and the central mark of the suspension platform can be overlapped in a manual or manual mode to finish initial positioning.
As shown in fig. 4, in this embodiment, the work flow of the positioning adjustment system of the surgical trolley is as follows:
s1, medical staff performs other operation preparations including sleeving sterile bags and driving operation markers into the sterile bags in advance, such as a stamping card and the like;
s2, medical staff operates the operation trolley to move to the position near the operation bed, and the positioning adjustment system is started;
s3, a positioning interface appears on a panel of a control center 6 of the operation trolley, an image collector 5 image is displayed on the positioning interface in real time, and meanwhile, a center mark of a suspension disc is arranged on the interface image;
s4, operating personnel operate the mobile positioning mechanism and the adjusting mechanism of the mobile operation trolley through the panel of the operation center 6 to ensure that the operation area and the operation marker are both in the image acquisition range;
s5, optionally, recognizing an operation marker through an image by software, generating a central target position of the suspension plate based on the relative position of the operation marker, prompting on a positioning interface, and manually controlling the operating device by medical personnel to set the center of the suspension plate to coincide with the target position;
s6, optionally, the software recognizes the operation marker through the image, generates the target position of the center of the suspension plate based on the relative position of the operation marker, prompts on the interface image, and automatically generates the movement instruction until the target position and the current actual position of the center of the suspension plate deviate based on the actual position of the target position and the current center of the suspension plate under the authorization of the medical staff.
The steps S5 and S6 are optional operations, and any one of them can achieve the purpose of initial positioning, but compared with the step embodiments, the steps S5 and S6 are based on an image recognition technology, so that the positioning accuracy is high and the reliability is strong. In addition, when the position ratio of the central target of the hanging plate to the central mark of the hanging plate on the positioning interface is relatively balanced, the medical staff manually superposes according to the operation of the step S5, or the step S6 can be selected, the authorized operation center 6 automatically generates a motion track according to the position deviation, and the position of the hanging plate 4 at the tail end of the operation trolley is adjusted, so that the operation is convenient, and the manpower is liberated.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the utility model. It should be noted that, for those skilled in the art, it is possible to make various changes and modifications, such as changes in the moving structure, without departing from the concept of the present invention, and such obvious alternatives are included in the scope of the present invention.
Claims (10)
1. The utility model provides a positioning adjustment system of operation platform truck, includes the base and fixes the mobile location mechanism on the base, its characterized in that: the device also comprises a hanging plate, an image acquisition device and a control center;
the suspension disc is fixed on the lower surface of the tail end of the mobile positioning mechanism through a first rotary joint;
the image acquisition device comprises an image processor and an image collector fixed on the lower surface of the suspension disc; the image acquisition range of the image collector at least covers the operation focus area;
the image processor, the image collector and the control center are in communication connection;
the image processor is used for analyzing the image information acquired by the image acquirer, analyzing the image information to obtain data information and transmitting the data information to the control center;
the control center is in communication connection with the mobile positioning mechanism, the hanging scaffold and the image acquisition device;
the control center is provided with a positioning interface, and the data information acquired by the image acquisition device is displayed on the positioning interface.
2. The system of claim 1, wherein the positioning adjustment system comprises: further comprising a surgical marker located at the surgical lesion area; and a central mark of the suspension disc is arranged on the positioning interface.
3. A system for adjusting the positioning of a surgical trolley according to claim 1 or 2, characterized in that: the image collector is fixed on the rotating center of the hanging scaffold.
4. The system of claim 1, wherein the positioning adjustment system comprises: the mobile positioning mechanism comprises a lifting mechanism and a telescopic mechanism, the telescopic mechanism is connected with the lifting mechanism through a second rotary joint, and the telescopic mechanism rotates around the axis of the second rotary joint under the control of the control center.
5. The system of claim 4, wherein the positioning adjustment system comprises: the axis of the second rotary joint is coincident with the axis of the lifting mechanism.
6. The system of claim 4, wherein the positioning adjustment system comprises: the lifting mechanism comprises a lifting rod seat and a lifting rod, the lifting rod seat is fixed on the base, the lifting rod part is coaxially embedded into the lifting rod seat, and the lifting rod can move along the axis of the lifting rod under the control of the control center.
7. The system of claim 4, wherein the positioning adjustment system comprises: the telescopic mechanism comprises a telescopic rod seat and a telescopic rod which are coaxially arranged, the telescopic rod part is coaxially embedded into the telescopic rod seat, and the telescopic rod moves along the axis of the telescopic rod seat under the control of the control center.
8. The system of claim 7, wherein the positioning adjustment system comprises: the first rotary joint is fixed on the lower surface of the telescopic rod.
9. The system of claim 1, wherein the positioning adjustment system comprises: the manipulation center is arranged on the side surface of the mobile positioning mechanism.
10. The system of claim 1, wherein the positioning adjustment system comprises: at least two operation mechanical arms are carried on the hanging scaffold; the operation mechanical arm is electrically connected with the operation center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122837245.8U CN216908118U (en) | 2021-11-18 | 2021-11-18 | Positioning adjustment system of operation trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122837245.8U CN216908118U (en) | 2021-11-18 | 2021-11-18 | Positioning adjustment system of operation trolley |
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| CN216908118U true CN216908118U (en) | 2022-07-08 |
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| CN202122837245.8U Active CN216908118U (en) | 2021-11-18 | 2021-11-18 | Positioning adjustment system of operation trolley |
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