CN218420033U - Dual-mode vehicle base and patient trolley of endoscopic surgery robot system - Google Patents

Abstract

The utility model discloses a double-mode vehicle base and a patient trolley of a robot system for endoscopic surgery; the patient trolley adopts the dual-mode trolley base. The dual-mode vehicle base at least comprises a chassis frame, a lifting support assembly and a manual switching assembly; two front corners of the chassis frame are respectively provided with a walking support device, and two rear corners of the chassis frame are respectively provided with a rear walking device; the walking support device comprises universal wheels and a foot support assembly; the rear walking device comprises a driving wheel and a power device for driving the driving wheel; the manual switching assembly is configured to drive the foot cup of the foot support assembly to move upwards when the vehicle bottom seat is powered off, so that the problem that medical staff cannot go to a cart to walk when the vehicle bottom seat is powered off is solved. In addition, the manual switching assembly and the walking supporting device are simple in structure and easy to operate.

Description

Dual-mode vehicle base and patient trolley of endoscopic surgery robot system

Technical Field

The utility model relates to an apparatus field medical instrument field especially relates to a double mode car base and laparoscopic surgery robot system's patient's platform truck.

Background

The minimally invasive surgery is a medical technology for performing operations in a human body through endoscopes such as a laparoscope and a thoracoscope, and has the advantages of short positioning time, small wound, light pain, quick recovery and the like compared with the traditional surgical operation.

In the modern surgical robot-assisted minimally invasive surgery, a doctor mainly performs the surgery in a master-slave teleoperation mode, namely, the doctor only needs to sit in an operation table and is positioned outside a sterile area of an operating room, and two main controllers are operated by two hands to control surgical instruments arranged on a patient trolley so as to complete the surgical operation.

Currently, the base of the patient table is mostly dual-mode to accommodate both powered and unpowered states. The chassis part of the dual-mode vehicle base is generally composed of a motor, a foot support assembly, a mode switching device and the like. In the conventional design, the parts are not related too much, separate actions are needed to realize the functions, the steps are complex, and the adaptability is poor.

Chinese patent CN111374769A (patent name: lifting mobile platform for medical manipulator), the disclosed lifting mobile platform comprises a platform body and travelling wheels, the travelling wheels comprise two front travelling wheels respectively arranged at the front side of the bottom of the platform body, two rear travelling wheels respectively arranged at the rear side of the bottom of the platform body, a lifting mechanism and a supporting seat which is arranged on the lifting mechanism and driven by the lifting mechanism to lift, the number of the supporting seat is matched with the number of the travelling wheels, and the supporting seat is respectively arranged at the front side and the rear side of the bottom of the platform body; the number of the lifting mechanisms is matched with the number and the positions of the supporting seats, a pressure sensor is installed on the supporting seat on one side of one of the rear walking wheels, and the pressure sensor and the lifting mechanisms are controlled by a single chip microcomputer to work. The lifting mechanism comprises a driving motor and a worm and gear elevator in belt transmission with the driving motor, the driving motor is arranged on one side of the worm and gear elevator, a motor shaft of the driving motor is parallel to an axis of a power input shaft of the worm and gear elevator, and the supporting seat is installed on a lifting screw rod of the worm and gear elevator through a bearing. Although the base can move and the lifting mechanism can realize stable parking, the lifting mechanism is complex; and when the power is lost, the lifting mechanism can not lift, and the medical staff can not go to the cart for walking.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a dual-mode vehicle chassis to solve the above-mentioned problems.

Mesh for this reason, the utility model provides a following technical scheme:

a dual-mode vehicle chassis at least comprises a chassis frame, a lifting support assembly and a manual switching assembly; two front corners of the chassis frame are respectively provided with a walking support device, and two rear corners of the chassis frame are respectively provided with a rear walking device; the walking support device comprises universal wheels and a foot support assembly; the rear walking device comprises a driving wheel and a power device for driving the driving wheel; the manual switching assembly is configured to drive a part of the foot support assembly, which is in contact with the ground, to perform ascending motion when the vehicle bottom seat is powered off.

Furthermore, the manual switching assembly comprises a switching handle mechanism, a switching gear and a rod mechanism, the middle part of the rod mechanism is meshed with the switching gear, and two ends of the rod mechanism are respectively meshed with the corresponding foot support assemblies; the switching handle mechanism is configured to be able to manually drive the switching gear to rotate.

Furthermore, the rod mechanism comprises a main switching rod and an edge switching rod, two ends of the main switching rod are respectively connected with the edge switching rod, and the main switching rod and the edge switching rod are integrally formed or split; one side of the main switching rod and one side of the side switching rod are respectively provided with teeth.

Further, the rod mechanism is connected with the top surface of the chassis frame through a sliding rail and sliding block structure.

Further, one of the main switching lever and the top surface of the chassis frame has a slide rail, and the other of the main switching lever and the top surface of the chassis frame has a slider.

Furthermore, the foot support assembly comprises a foot cup, a support motor, a screw rod and a transmission shaft; the bottom of the screw rod is provided with the foot cup; a driven gear is arranged at the lower part of the screw rod; the upper part of the transmission shaft is sleeved with a band-type brake ring assembly, the lower part of the transmission shaft is provided with a driving gear, and the driving gear is meshed with the driven gear; the middle part of the transmission shaft is meshed with one end of the rod piece mechanism; in the power-on state, the band-type brake ring assembly is configured to release the transmission shaft; when the power is lost, the band-type brake ring assembly is configured to tightly hold the transmission shaft; the driving gear is arranged on the one-way bearing; the supporting motor can drive the driven gear to rotate.

Further, the foot support assembly further comprises a guide rod; the guide bar with lead screw parallel arrangement, just both ends are connected with the mounting bracket respectively about the guide bar, the lead screw with be located the lower extreme the mounting bracket can be connected with reciprocating, the lead screw is worn to establish and is located the upper end in the mounting bracket.

Further, a motor gear is mounted on an output shaft of the supporting motor, and the motor gear is meshed with the driven gear.

Furthermore, the switching handle mechanism comprises a handle and an installation frame, the installation frame is installed on the top surface of the chassis frame, the handle is located in the installation frame and connected with a gear shaft of the switching gear, and two ends of the outer end of the installation frame are respectively provided with an inductor; the handle rotates between the two inductors.

Further, the power device comprises a power motor and a power reducer; the power motor is connected with the power speed reducer, and an output shaft of the power motor is externally connected with a band-type brake connected with the UPS power supply system; the power speed reducer is connected with the driving wheel.

In order to achieve the above object, the utility model also provides a patient trolley of the endoscopic surgery robot system, which comprises a positioning adjustment system and the above dual-mode trolley base; the lower end of the positioning adjustment system is fixed on the dual-mode vehicle base, and the upper end of the positioning adjustment system is provided with a mechanical arm.

The utility model has the advantages as follows:

the patient trolley of the dual-mode trolley base and endoscopic surgery robot system comprises a chassis frame, a lifting support assembly and a manual switching assembly; two front corners of the chassis frame are respectively provided with a walking support device, and two rear corners of the chassis frame are respectively provided with a rear walking device; the walking support device comprises universal wheels and a foot support assembly; when the vehicle is powered on, the walking support device and the rear walking device can carry out expected work by depending on an electric drive system of the vehicle base; when the vehicle bottom seat loses power, the manual switching assembly can drive the part of the foot support assembly, which is contacted with the ground, to move upwards, so that the problem that medical staff cannot go to a cart to walk when losing power is solved. In addition, the manual switching assembly and the walking supporting device are simple in structure and easy to operate.

Drawings

In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only one or several embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive efforts.

FIG. 1 is a perspective view of the dual mode vehicle base of the present invention, with the top surface of the vehicle base facing upward;

FIG. 2 is a perspective view of the dual mode vehicle base of the present invention in another orientation, wherein the bottom surface of the vehicle base is facing upward;

fig. 3 is a front view of the manual switching assembly of the present invention;

FIG. 4 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 3;

fig. 5 is a schematic view of the lever mechanism of the present invention;

FIG. 6 is a perspective view of the footrest assembly of the present invention;

FIG. 7 is a perspective view of the foot support assembly of the present invention in another orientation;

FIG. 8 is a schematic view of the footrest assembly of the present invention;

FIG. 9 isbase:Sub>A cross-sectional view taken along A-A in FIG. 8;

FIG. 10 is a cross-sectional view taken along line B-B of FIG. 8;

fig. 11 is a bottom view of the power unit of the present invention;

FIG. 12 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 11;

fig. 13 is a front view of the power unit of the present invention;

fig. 14 is a schematic view of a patient trolley of a robotic endoscopic surgery system according to the present invention.

Reference numerals:

100. double-mode base 2 manual switching assembly 3 walking supporting device

200. Universal wheel of positioning adjustment system 21 switching handle mechanism 31

300. Mechanical arm 22 switching gear 5 foot support assembly

1. Chassis frame 221 switches gear shaft 51 foot cup

4. Rear running gear 23 rod mechanism 52 support motor

41. Screw rod 53 of 24-edge switching rod of driving wheel

42. Driven gear 531 of power device 241

421. Transmission shaft of main switching rod 54 of power motor 25

422. Driving gear 541 internal contracting brake ring component of power speed reducer 251

423. Driving gear of band-type brake 26 sensor 542

424. Fixing frame 55 guide rod 5421 one-way bearing

551. Upper mounting rack 552 and lower mounting rack 543 middle gear

5521. Contact ball bearing

Detailed Description

The conception, specific structure and technical effects of the present invention will be described clearly and completely with reference to the accompanying drawings and embodiments, so as to fully understand the objects, aspects and effects of the present invention. It should be noted that, in the case of no conflict, the features in the embodiments of the present application may be combined with each other.

It should also be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to specific situations. In addition, the utility model discloses an in the description car base be equal to double mode car base, the car base is double mode car base one kind and is abbreviated for short.

The following describes the dual-mode vehicle chassis in detail with reference to the embodiments.

Referring to fig. 1 and 2, the dual mode vehicle chassis of the present invention at least comprises a chassis frame 1, a lifting support assembly, and a manual switching assembly 2. When the vehicle bottom seat runs or stops, the surface of the chassis frame 1 facing the ground is a bottom surface, and the surface opposite to the bottom surface is a top surface. The two front corners of the chassis frame 1 are respectively provided with a walking support device 3, and the two rear corners of the chassis frame are respectively provided with a rear walking device 4.

The rear running gear 4 includes a drive wheel 41 and a power unit 42 for driving the drive wheel 41. When the power device works, the power device 42 provides power for the two driving wheels 41 at the rear end of the bottom of the vehicle, and drives the driving wheels 41 to rotate so as to drive the vehicle base to walk. The walking support device 3 comprises a universal wheel 31 and a foot support component 5, wherein the universal wheel 31 is installed on the bottom surface of the vehicle bottom through a caster wheel installation frame; the universal wheel 31 can rotate 360 degrees horizontally, and is convenient to steer when the vehicle base travels.

When the vehicle base travels to a designated position, the motor drives the part of the foot support component 5 for contacting with the ground to descend to the ground, so as to support the vehicle base and realize the parking of the vehicle base.

When emergency leads to car base outage, and the car base loses power, can be through installing this car base top surface manual switching subassembly 2 drive the part that supplies with ground contact of heel brace subassembly 5 takes place the rising motion, thereby is convenient for promote through the manual work car base walks.

The manual switch assembly 2 disclosed with the present vehicle chassis will be described in detail below.

As shown in fig. 3 and 4, the manual switching assembly 2 includes a switching handle mechanism 21, a switching gear 22, and a lever mechanism 23. The middle part of the rod mechanism 23 is meshed with the switching gear 22, and the two ends of the rod mechanism are respectively meshed with the corresponding foot support assemblies 5, as shown in fig. 1; the switching gear 22 can be driven to rotate by manually operating the switching handle; when the switching gear 22 rotates, the rod mechanism 23 engaged with the switching gear 22 is driven to move, and then the rod mechanism 23 drives the foot support assembly 5 to move, so as to drive the part of the foot support assembly 5, which is in contact with the ground, to move upwards and separate from the ground; after the part of the foot supporting component 5, which is in contact with the ground, is separated from the ground, the vehicle base can be easily pushed by a person to walk.

Further, referring to fig. 5, the middle of the lever mechanism 23 is engaged with the switching gear 22 to form a first engagement area, and the outer sides of both ends thereof are engaged with the corresponding footrest assembly 5 to form a second engagement area. The first engagement area and the second engagement area are not in the same direction.

Further, the lever mechanism 23 includes a main switching lever 25 and two side switching levers 24, and all of the main switching lever 25 and the side switching levers 24 are arranged in the X-Y plane. Specifically, two ends of the main switching rod 25 are respectively connected with one side switching rod 24, one side of each of the main switching rod 25 and the side switching rod 24 is respectively provided with a tooth, the tooth on the side switching rod 24 is a driven tooth 241, and the driven tooth 241 is in an X-Y plane and extends along an X direction; the teeth on the main switching lever 25 are driving teeth 251; the driving tooth 251 is located on an X-Z plane and extends along the X direction; the X-Z plane is perpendicular to the X-Y plane and the X-Y plane is parallel to the top surface of the cart base, see fig. 1 and 5.

Referring to fig. 1, 4 and 5, two sets of driving teeth 251 are respectively engaged with the corresponding foot support members 5; the drive teeth 251 are engaged with the switching gear 22. The switching gear 22 is fixedly installed on a switching gear shaft 221, part of the switching gear shaft 221 leaks out of the switching gear 22 and is fixedly connected with one end of the switching handle, and the other end of the switching handle is held by a hand. When the hand holding end of the switching handle is held by a hand to move, the switching gear 22 is driven to rotate, the switching gear 22 drives the driving tooth 251 to move, the main switching rod 25 moves simultaneously, the side switching rod 24 moves along with the main switching rod 25, and at this time, the driving tooth 251 moves, so that the corresponding foot support assembly 5 is driven to move, and a part of the foot support assembly 5, which is in contact with the ground, is driven to move upwards and is separated from the ground.

Further, the main switch lever 25 and the side switch lever 24 are integrally formed, or the main switch lever 25 and the side switch lever 24 are designed in a split manner.

Referring to fig. 1 and 2, in order to improve the moving reliability and moving precision of the manual switching assembly 2, a guiding mechanism (not shown) is further designed between the rod mechanism 23 and the top surface of the chassis frame 1, and specifically, the guiding mechanism includes a sliding block and a sliding rail; when the surface of the rod member mechanism 23 facing the chassis frame 1 is provided with a sliding block, the top surface of the chassis frame 1 is provided with a guide rail, and the guide rail is matched with the sliding block. When the surface of the rod member mechanism 23 facing the chassis frame 1 is provided with a slide rail, the top surface of the chassis frame 1 is provided with a slide block. The slide block can be integrated with the top surface of the chassis frame 1 or the rod member mechanism 23; the slider may also be detachably mounted on the top surface of the chassis frame 1 by a fastener or a clip, or may be detachably mounted on the lever mechanism 23 by a fastener or a clip. Similarly, the slide rail may be integrally formed with the top surface of the chassis frame 1, or integrally formed with the rod member mechanism 23, and the slide rail may also be detachably mounted on the top surface of the chassis frame 1 by a fastener or a fastener, or detachably mounted on the rod member mechanism 23 by a fastener or a fastener.

In the present invention, the guiding mechanism may be disposed between the main switching lever 25 and the top surface of the chassis frame 1; the guide mechanism may also be provided between each of the side switching levers 24 and the top surface of the chassis frame 1.

Referring to fig. 6 to 10, the footrest assembly 5 of the present invention includes a footrest cup 51, a support motor 52, a lead screw 53 and a transmission shaft 54; the bottom of the screw rod 53 is provided with the foot cup 51; a driven gear 241 is arranged at the lower part of the screw rod 53; the upper part of the transmission shaft 54 is sleeved with a band-type brake ring assembly 541, the lower part of the transmission shaft is provided with a driving gear 542, and the driving gear 542 is meshed with the driven gear 241; the middle of the drive shaft 54 engages the outside of the edge-switching lever 24 of the lever mechanism 23. When the vehicle bottom seat is parked, the foot cup 51 is contacted with the ground, and the function of supporting the vehicle bottom seat is achieved.

Referring to fig. 6 to 10, when the chassis of the vehicle is in a power-off state, the band-type brake ring assembly 541 is configured to tightly hold the transmission shaft 54, and the switching handle mechanism 21 is manually operated, so that the side switching rod 24 moves, and then the side switching rod 24 drives the transmission shaft 54 to rotate, and meanwhile, the driving gear 542 rotates in the same direction as the transmission shaft 54, and the driving gear 542 drives the driven gear 241 to rotate; when the driven gear 241 rotates, the screw 53 rotates and ascends along with the driven gear 241; thereby achieving the purpose of separating the foot cup 51 from the ground. Further, the driving gear 542 is fixedly mounted on the one-way bearing 5421, and the driving gear 542 can only rotate in one direction, and specifically, the driving gear 542 can only drive the cup 51 to rotate in a direction away from the ground.

As shown in fig. 5 and 9, the driven gear 241 is geared with a support motor 52. Specifically, a motor gear is mounted on an output shaft of the support motor 52, and the motor gear is meshed with the driven gear 241. When the vehicle chassis is in the energized state, the band-type brake ring assembly 541 is configured to release the drive shaft 54.

Referring to fig. 10, in order to improve the motion precision of the lead screw 53, the foot support assembly 5 further comprises a guide rod 55; the guide rod 55 and the screw rod 53 are arranged in parallel, mounting frames are respectively mounted at the upper end and the lower end of the guide rod 55, the mounting frame mounted at the upper end of the guide rod is an upper mounting frame 551, and the mounting frame mounted at the lower end of the guide rod is a lower mounting frame 552. The lower end of the screw 53 is slidably connected with the lower mounting bracket 552 through the contact ball bearing 542, and the upper end of the screw 53 is inserted into the upper mounting bracket 552.

Further, referring to fig. 3, the switching handle mechanism 21 includes a handle and a mounting bracket, the mounting bracket is mounted on the top surface of the chassis frame 1, the handle is located in the mounting bracket and connected to the gear shaft of the switching gear 22, and two ends of the outer end of the mounting bracket are respectively mounted with one inductor 26; the handle rotates between the two inductors 26. When the handle is in one of the sensor 26 positions it indicates that the truck base is in the powered state and when the handle is in the other sensor 26 position it indicates that the truck base has been switched to the manual state.

Further, referring to fig. 11 to 13, the power device 42 includes a power motor 421 and a power reducer 422; the power motor 421 and the power reducer 422 are mounted on the vehicle base through the fixing frame 55. The power motor 421 is connected to the power reducer 422, and an output shaft (not shown) of the power motor 421 is externally connected to a band-type brake 423 connected to a UPS power supply system (not shown); the power reducer 422 is connected to the driving wheel 41. The contracting brake 423 can be tightly held on the output shaft (not shown) through the UPS power supply system, or the output shaft is loosened.

Referring to fig. 11, the patient trolley of the laparoscopic surgical robotic system of the present invention includes a positioning adjustment system 200, a robot arm 300, and the dual-mode trolley base 100 described above; the lower end of the alignment system 200 is secured to the dual mode vehicle chassis 100 and at least one robotic arm 300 is mounted to the upper end of the alignment system 200. At least one of the robot arms 300 has an instrument (not shown) mounted at its end; the endoscopic surgical robot system completes surgical operation by remotely controlling the instruments.

When the multi-mode vehicle base shown in fig. 1 and fig. 2 is powered on, the walking support device 3 and the rear walking device 4 can perform expected work by means of an electric driving system of the vehicle base; when the vehicle bottom seat loses power, the manual switching component 2 can drive the foot cup 51 of the foot support component 5 to move upwards, so that the problem that medical staff cannot go to a cart to walk when losing power is solved. In addition, the manual switching assembly 2 is simple in structure and easy to operate.

The utility model discloses a multi-mode car base not only is applicable to laparoscopic surgery robot system, also can be applicable to other medical platform trucks, industrial trolley etc..

The above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the examples, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.

Claims (10)

1. A dual-mode vehicle chassis is characterized by at least comprising a chassis frame, a lifting support assembly and a manual switching assembly;

two front corners of the chassis frame are respectively provided with a walking support device, and two rear corners of the chassis frame are respectively provided with a rear walking device; the walking support device comprises universal wheels and a foot support assembly; the rear walking device comprises a driving wheel and a power device for driving the driving wheel;

the manual switching assembly is configured to drive a part of the foot support assembly, which is in contact with the ground, to perform ascending motion when the vehicle bottom seat is powered off.

2. The dual-mode vehicle chassis according to claim 1, wherein the manual switching assembly comprises a switching handle mechanism, a switching gear and a lever mechanism, the middle part of the lever mechanism is engaged with the switching gear, and two ends of the lever mechanism are respectively engaged with the corresponding foot support assemblies; the switching handle mechanism is configured to be able to manually drive the switching gear to rotate.

3. The dual-mode vehicle chassis according to claim 2, wherein the lever mechanism comprises a main switch lever and an edge switch lever, two ends of the main switch lever are respectively connected with one edge switch lever, and the main switch lever and the edge switch lever are integrally formed or separated; one side of the main switching rod and one side of the side switching rod are respectively provided with teeth.

4. The dual mode cart base of claim 3, wherein said bar mechanism is connected to a top surface of said chassis frame by a sliding track and slider arrangement; one of the main switching lever and the top surface of the chassis frame has a slide rail, and the other of the main switching lever and the top surface of the chassis frame has a slider.

5. The dual mode vehicle chassis of claim 2, wherein the foot support assembly comprises a foot cup, a support motor, a lead screw, and a drive shaft;

the bottom of the screw rod is provided with the foot cup; a driven gear is arranged at the lower part of the screw rod;

the upper part of the transmission shaft is sleeved with a band-type brake ring assembly, the lower part of the transmission shaft is provided with a driving gear, and the driving gear is meshed with the driven gear; the middle part of the transmission shaft is meshed with one end of the rod piece mechanism; in the power-on state, the band-type brake ring assembly is configured to release the transmission shaft; when the power is lost, the band-type brake ring assembly is configured to tightly hold the transmission shaft;

the driving gear is arranged on the one-way bearing; the supporting motor can drive the driven gear to rotate.

6. The dual mode vehicle chassis of claim 5, wherein the foot support assembly further comprises a guide bar; the guide bar with lead screw parallel arrangement, just both ends are connected with the mounting bracket respectively about the guide bar, the lead screw with be located the lower extreme the mounting bracket can be connected with reciprocating, the lead screw is worn to establish and is lain in the mounting bracket of upper end.

7. The dual mode vehicle chassis of claim 5, wherein a motor gear is mounted on an output shaft of the support motor, the motor gear being in meshing engagement with the driven gear.

8. The dual-mode vehicle chassis according to claim 2, wherein the switching handle mechanism comprises a handle and a mounting bracket, the mounting bracket is mounted on the top surface of the chassis frame, the handle is located in the mounting bracket and connected with a gear shaft of the switching gear, and two ends of the outer end of the mounting bracket are respectively provided with an inductor; the handle rotates between the two inductors.

9. The dual mode cart base of any of claims 1 to 8, wherein said power means comprises a power motor and a power reducer; the power motor is connected with the power speed reducer, and an output shaft of the power motor is externally connected with a band-type brake connected with the UPS power supply system; the power speed reducer is connected with the driving wheel.

10. A patient trolley for an laparoscopic surgical robotic system, comprising a positioning adjustment system and a dual mode trolley base as claimed in any one of claims 1 to 9; the lower end of the positioning adjustment system is fixed on the dual-mode vehicle base, and the upper end of the positioning adjustment system is provided with a mechanical arm.

Images