WO2023030418A1

WO2023030418A1 - Medical hanging tower, and engagement method, disengagement method, management method and management system therefor

Info

Publication number: WO2023030418A1
Application number: PCT/CN2022/116350
Authority: WO
Inventors: 杨正云; 曹旭东; 蒋亚娟; 龚云云; 吴剑
Original assignee: 南京迈瑞生物医疗电子有限公司
Priority date: 2021-09-06
Filing date: 2022-08-31
Publication date: 2023-03-09
Also published as: CN117956953A; WO2023030382A1; CN115770112A; CN117881376A; CN115737327A

Abstract

A medical hanging tower, and an engagement method, a disengagement method, a management method and a management system therefor. The medical hanging tower comprises a terminal portion (20) and a hanging tower main body (10). The terminal portion (20) is used for carrying a medical instrument. The hanging tower main body (10) is used for suspending and/or moving the terminal portion (20). The terminal portion (20) and the hanging tower main body (10) are arranged in a split manner. The hanging tower main body (10) comprises a first engagement component. The terminal portion (20) comprises a second engagement component adapted to the first engagement component; when the terminal portion (20) is located at an engagement position, the terminal portion (20) and the hanging tower main body (10) are engaged and fixed to each other by means of the first engagement component and the second engagement component; and the terminal portion (20) is also disengaged from the hanging tower main body (10) by means of the first engagement component and the second engagement component. Since the terminal portion (20) and the hanging tower main body (10) are arranged in a split manner, the detachment of the two is facilitated, and it is convenient to move the medical hanging tower to other operating rooms, such that a plurality of the terminal portions (20) and the hanging tower main body (10) can be flexibly adapted to each other, thereby improving the utilization rate of the medical hanging tower.

Description

Medical pendant and its docking method, separation method, management method and management system

technical field

The invention relates to the field of medical equipment, in particular to a medical pendant and its docking method, separation method, management method and management system.

Background technique

In the common medical pendants currently on the market, the terminal box and the main body of the pendant are fixed and connected together by screws, and the internal conduit runs from the terminal box along the main body of the pendant to the ceiling. Once the installation is completed, the medical staff cannot The two are split, which leads to the fact that in actual use, due to the different operations, when medical staff need to adjust the position of the terminal box, they can only adjust it in a limited space away from the pendant. It cannot be switched, and there is often a phenomenon that a certain pendant is abandoned, especially now that laparoscopic surgery is becoming more and more popular. Some of the endoscopic equipment used are placed on the pendant, and some are used by special trolleys. , for the endoscope placed on the pendant, its position adjustment range is limited, and it cannot be applied to different endoscopic operations. At the same time, for many hospitals, the endoscope equipment is shared by multiple operating rooms. Once placed on the pendant, it cannot be used Quickly move to other operating rooms, and for the plan of using mobile trolleys to realize the common use of endoscopic equipment, it will cause a waste of pendant towers and a waste of operating room space.

technical problem

The invention mainly provides a medical pendant and its docking method, separation method, management method and management system, aiming at improving the utilization rate of the medical pendant.

technical solution

One embodiment provides a medical pendant, comprising:

The terminal part is used to carry medical equipment;

a pendant body for suspending and/or moving said terminal portion;

It is characterized in that,

The terminal part and the main body of the pendant tower are separately arranged;

The main body of the pendant tower includes a first docking part, and the terminal part includes a second docking part adapted to the first docking part; when the terminal part is in the docking position, the terminal part and the main body of the pendant tower The docking and fixing are realized through the first docking part and the second docking part; the terminal part is separated from the main body of the pendant tower through the first docking part and the second docking part; the docking position is the terminal The position where the part can be docked with the main body of the pendant tower.

One embodiment provides a docking method of a medical pendant, the medical pendant includes: a pendant main body and a terminal part; the terminal part is used to carry medical equipment; the pendant main body is used to suspend and/or move The terminal part; the terminal part and the main body of the pendant are arranged separately; the main body of the pendant includes a first docking part, and the terminal part includes a second docking part adapted to the first docking part; The terminal part and the main body of the pendant tower are docked and fixed or separated through the first docking part and the second docking part; the method includes:

Detecting whether the terminal part is located at a preset docking position; the docking position is a position where the terminal part can be docked with the main body of the pendant;

When the terminal part is at the docking position, the docking and fixing of the terminal part and the main body of the pendant is realized through the first docking part and the second docking part.

One embodiment provides a method for separating a medical pendant, the medical pendant comprising: a pendant main body and a terminal part; the terminal part is used to carry medical equipment; the pendant main body is used for suspension and/or movement The terminal part; the terminal part and the main body of the pendant are arranged separately; the main body of the pendant includes a first docking part, and the terminal part includes a second docking part adapted to the first docking part; The terminal part and the main body of the pendant tower are docked and fixed or separated through the first docking part and the second docking part; the method includes:

receiving a separation instruction when the terminal part and the main body of the pendant are in a docked and fixed state;

In response to the separation command, the terminal portion and the pendant body are separated by the first docking member and the second docking member.

An embodiment provides a medical pendant management system, comprising: at least one pendant main body and at least one terminal part; each terminal part is used to carry medical equipment, and each pendant main body is used to suspend and/or move the Terminal part; each pendant main body includes a first butt joint part, and each terminal part includes a second butt joint part; a terminal part and a pendant main body are fixed or separated through the first butt joint part and the second butt joint part;

The terminal part includes: a carrying body and a running mechanism, the carrying body is used to carry medical equipment, and the running mechanism is used to drive the target terminal part to move; the terminal part is also used for:

receiving a search instruction, the search instruction is used to instruct to move to the docking position of the target pendant main body and/or the target operating room, the docking position is a position where the terminal part and the target pendant main body can be docked; the The target pendant body is one of said at least one pendant body;

In response to the search instruction, the running mechanism is controlled to move according to the search instruction to find the docking position.

An embodiment provides a medical pendant management method, the method is applied to a medical pendant management system, the medical pendant management system includes at least one pendant main body and at least one terminal part, each terminal part is used to carry medical Apparatus; each pendant main body is used for suspending and/or moving said terminal part; each pendant main body comprises a first docking part, and each terminal part comprises a second docking part; a terminal part passes through a pendant main body The first docking part and the second docking part are fixed or separated;

The method is executed by a target terminal part, the target terminal part is any terminal part in the at least one terminal part, and the target terminal part includes: a carrying body and a walking mechanism, and the carrying body is used to carry medical equipment , the traveling mechanism is used to drive the target terminal part to move, and the method includes:

The target terminal part receives a search instruction, the search instruction is used to instruct to move to the docking position of the target pendant main body and/or the target operating room, and the docking position is that the terminal part and the target pendant main body can be docked s position;

The target terminal part responds to the search instruction, and controls the movement of the traveling mechanism according to the search instruction to find the docking position.

Beneficial effect

The medical pendant and its docking method, separation method, management method and management system according to the above embodiments include a terminal part and a pendant main body. The terminal part is used to carry medical equipment. The main body of the pendant is used to suspend and/or move the terminal section. The terminal part and the main body of the pendant are set separately. Wherein the main body of the pendant tower includes a first docking part, and the terminal part includes a second docking part adapted to the first docking part; Docking and fixing; the terminal part and the main body of the pendant tower are also separated by the first docking part and the second docking part. Since the terminal part and the main body of the pendant are split, it is easy to disassemble and can be easily moved to other operating rooms. Multiple terminal parts and the main body of the pendant can be flexibly adapted to improve the utilization rate of the medical pendant .

Description of drawings

Fig. 1 is a schematic diagram of the main body of the pendant with a plurality of terminal parts in the split medical pendant provided by the present invention;

Fig. 2 is a structural diagram of an embodiment of the main body of the pendant in the split medical pendant provided by the present invention;

Fig. 3 is a structural diagram of an embodiment of the terminal part in the split medical pendant provided by the present invention;

Fig. 4 is a structural diagram of an embodiment of the docking device in the split medical pendant provided by the present invention;

Fig. 5 is a schematic diagram of an embodiment of the gas circuit connection between the main body of the pendant and the terminal part in the split medical pendant provided by the present invention;

Fig. 6 is a schematic diagram of the terminal portion detected by the positioning device 50 in the split medical pendant provided by the present invention;

Fig. 7 is a structural block diagram for realizing automatic positioning and docking functions in the split medical pendant provided by the present invention;

Fig. 8 is a schematic diagram of the terminal part 20 looking for a preset trajectory of the pendant main body 10 in the split medical pendant provided by the present invention;

Fig. 9 is a flow chart of an embodiment of the control process of the forward and backward terminal part in the split medical pendant provided by the present invention;

Fig. 10 is a structural diagram of an embodiment of the traveling mechanism in the split medical pendant provided by the present invention;

Fig. 11 is a structural diagram of another embodiment of the traveling mechanism in the split medical pendant provided by the present invention;

Fig. 12 is a structural diagram of an embodiment of the connection and fixing mechanism in the split medical pendant provided by the present invention;

Fig. 13 is a structural diagram of a column provided with a wedge-shaped metal block in the split medical pendant provided by the present invention;

Fig. 14 is a schematic diagram of the connection and fixation of the column and the suspension head in the split medical pendant provided by the present invention;

Fig. 15 is a flow chart of an embodiment of the method for using the split medical pendant provided by the present invention;

Fig. 16 is a structural diagram of an embodiment of the connection and fixing mechanism in the split medical pendant provided by the present invention;

Fig. 17 is a structural diagram of an embodiment of the connection and fixing mechanism in the split medical pendant provided by the present invention;

Fig. 18 is a structural block diagram of an embodiment of the medical pendant management system provided by the present invention;

Fig. 19 is a flowchart of an embodiment of a method for managing a medical pendant provided by the present invention.

Embodiments of the present invention

The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. Wherein, similar elements in different implementations adopt associated similar element numbers. In the following implementation manners, many details are described for better understanding of the present application. However, those skilled in the art can readily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the application are not shown or described in the description, this is to avoid the core part of the application being overwhelmed by too many descriptions, and for those skilled in the art, it is necessary to describe these operations in detail Relevant operations are not necessary, and they can fully understand the relevant operations according to the description in the specification and general technical knowledge in the field.

In addition, the characteristics, operations or characteristics described in the specification can be combined in any appropriate manner to form various embodiments. At the same time, the steps or actions in the method description can also be exchanged or adjusted in a manner obvious to those skilled in the art. Therefore, various sequences in the specification and drawings are only for clearly describing a certain embodiment, and do not mean a necessary sequence, unless otherwise stated that a certain sequence must be followed.

The serial numbers assigned to components in this document, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any sequence or technical meaning. The "connection" and "connection" mentioned in this application include direct and indirect connection (connection) unless otherwise specified.

As a common medical auxiliary equipment in the operating room, the medical pendant can serve the operation well through various medical devices hoisted by it, and can move and fix these medical devices in a large space, and can adapt to the needs of different scenarios ; In addition, the hoisting method can also save the space in the operating room and facilitate the medical staff to perform various operations. However, the existing medical pendants are either integrated with the medical equipment, or the medical equipment and instruments are loaded in the terminal box; the former cannot replace the medical equipment, and the latter can replace the medical equipment but the original equipment needs to be removed. Or install new equipment, causing the medical pendant to change its function is very inconvenient. In order to solve the problems that the functions of different pendants in the same operating room cannot be switched, the functions of different operating room pendants cannot be switched, and the sharing of medical equipment in the operating room is difficult, especially the flexible use of endoscopic equipment in the operating room and the rational layout of the space , the present invention proposes a new form of medical pendant, which splits the existing integrated medical pendant into the main body of the pendant and the terminal part. Mobile, the docking devices on the main body and/or terminal of different pendants are the same, which realizes the switching of the pendant's own functions according to different operations, and the sharing of the terminal in the operating room, saving purchase costs and improving the utilization rate . The medical pendant will be described in detail below through some embodiments.

The split medical pendant provided by the present invention, as shown in FIG. 1 , includes a pendant main body 10 and a terminal part 20 for carrying medical equipment. The main body 10 of the pendant tower and the terminal part 20 are arranged separately, and the two are matched, and a complete medical pendant is formed after the two are fixed.

The pendant main body 10 is used to suspend and/or move the terminal part 20. In this embodiment, after the pendant main body 10 suspends the terminal part 20, it can also move the terminal part 20 in its working space, and the terminal part 20 can be suspended stay anywhere within its workspace, etc.

Specifically, as shown in FIG. 2 , the upper end of the pendant main body 10 is an installation part 110 , and the installation part 110 is used for fixed installation on the ceiling of the operating room. The lower end of the main body 10 of the pendant tower is a suspending head 130 for docking and fixing with the terminal part 20 . There is a single or multiple mechanical arms 120 between the installation part 110 and the suspension head 130. FIG. 2 shows two connected transverse arms, and in some embodiments, it may also be a single transverse arm. The movement of the suspension head 130 in the XYZ direction of space is realized by a combination of a single cross arm or a combination of double arms, and suspending the suspension head 130 at the end of the cross arm. The mechanical arm 120 has joints, and the main body of the pendant tower 10 can also include a lifting mechanism. Using the comprehensive action of the rotation of different joints and the vertical lifting of the lifting mechanism, the lifting head 130 can theoretically be moved to the maximum span of the cross arm, and the lifting mechanism Any point in space within the range of the maximum lifting stroke. The suspension head 130 is equipped with a certain number of air sources and strong/weak power interfaces, which can independently meet the use requirements of some surgical scenarios.

The terminal part 20 is movable on a plane. Taking the movement on the ground as an example, the movement can be self-driven or artificially driven, which can realize the convenient movement of the terminal part 20 as a whole on common terrains in the operating room.

As shown in FIGS. 1 and 3 , the terminal part 20 may include a bearing body 220 and a running mechanism 230 . The carrying body 220 is used to carry medical devices (such as medical equipment and medical consumables, etc.). The carrying body 220 can load, install or fix different types of equipment according to the customized requirements of different surgical scenarios, so as to configure different types of functions for the terminal part 20, such as configuring multi-layer loading trays/drawers, cable management mechanisms, configuring Air source interface, strong/weak power interface, large-screen mounting structure, etc.; in this way, multiple terminal parts 20 in the department have different functions; of course, the carrying body 220 can also integrate the above functions together, so that the department The plurality of terminal portions 20 may be identical. The running mechanism 230 is used to drive the carrying body 220 to move on the ground. For example, the running mechanism 230 can use multiple wheels (casters in the figure) to realize the movement of the terminal part 20. Dolly platform; also can adopt the mode of multi-legged walking to realize the movement of terminal part 20, even can also realize the movement of terminal part 20 etc. by the way of track, as long as can make terminal part 20 move on the ground, specifically adopt The method is not limited.

Because the terminal part 20 and the pendant main body 10 are split, it is easy to disassemble, and the terminal part 20 can be moved on the ground, so it can be easily moved to other operating rooms, and the pendant main body 10 can be connected with multiple terminal parts 20 To form the pendant assembly, what kind of functions the pendant needs to realize can be achieved by docking the corresponding terminal part 20 with the main body 10 of the pendant. The replacement of the pendant function is very flexible and convenient, which improves the utilization rate of the pendant.

The docking and fixing of the terminal portion 20 and the pendant main body 10 can be done automatically or manually, and this embodiment takes automatic docking as an example for illustration. In this embodiment, the split medical pendant further includes: a docking device. The docking device is used to dock and fix the terminal part 20 and the pendant main body 10 when the terminal part 20 is in the docking position; of course, it can also be used to separate the terminal part 20 and the pendant main body 10 . The docking position is the position where the terminal part 20 can be docked with the main body of the pendant tower 10 , for example, the terminal part 20 is specifically docked with the suspension head 130 , that is, the first docking part is arranged on the suspension head 130 . The docking position may be below the hanger 130, such as directly below or obliquely below the hanger 130, and the like. The docking position can be changed according to the position of the main body of the pendant. For example, if the docking position is directly below or obliquely below the suspension head of the main body of the pendant tower, whichever position the suspension head is at, it is directly below or obliquely below the docking position. The docking position can also be a fixed position, and the suspension head of the main body of the pendant can also be manually or automatically moved to directly above or obliquely above the docking position. When the terminal part 20 is in the docking position, the two can be docked and fixed. When the terminal part 20 is at the docking position, the docking device can automatically dock the terminal part 20 and the main body of the pendant 10, or it can connect the terminal part 20 and the pendant body 10 under the trigger of a docking command issued by the user (such as the user pressing a corresponding button). The tower main body 10 is docked and fixed. The docking device can be mainly installed on the main body 10 of the pendant tower, that is, the main body 10 of the pendant dominates the docking, fixing and separation of the two; the docking device can also be mainly installed on the terminal part 20, that is, the terminal part 20 guides the docking and fixing of the two and separate. The docking device includes a first docking part arranged on the pendant main body 10 and a second docking part arranged on the terminal part 20 . The first docking part and the second docking part are adapted to each other, and are used for docking and fixing the terminal part 20 and the pendant main body 10 when the terminal part 20 is in the docking position, and are also used for separating the terminal part 20 and the pendant main body 10 . In other words, the pendant main body 10 includes a first docking part, and the terminal part 20 includes a second docking part adapted to the first docking part. When the terminal part 20 is at the docking position, the terminal part 20 and the pendant main body 10 are docked and fixed through the first docking part and the second docking part; the terminal part 20 and the pendant main body 10 are also realized through the first docking part and the second docking part. separate. The docking device can realize the automatic docking, fixing and separation of the terminal part 20 and the main body of the pendant tower 10, and the specific implementation methods are not limited, and several examples are given below for illustration.

In the embodiment shown in FIG. 4 , the first docking part of the docking device may include: a motor and one or more (two or more) screw rods 310 connected in transmission with the motor, that is, the screw rods 310 are controlled by the motor. The first docking position is set on the suspension head, that is, the docking and fixing is dominated by the main body 10 of the pendant tower. A nut 320 is provided at a position corresponding to the screw rod 310 on the terminal part 20 , and the nut 320 is adapted to the screw rod 310 , that is, the second docking part includes the nut 320 . Two pairs of screws 310 and nuts 320 are shown in FIG. 4 . The alignment of each pair of screw rods 310 and nuts 320 indicates that the terminal portion 20 is in the docking position. After the screw rod 310 and the nut 320 are aligned, the screw rod 310 on the pendant is driven by the motor to rotate, and the screw nut is docked with the nut 320 on the trolley, and the screw rod is screwed into the nut until it is tightened. It is docked and fixed with the pendant main body 10 ; the motor control screw 310 is unscrewed from the nut 320 , and the pendant main body 10 releases (separates) the terminal part 20 . It can be seen that the process of automatic docking and separation is simple, reliable and easy to realize. Certainly, in some embodiments, the second docking part may include the above motor and the screw 310 , and the first docking part may include the above nut 320 .

In some embodiments, the docking device may include a lifting mechanism and/or a connecting and fixing mechanism. The lifting mechanism is used to lift and lower the connecting and fixing mechanism, and the connecting and fixing mechanism is mainly used to connect and fix the terminal part 20 and the pendant main body 10 .

In the embodiment shown in FIG. 12 , the connection and fixing mechanism can be connected by a pin clamp. Specifically, the connection and fixing mechanism includes a clamping device 340 and an air cylinder or hydraulic cylinder 350 . The second docking part may include two vertical pin shafts 330. Specifically, two vertical pin shafts 330 are fixed on the top of the terminal part 20, and there are two pin holes corresponding to the bottom of the hanger head 130, and each hole is provided by a cylinder. Or the clamping device 340 controlled by the hydraulic cylinder 350 (the clamping device 340 is the first docking component). When the terminal part 20 is docked with the hanging head, it can be adjusted by the traveling mechanism 230 or the user can manually adjust the terminal part 20 and the hanging head to a suitable position (docking position), so that the pin shaft 330 can enter the pin hole. At this time, through the control mechanism ( Such as buttons, positioning devices, etc.) start the air cylinder or hydraulic cylinder 350, so that the holding device 340 performs an action to hold the pin shaft 330 tightly. Friction is generated on the contact surface between the holding device 340 and the pin shaft 330 , so that the terminal portion 20 and the hanging head 130 are fixedly connected together. To separate the terminal portion 20 from the suspension head 130 , it is only necessary to control the air cylinder or hydraulic cylinder 350 to make the clamping device 340 loosen the overhead shaft 330 .

In some embodiments, the second docking component may include a lifting mechanism and/or a connection and fixing mechanism. In the embodiment shown in Figures 13 and 14, the connection and fixing mechanism can be connected and fixed in a "spring lock" manner. For example, the connection and fixing mechanism includes two columns 210, which are respectively arranged on two sides of the terminal part. There are two wedge-shaped metal blocks 360 on each column 210 , which can be arranged on the front, rear or left and right sides of the column 210 . The upper surface of the metal block 360 is an inclined plane, and the lower surface is a horizontal plane, and is connected with the spring mechanism inside the column. The spring mechanism can make the wedge-shaped metal block 360 pop out or be stored inside the column 210 through a control mechanism (such as a button, a positioning device, etc.), and when the wedge-shaped metal block 360 pops up, it can also be pressed into the inside of the column 210 by external force. The position corresponding to the bottom of the hanger 130 and the column 210 has a hole (in this case, the first docking part is the docking position corresponding to the second docking part formed at the bottom of the hanger 130, which is equivalent to the hole here ), the size of the hole is the same as the cross-sectional size of the column 210 . When the terminal part 20 is connected with the hanging head 130, first adjust the terminal part 20 and the hanging head 130 to a suitable position (butt joint position), and adjust the wedge-shaped metal block on the column 210 to the pop-up state. Through the lifting of the hanging head 130 or the lifting of the terminal part 20 itself, the columns 210 on both sides of the terminal part 20 can just enter into the hole at the bottom of the hanging head 130 . Continue to adjust the lifting mechanism so that the column 210 gradually penetrates into the hole groove of the hanging head 130. When the bottom plate of the hanging head 130 contacts the slope of the wedge-shaped metal block 360, continue to adjust the lifting mechanism. The bottom plate of the hanging head applies pressure to the metal block 360, pressing the metal block. into the column 210. Further adjust the lifting mechanism, when the bottom plate of the hanger head moves to the bottom of the wedge-shaped metal block 360, the metal block 360 will pop up under the action of the spring, and the metal block 360 will be crimped on the inside of the bottom plate of the hanger head, and the connection between the terminal part 20 and the hanger head will be completed. 130 for the butt. In addition, a limiting mechanism may be provided inside the hanging head 130 , and when the metal block 360 is ejected and locked inside the hanging head, the limiting column 210 will not continue to move. If the terminal part 20 needs to be separated from the hanging head 130 , then the spring mechanism retracts the metal block 360 into the column 210 , and the lifting mechanism lowers the height of the terminal part 20 or raises the hanging head 130 .

In some embodiments, of course, the docking device can also be one or more claws (for example, the first docking part is one or more claws; the second docking part is the original structure of the terminal part), if the lifting mechanism is installed On the hanging head, lower the claws to the corresponding position of the terminal part 20, and hold and fix the terminal part 20 by the claws; the claws release the terminal part 20 and lift the claws by the lifting mechanism, thereby separating the terminal part 20. The docking device can also be an electromagnet (for example, the first docking part is an electromagnet, and the second docking part is a magnetic metal; or the second docking part is an electromagnet, and the first docking part is a magnetic metal). , then the electromagnet is lowered to the corresponding position of the terminal part 20, and the terminal part 20 is adsorbed and fixed by the electromagnet;

It can be seen from some embodiments of the above-mentioned docking device that the docking device can realize quick connection and separation of the terminal part 20 and the pendant main body 10 without manual operation by the user.

At least one first power connector is provided on the main body 10 of the pendant tower. In this embodiment, multiple first power connectors can be provided on the hanger head 130 . The terminal portion 20 is provided with a second power connector adapted to each first power connector. The second power connector is used to connect to the first power connector, so that the terminal part 20 can take power from the pendant main body 10 . The first power connector may be interfaces, plugs, sockets, etc. of various types of strong electricity (such as 220V) and/or weak electricity (such as 12V, 5V, etc.). The second power connector may be various strong and/or weak current interfaces, sockets, plugs, etc. that are compatible with the first power connector. The terminal part 20 is also provided with a third power connector for supplying power to various medical equipment, which is electrically connected to the second power connector, and can also be various strong and/or weak current interfaces, sockets, plugs, etc. For example, a power socket (third power connector) is integrated on the terminal part 20 , and the equipment placed on the terminal part 20 can be electrically connected to the power socket in advance to complete the docking of the circuit. Finally, only one plug (second power connector) needs to be drawn out from the terminal part 20 to complete the docking with the jack (first power connector) on the hanger 130. Automatic plug-in structure. Taking automatic plugging as an example, the position of the second power connector on the terminal part 20 corresponds to the first power connector on the hanger 130, so that when the docking device docks and fixes the terminal part 20 and the hanger 130 of the main body of the pendant That is, when the terminal part 20 and the suspension head of the pendant main body 10 are docked and fixed through the first docking part and the second docking part, the first power connector and the second power connector are naturally automatically docked.

At least one first gas pipeline connector is also provided on the main body 10 of the pendant tower. In this embodiment, multiple first gas pipeline connectors may be provided on the hanger head 130 . Second gas pipeline connectors adapted to each first gas pipeline connector are arranged on the terminal portion 20 . The second gas pipeline connector is used to connect to the first gas pipeline connector, so that the terminal part 20 can obtain the gas transported by the pendant main body 10 . The first gas pipeline connector can be various types of joints, quick-connect joints, valves and the like. The second gas pipeline connector may be various types of joints, quick connectors, valves, etc. that are compatible with the first gas pipeline connector. The terminal part 20 is also provided with a third gas pipeline connection piece for supplying gas to various gas terminals (such as anesthesia machine, ventilator), which is connected with the second gas pipeline connection piece through a medical trachea gas circuit, which can also be All kinds of connectors, quick connectors, valves, etc. All the first gas pipeline connectors can be concentrated in one area, and the corresponding second gas pipeline connectors can also be concentrated in one area, which is convenient for manual or automatic docking. For example, as shown in FIG. 5 , each of the first gas pipeline connectors is collectively arranged on the panel of the hanger 130 to form a gas quick connection area B. As shown in FIG. There are several adjacently installed gas quick-connect valves (first gas pipeline connectors) in this area B, and the tails of each valve are connected to different types of medical gas sources. A gas quick-connect board C is provided on the terminal part 20 , and each gas quick-connect board C has a corresponding plurality of gas quick-connect plugs (second gas pipeline connectors). The number of gas quick-connect plugs, gas types and distribution positions are consistent with the gas quick-connect valves on the hanger, and the plug structure of the gas quick-connect plugs is designed to match the gas quick-connect valves on the hanger. Different types of gas terminals can be installed on the terminal part 20 , and the tail of the gas terminal is connected to the tail of the corresponding interface of the gas quick-release board C through the medical gas pipe. When it is necessary to connect the medical gas source to the terminal part 20, insert the gas quick-connect board C as a whole into the gas quick-connect area B on the hanger, and each gas quick-connect plug is just inserted into the corresponding gas valve and locked firmly. Make the corresponding gas valve open. The medical gas flows through the gas quick-connect valve, the gas quick-connect plug and the trachea in the terminal part 20, and reaches the gas terminal on the terminal part 20 for use in the operation process. The connection between the first gas pipeline connector and the second gas pipeline connector can be manual (Figure 5 is a schematic diagram of manual operation) or automatic; taking automatic plug-in as an example, the second gas pipeline connection on the terminal part 20 The position of the part corresponds to the first gas pipeline connector on the hanger 130, so that when the docking device docks and fixes the terminal part 20 and the hanger 130 of the pendant main body, that is, the terminal part 20 and the hanger of the pendant main body 10 pass through When the first docking part and the second docking part are docked and fixed, the first gas pipeline connector and the second gas pipeline connector also naturally complete automatic docking.

In addition to obtaining power and gas from the pendant main body 10, the terminal part 20 also needs to involve communication, which can be wired and/or wireless, and will be introduced one by one below.

At least one first communication cable connector is also provided on the main body 10 of the pendant tower. In this embodiment, multiple first communication cable connectors may be provided on the suspension head 130 . In fact, the communication signal is also a weak current. The terminal portion 20 is provided with second communication cable connectors adapted to each of the first communication cable connectors. The second communication cable connection part is used to connect to the first communication cable connection part, so as to realize the communication connection between the terminal part 20 and the pendant main body 10 . The first communication cable connector may be an interface, a port, a joint, etc. of various signal lines (such as network cables, telephone lines, optical fibers, and various forms of video signal lines such as SDI, DVI, HDMI, DP lines, etc.). The second communication cable connection part may be an interface, port, connector, etc. of various signal lines adapted to the first communication cable connection part. The terminal part 20 is also provided with a third communication cable connector for communicating with various medical equipment, which communicates with the second communication cable connector, and can also be an interface, port, joint, etc. of various signal lines. . For example, the first, second and third communication cable connectors may be male or female connectors of various communication interfaces. The docking mode of the first and second communication cable connectors may be direct manual plugging, or an automatic plugging structure may be set. Taking automatic plugging as an example, the position of the second communication cable connector on the terminal part 20 corresponds to the first communication cable connector on the hanger 130, so that the docking device connects the terminal part 20 and the hanger of the main body of the pendant. 130 is docked and fixed, that is, when the terminal part 20 and the suspension head of the pendant main body 10 are docked and fixed through the first docking part and the second docking part, the first communication cable connector and the second communication cable connector are also naturally Automatic docking is complete.

For the wireless communication of the terminal part 20 , the medical pendant includes an adapted first wireless communication module and a second wireless communication module, and the second wireless communication module is arranged on the terminal part 20 . The first wireless communication module can be arranged on the main body 10 of the pendant tower, and can also be arranged at other locations, such as on the ceiling of the roof. If the first and second wireless communication modules adopt radio frequency wireless transceiver modules, then the first wireless communication module is arranged on the suspension head, and the position of the second wireless communication module corresponds to the first wireless communication module on the suspension head 130, so that the docking device When the terminal part 20 and the suspension head 130 of the pendant main body are docked and fixed, the first wireless communication module and the second wireless communication module are close to each other, reaching the communication range, thereby realizing the docking and mutual transmission of weak electric signals. If the first and second wireless communication modules do not use radio frequency wireless communication, but other wireless communication methods, such as Bluetooth modules, WIFI modules, ZigBee modules, 4G communication modules, 5G communication modules, etc., because these communication methods cover a wide range , so the two wireless communication modules do not need to be very close, and the communication connection between the terminal part 20 and the pendant main body 10 can be realized conveniently. The terminal part 20 may also be provided with a third communication cable connection for communication connection with various medical devices, which is communication connection (eg wired connection) with the second wireless communication module.

The first wireless communication module and the second wireless communication module can transmit audio and video, for example, using a 5G WiFi module as a carrier. An encoder is arranged between the third communication cable connecting piece and the second wireless communication module, and the first wireless communication module is also connected to the decoder. The third communication cable connector, the encoder and the second wireless communication module can be arranged on the audio and video control board (PCB board), and the audio and video control board is initialized during use, and the IP address and UDP port number are set; audio and video source collection After the audio and video data, the third communication cable connector transmits to the encoder for audio and video encoding (compression encoding fixed code stream) and UDP/IP data encapsulation, and then the encoder (transmitter) sends the encoded code stream through the WiFi module To the receiving end (such as the first wireless communication module), such as the WiFi module performs WiFi-MAC data encapsulation on the code stream, and transmits the data to the first wireless communication module through the WiFi physical layer. After receiving the code stream, the first wireless communication module passes the decoding The device decodes and plays and displays through the monitor connected to the interface. The third communication cable connector, the second wireless communication module and the encoder are installed on the terminal part 20, that is, the AP end; the first wireless communication module and the decoder can be installed on the roof ceiling, that is, the STA end. Since the functions to be implemented by the system are complex, there are many processing tasks, and the requirements for real-time and stability are high, an embedded operating system can be used to effectively and quickly run the high-efficiency real-time audio and video transmission protocol through a low-cost microcontroller , using real-time transport protocol encapsulation, so that it can be executed reliably on the network transport platform.

The terminal part 20 may also include a lifting mechanism (not shown in the figure) for driving the carrying body 220 up and down, which can assist in the alignment of the docking device and adjust the height of the carrying body 220 .

As shown in FIG. 6 , when the terminal portion 20 is mechanically docked with the pendant main body 10 after being automatically or pushed under the pendant main body 10 , in order to improve the docking success rate, a prompting device 40 and a positioning device 50 can be provided. The prompting device 40 can be provided on the terminal part 20 or the pendant main body 10 , or even both can be provided with the prompting device 40 . A positioning device 50 may be provided on the terminal portion 20 and/or the pendant main body 10 .

The positioning device 50 is used to detect whether the terminal part 20 is at the docking position, and trigger the prompting device 40 to send a corresponding prompting signal when the terminal part 20 is at the docking position. The positioning device includes an identification part and an identification part, wherein, one of the identification part and the identification part is arranged on the main body of the pendant tower, such as on the suspension head 130, and the other is arranged on the terminal part; that is, the identification part can be arranged on the suspension head 130 The identification part can be arranged on the terminal part 20; the identification part can also be arranged on the terminal part 20, and the identification part can be arranged on the hanger 130. The identification part is used to identify the identification part, and when the identification part is identified, it is determined that the terminal part is at the docking position. The identification component of the positioning device 50 may use radio frequency identification, may also use a camera for identification, and may also use one or more photoelectric sensors for identification. Taking radio frequency identification as an example, the identification component of the positioning device 50 includes a reader, and the identification component includes an electronic tag; After the power is turned on, the reader on the hanging head will start to send signals at a fixed cycle after the initialization is completed. When the terminal part 20 enters the identified area A, it will receive the signal from the reader, and the energy obtained will be It is activated by power-on, so that it is recognized by the reader, so as to determine that the terminal part 20 has entered the docking position. Readers and electronic tags can be set in pairs, one or more pairs can be set, for example, three pairs can be set to realize three-point positioning.

The prompting device 40 is used for outputting a prompt signal when the terminal part is at the docking position, so as to prompt whether the terminal part 20 is at the docking position. For example, a speaker can be used to send out a prompt sound, and an indicator light can be used to give a prompt, or the indicator light can be used to prompt, or the display can be used to display text, images, bright lights, etc., to indicate whether it is in or not in the docking position. Yes, the specific implementation method is not limited.

In this embodiment, when the terminal part 20 and the pendant main body 10 are aligned within a certain range, if each radio frequency tag enters the identification range of the corresponding reader, the prompting device 40 will emit an audible and visual prompt to remind The operator indicates that the terminal part 20 and the pendant main body 10 have been aligned, and the two can be mechanically connected next. Conversely, if there is no sound and light prompt, it means that there is no alignment and mechanical docking cannot be performed. This embodiment adopts automatic docking, as shown in Figure 7, the positioning device 50 also outputs the detection result to the docking device 30, for example, when the terminal part 20 is at the docking position, the docking device is triggered to dock the terminal part 20 and the main body of the pendant 10. .

The terminal unit 20 provided by the present invention can be moved automatically or controlled by the user. Specifically, the terminal part 20 also includes a controller for controlling the traveling mechanism 230 . The controller is connected in communication with the traveling mechanism 230 . The control of the running mechanism 230 is mainly divided into two aspects: walking and direction control, wherein the direction control can be completely completed manually by the user, such as a nurse pushing the terminal part 20, and by applying force from left and right, it drives the rotation of the universal wheel of the running mechanism 230 to control The forward direction of the terminal portion 20 can also be controlled semi-automatically. For example, the controller includes a control terminal and a motor drive board, and the traveling mechanism 230 includes: landing gear, a landing gear motor for driving the landing gear, driving wheels and The drive wheel motor is used to drive the drive wheel to rotate; the control terminal is connected to the landing gear motor and the drive wheel motor through the motor drive board. When the nurse uses a control terminal (such as a hand-held control terminal), when the left turn button is pressed, a left turn instruction is sent to the motor drive board, and the motor drive board controls the motor to drive the traveling mechanism 230 to turn left; when the right turn button is pressed, the Send the right turn command to the motor drive board, and the motor drive board controls the motor to drive the traveling mechanism 230 to turn right.

Similarly, the forward and backward movement of the terminal part 20 can be pushed by a nurse, or can be assisted. Considering that the terminal part 20 is relatively heavy, the latter is adopted in this embodiment. The nurse uses the control terminal. When the forward button is pressed, a forward command is sent to the motor drive board. The motor drive board controls the motor to lower the landing gear. The driving wheels are set on the landing gear. After the landing gear is lowered, it can start moving. Control the motor to drive the traveling mechanism 230 to advance; when the forward button is released or the backward button is pressed, a backward command is sent to the motor driving board, and the motor driving board controls the motor to drive the traveling mechanism 230 to retreat. When there is no need to move, use the control terminal to press the stop button to send a stop command to the motor drive board. The motor drive board controls the drive wheel to stop running and the landing gear to recover through the motor. The specific control process can be shown in Figure 9. In this way, the driving wheel is matched with the landing gear, which can not only protect the driving wheel, but also prevent the driving wheel from starting by mistake. The running mechanism 230 also includes a plurality of casters, and the plurality of casters can be arranged at the four corners of the bottom of the terminal part 20 to play a supporting role. There can be driving wheels, universal wheels and the like in the casters.

There are many ways to realize the running of the traveling mechanism 230 mechanically, and the following examples illustrate it:

Option 1: The traveling mechanism includes a plurality of casters, and at least one driving wheel is provided in the plurality of casters. The driving wheel is used to drive the traveling mechanism to move, and the traveling mechanism moves on a pre-laid track and turns through the track. The docking position is located on the track, so as to ensure that the terminal part 20 can move to the docking position.

Option 2: The traveling mechanism includes a landing gear and a plurality of casters, at least one driving wheel is provided in the plurality of casters, and the driving wheel is used to drive the traveling mechanism to move, and the driving wheel is arranged on the landing gear. The scheme of the landing gear has been introduced in the above content, and will not be repeated here.

Scheme 3: The traveling mechanism includes a plurality of casters, and there are at least two left and right driving wheels among the plurality of casters. The driving wheels are used to drive the traveling mechanism to move, and the traveling mechanism realizes steering through the speed difference of the driving wheels. As shown in FIG. 10 , four casters are installed at the bottom of the terminal part 20 , wherein the two rear wheels are steering driving wheels, and the two front wheels are universal wheels. The two rear wheels are respectively driven by two motors, which cannot steer independently. The two motors have different output speeds, so that the two wheels generate differential speeds to form steering.

Solution 4: As shown in FIG. 11 , four casters are installed at the bottom of the terminal part 20 , wherein the two rear wheels are driving wheels, and the two front wheels are steering wheels. The two rear wheels are driven by the same motor, which cannot be turned independently, and only provides driving force for the car to move forward. The two front wheels are connected by a steering rod. One of the front wheels is controlled by a motor to realize active steering, and the other front wheel steers with the active steering wheel under the traction of the steering rod. The setting of the steering tie rod can keep the respective steering angles of the two steering wheels at a certain ratio, so that the overall steering of the terminal portion 20 can be made stable.

The terminal part 20 provided by the present invention can also automatically search for the main body 10 of the pendant tower. The controller is also communicatively coupled with the positioning device. For example, the controller is used to receive a search instruction, and after receiving the search instruction, control the traveling mechanism 230 to drive the terminal part 20 to move according to a preset track to find a docking position. For example, as shown in FIG. 8 , from a top view, the traveling mechanism 230 tracks the suspension head according to a "Z"-shaped trajectory, and can always move to the bottom of the suspension head 130 when moving in the direction indicated by the arrow. When the positioning device 50 detects that the terminal part 20 is at the docking position, the controller controls the traveling mechanism 230 to stop moving. After that, the docking device 30 can be used for docking. The search command may be issued by a button on the terminal unit 20 , or may be issued by a wireless communication module on the terminal unit 20 (external command). For example, after the nurse pushes the terminal part 20 from other places to the operating room, and presses the search button on the terminal part 20, the terminal part 20 enters into the mode of searching for the main body of the pendant 10, and at this moment, the terminal part 20 is driven by the running mechanism 230. Next, perform positioning scanning and walking under the main body 10 of the pendant, that is, the terminal part 20 will automatically walk, and carry out radio frequency positioning and identification while walking. When the hanging head 130 is recognized and the recognition is successful, stop walking and enter the next step of automatic docking .

For another example, the search instruction may include the identification of the main body of the target pendant. After receiving the search instruction, the controller controls the traveling mechanism to drive the terminal to move along the preset path until the main body of the target pendant is found and the docking position is found. After the main body of the target pendant is found, the traveling mechanism 230 can be controlled to drive the terminal part 20 to move according to the preset track to find the docking position. In this way, the user can select the main body of the pendant (target pendant main body), thereby generating a search command to control the terminal unit 20 to automatically move to the selected main body of the pendant. The identification of the main body of the target pendant is the equipment identification of the main body of the target pendant, which can be the serial number of the main body of the target pendant, the equipment identification code, etc., as long as the main body of the target pendant can be uniquely determined. Of course, the controller can also determine the first position information of the target pendant main body according to the identification of the target pendant main body, and determine the first path in combination with the current position information of the terminal part, that is, the position of the target pendant main body and the current position of the terminal part Once known, the first path can be determined. The first path is a path where the terminal part can move to the docking position. The controller controls the traveling mechanism to drive the terminal part to move to the docking position of the target pendant body according to the first path. The controller can also determine the second position information of the docking position corresponding to the main body of the target pendant according to the identification of the main body of the target pendant, and determine the first path in combination with the current position information of the terminal part, and control the traveling mechanism to drive the terminal part according to the first path Move to the docking position of the main body of the target pendant. In this way, the user only needs to issue a search command, and the terminal unit 20 can automatically move to the docking position, and cooperate with automatic docking, which saves worry and effort.

As another example, the search instruction may include the identification of the target operating room. After receiving the search instruction, the controller controls the traveling mechanism to drive the terminal to move to the target operating room according to the identification of the target operating room. The terminal can store the paths through each operating room. After the controller knows the identification of the target operating room , the movement of the traveling mechanism can be controlled according to the path corresponding to the target operating room, so that the terminal part can move to the target operating room. The identifier of the target operating room may be the number, name, etc. of the target operating room, and it only needs to be able to uniquely determine the target operating room. Furthermore, the controller controls the traveling mechanism to drive the terminal part to move according to the preset trajectory in the target operating room to find the docking position. Control the traveling mechanism 230 to drive the terminal part 20 to move according to the preset trajectory to find the docking position, as shown in FIG. 8 , which has been described in detail in the previous content and will not be repeated here. In this way, the user only needs to determine the target operating room, and the terminal unit can automatically move to the docking position of the main body of the pendant in the target operating room, which is very convenient.

For another example, the search instruction may include not only the identification of the main body of the target pendant, but also the identification of the target operating room. After receiving the search instruction, the controller controls the traveling mechanism to drive the terminal unit to move to the target operating room according to the identification of the target operating room. The specific process is the same as the above. The controller also controls the traveling mechanism to move in the target operating room to find the target pendant main body, and then controls the traveling mechanism to move to the docking position of the target pendant main body. This solution is suitable for the situation where there are multiple pendant main bodies in the target operating room. The controller may communicate with the pendant bodies in the operating room to determine which pendant body is the target.

For another example, the search instruction may include target position information corresponding to the main body of the target pendant. After receiving the search instruction, the controller determines the target walking path according to the current position information of the terminal part and the target position information, and controls the traveling mechanism to drive the terminal part to move to the target position marked by the target position information according to the target walking path. The spatial coordinate system of multiple operating rooms can be established in advance. The position information (such as position coordinates) of each pendant body in this coordinate system is known, and the terminal can be equipped with a locator, such as a GPS locator, so its current position The information is known, and it can also judge its own position (current position information) according to the specific signs in the department. In the coordinate system, the positions of corridors and aisles can be marked in advance. The controller can use the current position information of the terminal and According to the target position information, the target walking path is planned according to the position of the corridor, aisle, etc., so that the traveling mechanism can be controlled to move to the target position marked by the target position information.

For the terminal part 20, different functional modules can be set according to the requirements, so as to change into different forms and meet the requirements of different scenarios. For example, the carrying body 220 includes a plurality of equipment partitions, and one equipment partition is used to carry a kind of medical equipment. FIG. Stably carry surgical equipment of different sizes and weights. The equipment partitions are detachably set on the carrying body 220, that is, the equipment partitions are modularized, and each equipment partition has basic functions such as carrying surgical equipment. Different equipment partitions can be freely split and combined, and the terminal is determined according to specific usage requirements. The final form of the main body of part 20. The carrying body 220 may also include cable storage components for storing cables, such as various types of hooks, straps, and the like. When the carrying body 220 is loaded with surgical equipment and many cables are connected, the exposed cables can be centrally managed through the cable storage part, so that the overall appearance of the trolley can be kept tidy, and at the same time, equipment or equipment damage caused by accidental pulling of the wires can be avoided. personal injury. The terminal part 20 also includes a disinfection module for disinfection. For example, an infrared disinfection module is integrated on the terminal part 20, which can realize the disinfection of the operating room. In the present invention, different terminal parts 20 can be used to realize the functional differences of different pendants, and a unified terminal part 20 can also be used to realize all the above-mentioned functions.

Based on the above-mentioned split medical pendant, its use method is shown in Figure 15, including the following steps:

Step 1. The positioning device detects whether the terminal part is at the docking position, and outputs a corresponding prompt signal when the terminal part is at the docking position. The specific process has been described in detail in the foregoing embodiments, and will not be repeated here.

In some embodiments, before step 1, it may also include:

The terminal part 20 receives a search instruction, the search instruction is used to instruct to move to the docking position of the target pendant main body and/or the target operating room, and the target pendant main body is one of at least one pendant main body included in the medical pendant management system; the terminal The department responds to the search instruction and controls the running mechanism to move according to the search instruction to find the docking position. Wherein, the search instruction may include one or more of an instruction for automatically finding the main body of the target pendant, an identification of the main body of the target pendant, an identification of the target operating room, and target position information corresponding to the main body of the target pendant. The specific process of the docking position has been described in detail in the above embodiments, and will not be repeated here.

Step 2. The docking device docks and fixes the terminal part and the main body of the pendant when the terminal part is at the docking position, that is, when the terminal part is at the docking position, the terminal part and the main body of the pendant are realized through the first docking part and the second docking part. Butt fixed. The specific process has been described in detail in the foregoing embodiments, and will not be repeated here.

Step 3. When the terminal part and the main body of the pendant are docked and fixed, the docking device receives a separation command, and in response to the separation command, separates the terminal part and the main body of the pendant, that is, separates the terminal through the first docking part and the second docking part Department and the main body of the pendant. Specifically, it may be that the first docking part receives the separation instruction, or the second docking part receives the separation instruction. Usually, whoever is in charge of the docking and separation receives the instruction. Do repeat.

The docking between the terminal portion 20 and the main body of the pendant 10 is automatic, and it can also be manually docked by the user. Several structures for manual docking are introduced below.

The main body 10 of the pendant tower and the terminal part 20 can be connected together conveniently and quickly through a quick connection mechanism (connecting and fixing mechanism), so that the two form an integral body. The connection methods of the quick connection mechanism include but are not limited to: mechanical connections such as hooks and pull rods, electromagnetic adsorption connections, vacuum suction cup connections, etc. But the core feature of any solution will be easy operation, and users can complete a stable docking within one or two steps. The docking parts of this quick connection mechanism are generally respectively arranged on the hanger head 130 and the terminal part 20 of the main body of the pendant tower. After the docking is completed, the terminal part 20 will be suspended at the end of the cross arm together with the suspension head, and has the function of moving in the XYZ direction of space. Similarly, by using the comprehensive action of the rotation of different joints in the main body of the pendant and the vertical lifting of the lifting mechanism, the combination of the suspension head and the terminal part can theoretically be moved to the range of the maximum arm span of the cross arm and the maximum lifting stroke range of the lifting mechanism. any point in space. The docking between the main body of the pendant and the terminal part 20, in addition to realizing the structural connection between the two, can also complete the docking of the gas source and the strong and weak power supply (described in detail in the above-mentioned embodiments), so that the terminal part 20 The gas terminal and the strong and weak electricity socket can be connected to the gas source and strong and weak power supply from the main body of the pendant tower to meet the needs of medical gas and strong and weak electricity in the operation.

The quick connection mechanism between the pendant main body 10 and the terminal part 20 is a generalized and standardized structure. After the terminal part 20 is customized according to different requirements, the surgical equipment required for different surgical scenarios can be switched by replacing the terminal part 20 . For example, when it is necessary to switch to surgery after the endoscopic operation is completed, the quick-connect mechanism of the terminal part 20 for the endoscope is untied, the terminal part 20 for the endoscope is separated from the main body 10 of the pendant, and the mobile function of the terminal part 20 is used to move the It is removed, and at the same time, the surgical terminal part 20 is moved to the operating room to complete the quick connection, and the switching of the surgical scene can be quickly completed.

There are many forms of manual mechanical docking structure between the terminal part 20 and the main body of the pendant tower 10, and several possible connection modes are provided below.

As shown in Figure 16, two docking bosses 211 are provided on the top of the terminal part 20 (the docking boss is the second docking part), and the bosses 211 and the top of the terminal part 20 can be solidly connected (such as screw connection or welding or integrated Forming, etc., the method is not limited). A through-type shaft hole 212 is formed on the side of the boss 211 .

Two grooves 131 are set at the bottom of the hanger head 130 of the pendant main body 10 (in this case, the first butt joint part is a part corresponding to the second butt joint part formed at the bottom of the hanger head 130, which is equivalent to the grooves and grooves here. Pin shaft), the contour shape of the groove 131 is consistent with the docking boss 211 on the terminal part 20, and the distance between the two grooves 131 is also consistent with the distance between the two docking bosses 211 on the terminal part 20. The two sides of each groove 131 have a shaft hole which is the same as that of the boss 211, and the holes on both sides maintain a high degree of coaxiality. A pin shaft 132 is installed in the hole, and the pin shaft 132 can pass through the hole on the other side from the hole on one side of the groove in the state of passing out, and the pin shaft 132 can pass through the hole on a certain side of the groove in the state of receipt. Income hanger 130 inside. There is a control mechanism on the outside of the hanging head, which can allow the pin shaft 132 to pass through and receive under the control of the user. Of course, the pin shaft 132 can also be directly operated by the user to let the pin shaft go out and in.

When the terminal part 20 is not docked with the hanging head 130, the pin shaft 132 on the hanging head 130 is in a retracted state. When it is necessary to dock the terminal portion 20 with the suspension head 130, firstly adjust the positions of the terminal portion 20 and the suspension head 130 so that the docking boss 211 on the top of the terminal portion 20 enters the groove at the bottom of the suspension head. At this time, the shaft holes on the sides of the boss 211 and the shaft holes on both sides of the groove 131 are just on the same axis, and must be on the same axis as the pin shaft. At this time, the pin shaft 132 is adjusted to the piercing state by the control mechanism Make the pin shaft 132 pass through the hole of the boss 211 and the groove 131, and fix the boss in the groove. At this time, the terminal portion 20 as a whole is connected with the hanger through the boss and the pin shaft structure in the groove.

The docking process can be completed by controlling the state of the pin shaft 132 after adjusting the relative positions of the terminal portion 20 and the suspension head 130 . It realizes the convenient and fast use requirement of docking.

The docking device between the main body of the pendant tower 10 and the terminal part 20 can also be connected by a hook. As shown in Figure 17, there is a hook 213 facing outwards on both sides of the top of the terminal part 20 (the second docking part), and can pass through the cover. The housing is concealed in the uprights on both sides of the terminal portion 20 . There is a hook 133 facing inward on both sides of the bottom of the hanger 130 (the first docking part), and the roots of the two hooks 133 are respectively connected to a horizontally placed tightening spring 134, so that the hook 133 is always supported by the horizontal direction toward the inside of the hanger. The tightening force, meanwhile, the hook 133 can be accommodated inside the suspension head by sliding in the vertical direction. The hook 213 of the terminal portion 20 is adapted to the hook 133 of the hanger 130 . When the terminal part 20 is docked with the suspension head 130, after adjusting the terminal part and the suspension head to a suitable position, slide the hook 133 on the suspension head downwards and connect it with the hook 213 on the terminal part. The tight spring 134 can ensure the stable connection between the hook 213 at the terminal part and the hanger hook 133, and will not come out during use.

The lifting of the pendant can have different schemes (such as mechanical arm + terminal lifting, electric arm, spring arm, pure mechanical arm + trolley lifting, etc.). As mentioned above, the main body of the pendant tower can realize the free movement of the sub-module (such as the suspension head) at the end of the cross arm 120, and theoretically, the suspension head can be moved to any position within the maximum reach of the cross arm and the maximum lifting stroke range of the lifting mechanism. a point in space. The possible implementation schemes of the main body of the pendant include but are not limited to the following situations:

1. Lifting of the rocker arm: the main body of the pendant includes a rocker arm, which is a movable cross arm on the main body of the pendant tower. Rotation, the lifting of the end of the rocker arm (hanging head) is realized by the overall rotation of the cross arm. The root of the rocker arm can be directly installed on the ceiling to form a single-arm structure; in the single-arm structure, the structure connecting the root of the rocker arm to the ceiling allows the rocker arm to rotate freely in the horizontal plane, so that the suspension head has three directions of xyz and z. degrees of freedom. It can also be installed at the end of another fixed cross arm first, and then the root of the fixed cross arm is installed on the ceiling to form a double-arm structure. In the double-arm structure, the structure in which the root of the rocker arm is connected to the end of the fixed cross-arm, and the root of the fixed cross-arm is connected to the ceiling can realize free rotation in the horizontal plane.

2. Spring arm lifting: the main body of the pendant includes a spring arm, which is a movable cross arm on the main body of the pendant, and its end is connected with the suspension head. The spring arm itself can realize the function of rotating in the vertical plane around the rotating shaft at its root, and can hover at any point within the stroke range, so that the spring arm can realize the lifting of the suspension head in a manner of integral rotation. The root of the spring arm can also be directly installed on the ceiling to form a single-arm structure; in the single-arm structure, the structure connecting the root of the spring arm to the ceiling can also allow the spring arm to rotate freely in the horizontal plane, so that the suspension head has three dimensions: xyz degrees of freedom in direction. The root of the spring arm can also be installed on the end of another fixed cross arm earlier, and then the root of the fixed cross arm can be installed on the ceiling to form a double-arm structure. In the double-arm structure, the root of the spring arm and the end of the fixed cross arm, and the structure connecting the root of the fixed cross arm to the ceiling can realize free rotation in the horizontal plane.

3. Lifting at the end of the cross arm: the main body of the pendant includes a lifting cross arm at the end, and the lifting cross arm at the end is composed of a lifting head at the end and a body of the cross arm, and the lifting head at the end can be an integral or retractable structure. For the integral structure, the lifting head at the end can slide up and down relative to the main body of the cross arm, and at the same time drive the lifting head connected to the lower end of the lifting head to rise and fall together. For the retractable structure, the lifting mechanism is fixed at the end of the cross arm and can be extended downward. The bottom of the lifting mechanism is connected with the hanging head, etc. When the lifting mechanism stretches downward, the hanging head falls accordingly, and when the lifting mechanism shrinks, the hanging head rises thereupon. The whole lifting cross arm at the end can be directly installed on the ceiling to form a single-arm structure; in the single-arm structure, the structure connecting the root of the end lifting cross arm to the ceiling allows the end lifting cross arm to realize free rotation in the horizontal plane. The end lifting cross arm can also be installed on the end of another fixed cross arm first, and then the root of the fixed cross arm is installed on the ceiling to form a double-arm structure. In the double-arm structure, the root of the end lifting cross arm and the end of the fixed cross arm, and the structure connecting the root of the fixed cross arm to the ceiling can be freely rotated in the horizontal plane.

The present invention also provides a medical pendant management system, at least for managing a plurality of the aforementioned split medical pendants, that is, as shown in FIG. 18 , the medical pendant management system includes: at least one of the above-mentioned pendant main body 10 and At least one terminal portion 20 as described above. The corresponding medical pendant management method can be executed by the target terminal unit, where the target terminal unit is any one of the at least one terminal unit. In this embodiment, the target terminal unit is the terminal unit selected by the user. The medical pendant management method is shown in Figure 19, including the following steps:

Step 1', the target terminal unit receives the search instruction, which is used to instruct to move to the docking position of the target pendant main body and/or the target operating room, and the docking position is the position where the terminal unit and the target pendant main body can be docked.

Optionally, the search instruction received by the target terminal can be input by the user through the human-computer interaction device on the target terminal, that is, the user wants to control which terminal is docked with the main body of the target pendant, and which terminal is assigned to which pendant The main body/operating room, etc., just input the search instruction through the human-computer interaction device on the terminal.

Optionally, in this embodiment, the medical pendant management system further includes a control terminal 60 . The control terminal 60 is communicatively connected to each pendant main body 10 and terminal unit 20 . The control terminal 60 is used to control each pendant main body 10 and terminal part 20 to realize equipment management. The control terminal 60 can be various types of computers (such as desktop computers, notebook computers, tablet computers, etc.), mobile terminals (such as mobile phones, etc.), or smart wearable devices, as long as it can realize human-computer interaction and information processing Ability is enough. The control terminal 60 is used to generate a search instruction based on the user's operation, and send the search instruction to the terminal unit. That is, the control terminal 60 can assign the terminal part 20 to the corresponding pendant main body 10 and/or assign the operating room based on the user's operation, for example, the control terminal 60 will display each pendant main body 10 and terminal part 20, and the user will The terminal part 20 required for the operation performed is distributed to the pendant main body 10 next to the bed where the operation is performed. The control terminal 60 sends the identifier of the allocated pendant main body 10 (target pendant main body) to the terminal part 20, so that the terminal part 20 knows which pendant main body 10 to dock with. The control terminal 60 sends the identifier of the assigned terminal part 20 (target terminal part) to the pendant main body 10, so that the pendant main body 10 knows which terminal part 20 to dock with.

Step 2', the target terminal part responds to the search instruction, and controls the movement of the traveling mechanism according to the search instruction to find the docking position. There may be multiple specific implementation manners, some of which are described below as examples.

In the first manner, the search instruction includes an instruction for automatically finding the main body of the target pendant. The target terminal part controls the traveling mechanism to drive the target terminal part to move according to the preset trajectory to find the docking position. For example, the terminal part of the target is already in the operating room where the main body of the target pendant is located. There is only one main body of the pendant in this operating room. When the terminal part is at the docking position, the traveling mechanism stops moving. Of course, the operating room may also have multiple pendant main bodies, and it is only necessary to find the docking position of any one of the pendant main bodies at the target terminal. The specific process has been described in detail in the foregoing embodiments, and will not be repeated here.

In the second manner, the search command includes the identification of the target pendant body. The target terminal part controls the traveling mechanism to drive the terminal part to move according to the preset path until the main body of the target pendant is found and the docking position is found; or, the first position information or target of the main body of the target pendant is determined according to the identification of the main body of the target pendant The second position information of the docking position corresponding to the main body of the pendant is combined with the current position information of the target terminal part to determine the first path, and the running mechanism is controlled to drive the target terminal part to move to the target pendant main body docking position according to the first path. Since the corresponding docking position is searched according to the identification of the target pendant main body, there are multiple pendant main bodies in the operating room and the search is not affected. The specific process has been described in detail in the foregoing embodiments, and will not be repeated here.

In a third manner, the search instruction includes the identification of the target operating room. The target terminal unit controls the walking mechanism to drive the target terminal unit to move to the target operating room according to the identification of the target operating room, for example, the target terminal unit determines the position information of the target operating room according to the identification of the target operating room, and combines the current position of the target terminal unit The information determines a path, and controls the traveling mechanism to drive the target terminal part to move to the target operating room according to the path. Furthermore, the target terminal part controls the traveling mechanism to drive the target terminal part to move according to the preset trajectory in the target operating room to find the docking position. The specific process has been described in detail in the foregoing embodiments, and will not be repeated here.

In the fourth manner, the search instruction includes the identification of the main body of the target pendant and the identification of the target operating room. The target terminal unit controls the traveling mechanism to drive the target terminal unit to move to the target operating room according to the identification of the target operating room. For example, the target terminal part moves to the operating room where the main body of the assigned pendant is located according to a preset path.

After the target terminal part arrives at the target operating room, the traveling mechanism is controlled to move in the target operating room to find the main body of the target pendant, and then the traveling mechanism is controlled to move to the docking position of the main body of the target pendant. The specific process can be the same as the first method or the second method, so it will not be repeated here.

In the fifth manner, the search instruction includes target position information corresponding to the main body of the target pendant. The target terminal part determines the target walking path according to the current position information of the target terminal part and the target position information, and controls the traveling mechanism to drive the target terminal part to move to the target position marked by the target position information according to the target walking path. The specific process has been described in detail in the foregoing embodiments, and will not be repeated here.

On the basis of the above several methods, each terminal part 20 is equipped with a camera and one or more sensors. When the traveling mechanism moves according to the preset path, the image data collected by the camera on the terminal part is used to track, and the data collected by one or more sensors on the terminal part is used to avoid obstacles. The processor of the terminal part 20 can process the image data and then control the traveling mechanism to move along the preset path, or it can be completed by an external processor such as the processor on the pendant main body 10 or the processor of the control terminal 60. The involved data transmission and interaction are realized through the wireless communication module.

The fully automatic walking of the target terminal mainly includes camera tracking and sensor obstacle avoidance. The target terminal part is also provided with a start button. When the user presses the start button, the target terminal part can automatically move to the assigned pendant main body 10, automatically move to the assigned operating room, or automatically move to the operation room where the assigned pendant main body 10 is located. room. In each control cycle, the processor judges whether the start button is pressed, and if not, then judges again; if so, obtains and processes the image data captured in real time by the camera, for example, obtains the area in front of the target terminal according to the image data captured in real time The position information in the image data, and then convert the coordinate system of the captured image data into the world coordinate system, so as to plan an expected route of the target terminal. According to the steering model and the operational model of the target terminal part, the steering angle control amount in the next few control cycles can be determined, that is, the processor can determine how much the steering angle control amount should be, so that the target terminal part can realize the planned desired route. In subsequent periods, the route planning is repeated continuously, and the optimal expected route of the target terminal unit is updated, so that the target terminal unit moves to the position indicated by the search instruction.

During the moving process of the target terminal, the multi-sensor information fusion technology of the ultrasonic sensor and the infrared sensor installed on the target terminal is used to realize the obstacle avoidance function of the target terminal. During the walking process of the target terminal, each sensor is real-time and omnidirectional. to detect whether there are obstacles around. When it is sensed that there is an obstacle on the walking route of the target terminal, the car can realize automatic obstacle avoidance in all directions by judging the number of sensors that detect the obstacle; when only a single sensor detects an obstacle, the processor controls the walking The mechanism keeps the target terminal away from the direction where the obstacle is detected; when some sensors (two or more sensors but not all sensors) detect the obstacle, the processor controls the traveling mechanism to make the target terminal move toward the undetected Travel in the direction of the obstacle; when all the sensors detect the obstacle, the processor controls the traveling mechanism so that the target terminal quickly avoids the obstacle. After the target terminal part avoids the obstacle, the target terminal part continues to travel.

Step 3', when the target terminal part is at the docking position, the target terminal part and the target pendant main body are docked and fixed through the first docking part and the second docking part. Before docking and fixing, at least one of the target terminal part and the target pendant main body can be used to determine whether the other party is a paired object. For example, when the target terminal part is at the docking position, the main body of the target pendant tower obtains the equipment identification of the target terminal part from the target terminal part, and judges whether the target terminal part currently at the docking position is a terminal part that allows docking, and if so, connects with the target terminal part butt. Wherein, the terminal part allowed to be docked may be the terminal part indicated by the terminal device identifier input by the user through the human-computer interaction device of the target pendant body, and the terminal part allowed to be docked may also be the terminal part sent by the control terminal included in the management system The terminal part indicated by the device identification. Specifically, when the terminal part is at the docking position, the main body of the pendant acquires the equipment identification of the terminal part. For example, the reader-writer on the main body of the pendant sends query commands periodically. When the electronic tag of the terminal part is read, it indicates that the terminal The terminal part is at the docking position, so as to obtain the equipment identification of the terminal part from the electronic tag. The main body of the pendant judges whether the terminal part currently at the docking position is the assigned terminal part according to the equipment identification of the terminal part, and if so, docks with the terminal part. The device connects the two, and the specific docking process can be seen in the above-mentioned embodiment, and will not be repeated here. The configuration parameter information of the terminal part can also be set on the electronic tag, such as which medical equipment it carries and what functions it has. The format of the phase code transmits the equipment identification stored in the electronic label (the model of the terminal part and/or the unique identification, etc.) If the various functions of the terminal part connected to the main body of the tower are found to be inappropriate for the current operation, the terminal part can be replaced, which is very convenient.

Of course, the above process can also be completed by the terminal part, that is, when the target terminal part is at the docking position, the target terminal part obtains the equipment identification of the target pendant main body from the target pendant main body, and judges whether the target pendant main body is Find the main body of the target pendant corresponding to the command, and if so, dock with the main body of the target pendant. For example, the reader is set on the terminal part, and the main body of the pendant is set with an electronic tag. When the terminal part is at the docking position, the terminal part obtains the equipment identification of the main body of the pendant. Specifically, the reader on the terminal part periodically sends query commands. When the electronic tag of the main body of the pendant is read, it means that the terminal part is located at The docking position, so as to obtain the equipment identification of the main body of the pendant from the electronic tag, and the terminal determines whether the main body of the pendant is the main body of the assigned pendant according to the equipment identification, and if so, docks with the main body of the pendant, such as the docking device. For the specific docking process, refer to the foregoing embodiments, and details are not repeated here.

After the terminal part and the assigned pendant main body are docked and fixed, at least one of the terminal part and the pendant main body will feed back the result of successful docking to the control terminal 60, and the control terminal 60 will send a corresponding prompt signal to remind the user of the assigned terminal part. The docking and fixing with the main body of the pendant tower has been completed.

Step 4', if the terminal part is not needed or the terminal part needs to be moved to other pendant main bodies, then the terminal part and the pendant main body can be separated. The docking device can be directly controlled by the medical staff to separate the terminal part from the main body of the pendant, or the control terminal 60 can be controlled by the medical staff, and then the control terminal 60 can wirelessly send instructions to the docking device to separate the terminal part from the main body of the pendant.

It can be seen that the above-mentioned whole process can realize the remote and automatic matching and assembly (docking) of the pendant, which can meet the requirements of various operations on the pendant, improve the utilization rate and automation of the pendant, and facilitate the operation room equipment. manage.

This document is described with reference to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications can be made to the exemplary embodiments without departing from the scope herein. For example, the various operational steps, as well as the components used to perform the operational steps, may be implemented in different ways depending on the particular application or considering any number of cost functions associated with the operation of the system (e.g., one or more steps may be deleted, modified or incorporated into other steps).

In addition, the principles herein may be embodied in a computer program product on a computer-readable storage medium having computer-readable program code preloaded thereon, as understood by those skilled in the art. Any tangible, non-transitory computer-readable storage medium may be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROM, DVD, Blu Ray discs, etc.), flash memory and/or the like . These computer program instructions can be loaded into a general purpose computer, special purpose computer or other programmable data processing apparatus to form a machine, so that these instructions executed on the computer or other programmable data processing apparatus can generate an apparatus for realizing specified functions. These computer program instructions may also be stored in a computer-readable memory which can instruct a computer or other programmable data processing device to operate in a particular manner such that the instructions stored in the computer-readable memory form a Manufactures, including implementing devices for implementing specified functions. Computer program instructions can also be loaded on a computer or other programmable data processing device, thereby performing a series of operational steps on the computer or other programmable device to produce a computer-implemented process, so that the computer or other programmable device Instructions may provide steps for performing specified functions.

While the principles herein have been shown in various embodiments, many modifications in structure, arrangement, proportions, elements, materials and components, particularly suited to particular circumstances and operational requirements may be made without departing from the principles and scope of this disclosure use. The above modifications and other changes or amendments are intended to be included within the scope of this document.

The foregoing detailed description has been described with reference to various embodiments. However, those skilled in the art will recognize that various modifications and changes can be made without departing from the scope of the present disclosure. Accordingly, the disclosure is to be considered in an illustrative rather than a restrictive sense, and all such modifications are intended to be embraced within its scope. Also, advantages, other advantages and solutions to problems have been described above with respect to various embodiments. However, neither benefits, advantages, solutions to problems, nor any elements that lead to these, or make the solutions more definite, should be construed as critical, required, or necessary. As used herein, the term "comprises" and any other variants thereof are non-exclusive, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also elements not expressly listed or not part of the process. , method, system, article or other element of a device. Additionally, the term "coupled" and any other variations thereof, as used herein, refers to a physical connection, an electrical connection, a magnetic connection, an optical connection, a communicative connection, a functional connection, and/or any other connection.

Those skilled in the art will recognize that many changes may be made to the details of the above-described embodiments without departing from the underlying principles of the invention. Accordingly, the scope of the invention should be determined from the following claims.

Claims

A medical pendant, comprising:

The terminal part is used to carry medical equipment;

Pendant body for suspension and / or move the terminal part;

It is characterized in that,

The terminal part and the main body of the pendant tower are separately arranged;

The main body of the pendant tower includes a first docking part, and the terminal part includes a second docking part adapted to the first docking part; when the terminal part is in the docking position, the terminal part and the main body of the pendant tower The docking and fixing are realized through the first docking part and the second docking part; the terminal part is separated from the main body of the pendant tower through the first docking part and the second docking part; the docking position is the terminal The position where the part can be docked with the main body of the pendant tower.
as claimed 1 The medical pendant is characterized in that,

The main body of the pendant and / Or the terminal part is provided with a positioning device, and the positioning device is used to detect whether the terminal part is in the docking position.
as claimed 2 The medical pendant is characterized in that the terminal part and / Or a prompting device is provided on the main body of the pendant, and the prompting device is used to output a prompting signal when the terminal part is at the docking position.
as claimed 1 The medical pendant is characterized in that the terminal portion includes:

The carrying body is used to carry the medical device;

The traveling mechanism is used to drive the carrying body to move.
as claimed 4 The medical pendant is characterized in that the terminal part further includes a controller;

The controller is used to receive a search instruction, and after receiving the search instruction, control the traveling mechanism to drive the terminal part to move according to a preset track to find the docking position; or,

The controller is used to receive a search instruction, the search instruction includes the identification of the main body of the target pendant; after receiving the search instruction, control the traveling mechanism to drive the terminal part to move according to a preset path until the search is found. The main body of the target pendant and find the docking position; or, according to the identification of the main body of the target pendant, determine the first position information of the main body of the target pendant or the second position of the docking position corresponding to the main body of the target pendant information, and determine the first path in combination with the current position information of the terminal part, and control the traveling mechanism to drive the terminal part to move to the docking position of the target pendant body according to the first path;

or,

The controller is used to receive a search instruction, the search instruction includes the identification of the target operating room; after receiving the search instruction, according to the identification of the target operating room, control the walking mechanism to drive the terminal to move to the Target operating room, and control the walking mechanism to drive the terminal part to move according to a preset track in the target operating room to find the docking position;

or,

The controller is used to receive a search instruction, the search instruction includes the identification of the main body of the target pendant and the identification of the target operating room; after receiving the search instruction, according to the identification of the target operating room, control the walking mechanism to drive the The terminal part moves to the target operating room, and controls the traveling mechanism to move in the target operating room to find the target pendant main body, and then controls the traveling mechanism to move to the target pendant main body for docking Location;

or,

The controller is used to receive a search instruction, the search instruction includes the target position information corresponding to the target pendant body; after receiving the search command, determine the target according to the current position information of the terminal part and the target position information walking path, and controlling the walking mechanism to drive the terminal part to move to the target position marked by the target position information according to the target walking path;

or,

The controller is used to control the running mechanism to move forward after receiving the forward command; to control the running mechanism to move backward after receiving the backward command; and / Or, it is used to control the running mechanism to turn left after receiving the instruction to turn left; to control the running mechanism to turn right after receiving the instruction to turn right.
as claimed 1 The medical pendant described above is characterized in that the main body of the pendant further includes a suspender, and the first docking part is arranged on the suspender; the terminal part and the suspender of the pendant main body pass through the The first docking part and the second docking part realize docking and fixing;

At least one first power connector is provided on the suspension head, and a second power connector adapted to the at least one first power connector is provided on the terminal portion; and / or,

The hanger is provided with at least one first gas pipeline connector, and the terminal part is provided with a second gas pipeline connector adapted to the at least one first gas pipeline connector; and / or,

At least one first communication cable connector is provided on the suspension head, and a second communication cable connector adapted to the at least one first communication cable connector is provided on the terminal portion.
as claimed 6 The medical pendant is characterized in that,

The position of the second power connector on the terminal part corresponds to the first power connector on the hanger, and the terminal part and the hanger of the pendant main body pass through the first docking part and the second When the docking parts are docked and fixed, the first power connector is docked with the second power connector; and / or,

The position of the second gas pipeline connector on the terminal part corresponds to the first gas pipeline connector on the hanger, and the terminal part and the hanger of the pendant main body are connected through the first docking When the component and the second docking component are docked and fixed, the first gas pipeline connector is docked with the second gas pipeline connector; and / or,

The position of the second communication cable connector on the terminal portion corresponds to the first communication cable connector on the suspension head, and the terminal portion and the suspension head of the pendant main body are connected through the first docking When the component and the second docking component are docked and fixed, the first communication cable connector is docked with the second communication cable connector.
as claimed 1 The medical pendant is characterized in that it also includes an adapted first wireless communication module and a second wireless communication module, the first wireless communication module is arranged on the main body of the pendant, and the second wireless communication module set at the terminal portion.
as claimed 4 The medical pendant is characterized in that the carrying body includes a plurality of equipment partitions, and one equipment partition is used to carry a kind of medical equipment.
as claimed 9 The medical pendant described above is characterized in that the equipment partitions are detachably arranged on the carrying body.
as claimed 4 The above-mentioned medical pendant is characterized in that the terminal portion further includes a lifting mechanism for driving the bearing body up and down.
A docking method of a medical pendant, characterized in that the medical pendant comprises: a main body of the pendant and a terminal part; the terminal part is used to carry medical equipment; the main body of the pendant is used for suspending and / Or move the terminal part; the terminal part and the pendant main body are arranged separately; the pendant main body includes a first docking part, and the terminal part includes a second docking part adapted to the first docking part parts; the terminal part and the main body of the pendant tower are docked and fixed or separated through the first docking part and the second docking part; the method includes:

Detecting whether the terminal part is located at a preset docking position; the docking position is a position where the terminal part can be docked with the main body of the pendant;

When the terminal part is at the docking position, the docking and fixing of the terminal part and the main body of the pendant is realized through the first docking part and the second docking part.
as claimed 12 The method described above is characterized in that the detecting whether the terminal part is located at a preset docking position includes:

The main body of the pendant and / Or the terminal part is provided with a positioning device; after receiving the docking preparation instruction, the positioning device continuously detects whether the terminal part is at the preset docking position; or,

After receiving the instruction for confirming that the terminal part is at the docking position, it is determined that the terminal part is at the docking position.
as claimed 12 or 13 The method is characterized in that it also includes:

When the terminal part is at the docking position, a corresponding prompt signal is output.
A separation method of a medical pendant, characterized in that the medical pendant comprises: a main body of the pendant and a terminal part; the terminal part is used to carry medical equipment; the main body of the pendant is used for suspension and / Or move the terminal part; the terminal part and the pendant main body are arranged separately; the pendant main body includes a first docking part, and the terminal part includes a second docking part adapted to the first docking part parts; the terminal part and the main body of the pendant tower are docked and fixed or separated through the first docking part and the second docking part; the method includes:

receiving a separation instruction when the terminal part and the main body of the pendant are in a docked and fixed state;

In response to the separation command, the terminal portion and the pendant body are separated by the first docking member and the second docking member.
A medical pendant management system, characterized in that it includes: at least one pendant main body and at least one terminal part; each terminal part is used to carry medical equipment, and each pendant main body is used to suspend and / Or move the terminal part; each pendant main body includes a first docking part, and each terminal part includes a second docking part; a terminal part and a pendant main body are fixed by the first docking part and the second docking part or separation;

The terminal part includes: a carrying body and a running mechanism, the carrying body is used to carry medical equipment, and the running mechanism is used to drive the target terminal part to move; the terminal part is also used for:

receiving a search instruction, the search instruction is used to instruct to move to the target pendant main body and / Or the docking position of the target operating room, where the docking position is a position where the terminal portion and the target pendant main body can be docked; the target pendant main body is one of the at least one pendant main body;

In response to the search instruction, the running mechanism is controlled to move according to the search instruction to find the docking position.
as claimed 16 The system is characterized in that the target pendant main body and / Or the terminal part is provided with a positioning device, and the positioning device is used to detect whether the terminal part is in the docking position.
as claimed 17 The system is characterized in that the target pendant main body and / Or the terminal part is provided with a prompting device, and the prompting device is used to send out a corresponding prompting signal when the terminal part is at the docking position.
as claimed 16-18 The system according to any one, characterized in that, when the terminal portion is at the docking position, the terminal portion is docked with the target pendant main body by the first docking member and the second docking member fixed.
as claimed 17 The system is characterized in that,

The search instruction includes an instruction for automatically finding the main body of the target pendant; the terminal unit controls the movement of the running mechanism to find the docking position according to the search instruction, including: controlling the running mechanism to follow a preset track Drive the terminal part to move to find the docking position;

or,

The search instruction includes the identification of the main body of the target pendant; the terminal part controls the movement of the running mechanism to find the docking position according to the search instruction, including: controlling the running mechanism to drive the The terminal part moves until the main body of the target pendant is found and the docking position is found; or, the first position information of the main body of the target pendant or the target pendant is determined according to the identification of the main body of the target pendant The second position information of the docking position corresponding to the main body, combined with the current position information of the terminal part to determine the first path, and control the traveling mechanism to drive the terminal part to move to the target pendant main body for docking according to the first path Location;

or,

The search instruction includes the identification of the target operating room; the terminal unit controls the movement of the running mechanism to find the docking position according to the search instruction, including: controlling the running mechanism according to the identification of the target operating room Drive the terminal part to move to the target operating room, and control the traveling mechanism to drive the terminal part to move according to a preset track in the target operating room to find the docking position;

or,

The search instruction includes the identification of the main body of the target pendant and the identification of the target operating room; the terminal unit controls the movement of the running mechanism to find the docking position according to the search instruction, including: according to the identification of the target operating room Identify, control the traveling mechanism to drive the terminal part to move to the target operating room, and control the traveling mechanism to move in the target operating room to find the main body of the target pendant, and then control the moving of the traveling mechanism To the docking position of the main body of the target pendant;

or,

The search instruction includes the target position information corresponding to the target pendant main body; the terminal part controls the movement of the traveling mechanism according to the search instruction to find the docking position, including: according to the current position of the terminal part Information and the target position information determine the target walking path, and control the traveling mechanism to drive the terminal part to move to the target position marked by the target position information according to the target walking path.
as claimed 16 The system is characterized in that,

The walking mechanism includes a plurality of casters, and there is at least one driving wheel and at least one steering wheel in the plurality of casters; or,

The traveling mechanism includes a plurality of casters, at least one driving wheel is provided in the plurality of casters, and the traveling mechanism moves on a pre-laid track and turns through the track; or,

The traveling mechanism includes a plurality of casters, and among the plurality of casters there are at least two left and right driving wheels, and the traveling mechanism realizes steering through the speed difference of the driving wheels; or,

The traveling mechanism includes a landing gear and a plurality of casters, at least one driving wheel is provided in the plurality of casters, and the driving wheel is arranged on the landing gear.
as claimed 20 The system is characterized in that the terminal is provided with a camera and one or more sensors; when the traveling mechanism moves along the path, the image data collected by the camera is tracked, and the terminal is tracked through the Obstacle avoidance based on data collected by one or more sensors.
as claimed 16 The system is characterized in that,

The search instruction received by the terminal unit is input by the user through the human-computer interaction device on the terminal unit; or,

The system further includes a control terminal that generates the search instruction based on a user's operation and sends the search instruction to the terminal unit.
as claimed 19 The system is characterized in that when the terminal portion is at the docking position, the terminal portion and the target pendant main body are docked and fixed by the first docking member and the second docking member, including :

When the terminal part is at the docking position, the main body of the target pendant acquires the equipment identification of the terminal part from the terminal part, and judges whether the terminal part currently at the docking position is a terminal part that is allowed to be docked, and if so, connects with the terminal part The docking of the terminal part, the terminal part that allows docking is input by the user through the human-computer interaction device of the target pendant body or sent by the control terminal included in the system; and / or,

When the terminal part is at the docking position, the terminal part acquires the equipment identification of the target pendant main body from the target pendant main body, and judges according to the equipment identification whether the target pendant main body corresponds to the search instruction. The main body of the target pendant, if so, dock with the main body of the target pendant.
A medical pendant management method, characterized in that the method is applied to a medical pendant management system, and the medical pendant management system includes at least one pendant main body and at least one terminal part, each terminal part is used to carry medical equipment; each pendant body is used for suspension and / Or move the terminal part; each pendant main body includes a first docking part, and each terminal part includes a second docking part; a terminal part and a pendant main body are fixed by the first docking part and the second docking part or separation;

The method is executed by a target terminal part, the target terminal part is any terminal part in the at least one terminal part, and the target terminal part includes: a carrying body and a walking mechanism, and the carrying body is used to carry medical equipment , the traveling mechanism is used to drive the target terminal part to move, and the method includes:

The target terminal part receives a search instruction, and the search instruction is used to instruct to move to the target pendant main body and / Or the docking position of the target operating room, where the docking position is a position where the terminal part and the main body of the target pendant can be docked;

The target terminal part responds to the search instruction, and controls the movement of the traveling mechanism according to the search instruction to find the docking position.
as claimed 25 Described method is characterized in that, described target pendant main body and / Or the terminal part of the target is provided with a positioning device, and the positioning device is used to detect whether the terminal part of the target is at the docking position.
as claimed 26 Described method is characterized in that, described target pendant main body and / Or the target terminal part is provided with a prompting device, and the method further includes: triggering the prompting device to send a corresponding prompting signal when the target terminal part is at the docking position.
as claimed 25-27 The method described in any one, it is characterized in that, described method also comprises:

When the target terminal portion is at the docking position, the target terminal portion and the target pendant main body are docked and fixed by the first docking member and the second docking member.
as claimed 25 The method is characterized in that,

The search instruction includes an instruction for automatically finding the main body of the target pendant; controlling the movement of the running mechanism to find the docking position according to the search instruction includes: controlling the running mechanism to drive the target according to a preset track The terminal part moves to find the docking position;

or,

The search instruction includes the identification of the main body of the target pendant; controlling the movement of the traveling mechanism to find the docking position according to the search instruction includes: controlling the movement of the traveling mechanism to drive the movement of the target terminal part according to a preset path , until the main body of the target pendant is found and the docking position is found; or, the first position information of the main body of the target pendant or the corresponding position of the main body of the target pendant is determined according to the identification of the main body of the target pendant The second position information of the docking position, combined with the current position information of the target terminal part to determine the first path, and controlling the traveling mechanism to drive the target terminal part to move to the docking position of the target pendant body according to the first path ;

or,

The search instruction includes the identification of the target operating room; controlling the movement of the running mechanism to find the docking position according to the search instruction includes: controlling the running mechanism to drive the target according to the identification of the target operating room The terminal part moves to the target operating room, and controls the traveling mechanism to drive the target terminal part to move according to a preset track in the target operating room to find the docking position;

or,

The search instruction includes the identification of the main body of the target pendant and the identification of the target operating room; controlling the movement of the running mechanism to find the docking position according to the search instruction includes: controlling the operation room according to the identification of the target operating room The traveling mechanism drives the target terminal part to move to the target operating room, and controls the traveling mechanism to move in the target operating room to find the main body of the target pendant, and then controls the traveling mechanism to move to the target operating room. The docking position of the main body of the target pendant;

or,

The search instruction includes target position information corresponding to the target pendant main body; controlling the movement of the traveling mechanism to find the docking position according to the search instruction includes: according to the current position information of the target terminal part and the Determine the target walking path according to the target position information, and control the traveling mechanism to drive the target terminal part to move to the target position marked by the target position information according to the target walking path.