WO2023082604A1 - 一种用于支撑介入手术机器人的龙门架 - Google Patents

一种用于支撑介入手术机器人的龙门架 Download PDF

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Publication number
WO2023082604A1
WO2023082604A1 PCT/CN2022/095370 CN2022095370W WO2023082604A1 WO 2023082604 A1 WO2023082604 A1 WO 2023082604A1 CN 2022095370 W CN2022095370 W CN 2022095370W WO 2023082604 A1 WO2023082604 A1 WO 2023082604A1
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WIPO (PCT)
Prior art keywords
rotating
interventional
supporting
gantry
rotation
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Application number
PCT/CN2022/095370
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English (en)
French (fr)
Inventor
杨良正
Original Assignee
深圳市爱博医疗机器人有限公司
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Filing date
Publication date
Application filed by 深圳市爱博医疗机器人有限公司 filed Critical 深圳市爱博医疗机器人有限公司
Publication of WO2023082604A1 publication Critical patent/WO2023082604A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • the present application relates to a device in the field of medical robots, in particular to a gantry for supporting an interventional operation robot.
  • the interventional surgery robot from the slave end is installed on the catheter bed, but the interventional surgery robot from the slave end has a large mass.
  • the interventional surgery robot from the slave end is usually fixed on the catheter bed, which has poor flexibility, and it is difficult for medical staff to adjust the interventional surgery robot on the catheter bed. The position on the bed brings difficulties to interventional surgery.
  • the interventional surgery robot from the slave end is installed on the catheter bed, but the interventional surgery robot from the slave end has a large mass.
  • the interventional surgery robot from the slave end is usually fixed on the catheter bed, which has poor flexibility, and it is difficult for medical staff to adjust the interventional surgery robot on the catheter bed. The position on the bed brings difficulties to interventional surgery.
  • a gantry frame for supporting an interventional surgery robot comprising a frame and a multi-directional rotating structure; the frame is connected to a catheter bed; the multi-directional rotating structure is installed on the frame; the multi-directional rotating The structure is connected with the interventional operation robot, and is used for supporting and allowing the interventional operation robot to perform multi-directional adjustment.
  • the frame is connected to both sides of the catheter bed, and the multi-directional rotating structure is installed on the frame, and the interventional surgery robot is installed on the multi-directional rotating structure. , conveniently adjust the multi-directional rotation of the interventional surgery robot, so that the interventional devices such as the catheter guide wire on the interventional surgery robot are aligned with the target position of the patient, and improve the adjustment efficiency of the interventional surgery robot.
  • FIG. 1 is a structural schematic diagram of a gantry for supporting an interventional surgery robot and the interventional surgery robot according to the present application.
  • FIG. 2 is a schematic structural view of a gantry for supporting an interventional surgery robot according to the present application.
  • FIG. 3 is a cross-sectional view of FIG. 2 .
  • FIG. 4 is an enlarged view of the first movable component in FIG. 3 .
  • FIG. 5 is another structural schematic diagram of a gantry for supporting an interventional surgery robot in the present application.
  • FIG. 6 is an enlarged view of the first movable assembly in FIG. 5 .
  • FIG. 7 is another cross-sectional view of FIG. 2 .
  • FIG. 8 is an enlarged view of the second rotating assembly in FIG. 7 .
  • FIG. 9 is another structural schematic diagram of a gantry for supporting an interventional surgery robot according to the present application.
  • FIG. 10 is an enlarged view of the second rotating assembly in FIG. 9 .
  • FIG. 11 is another structural schematic diagram of a gantry for supporting an interventional surgery robot in the present application.
  • the first rotating assembly 31.
  • the first movable assembly 311.
  • the first mounting seat 312.
  • the first rotating bearing 3121.
  • the first bearing 3123.
  • a gantry frame for supporting an interventional surgery robot including a frame and a multi-directional rotating structure
  • the frame is connected with the catheter bed
  • the multi-directional rotating structure is installed on the frame; the multi-directional rotating structure is connected with the interventional operation robot for supporting and allowing the interventional operation robot to perform multi-directional adjustment.
  • the multi-directional rotating structure includes a first rotating assembly and a second rotating assembly
  • the first rotating assembly is rotatably connected to the frame
  • the second rotating assembly is rotationally connected with the first rotating assembly and is used for installing an interventional surgery robot, and the rotating direction of the two rotating assemblies is different from that of the first rotating assembly.
  • the frame includes two supporting columns supported on the catheter bed, and the first rotating assembly includes two first movable assemblies and a first rotating connection shaft respectively rotatably connected to the two supporting columns;
  • the first rotating connection shaft is installed between the two first movable assemblies and rotates together with the two first movable assemblies.
  • the structures of the two first movable components are the same or different.
  • the first movable assembly includes a first mount, a first rotation bearing and a first rotation fixture;
  • the first mounting seat is installed on the corresponding support column
  • the first rotation bearing is passed through the support column and connected with the first rotation connection shaft;
  • the first rotation fixing member is used to connect the first mounting seat and the first rotation bearing to fix the first rotation bearing.
  • the first rotating fixture includes a first damper, and the first damper is installed on the first mount; one end of the first rotating bearing is connected to the first rotating connection shaft, The other end is connected with the first damper.
  • the first movable component further includes a first follower and a first limit component
  • the first follower is fixedly connected to the first rotation bearing
  • the first limiting component is installed on the support column and is used for limiting the first follower.
  • the first limiter assembly includes a first upper limiter and a first lower limiter, and a space between the first upper limiter and the first lower limiter is formed for the first driven The first rotation angle of the component rotation.
  • the first rotation angle is an obtuse angle.
  • the first rotating bearing is provided with a first threading entrance; the first follower is provided with a first threading exit corresponding to the first threading entrance.
  • the second rotating assembly is mounted on the first rotating connection shaft and is rotatably connected with the first rotating connection shaft.
  • the frame is connected to both sides of the catheter bed, the multi-directional rotating structure is installed on the frame, and the interventional surgery robot is installed on the multi-directional rotating structure.
  • the quality of the interventional surgical robot is relatively large, the medical staff can Using the multi-directional rotation structure, it is convenient to adjust the multi-directional rotation of the interventional surgery robot, so that the interventional devices such as the catheter guide wire on the interventional surgery robot are aligned with the target position of the patient, and the adjustment efficiency of the interventional surgery robot is improved.
  • the present application provides a gantry frame for supporting an interventional surgical robot 50, including a frame 10 and a multi-directional rotating structure 20; the frame 10 is connected to both sides of the catheter bed; the multi-directional The rotating structure 20 is installed on the frame 10; the multi-directional rotating structure 20 is connected with the interventional surgery robot 50 for supporting and allowing the interventional surgery robot 50 to rotate.
  • the interventional surgery robot 50 is used to install an interventional device 51 such as a catheter guide wire, and drive the interventional device 51 such as a catheter guide wire to enter a patient's blood vessel.
  • the frame 10 is installed on both sides of the catheter bed, and the interventional surgery robot 50 is installed on the multi-directional rotation structure 20.
  • the interventional surgery robot 50 can rotate in multiple directions, so that the interventional surgery robot 50 can
  • the catheter guide wire and other interventional devices 51 are aligned to the target position of the patient.
  • the target position refers to the position where the intervention device 51 such as the catheter guide wire is inserted into the patient's body during the operation, for example, it may be the radial artery of the arm, the femoral artery of the leg, and the like.
  • the frame 10 is connected to both sides of the catheter bed, the multi-directional rotating structure 20 is mounted on the frame 10, and the interventional surgery robot 50 is mounted on the multi-directional rotating structure 20, therefore, the frame 10 can ensure the The robot 50 is firmly installed above the catheter bed to ensure that the interventional surgery robot 50 accurately executes the corresponding control instruction when it receives the control instruction sent by the master controller (for example, the control instruction can be driven into the blood vessel by 1 mm, etc.). operation, to avoid shaking, resulting in operational errors, and to solve the problem of using a mechanical arm to support the interventional surgery robot 50 in the prior art, which is expensive, and the interventional surgery robot 50 has a large mass and is supported by a single arm, which easily causes the interventional surgery robot 50 to shake.
  • the medical staff can use the multi-directional rotation structure 20 to conveniently adjust the multi-directional rotation of the interventional surgery robot 50 so that the catheter guide wire on the interventional surgery robot 50
  • the interventional device 51 is aligned with the target position of the patient, and the adjustment efficiency of the interventional surgery robot 50 is improved.
  • the frame 10 includes two supporting columns 11 and reinforcing columns 12; the two supporting columns 11 are respectively installed on both sides of the catheter bed; both ends of the reinforcing column 12 are respectively connected to the two supporting columns 11.
  • two support columns 11 are installed vertically on both sides of the catheter bed, and the two ends of the reinforcement column 12 are respectively connected to the two support columns 11, so that the two support columns 11 and the reinforcement column 12 form an H shape.
  • the frame 10 has strong stability, so as to provide stable support for the interventional surgery robot 50, ensure that the interventional surgery robot 50 accurately executes the operation corresponding to the control command, and avoid shaking, resulting in operational errors.
  • the end of the support column 11 can be fixed on the catheter bed.
  • a moving structure 13 is provided at the end of the supporting column 11, and the moving structure 13 is movably connected with both sides of the catheter bed, so that the whole gantry is movably connected with the catheter bed, which is convenient for moving the gantry, adjusting The position of the interventional surgery robot 50 on the catheter bed.
  • the two sides of the catheter bed body are respectively provided with installation guide rails;
  • the moving structure 13 includes a moving guide installed at the end of the support column 11 and provided with a moving guide groove 131 and a plurality of moving rollers 132 installed on the moving guide, The apex of the moving roller 132 is located in the moving guide groove 131.
  • the installation guide rail When the gantry is moved, the installation guide rail is inserted into the moving guide groove 131 and abuts against the apex of the moving roller 132, so as to utilize the moving roller 132 to guide the installation guide rail to insert in the moving guide groove. Moreover, the frictional force between the installation guide rail and the moving guide groove 131 is reduced, which facilitates moving the gantry and adjusting the position of the interventional surgery robot 50 on the catheter bed.
  • a docking assembly (not shown in the figure) at the end of the support column 11; when it is necessary to separate the gantry frame and the catheter bed body, the installation guide rail of the catheter bed body and the mobile trolley (used to transport the gantry frame) can be used Fit the installation guide groove of the mobile trolley so that the mobile trolley is fixed relative to the catheter bed; then, use the docking component to dock with the mobile trolley so that the gantry moves to the mobile trolley to separate the gantry and the catheter bed, so that Maintenance, disinfection and storage of the interventional surgery robot 50, etc.
  • the two supporting columns 11 , the reinforcing column 12 and the catheter bed can also form a square shape, as long as the stability of the interventional surgery robot 50 can be ensured, there is no limitation here.
  • the multi-directional rotating structure 20 includes a first rotating assembly 30 and a second rotating assembly 40; the first rotating assembly 30 is rotationally connected to the two support columns 11; the second rotating assembly 40 is rotationally connected to the first rotating assembly 30 , and is used for installing the interventional surgery robot 50 , the rotation direction of the second rotation assembly 40 is different from the rotation direction of the first rotation assembly 30 .
  • the first rotating assembly 30 is rotationally connected with the two support columns 11, and the rotation axis of the first rotating assembly 30 is parallel to the reinforcing column 12; when adjusting the position of the interventional surgical robot 50, the first rotating assembly 30 is rotated 30 rotates, thereby driving the second rotation assembly 40 and the interventional surgery robot 50 to rotate around the rotation axis of the first rotation assembly 30, at this time, the catheter guide installed on the front end of the interventional surgery robot 50 close to the catheter bed can be
  • the intervention device 51 such as a wire moves toward the direction close to the catheter bed, or the intervention device 51 such as the catheter guide wire installed on the front end of the interventional surgery robot 50 close to the patient on the catheter bed moves away from the catheter bed, which can be understood as , the first rotating assembly 30 makes the interventional device 51 rotate up and down relative to the catheter bed with the position where the interventional surgical robot 50 is connected to the first rotating assembly 30 as the origin; then, the second rotating assembly 40 and the interventional surgical robot 50 rotate around The rotation axis of the second rotation assembly 40 rotate
  • the interventional devices 51 such as catheter guide wires of the interventional surgery robot 50 can be made relative to the catheter bed body.
  • the direction is rotated towards or away from the medical staff, so that the catheter guide wire and other interventional devices 51 can accurately reach the target position.
  • the second rotating assembly 40 is installed on the first rotating assembly 30 and is close to one of the supporting columns 11 , so that the catheter guide wire and other interventional devices 51 on the interventional surgery robot 50 are located in the middle of the reinforcing column 12 .
  • the medical personnel need to adjust the position of the interventional surgery robot 50, they push the interventional surgery robot 50 in the direction to be reached, so that the interventional surgery robot 50 rotates around the rotation axis of the second rotating assembly 40, while the second rotating assembly 40 And the interventional surgery robot 50 rotates around the rotation axis of the first rotating assembly 30, so that the interventional device 51 such as the catheter guide wire can reach the target position accurately, the adjustment is simple and fast, the adjustment time can be effectively shortened, and the adjustment efficiency is accelerated.
  • the first rotating assembly 30 and the second rotating assembly 40 may also be driven to rotate by a motor, which is not limited herein.
  • the first rotating assembly 30 includes two first movable assemblies 31 and a first rotating connection shaft 32; the two first movable assemblies 31 are respectively rotatably connected to the two supporting columns 11; A rotating connection shaft 32 is installed between the two first movable assemblies 31, and rotates together with the two first movable assemblies 31; Turn to connect.
  • the first movable assembly 31 is rotatably connected with the supporting column 11, and the first rotating connecting shaft 32 is installed between the two first movable assemblies 31, so that the first rotating connecting shaft 32 can be rotated by using the first movable assembly 31 .
  • the first movable component 31 may be a bearing component, or may be a motor or the like. It can be understood that the structures of the two first movable components 31 may be the same or different, as long as the first rotating connecting shaft 32 can be rotated.
  • the first movable assembly 31 when the structures of the two first movable assemblies 31 are identical, the first movable assembly 31 includes a first mount 311, a first rotation bearing 312 and a first rotation fixture 313 ;
  • the first mount 311 is installed on the support column 11;
  • the first rotation bearing 312 is penetrated in the support column 11 and connected with the first rotation connecting shaft 32;
  • the first rotation fixture 313 is used to connect the first mount 311 and the first rotation bearing 312 to fix the first rotation bearing 312 .
  • the first rotation bearing 312 includes a first rotation shaft 3121 and a first bearing 3122; a first step hole (not shown in the figure) is provided on the support column 11, and the head end of the first rotation shaft 3121 is installed on the first step hole, and connected with the first rotating shaft 32; the first bearing 3122 is sleeved on the first rotating shaft 3121, so that the first rotating shaft 3121 rotates relative to the support column 11; the end of the first rotating shaft 3121 is connected with the first
  • the rotation fixture 313 is connected to fix the first rotation bearing 312 with the first rotation fixture 313 when the position adjustment of the intervention device 51 of the interventional surgery robot 50 is completed.
  • the front end of the interventional surgery robot 50 close to the patient on the catheter bed moves toward or away from the catheter bed body, and the second rotating assembly 40 installed on the first rotating connection shaft 32 rotates together with the interventional surgery robot 50, so that the first rotation
  • the connecting shaft 32 rotates and drives the first rotary bearing 312.
  • the first rotary fixture 313 is used to fix the first rotary bearing 312 to ensure the stability of the interventional surgery robot 50 and improve the operation of the interventional surgery robot 50. precision, to avoid the first rotating bearing 312 driving the interventional surgery robot 50 to rotate during surgery.
  • the first rotation fixing member 313 can be a pin shaft or a buckle, etc. Exemplarily, a pin hole matching with the pin shaft is provided on the first rotation bearing 312 and the first mounting seat 311, and the pin shaft is installed in the pin hole to fix the first rotating bearing 312.
  • the first rotation fixing member 313 may also be of other structures, as long as it can realize the fixing of the first rotation bearing 312 , it is not limited here.
  • the first rotating fixture 313 includes a first damper, and the first damper is installed on the first mounting base 311 ; the first rotating bearing 312 passes through the support column 11 , One end is connected with the first rotating connection shaft 32, and the other end is connected with the first damper.
  • the first movable assembly 31 further includes a first connecting piece 314, the first connecting piece 314 passes through the first mounting base 311, and one end of the first connecting piece 314 is connected to the first connecting piece installed on the first mounting base 311.
  • the damper is connected, and the other end is connected with the first rotating shaft 3121 of the first rotating bearing 312 to connect the first rotating shaft 3121 and the first damper to fix the first rotating bearing 312 .
  • a braking structure can also be provided between the first damper and the first rotating shaft 3121, and a control button is provided on the frame or other positions, and the control button is used to switch the locking state and unlocking state of the braking structure; usually Under normal circumstances, the braking structure is in a locked state, the first damper and the first rotating shaft 3121 are locked by the braking structure and cannot rotate; when adjusting the position of the interventional device 51 of the interventional surgical robot 50, the medical personnel press the control button , to switch the braking structure from the locked state to the unlocked state. At this time, when the first rotating shaft 3121 rotates, due to the resistance effect of the first damper, it will not rotate freely even under inertial motion.
  • the locked state of the braking structure ensures that the first rotating shaft 3121 can be fixed at any position, preventing the first rotating shaft 3121 from rotating during the operation and causing accidental injury.
  • the first movable assembly 31 also includes a first follower 315 and a first limit assembly 316; the first follower 315 is fixedly connected to the first rotation bearing 312; A limiting component 316 is mounted on the support column 11 for limiting the first follower 315 .
  • the first follower 315 is fixedly installed on the first rotating shaft 3121 of the first rotating bearing 312.
  • the first rotating bearing 312 rotates with the first rotating bearing 312
  • the first follower 315 rotates to abut against the first limit assembly 316
  • the first rotating bearing 312 reaches the maximum rotation range, which reminds the medical staff that the adjustment limit has been reached and protects the patient.
  • the interventional surgery robot 50 will not cause great damage to equipment and personnel even in the case of free fall.
  • the first limiting assembly 316 includes a first upper limiting member 3161 and a first lower limiting member 3162; a first upper limiting member 3161 and a first lower limiting member 3162 It is installed on the same plane as the support column 11 , and a first rotation angle for the first follower 315 to rotate is formed between the first upper limiter 3161 and the first lower limiter 3162 .
  • the first follower 315 can rotate within the first rotation angle formed between the first upper limiter 3161 and the first lower limiter 3162 to limit the rotation range of the first rotation bearing 312. On the one hand It can protect the patient, that is, when the first follower 315 abuts against the first upper limiter 3161 or the first lower limiter 3162, it reminds the medical personnel that the adjustment limit has been reached.
  • the first rotation angle is an obtuse angle.
  • the interventional surgery robot 50 extends along the radial direction of the first rotating connection shaft 32 .
  • the catheter guide wire and other interventional devices 51 move towards the direction of the catheter bed;
  • the interventional device 51 moves away from the catheter bed.
  • the first rotating bearing 312 is controlled to rotate 90°, that is, it abuts against the first lower limiter 3162. At this time, the interventional surgery robot 50 is perpendicular to the catheter bed, so that The interventional surgery robot 50 is accommodated.
  • first upper limiter 3161 and the first lower limiter 3162 are provided with an abutment slope (not shown) that abuts against the first follower 315 to effectively buffer the first follower 315 and the second follower 315 .
  • the first rotating bearing 312 is provided with a first threading inlet 3123; the first follower 315 is provided with a first threading outlet corresponding to the first threading inlet 3123 3151.
  • the interventional surgery robot 50 is connected to the master controller through a line.
  • the first rotating shaft 3121 of the first rotating bearing 312 is a hollow cylinder, and a first threading inlet 3123 is opened on the cylinder, and a first threading outlet 3151 is provided on the first follower 315, so as to
  • the wires are arranged inside the first rotating bearing 312, and the angle formed by the first rotating bearing 312, the first upper limiter 3161 and the first lower limiter 3162 is 120°, which can avoid wire winding.
  • the second rotating assembly 40 is installed on the first rotating connection shaft 32 and is rotatably connected with the first rotating connecting shaft 32 .
  • the second rotating assembly 40 includes a second mounting seat 41, a second rotating bearing 42 and a second rotating fixture 43; the second mounting seat 41 is installed on the first rotating connection shaft 32; A rotating connection shaft 32 is rotatably connected and used for installing the interventional surgery robot 50 ; the second rotating fixing member 43 is used for connecting the second mounting base 41 and the second rotating bearing 42 to fix the second rotating bearing 42 .
  • the second rotating bearing 42 includes a second rotating shaft 421 and a second bearing 422; the first rotating connecting shaft 32 is provided with a second stepped hole (not shown in the figure), and the head end of the second rotating shaft 421 Installed in the second step hole; the second bearing 422 is sleeved in the middle of the second rotating shaft 421, so that the second rotating shaft 421 rotates relative to the first rotating connecting shaft 32; the end of the second rotating shaft 421 is connected with the second rotating fixture 43, so that when the position adjustment of the intervention device 51 of the interventional surgery robot 50 is completed, the second rotation bearing 42 is fixed by the second rotation fixture 43.
  • the second rotating assembly 40 further includes an installation platform 47 connected to the second rotation shaft 421 , and the interventional surgery robot 50 is installed on the installation platform 47 .
  • the front end of the interventional surgery robot 50 close to the patient on the catheter bed is rotated toward or away from the medical staff.
  • the second rotation bearing 42 rotates.
  • the intervention The adjustment of the surgical robot 50 is completed; then, the second rotary bearing 42 is fixed by the second rotary fixture 43 to ensure the stability of the interventional surgical robot 50, improve the operation accuracy of the interventional surgical robot 50, and prevent the second rotary bearing 42 from driving the interventional surgery during surgery.
  • the surgical robot 50 rotates.
  • the second rotation fixing member 43 can be a pin shaft or a buckle, etc.
  • the second rotation bearing 42 and the second mounting seat 41 are provided with pin holes that cooperate with the pin shaft, and the pin shaft Installed on the pin hole to fix the second rotation bearing 42 .
  • the second rotation fixing member 43 may also have other structures, as long as the second rotation bearing 42 can be fixed, and there is no limitation here.
  • the second rotating assembly 40 may further include a motor, so that the second rotating bearing 42 may be powered by the motor to rotate the second rotating bearing 42 .
  • the second rotating fixture 43 includes a second damper; the second damper is installed on the second mount 41; the second rotating bearing 42 passes through the first rotating connection One end of the shaft 32 is used for installing the interventional surgery robot 50 , and the other end is connected with the second damper.
  • the second damper is installed on the second installation seat 41, so that the second rotating bearing 42 can be fixed by the damping force of the second damper, which is convenient for operation.
  • the second rotating assembly 40 also includes a second connecting piece 44 , the second connecting piece 44 passes through the second mounting base 41 , and one end of the second connecting piece 44 is connected to the second damper installed on the second mounting base 41 , the other end is connected with the second rotating shaft 421 of the second rotating bearing 42, so as to connect the second rotating shaft 421 and the second damper, play the role of fixing the second rotating bearing 42, and facilitate medical personnel to adjust the catheter guide wire, etc.
  • the location of the intervention device 51 .
  • the second rotation assembly 40 further includes a second follower 45 and a second limit assembly 46; the second follower 45 is fixedly connected to the second rotation bearing 42; The second limiting component 46 is installed on the first rotating connection shaft 32 for limiting the second follower 45 .
  • one end of the second follower 45 is fixedly mounted on the second rotation shaft 421 of the second rotation bearing 42, and the other end is a free end; the distance from the free end of the second follower 45 to the second rotation bearing 42 is, It is greater than the distance from the second limit assembly 46 to the second rotation bearing 42 . Therefore, when the second rotation bearing 42 rotates, the second follower 45 rotates with the second rotation bearing 42 until the second follower 45 rotates to abut against the second limit assembly 46, at this time, the second rotation When the bearing 42 reaches the maximum rotation range, it reminds the medical staff that the adjustment limit has been reached, so as to protect the patient.
  • the second limiter assembly 46 includes a second left limiter 461 and a second right limiter 462; the second left limiter 461 and the second right limiter
  • the member 462 is installed on the same plane as the first rotating connecting shaft 32 ; and a second rotation angle for the rotation of the second follower 45 is formed between the second left limiting member 461 and the second right limiting member 462 .
  • the second follower 45 can rotate between the second left limiter 461 and the second right limiter 462 (that is, the second rotation angle) to limit the rotation range of the second rotary bearing 42 , On the one hand, it can protect the patient, that is, when the second left limiter 461 or the second right limiter 462 is reached, it will remind the medical personnel that the adjustment limit has been reached.
  • the second left limiter 461 and the second right limiter 462 are provided with an abutment slope (not shown) that abuts against the second follower 45 to effectively buffer the second follower 45 and the second left The impact force caused to the interventional surgery robot 50 when the limit piece 461 abuts against the second right limit piece 462 .
  • the angle formed by the second follower 45 , the second left limiter 461 and the second right limiter 462 is 60°.
  • the second left limit The angle formed by the positioning member 461 and the central axis of the connecting axis is -30°; the angle formed by the centerline of the first rotating connecting shaft 32 and the second right limiting member 462 is 30°, therefore, the second left limiting member 461 , the second right limiting member 462 and the second rotation bearing 42 form an included angle of 60°.
  • the catheter guide wire and other interventional devices 51 move towards the direction close to the medical personnel; when the second rotation bearing 42 is adjusted to rotate to the second right limiter 462 , the interventional device 51 such as the catheter guide wire moves away from the medical staff, so that the interventional device 51 such as the catheter guide wire reaches the target position.
  • the second rotating bearing 42 is provided with a second threading inlet 423 ; the second follower 45 is provided with a second threading outlet 451 corresponding to the second threading inlet 423 .
  • the interventional surgery robot 50 is connected to the master controller through a line.
  • the second rotating bearing 42 is a hollow cylinder, and a second threading inlet 423 is opened on the cylinder, and a second threading outlet 451 corresponding to the second threading inlet 423 is provided on the second follower 45 , so as to organize the lines inside the second rotating bearing 42 and arrange the cables.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
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  • Molecular Biology (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Manipulator (AREA)

Abstract

一种用于支撑介入手术机器人的龙门架，包括机架和多向转动结构；机架与导管床体的两侧连接；多向转动结构安装在机架上；多向转动结构与介入手术机器人连接，用于驱动介入手术机器人转动。利用多向转动结构驱动介入手术机器人多向转动，以使介入手术机器人上的介入器件对准患者的目标位置，提高介入手术机器人调节效率。

Description

一种用于支撑介入手术机器人的龙门架
本申请要求于2021年11月10日提交中国专利局、申请号为202111336336.1，发明名称为“一种用于支撑介入手术机器人的龙门架”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及一种医疗机器人领域装置，尤其涉及一种用于支撑介入手术机器人的龙门架。
 背景技术
现有利用血管介入机器人进行血管介入手术时，对于血管介入手术中医生需要长期接收X射线的辐射，容易对医生造成伤害，为此，开发了远程操作的主从式血管介入手术机器人。
从端的介入手术机器人安装在导管床上，但是从端的介入手术机器人质量大，现有技术中，通常将从端的介入手术机器人固定在导管床上，灵活性较差，医护人员难以调节介入手术机器人在导管床上的位置，给介入手术带来困难。
 技术问题
从端的介入手术机器人安装在导管床上，但是从端的介入手术机器人质量大，现有技术中，通常将从端的介入手术机器人固定在导管床上，灵活性较差，医护人员难以调节介入手术机器人在导管床上的位置，给介入手术带来困难。
 技术解决方案
一种用于支撑介入手术机器人的龙门架，包括机架和多向转动结构；所述机架与导管床体连接；所述多向转动结构安装在所述机架上；所述多向转动结构与介入手术机器人连接，用于支撑并让所述介入手术机器人进行多向调节。
 有益效果
机架连接导管床体的两侧，有多向转动结构安装在机架上，介入手术机器人安装在多向转动结构上，虽然介入手术机器人的质量较大，但医护人员可以利用多向转动结构，方便地让介入手术机器人多向转动进行调节，以使介入手术机器人上的导管导丝等介入器件对准患者的目标位置，提高介入手术机器人调节效率。
 附图说明
图1为本申请一种用于支撑介入手术机器人的龙门架与介入手术机器人的结构示意图。
图2为本申请一种用于支撑介入手术机器人的龙门架的一结构示意图。
图3为图2的一剖面图。
图4为图3中第一活动组件的放大图。
图5为本申请一种用于支撑介入手术机器人的龙门架的另一结构示意图。
图6为图5中第一活动组件的放大图。
图7为图2的另一剖面图。
图8为图7中第二旋转组件的放大图。
图9为本申请一种用于支撑介入手术机器人的龙门架的另一结构示意图。
图10为图9中第二旋转组件的放大图。
图11为本申请一种用于支撑介入手术机器人的龙门架的另一结构示意图。
其中，
10、机架；11、支撑柱；12、加强柱；13、移动结构；131、移动导槽；132、移动滚轮；
20、多向转动结构；
30、第一旋转组件；31、第一活动组件；311、第一安装座；312、第一旋转轴承；3121、第一转动轴；3122、第一轴承；3123、第一穿线入口；313、第一旋转固定件；314、第一连接件；315、第一从动件；3151、第一穿线出口；316、第一限位组件；3161、第一上限位件；3162、第一下限位件；32、第一旋转连接轴；
40、第二旋转组件；41、第二安装座；42、第二旋转轴承；421、第二转动轴；422、第二轴承；423、第二穿线入口；43、第二旋转固定件；44、第二连接件；45、第二从动件；451、第二穿线出口；46、第二限位组件；461、第二左限位件；462、第二右限位件；47、安装台；
50、手术介入机器人；51、介入器件。
发明内容
基于此，有必要针对现有技术中的不足，提供一种新型的用于支撑介入手术机器人的龙门架。
一种用于支撑介入手术机器人的龙门架，包括机架和多向转动结构；
所述机架与导管床体连接；
所述多向转动结构安装在所述机架上；所述多向转动结构与介入手术机器人连接，用于支撑并让所述介入手术机器人进行多向调节。
优选地，所述多向转动结构包括第一旋转组件和第二旋转组件；
所述第一旋转组件与所述机架转动连接；
所述第二旋转组件与所述第一旋转组件转动连接，且用于安装介入手术机器人，所述二旋转组件的转动方向不同于所述第一旋转组件的转动方向。
优选地，所述机架包括支撑在导管床体的两个支撑柱，所述第一旋转组件包括两个分别转动连接于两个所述支撑柱的第一活动组件和第一旋转连接轴；
所述第一旋转连接轴安装在两个所述第一活动组件之间，与两个所述第一活动组件一起转动。
优选地，两个所述第一活动组件的结构相同或者不同。
优选地，两个所述第一活动组件的结构完全相同时，所述第一活动组件包括第一安装座、第一旋转轴承和第一旋转固定件；
所述第一安装座安装在对应支撑柱上；
第一旋转轴承穿设于所述支撑柱内，并与所述第一旋转连接轴连接；
所述第一旋转固定件用于连接所述第一安装座和所述第一旋转轴承，以固定所述第一旋转轴承。
优选地，所述第一旋转固定件包括第一阻尼器，所述第一阻尼器安装在所述第一安装座上；所述第一旋转轴承的一端与所述第一旋转连接轴连接，另一端与所述第一阻尼器连接。
优选地，所述第一活动组件还包括第一从动件和第一限位组件；
所述第一从动件与所述第一旋转轴承固定连接；
所述第一限位组件安装在所述支撑柱上，用于限位所述第一从动件。
优选地，所述第一限位组件包括第一上限位件和第一下限位件，所述第一上限位件和第一下限位件之间形成用于供所述第一从动件转动的第一转动角度。
优选地，所述第一转动角度为钝角。
优选地，所述第一旋转轴承设有第一穿线入口；所述第一从动件设有与所述第一穿线入口对应的第一穿线出口。
优选地，所述第二旋转组件安装在所述第一旋转连接轴上，与所述第一旋转连接轴转动连接。
综上所述，机架连接导管床体的两侧，有多向转动结构安装在机架上，介入手术机器人安装在多向转动结构上，虽然介入手术机器人的质量较大，但医护人员可以利用多向转动结构，方便地让介入手术机器人多向转动进行调节，以使介入手术机器人上的导管导丝等介入器件对准患者的目标位置，提高介入手术机器人调节效率。
具体实施方式
为了使发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释发明，并不用于限定发明。
如图1至图11所示，本申请提供一种用于支撑介入手术机器人50的龙门架，包括机架10和多向转动结构20；机架10与导管床体的两侧连接；多向转动结构20安装在机架10上；多向转动结构20与介入手术机器人50连接，用于支撑并让介入手术机器人50转动。
具体地，介入手术机器人50用于安装导管导丝等介入器件51，并驱动导管导丝等介入器件51进入患者的血管。将机架10安装在导管床体的两侧，将介入手术机器人50安装在多向转动结构20上，利用多向转动结构20，介入手术机器人50可以多向转动，以使介入手术机器人50上的导管导丝等介入器件51对准患者的目标位置。该目标位置是指进行手术时，导管导丝等介入器件51介入患者体内的位置，例如，可以是胳膊桡动脉、腿部股动脉等。
本实施例中，机架10连接导管床体的两侧，多向转动结构20安装在机架10上，介入手术机器人50安装在多向转动结构20上，因此，机架10可以保证介入手术机器人50稳固地安装在导管床体的上方，保证介入手术机器人50接受主端控制器发送的控制指令（示例性地，控制指令可以是驱动进入血管1毫米等）时，精准地执行控制指令对应的操作，避免出现晃动，导致操作失误，解决现有技术中利用机械臂支撑介入手术机器人50，造价高，且介入手术机器人50质量较大，单臂支撑，容易导致介入手术机器人50晃动。本实施例中，虽然介入手术机器人50的质量较大，但医护人员可以利用多向转动结构20，方便地让介入手术机器人50多向转动进行调节，以使介入手术机器人50上的导管导丝等介入器件51对准患者的目标位置，提高介入手术机器人50调节效率。
作为一实施例，机架10包括两个支撑柱11和加强柱12；两个支撑柱11分别安装在导管床体的两侧；加强柱12的两端分别与两个支撑柱11连接。
具体地，两个支撑柱11分别竖直地安装在导管床体的两侧，加强柱12的两端分别与两个支撑柱11连接，则两个支撑柱11和加强柱12形成H字型，保证机架10具有较强稳固性，从而为介入手术机器人50提供稳固支撑，保证介入手术机器人50精准地执行控制指令对应的操作，避免出现晃动，导致操作失误。
此外，支撑柱11末端可以固定在导管床体上。具体地，如图2所示，支撑柱11末端设置有移动结构13，移动结构13与导管床体的两侧活动连接，以使龙门架整体与导管床体活动连接，便于移动龙门架，调节介入手术机器人50在导管床体上的位置。具体地，导管床体的两侧分别设置有安装导轨；移动结构13包括安装在支撑柱11末端且设置有移动导槽131的移动导向件和安装在移动导向件上的多个移动滚轮132，移动滚轮132的顶点位于移动导槽131中，移动龙门架时，安装导轨插入移动导槽131内，并与移动滚轮132的顶点抵接，以利用移动滚轮132引导安装导轨插入移动导槽内，且减少安装导轨与移动导槽131之间的摩擦力，便于移动龙门架，调节介入手术机器人50在导管床体上的位置。进一步地，支撑柱11末端还设有对接组件（图中未示）；当需要分离龙门架和导管床体的时候，可以利用导管床体的安装导轨与移动台车（用于搬运龙门架）的安装导槽配合，以使移动台车相对导管床体固定；接着，利用对接组件与移动台车对接，以使龙门架移动至移动台车上，实现分离龙门架和导管床体，以便于介入手术机器人50的维护、消毒和收纳等。
此外，两个支撑柱11、加强柱12和导管床体还可以形成口字型，只要能够保证介入手术机器人50的稳定性即可，在此不作限定。
作为一实施例，多向转动结构20包括第一旋转组件30和第二旋转组件40；第一旋转组件30与两个支撑柱11转动连接；第二旋转组件40与第一旋转组件30转动连接，且用于安装介入手术机器人50，所述第二旋转组件40的转动方向不同于所述第一旋转组件30的转动方向。
第一旋转组件30与两个支撑柱11转动连接，且第一旋转组件30的旋转轴与加强柱12平行；当调节介入手术机器人50的位置时，使第一旋转组件30绕第一旋转组件30的旋转轴转动，从而带动第二旋转组件40以及介入手术机器人50绕第一旋转组件30的旋转轴转动，此时，可以使安装于介入手术机器人50靠近导管床上的病人的前端的导管导丝等介入器件51向靠近导管床体的方向移动，或者，使安装于介入手术机器人50靠近导管床上的病人的前端的导管导丝等介入器件51向远离导管床体的方向移动，可以理解为，第一旋转组件30使介入器件51，以介入手术机器人50与第一旋转组件30连接的位置为原点，相对导管床体上下转动；接着，使第二旋转组件40和介入手术机器人50，绕第二旋转组件40的旋转轴转动，第二旋转组件40的旋转轴与第一旋转组件30的旋转轴垂直，此时，可以使介入手术机器人50的导管导丝等介入器件51相对导管床体方向向靠近或者远离医护人员的方向转动，以使导管导丝等介入器件51准确地到达目标位置。
此外，第二旋转组件40安装在第一旋转组件30上，且靠近其中一个支撑柱11上，让介入手术机器人50上的导管导丝等介入器件51位于加强柱12的中间。
本实施例中，医护人员需要调节介入手术机器人50的位置时，向需要到达的方向推动介入手术机器人50，让介入手术机器人50绕第二旋转组件40的旋转轴转动，同时第二旋转组件40和介入手术机器人50绕第一旋转组件30的旋转轴转动，以使导管导丝等介入器件51准确地到达目标位置，调节简便快捷，可以有效缩短调节时长，有利于加快调节效率。此外，还可以通过电机驱动第一旋转组件30和第二旋转组件40转动，在此不做限定。
作为一实施例，如图3所示，第一旋转组件30包括两个第一活动组件31和第一旋转连接轴32；两个第一活动组件31分别与两个支撑柱11转动连接；第一旋转连接轴32安装在两个第一活动组件31之间，与两个第一活动组件31一起转动；第二旋转组件40安装在第一旋转连接轴32上，与第一旋转连接轴32转动连接。
本实施例中，第一活动组件31与支撑柱11转动连接，第一旋转连接轴32安装在两个第一活动组件31之间，以利用第一活动组件31使第一旋转连接轴32转动。可以理解地，第一活动组件31可以为轴承组件，也可以为电机等。可以理解地，两个第一活动组件31的结构可以相同，也可以不同，只要能够使第一旋转连接轴32转动即可。
作为一实施例，如图3和4所示，两个第一活动组件31的结构完全相同时，第一活动组件31包括第一安装座311、第一旋转轴承312和第一旋转固定件313；第一安装座311安装在支撑柱11上；第一旋转轴承312穿设于支撑柱11内，并与第一旋转连接轴32连接；第一旋转固定件313用于连接第一安装座311和第一旋转轴承312，以固定第一旋转轴承312。
具体地，第一旋转轴承312包括第一转动轴3121和第一轴承3122；支撑柱11上设有第一台阶孔（图中未示），第一转动轴3121的头端安装于第一台阶孔内，并与第一旋转连接轴32连接；第一轴承3122套设在第一转动轴3121上，以便于第一转动轴3121相对支撑柱11转动；第一转动轴3121的末端与第一旋转固定件313连接，以当介入手术机器人50的介入器件51的位置调节完成时，利用第一旋转固定件313固定第一旋转轴承312。
使介入手术机器人50靠近导管床上的病人的前端向靠近或者远离导管床体的方向移动，安装在第一旋转连接轴32上的第二旋转组件40和介入手术机器人50一起旋转，从而第一旋转连接轴32转动并带动第一旋转轴承312，当介入手术机器人50调节完成，则利用第一旋转固定件313固定第一旋转轴承312，以确保介入手术机器人50稳定，提高介入手术机器人50的操作精度，避免手术时，第一旋转轴承312带动介入手术机器人50转动。
第一旋转固定件313可以是销轴或者卡扣等，示例性地，在第一旋转轴承312和第一安装座311上均设有与销轴配合的销孔，将销轴安装在销孔上，以固定第一旋转轴承312。第一旋转固定件313也可以是其他结构，只要能够实现固定第一旋转轴承312即可，在此不做限定。
作为一实施例，如图3和4所示，第一旋转固定件313包括第一阻尼器，第一阻尼器安装在第一安装座311上；第一旋转轴承312穿设于支撑柱11，一端与第一旋转连接轴32连接，另一端与第一阻尼器连接。
本实施例中，第一活动组件31还包括第一连接件314，第一连接件314穿设于第一安装座311，第一连接件314一端与安装在第一安装座311上的第一阻尼器连接，另一端与第一旋转轴承312的第一转动轴3121连接，以连接第一转动轴3121和第一阻尼器，起到固定第一旋转轴承312的作用。进一步地，还可以在第一阻尼器和第一转动轴3121之间设置制动结构，在机架或者其他位置设置控制按钮，控制按钮用于切换制动结构的锁死状态和解锁状态；通常情况下，制动结构处于锁死状态，第一阻尼器和第一转动轴3121被制动结构锁死，不可转动；当调节介入手术机器人50的介入器件51的位置时，医护人员按压控制按钮，将制动结构从锁死状态切换到解锁状态，此时，第一转动轴3121转动时，由于有第一阻尼器的阻力作用，即使在惯性运动下也不致自由转动。制动结构的锁死状态保证第一转动轴3121可以在任意位置固定，防止手术时第一转动轴3121出现转动，导致意外伤害。
作为一实施例，如图5和6所示，第一活动组件31还包括第一从动件315和第一限位组件316；第一从动件315与第一旋转轴承312固定连接；第一限位组件316安装在支撑柱11上，用于限位第一从动件315。
本实施例中，第一从动件315固定安装在第一旋转轴承312的第一转动轴3121上，当转动第一旋转轴承312时，第一从动件315随第一旋转轴承312转动，直至第一从动件315转动到与第一限位组件316抵接，此时，第一旋转轴承312达到最大转动范围，提醒医护人员已经到达了调节的极限，保护患者。另外，一旦设备故障，第一阻尼器也失效的情况下，可以避免介入手术机器人50即使在自由落体运动情况下，也不会对设备、人员均造成较大伤害。
作为一实施例，如图5和图6所示，第一限位组件316包括第一上限位件3161和第一下限位件3162；第一上限位件3161和第一下限位件3162安装在支撑柱11的同一平面上，且第一上限位件3161和第一下限位件3162之间形成用于供第一从动件315转动的第一转动角度。
具体地，第一从动件315可以在第一上限位件3161和第一下限位件3162之间形成的第一转动角度内转动，以限位第一旋转轴承312的旋转范围，一方面可以起到保护患者的作用，即当第一从动件315与第一上限位件3161或者第一下限位件3162抵接时，提醒医护人员已经到达了调整的极限。
作为一实施例，如图5和6所示，第一转动角度为钝角。
示例地，以第一旋转轴承312为交点，以支撑柱11上经过第一旋转轴承312且与第一旋转轴承312的旋转轴垂直的竖直线为0刻度线，此时，第一上限位件3161和竖直线所形成的角度为-30°；支撑柱11竖直线和第一下限位件3162所形成的角度为90°，因此，第一上限位件3161、第一下限位件3162和第一旋转轴承312形成的角度为120°。本实施例中，如图1所示，介入手术机器人50沿第一旋转连接轴32的径向方向延伸，当第一旋转轴承312转动，让第一从动件315向第一上限位件3161转动时，导管导丝等介入器件51向靠近导管床体的方向移动；当第一旋转轴承312转动，让第一从动件315向第一下限位件3162转动时，则导管导丝等介入器件51向远离导管床体的方向移动。当需要将介入手术机器人50收纳起来的时候，则控制第一旋转轴承312转动90°，即与第一下限位件3162抵接，此时，介入手术机器人50与导管床体垂直，以便于收纳介入手术机器人50。
进一步地，第一上限位件3161和第一下限位件3162设置有与第一从动件315抵接的抵接斜面（图中未示），以有效缓冲第一从动件315与第一上限位件3161和第一下限位件3162抵接时，对介入手术机器人50造成的冲击力。
作为一实施例，如图4、图5和图6所示，第一旋转轴承312设有第一穿线入口3123；第一从动件315设有与第一穿线入口3123对应的第一穿线出口3151。
通常情况下，介入手术机器人50和主端控制器之间通过线路连接。本实施例中，第一旋转轴承312的第一转动轴3121为中空筒体，在筒体上开设有第一穿线入口3123，第一从动件315上设置有第一穿线出口3151，以将线路整理在第一旋转轴承312内部，且第一旋转轴承312、第一上限位件3161和第一下限位件3162形成的角度为120°，可以避免线路缠绕。
作为一实施例，如图5、图7和图8所示，第二旋转组件40安装在第一旋转连接轴32上，与第一旋转连接轴32转动连接。
具体地，第二旋转组件40包括第二安装座41、第二旋转轴承42和第二旋转固定件43；第二安装座41安装在第一旋转连接轴32上；第二旋转轴承42与第一旋转连接轴32转动连接，且用于安装介入手术机器人50；第二旋转固定件43用于连接第二安装座41和第二旋转轴承42，以固定第二旋转轴承42。
本实施例中，第二旋转轴承42包括第二转动轴421和第二轴承422；第一旋转连接轴32上设有第二台阶孔（图中未示），第二转动轴421的头端安装第二台阶孔内；第二轴承422套设在第二转动轴421中间，以使第二转动轴421相对第一旋转连接轴32转动；第二转动轴421的末端与第二旋转固定件43连接，以当介入手术机器人50的介入器件51位置调节完成时，利用第二旋转固定件43固定第二旋转轴承42。其中，第二旋转组件40还包括与第二转动轴421连接的安装台47，介入手术机器人50安装在安装台47上。
具体地，使介入手术机器人50靠近导管床上的病人的前端向靠近或者远离医护人员的方向转动，此时，第二旋转轴承42转动，当导管导丝等介入器件51准确地到达目标位置，介入手术机器人50调节完成；然后，利用第二旋转固定件43固定第二旋转轴承42，以确保介入手术机器人50稳定，提高介入手术机器人50的操作精度，避免手术时，第二旋转轴承42带动介入手术机器人50转动。
可以理解地，第二旋转固定件43可以是销轴或者卡扣等，示例性地，在第二旋转轴承42和第二安装座41上均设有与销轴配合的销孔，将销轴安装在销孔上，以固定第二旋转轴承42。第二旋转固定件43也可以其他结构，只要能够实现固定第二旋转轴承42即可，在此不做限定。
可以理解地，第二旋转组件40还可以包括电机，以利用电机为第二旋转轴承42提供动力，使第二旋转轴承42转动。
作为一实施例，如图7和8所示，第二旋转固定件43包括第二阻尼器；第二阻尼器安装在第二安装座41上；第二旋转轴承42穿设于第一旋转连接轴32，一端用于安装介入手术机器人50，另一端与第二阻尼器连接。
本实施例中，第二阻尼器安装在第二安装座41上，以利用第二阻尼器的阻尼力使第二旋转轴承42固定，便于操作。此外，第二旋转组件40还包括第二连接件44，第二连接件44穿设于第二安装座41，第二连接件44一端与安装在第二安装座41上的第二阻尼器连接，另一端与第二旋转轴承42的第二转动轴421连接，以连接第二转动轴421和第二阻尼器，起到固定第二旋转轴承42的作用，且便于医护人员调节导管导丝等介入器件51的位置。
作为一实施例，如图9至图11所示，第二旋转组件40还包括第二从动件45和第二限位组件46；第二从动件45与第二旋转轴承42固定连接；第二限位组件46安装在第一旋转连接轴32上，用于限位第二从动件45。
具体地，第二从动件45一端固定安装在第二旋转轴承42的第二转动轴421上，另一端为自由端；第二从动件45的自由端到第二旋转轴承42的距离，大于第二限位组件46到第二旋转轴承42的距离。因此，当第二旋转轴承42转动时，第二从动件45随第二旋转轴承42转动，直至第二从动件45转动到与第二限位组件46抵接，此时，第二旋转轴承42达到最大转动范围，提醒医护人员已经到达了调节的极限，保护患者。
作为一实施例，如图9至图11所示，第二限位组件46包括第二左限位件461和第二右限位件462；第二左限位件461和第二右限位件462安装在第一旋转连接轴32的同一平面上；且第二左限位件461和第二右限位件462之间形成用于供第二从动件45转动的第二转动角度。
本实施例中，第二从动件45可以在第二左限位件461和第二右限位件462之间（即第二转动角度）转动，限位第二旋转轴承42的旋转范围，一方面可以起到保护患者的作用，即当达到第二左限位件461或者第二右限位件462时，提醒医护人员已经到达了调整的极限。
第二左限位件461和第二右限位件462设置有与第二从动件45抵接的抵接斜面（图中未示），以有效缓冲第二从动件45与第二左限位件461和第二右限位件462抵接时，对介入手术机器人50造成的冲击力。
作为一实施例，第二从动件45、第二左限位件461和第二右限位件462形成的角度为60°。
具体地，以第二旋转轴承42为原点，以第一旋转连接轴32上第二旋转轴承42，且与第二旋转轴承42的旋转轴垂直的中心线为0刻度线，则第二左限位件461和连接轴向中心轴所形成的角度为-30°；第一旋转连接轴32中心线和第二右限位件462所形成的角度为30°，因此，第二左限位件461、第二右限位件462和第二旋转轴承42所形成的夹角为60°。当第二旋转轴承42向第二左限位件461转动时，则导管导丝等介入器件51向靠近医护人员的方向移动；当调节第二旋转轴承42向第二右限位件462转动时，则导管导丝等介入器件51向远离医护人员的方向移动，以使导管导丝等介入器件51达到目标位置。
作为一实施例，如图10所示，第二旋转轴承42设有第二穿线入口423；第二从动件45设有与第二穿线入口423对应的第二穿线出口451。
通常情况下，介入手术机器人50和主端控制器之间通过线路连接。本实施例中，第二旋转轴承42为中空筒体，在筒体上开设有第二穿线入口423，在第二从动件45上设有与第二穿线入口423对应的第二穿线出口451，以将线路整理在第二旋转轴承42内部，整理线缆。
以上所述实施例仅表达了发明的一种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离发明构思的前提下，还可以做出若干变形和改进，这些都属于发明的保护范围。因此，发明专利的保护范围应以所附权利要求为准。

Claims (19)

  1. 一种用于支撑介入手术机器人的龙门架，其中，包括机架和多向转动结构；
    所述机架与导管床体连接；
    所述多向转动结构安装在所述机架上；所述多向转动结构与介入手术机器人连接，用于支撑并让所述介入手术机器人进行多向调节。
  2. 如权利要求1所述的用于支撑介入手术机器人的龙门架，其中，所述多向转动结构包括第一旋转组件和第二旋转组件；
    所述第一旋转组件与所述机架转动连接；
    所述第二旋转组件与所述第一旋转组件转动连接，且用于安装介入手术机器人，所述第二旋转组件的转动方向不同于所述第一旋转组件的转动方向。
  3. 如权利要求2所述的用于支撑介入手术机器人的龙门架，其中，所述机架包括支撑在导管床体的两个支撑柱，所述第一旋转组件与至少两个所述支撑柱转动连接。
  4. 如权利要求3所述的用于支撑介入手术机器人的龙门架，其中，所述支撑柱的末端设置有移动结构，所述移动结构与所述导管床体的两侧活动连接，而让龙门架相对所述导管床体移动。
  5. 如权利要求3所述的用于支撑介入手术机器人的龙门架，其中，所述龙门架还包括：加强柱，所述加强柱的两端分别与两个所述支撑柱连接。
  6. 如权利要求5所述的用于支撑介入手术机器人的龙门架，其中，所述第一旋转组件包括第一旋转连接轴和两个第一活动组件；两个所述第一活动组件分别转动连接于两个所述支撑柱；所述第一旋转连接轴安装在两个所述第一活动组件之间并沿所述支撑柱的高度方向位于所述加强柱的上方，与两个所述第一活动组件一起转动。
  7. 如权利要求6所述的用于支撑介入手术机器人的龙门架，其中，两个所述第一活动组件的结构相同或者不同。
  8. 如权利要求7所述的用于支撑介入手术机器人的龙门架，其中，两个所述第一活动组件的结构完全相同时，所述第一活动组件包括第一安装座、第一旋转轴承和第一旋转固定件；
    所述第一安装座安装在对应支撑柱上；
    第一旋转轴承穿设于所述支撑柱内，并与所述第一旋转连接轴连接；
    所述第一旋转固定件用于连接所述第一安装座和所述第一旋转轴承，以固定所述第一旋转轴承。
  9. 如权利要求8所述的用于支撑介入手术机器人的龙门架，其中，所述第一旋转固定件包括第一阻尼器，所述第一阻尼器安装在所述第一安装座上；所述第一旋转轴承的一端与所述第一旋转连接轴连接，另一端与所述第一阻尼器连接。
  10. 如权利要求8所述的用于支撑介入手术机器人的龙门架，其中，所述第一活动组件还包括第一从动件和第一限位组件；
    所述第一从动件与所述第一旋转轴承固定连接；
    所述第一限位组件安装在所述支撑柱上，用于限位所述第一从动件。
  11. 如权利要求10所述的用于支撑介入手术机器人的龙门架，其中，所述第一限位组件包括第一上限位件和第一下限位件，所述第一上限位件和第一下限位件之间形成用于供所述第一从动件转动的第一转动角度。
  12. 如权利要求11所述的用于支撑介入手术机器人的龙门架，其中，所述第一转动角度为钝角。
  13. 如权利要求10所述的用于支撑介入手术机器人的龙门架，其中，所述第一旋转轴承设有第一穿线入口；所述第一从动件设有与所述第一穿线入口对应的第一穿线出口。
  14. 如权利要求7所述的用于支撑介入手术机器人的龙门架，其中，所述第二旋转组件安装在所述第一旋转连接轴上，与所述第一旋转连接轴转动连接。
  15. 如权利要求2所述的用于支撑介入手术机器人的龙门架，其中，所述第二旋转组件包括第二安装座、第二旋转轴承和第二旋转固定件；所述第二安装座安装在所述第一旋转组件上；所述第二旋转轴承与所述第一旋转组件转动连接，且用于安装介入手术机器人；所述第二旋转固定件用于连接所述第二安装座和所述第二旋转轴承，以固定所述第二旋转轴承。
  16. 如权利要求15所述的用于支撑介入手术机器人的龙门架，其中，所述第二旋转固定件包括第二阻尼器，所述第二阻尼器安装在所述第二安装座上；所述第二旋转轴承的一端与所述第二旋转连接轴连接，另一端与所述第二阻尼器连接。
  17. 如权利要求15所述的用于支撑介入手术机器人的龙门架，其中，所述第二旋转组件还包括第二从动件和第二限位组件；
    所述第二从动件与所述第二旋转轴承固定连接；
    所述第二限位组件安装在所述所述第一旋转组件上，用于限位所述第二从动件。
  18. 如权利要求17所述的用于支撑介入手术机器人的龙门架，其中，所述第二限位组件包括第二左限位件和第二右限位件，所述第二左限位件和第二右限位件之间形成用于供所述第二从动件转动的第二转动角度。
  19. 如权利要求17所述的用于支撑介入手术机器人的龙门架，其中，所述第二旋转轴承设有第二穿线入口；所述第二从动件设有与所述第二穿线入口对应的第二穿线出口。
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