WO2023082612A1

WO2023082612A1 - Limiting type interventional surgical robot slave end supporting device

Info

Publication number: WO2023082612A1
Application number: PCT/CN2022/096355
Authority: WO
Inventors: 杨良正
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2021-11-09
Filing date: 2022-05-31
Publication date: 2023-05-19
Also published as: CN114191088A; CN114191088B

Abstract

A limiting type interventional surgical robot slave end supporting device, comprising a connecting portion used for fixing a slave end of an interventional surgical robot and a first supporting arm connected to the connecting portion. A first rotating portion is provided at a connection position of the connecting portion and the first supporting arm. The first rotating portion is provided with a limiting block used for limiting a rotating angle of the connecting portion with respect to the first supporting arm, so that the requirements for the angle and the position of the interventional surgical robot slave end device during surgery are met, and the characteristic of simple operation is achieved.

Description

A slave end support device of a position-limiting interventional surgery robot

This application claims the priority of the Chinese patent application with the application number 202111318951.X submitted to the China Patent Office on November 09, 2021, and the invention title is "a slave-end support device for a position-limiting interventional surgery robot", the entire content of which Incorporated in this application by reference.

technical field

The present application relates to a device in the field of medical robotics, in particular to a support device for a position-limiting interventional surgery robot from the end.

Background technique

Interventional therapy is a minimally invasive treatment using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.

Interventional therapy uses digital imaging technology to expand the doctor's field of vision. With the help of catheters and guide wires, the doctor's hands are extended. Its incision (puncture point) is only the size of a grain of rice. It can treat many diseases that could not be treated in the past without cutting human tissue. Diseases that require surgical treatment or medical treatment are not effective, such as tumors, hemangiomas, various hemorrhages, etc. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery and good effect. It is the development trend of future medicine.

In order to reduce the radiation hazards of long-term exposure of doctors to X-rays during interventional surgery, a remote-operated master-slave interventional robot was developed for this project. The master-slave interventional surgery robot slave device can work in the radiation environment, while the doctor controls it through the master device outside the radiation environment.

Generally, it is necessary to install the slave device of the interventional surgery robot on the operating bed before the operation, and adjust the inclination angle and position of the slave device of the interventional surgery robot relative to the operating bed according to the patient's body information and surgical position. The end equipment support base assists the rotation and movement of the interventional surgery robot slave end equipment, and the existing adjustable support base cannot meet the multi-directional rotation and movement requirements of the interventional surgery robot slave end equipment.

technical problem

The existing adjustable support base cannot meet the requirements of multi-directional rotation and movement of the slave end equipment of the interventional surgery robot.

technical solution

A position-limiting supporting device for a slave end of an interventional surgery robot, comprising a connection part for fixing the slave end of an interventional surgery robot and a first arm connected to the connection part, wherein the connection part is connected to the first support arm The connecting part is the first rotating part, and the first rotating part is equipped with a limit block for limiting the rotation angle of the connecting part relative to the first arm.

Beneficial effect

To sum up, the present application provides a position-limiting slave end support device for an interventional surgery robot that is connected to the slave end device of the interventional surgery robot through a connecting part. When the connecting part rotates relative to the first arm, the limit block to limit the rotation range of the connecting part, so that the slave device of the interventional surgical robot installed on the connecting part is always located above the operating table, which meets the requirements for the angle and position of the slave device of the interventional surgical robot during surgery, and It has the characteristics of simple operation.

Description of drawings

FIG. 1 is a schematic structural view of a slave end support device of a position-limiting interventional surgery robot in the present application.

Fig. 2 is a schematic structural diagram of the connection part of the present application.

Figure 3 is a schematic diagram of the structure of the limit switch of the present application.

Fig. 4 is a schematic structural diagram of the first rotating part of the present application.

Fig. 5 is a schematic structural diagram of the second rotating part of the present application.

FIG. 6 is a schematic structural diagram of a third rotating part of the present application.

Fig. 7 is a schematic structural diagram of the base of the present application.

Fig. 8 is a schematic diagram of the rotation angle of the present application.

Contents of the invention

Based on this, in order to meet the multi-directional rotation and movement requirements of the interventional surgery robot slave end equipment, a new type of interventional surgery robot slave end support device is provided.

A position-limiting supporting device for the slave end of an interventional surgery robot, comprising a connection part for fixing the slave end of the interventional surgery robot and a first arm connected to the connection part, and the connection between the connection part and the first support arm The first rotating part is located at the first rotating part, and the first rotating part is equipped with a limit block for limiting the rotation angle of the connecting part relative to the first arm.

Further, the rotation angle of the connecting part relative to the first arm is 90°-270°.

Further, the support device of the limited-type interventional surgery robot from the end also includes a second arm connected to the first arm, and the connection between the second arm and the first arm is a second arm. The rotating part, the second rotating part is equipped with a limiting block for limiting the rotation angle of the first arm relative to the second arm.

Further, the rotation angle of the first support arm relative to the second support arm is 22°-202°.

Further, the support device of the limit-type interventional surgery robot from the end also includes a support column connected to the second arm, the connection between the support column and the second arm is a third rotating part, and the first The three rotating parts are equipped with a limit block for limiting the rotation angle of the second support arm relative to the support column.

Further, the rotation angle of the second support arm relative to the support column is 0°-90°.

Further, the first rotating part, the second rotating part and the third rotating part are respectively equipped with a rotating gear set and an electromagnetic brake.

Further, the rotating gear set includes a first driving gear and a driven gear meshing with the first driving gear, and the electromagnetic brake controls the driven gear.

Further, the support device of the limit-type interventional surgery robot from the end also includes a base connected to the support column, and the base includes a support plate, a sliding sleeve and a fixing bolt fixed on the support plate to match the operating bed rail handle.

Further, the base is located on the operating bed track on the side away from the operator.

Further, the main pulley is fixed on the support plate, and the auxiliary pulley is installed on the sliding sleeve.

Detailed ways

In order to make the purpose, technical solution and advantages of the invention clearer, the invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the invention, not to limit the invention.

The distal end of the slave device of the interventional surgery robot is the end close to the patient, and the other end far away from the patient and corresponding to the far end is the proximal end.

As shown in Figure 1, a position-limiting interventional surgery robot slave end support device provided by the embodiment of the present application includes a base 5, a support column 4, a first arm 2, a second arm 3 and a connecting part connected in sequence 1, wherein the connection part 1 includes a first connection unit 11 and a second connection unit 12, wherein the front end of the first connection unit 11 is provided with a wire groove, and is connected with the slave end device of the interventional surgery robot, the interventional surgery robot The slave end device is equipped with a power-on control button for controlling the slave end support device of the interventional surgery robot, the base 5 is supported on the operating bed, and the initial position of the interventional surgery robot slave end device is parallel to the operating bed.

The connection between the connecting part 1 and the first arm 2 is the first rotating part 6, and the connecting part between the second arm 3 and the first arm 2 is the second rotating part 7. The connection between the second support arm 3 and the support column 4 is the third rotating part 8 .

Continuing as shown in Fig. 2 to Fig. 3, the connection part 1 of a supporting device of a position-limited interventional surgery robot provided by the embodiment of the present application includes a first connection unit 11 and a second connection unit 12, wherein the The connection between the first connection unit 11 and the second connection unit 12 is equipped with a second driving gear 121, a damping wheel 122 meshed with the second driving gear 121, and a limit switch 123. The bottom of 123 is provided with a limit groove 124, and the damping wheels 122 are at least two, which are symmetrically installed on both sides of the second driving gear 121, and mesh with the second driving gear 121 respectively, and the damping wheels 122 The inertial rotation generated during the clockwise/counterclockwise rotation of the second driving gear 121 can be prevented.

The limiting groove 124 includes a first limiting groove 1241. When the limit switch 123 is closed, the bottom end of the limit switch 123 is located in the first limiting groove 1241. During the operation, the operator adjusts the interventional surgical robot from The inclination angle between the end device and the operating bed makes the interventional surgery robot move from the far end of the end device to the direction close to the operating bed, and the interventional surgery robot moves from the proximal end of the end device to the direction away from the operating bed, driving the first The connection unit 11 rotates relative to the second connection unit 12, and its rotation angle is in the first angle range, such as 0° to 30°; in order to facilitate the operator to store the slave device of the interventional surgery robot, the limit slot 124 also includes a The first limiting groove 1241 is separated from the second limiting groove 1242. After the operation is completed, the operator adjusts the interventional surgery robot to move from the proximal end of the end device to the direction of the operating bed, driving the first connecting unit 11 relative to the The second connection unit 12 rotates, and at the same time pulls up the limit switch 123, and moves the bottom end of the limit switch 123 into the second limit groove 1242, and the first connection unit 11 is relatively The rotation angle of the two connecting units 12 is in the second angle range, such as 40°-90°, and finally realizes the storage of the slave end equipment of the interventional surgery robot in the vertical direction perpendicular to the operating bed. In another embodiment, the first limiting groove 1241 and the second limiting groove 1242 are merged into one limiting groove, then the rotation angle of the first connecting unit 11 relative to the second connecting unit 12 is the third angle range, such as 0° to 90°.

The operator forcibly raises the proximal end of the slave device of the interventional surgery robot, so that the distal end moves closer to the operating bed, adjusts the inclination angle of the slave device of the interventional surgery robot relative to the operating bed, and drives the first connecting unit 11 to The second connecting unit 12 rotates, so that the second driving gear 121 rotates under the damping effect of the damping wheels 122 on both sides, and the inclination angle of the interventional surgery robot from the terminal equipment and the operating bed is adjusted to a desired position. The damping of the damping wheels 122 installed on both sides of the second driving gear 121 is large enough, if there is no external force, it will prevent the second driving gear 121 from rotating due to gravity, that is, the first connecting unit 11 Keeping still relative to the second connecting unit 12, so as to realize the fixed tilt angle between the slave end device of the interventional surgery robot and the operating bed.

Continuing as shown in Figure 4, a position-limiting interventional surgery robot provided by the embodiment of the present application supports the first rotating part 6 of the device from the end, and the first rotating part 6 is equipped with an electromagnetic brake 21 and a rotating gear set 22 , wherein, the rotating gear set 22 includes a first driving gear 201 and a driven gear 202 meshed with the first driving gear 201, the electromagnetic brake 21 is connected with the driven gear 202, and the electromagnetic brake 21 When energized, release the driven gear 202, apply an external force, rotate the first driving gear 201, and drive the driven gear 202 to rotate, thereby realizing the rotation of the connecting part 1 relative to the first arm 2 , when the electromagnetic brake 21 is powered off, the driven gear 202 is locked, and the connecting part 1 stops rotating and is positioned. In this embodiment, the electromagnetic brake 21 is installed on the first support arm 2 , and the first driving gear 201 is installed on the second connecting unit 12 .

The first rotating part 6 is also provided with a limit block 23 fixed to the second connection unit 12, and the first arm 2 is also provided with a limit nut 231 corresponding to the limit block 23, There may be one or more limit nuts 231, which are used to limit the rotation angle of the connecting part 1 relative to the first arm 2, for example, the rotation angle ranges from 90° to 270° (see FIG. 8 ).

Continuing as shown in Figure 5, a position-limiting interventional surgery robot provided by the embodiment of the present application supports the second rotating part 7 of the device from the end, and the second rotating part 7 is equipped with an electromagnetic brake 21' and a rotating gear set 22', wherein, the rotating gear set 22' includes a first driving gear 201' and a driven gear 202' meshed with the first driving gear 201', and the electromagnetic brake 21' and the driven gear 202 ' connected, when the electromagnetic brake 21' is energized, the driven gear 202' is released, an external force is applied, and the first driving gear 201' is rotated to drive the driven gear 202' to rotate, realizing the first When the support arm 2 rotates relative to the second support arm 3 , when the electromagnetic brake 21 ′ is powered off, the driven gear 202 ′ is locked, and the first support arm 2 stops rotating and is positioned. In this embodiment, the electromagnetic brake 21 ′ is installed on the first arm 2 , and the first driving gear 201 ′ is installed on the second arm 3 .

The second rotating part 7 is also provided with a limit block 23', and correspondingly provided with a limit protruding plate 231' that is compatible with the limit block 23', and the limit protruding plate 231' may be one or more than one , used to limit the rotation angle of the first support arm 2 relative to the second support arm 3 , for example, the rotation angle ranges from 22° to 202° (see FIG. 8 ).

Continuing as shown in Figure 6, a position-limiting interventional surgery robot provided by the embodiment of the present application supports the third rotating part 8 of the device from the end, and the third rotating part 8 is equipped with an electromagnetic brake 21" and a rotating gear set 22", wherein, the rotating gear set 22" includes a first driving gear 201" and a driven gear 202" meshed with the first driving gear 201", and the electromagnetic brake 21" and the driven gear 202 "Connected, when the electromagnetic brake 21" is energized, release the driven gear 202", apply an external force, rotate the first driving gear 201", drive the driven gear 202" to rotate, and realize the second When the support arm 3 rotates relative to the support column 4, when the electromagnetic brake 21" is powered off, the driven gear 202" is locked, and the second support arm 3 stops rotating and is positioned. In this embodiment, the electromagnetic brake 21 ″ is installed on the second support arm 3 , and the driven gear 202 ″ is installed on the supporting column 4 .

The third rotating part 8 is also provided with a limit block 23 ", correspondingly provided with a limit protruding plate 231" that is compatible with the limit block, and the limit protruding plate 231" can be one or more than one. To limit the rotation angle of the second support arm 3 relative to the support column 4 , for example, the rotation angle ranges from 0° to 90° (see FIG. 8 ).

As shown in FIG. 4 to FIG. 6, in this embodiment, the structures of the first rotating part 6, the second rotating part 7 and the third rotating part 8 are basically the same, and the electromagnetic brake 21 and the electromagnetic brake 21' , the electromagnetic brake 21 "is of the same type, the rotating gear set 22 has the same structure as the rotating gear set 22' and the rotating gear set 22", the first driving gear 201 and the first driving gear 201 ', the first driving gear 201" has the same structure, and the driven gear 202 has the same structure as the driven gear 202' and the driven gear 202". In other embodiments, their structures and models can be different.

As shown in FIG. 4 to FIG. 6, in this embodiment, the functions of the limiting block 23, the limiting block 23' and the limiting block 23" are basically the same, and they are all used to limit the rotation angle of the corresponding structure. It can be understood that Specifically, the structure of the limiting block 23, the limiting block 23' and the limiting block 23" can be the same or different. Correspondingly, the limiting nut 231 and the limiting convex plate 231', The functions of the limiting reliefs 231" are basically the same, and the structures of the limiting nuts 231, the limiting reliefs 231' and the limiting reliefs 231" can be the same or different.

As shown in Figures 1 to 6, when adjusting the slave device of the interventional surgery robot installed on the first connection unit 11, press the power-on control button of the slave device of the interventional surgery robot, the electromagnetic brake 21 is powered on, and the The electromagnetic brake 21 releases the driven gear 202, the operator swings the proximal end or the distal end of the slave device of the interventional surgery robot, the second connecting unit 12 drives the first driving gear 201 to rotate, and the driven gear 202 follows the rotation to realize the counterclockwise or clockwise rotation of the connecting part 1 relative to the first arm 2 .

As shown in Figures 1 to 6, press the power-on control button of the interventional surgery robot slave device, the electromagnetic brake 21' is powered on, the electromagnetic brake 21' releases the driven gear 202', and the operator swings the interventional surgery robot From the end device, the first arm 2 drives the first driving gear 201 ′ to rotate, and the driven gear 202 ′ rotates accordingly, so that the first arm 2 is counterclockwise/clockwise relative to the second arm 3 The hour hand turns.

As shown in Figures 1 to 6, press the power-on control button of the slave-end device of the interventional surgery robot, the electromagnetic brake 21" is energized, the electromagnetic brake 21" releases the driven gear 202", and the operator pulls the interventional surgery robot From the end device, the second support arm 3 drives the first driving gear 201" to rotate, and the driven gear 202" rotates accordingly, so that the second support arm 3 is clockwise or counterclockwise relative to the support column 4. The hour hand turns.

As shown in Figures 1 to 6, by pressing the power-on control button of the slave-end device of the interventional surgery robot, the electromagnetic brakes 21', 21" can also be powered on at the same time, and the electromagnetic brake 21' releases the driven gear 202', The electromagnetic brake 21" releases the driven gear 202", and the operator forcefully adjusts the slave end equipment of the interventional surgery robot to drive the first driving gear 201', 201" to rotate, so that the first arm 2 is relatively The counterclockwise/clockwise rotation of the second support arm 3 and the second support arm 3 relative to the support column 4 realizes any movement of the slave end equipment of the interventional surgery robot on the XOY plane where the operating bed is located.

At the same time, when the electromagnetic brake 21 is also energized, the electromagnetic brake 21 releases the driven gear 202, and the slave end equipment of the interventional surgery robot drives the first driving gear 201 to rotate through the connection part 1, realizing the connection part 1 The counterclockwise/clockwise rotation relative to the first arm 2 makes the movement of the slave device of the interventional surgery robot more flexible on the XOY plane where the operating bed is located. In fact, when the first driving gear 201 rotates, the counterclockwise/clockwise horizontal rotation of the connecting part 1 relative to the first arm 2 is realized, so that the interventional surgery robot slave end device is in the same XOY plane as the operating bed. The operating table is tilted at an angle. During these procedures, the level of the interventional robot slave device remains constant.

It can be understood that the power-on and power-off of the electromagnetic brake 21 , the electromagnetic brake 21 ′, and the electromagnetic brake 21 ″ can be controlled one by one, two or three can be controlled simultaneously.

As shown in Figures 1 to 6, after the slave end device of the interventional surgery robot is adjusted in place, the power-on control button on the slave end device of the interventional surgery robot is released, and the electromagnetic brake 21 locks the driven gear 202, so The electromagnetic brake 21' locks the driven gear 202', the electromagnetic brake 21" locks the driven gear 202", the driven gear 202 prevents the first driving gear 201 from rotating, and the driven gear 202 prevents the first driving gear 201 from rotating. The driving gear 202" prevents the first driving gear 201" from rotating, and the driven gear 202" prevents the first driving gear 201" from rotating, so as to realize the positioning of the slave device of the interventional surgery robot.

Continuing as shown in Figure 7, the base 5 of a support device for a position-limiting interventional surgery robot provided by the embodiment of the present application includes a support plate 55, a sliding sleeve with a groove 53 for fixing the support plate 55, a main Pulley 51, auxiliary pulley 52 and fixed bolt handle 54, wherein the groove 53 of the sliding sleeve is adapted to the track of the operating bed, and there are multiple auxiliary pulleys 52, which are symmetrically installed in the groove 53 For example, the two ends of the groove 53 are symmetrically equipped with four auxiliary pulleys 52 respectively.

Loosen the fixing bolt handle 54, and the operator pushes the interventional surgery robot from the supporting device along the rail direction of the operating bed to support the interventional surgery robot from the end device to move to the desired position, close the fixing bolt handle 54, The supporting device of the interventional surgery robot is fixed on the operating bed so as to prevent the supporting device of the interventional surgery robot from moving during the operation.

The main pulley 51 and the auxiliary pulley 52 can assist the sliding of the interventional surgery robot slave end support device on the operating bed track.

The above-mentioned embodiment only expresses an implementation mode of the invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the invention, and these all belong to the protection scope of the invention. Therefore, the scope of protection of an invention patent should be based on the claims.

Claims

A position-limiting supporting device for a slave end of an interventional surgery robot, comprising a connection part for fixing the slave end of an interventional surgery robot and a first arm connected to the connection part, wherein the connection part is connected to the first support arm The connecting part is the first rotating part, and the first rotating part is equipped with a limit block for limiting the rotation angle of the connecting part relative to the first arm.
The slave end support device of a position-limiting interventional surgery robot according to claim 1, wherein the rotation angle of the connecting part relative to the first arm is 90°-270°.
The supporting device for the slave end of a position-limiting interventional surgery robot according to claim 1, wherein the supporting device for the slave end of the space-limiting interventional surgery robot further comprises a second arm connected to the first arm, The connection between the second support arm and the first support arm is a second rotating part, and the second rotating part is equipped with a device for limiting the rotation angle of the first support arm relative to the second support arm. limit block.
The slave end support device of a position-limiting interventional surgery robot according to claim 3, wherein the rotation angle of the first arm relative to the second arm is 22°-202°.
The supporting device for the slave end of a position-limiting interventional surgery robot according to claim 3, wherein the supporting device for the slave end of the space-limiting interventional surgery robot further comprises a support column connected to the second arm, and the support column The connection with the second support arm is a third rotating part, and the third rotating part is equipped with a limit block for limiting the rotation angle of the second support arm relative to the support column.
A support device for a position-limiting interventional surgery robot from the end according to claim 5, wherein the first rotating part, the second rotating part and the third rotating part are respectively installed with the position-limiting Block matching limit projections.
The slave end support device of a position-limiting interventional surgery robot according to claim 5, wherein the rotation angle of the second support arm relative to the support column is 0°-90°.
According to claim 5, a support device for a position-limiting interventional surgical robot from the end, wherein the first rotating part, the second rotating part and the third rotating part are respectively equipped with a rotating gear set and Electromagnetic brake.
The slave end support device of a position-limiting interventional surgery robot according to claim 8, wherein the rotating gear set includes a first driving gear and a driven gear meshing with the first driving gear, and the electromagnetic brake Control the driven gear.
The supporting device for the slave end of a position-limiting interventional surgery robot according to claim 5, wherein the supporting device for the slave end of the space-limiting interventional surgery robot further comprises a base connected to the supporting column, and the base includes a support Plate, fixed on the support plate to match the sliding sleeve of the operating bed track and the handle of the fixing bolt.
The slave end support device of a space-limited interventional surgery robot according to claim 10, wherein the base is located on the operating bed rail on the side away from the operator.
The slave end support device of a position-limiting interventional surgery robot according to claim 10, wherein a main pulley is fixed on the support plate, and an auxiliary pulley is installed on the sliding sleeve.
A support device for a limited-position interventional surgery robot from the end according to claim 1, wherein the connection part comprises: a first connection unit and a second connection unit, and the first connection unit is used to support the interventional surgery robot From the end, the first connection unit is connected to the second connection unit, and the second connection unit is connected to the first arm through the first rotating part.
The slave end support device of a position-limiting interventional surgery robot according to claim 13, wherein a damping gear set is installed at the connection between the first connection unit and the second connection unit.
The slave end support device of a position-limiting interventional surgery robot according to claim 14, wherein the damping gear set includes a second driving gear and a damping wheel meshing with the second driving gear, and the damping wheel It is used to prevent the inertial rotation generated by the second driving gear.
According to claim 15, a limited-type interventional surgery robot slave end support device, wherein the second driving gear is arranged on the first connecting unit, and the damping wheel is arranged on the second connecting unit Above, the damping gear set is used to prevent the inertial rotation of the first connection unit relative to the second connection unit.
The supporting device for a slave end of a position-limiting interventional surgical robot according to claim 13, wherein the connecting part further comprises: a limit switch, a first limit slot and a second limit slot, and the limit switch When connected to the first limiting slot, the rotation angle of the first connecting unit relative to the second connecting unit is within a first angle range; when the limit switch is connected to the second limiting slot, The rotation angle of the first connection unit relative to the second connection unit is within a second angle range.