CN114191089A - Intervention operation robot slave end supporting device capable of being adjusted in multiple positions - Google Patents
Intervention operation robot slave end supporting device capable of being adjusted in multiple positions Download PDFInfo
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- CN114191089A CN114191089A CN202111318953.9A CN202111318953A CN114191089A CN 114191089 A CN114191089 A CN 114191089A CN 202111318953 A CN202111318953 A CN 202111318953A CN 114191089 A CN114191089 A CN 114191089A
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- 238000001356 surgical procedure Methods 0.000 claims description 12
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- 238000002560 therapeutic procedure Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
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- 206010028980 Neoplasm Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
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- 230000009471 action Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
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- 238000002059 diagnostic imaging Methods 0.000 description 1
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- 201000011066 hemangioma Diseases 0.000 description 1
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- 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
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- 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
- A61B34/70—Manipulators specially adapted for use in surgery
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- 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
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Abstract
The utility model provides a but multiposition is adjusted intervenes surgical robot from end strutting arrangement for fixed surgical robot from end equipment of interveneeing, its is including supporting in the support column of operation table, rotationally connect in the first support arm of support column and rotationally connect in the second support arm of first support arm, the second support arm is on a parallel with the plane at operation table place, lets intervene surgical robot from the arbitrary motion of end equipment in the plane at operation table place through the rotation of first support arm and first support arm, realizes the regulation demand of the diversified angle and the position of interveneeing surgical robot from end equipment, and has easy operation's characteristic.
Description
Technical Field
The invention relates to a device in the field of medical robots, in particular to a slave end supporting device of an interventional operation robot, which can be adjusted in multiple positions.
Background
Interventional therapy is minimally invasive therapy carried out by modern high-tech means, and under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
The digital technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, the incision (puncture point) of the digital technology is only the size of rice grains, and the digital technology can treat a plurality of diseases which cannot be treated in the past, need surgical treatment or have poor curative effect in internal treatment without cutting human tissues, such as tumors, hemangioma, various kinds of bleeding and the like. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is the development trend of future medicine.
In order to reduce the radiation hazard of the traditional Chinese medicine during the growth period of the X-ray in the interventional operation, a master-slave interventional operation robot operated remotely is developed for the engineering. The slave end equipment of the master-slave interventional surgical robot can work in a radiation environment, and a doctor controls the slave end equipment through the master end outside the radiation environment.
Generally, before an operation, the slave-end device of the interventional operation robot needs to be supported on an operation bed, and the inclination angle and the position of the slave-end device of the interventional operation robot need to be adjusted according to the physical information and the operation position of a patient, so that the support device of the slave-end device of the interventional operation needs to assist the rotation and the movement of the slave-end device of the interventional operation. Therefore, it is an urgent need to provide a supporting device capable of supporting the slave device of the interventional surgical robot and rotating and moving the slave device of the interventional surgical robot in multiple directions.
Disclosure of Invention
Based on this, for satisfying the rotation and the removal demand of intervene operation robot slave end equipment, provide a neotype from end strutting arrangement of intervene operation robot.
The utility model provides a but intervention operation robot slave end strutting arrangement of multiposition regulation for fixed intervention operation robot slave end equipment, it includes the support column that supports in the operation table, rotationally connects in the first support arm of support column and rotationally connects in the second support arm of first support arm, the second support arm is on a parallel with the plane that the operation table was located, lets the motion of intervention operation robot slave end equipment in the plane that the operation table was located through the rotation of first support arm and first support arm.
Further, the rotation axes of the first support arm and the second support arm are perpendicular to the plane of the operating table.
Further, the multi-position adjustable slave-end supporting device of the interventional surgical robot further comprises a connecting part, wherein the connecting part comprises a first connecting unit which is rotatably connected with the second support arm, and the first connecting unit rotates in the plane of the operating table.
Further, the rotation axis of the first connection unit is perpendicular to the plane of the operating bed.
Furthermore, the junction of support column and first support arm is first rotating part, first rotating part is equipped with and lets first support arm pivoted electromagnetic braking ware.
Furthermore, a rotating gear set is installed on the first rotating portion, the rotating gear set comprises a first driving gear and a driven gear meshed with the first driving gear, the electromagnetic brake is connected with the driven gear, the first driving gear is released when the electromagnetic brake is powered on, and the first driving gear is locked when the electromagnetic brake is powered off.
Furthermore, the joint of the second support arm and the first support arm is a second rotating part, and the second rotating part is provided with an electromagnetic brake for rotating the second support arm.
Furthermore, the second rotating part is provided with a rotating gear set, the rotating gear set comprises a first driving gear and a driven gear meshed with the first driving gear, the electromagnetic brake is connected with the driven gear, the first driving gear is released when the electromagnetic brake is powered on, and the first driving gear is locked when the electromagnetic brake is powered off.
Furthermore, the joint of the first support arm and the first connecting unit is a third rotating part, and the third rotating part is provided with an electromagnetic brake for rotating the first connecting unit.
Furthermore, a rotating gear set is installed on the third rotating portion, the rotating gear set comprises a first driving gear and a driven gear meshed with the first driving gear, the electromagnetic brake is connected with the driven gear, the first driving gear is released when the electromagnetic brake is powered on, and the first driving gear is locked when the electromagnetic brake is powered off.
Further, the electromagnetic brakes of the first and second rotating portions are energized simultaneously.
Further, the electromagnetic brakes of the first, second, and third rotating portions are energized simultaneously or individually.
In summary, the slave-end supporting device of the interventional surgical robot capable of multi-position adjustment, provided by the invention, utilizes the first support arm rotatably connected to the support column and the second support arm arranged in parallel with the operating bed to rotate to realize the arbitrary movement of the slave-end equipment of the interventional surgical robot in the plane of the operating bed, so as to meet the requirement of adjusting the multi-direction angle and position of the slave-end equipment of the interventional surgical robot, and has the characteristic of simple operation.
Drawings
FIG. 1 is a schematic structural view of a slave-end supporting device of a multi-position adjustable interventional surgical robot according to the present invention;
FIG. 2 is a schematic structural diagram of a connecting portion according to the present invention;
FIG. 3 is a schematic structural view of a spacing assembly of the present invention;
FIG. 4 is a schematic view of a first rotating portion according to the present invention;
FIG. 5 is a schematic view of a second rotary part according to the present invention;
FIG. 6 is a schematic view of a third rotary part according to the present invention;
FIG. 7 is a schematic structural view of a base according to the present invention;
fig. 8 is a schematic view of the rotation angle of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments, it being understood that the specific embodiments described herein are only for the purpose of illustrating the present invention and are not to be construed as limiting the present invention.
The distal end of the interventional operation robot slave end equipment is one end close to the patient, and the other end which is far away from the patient and corresponds to the distal end is the distal end.
As shown in fig. 1, the multi-position adjustable slave-end supporting device for an interventional surgical robot according to an embodiment of the present invention includes a base 5, a supporting column 4, a first arm 3, a second arm 2, and a connecting portion 1, which are connected in sequence, where the connecting portion 1 includes a first connecting unit 12 and a second connecting unit 11, where a front end of the second connecting unit 11 is provided with a wire guide and is connected to a slave-end device of the interventional surgical robot, the slave-end device of the interventional surgical robot is provided with an energization control button for controlling the slave-end supporting device of the interventional surgical robot, the base 5 is supported on an operating table, and an initial position of the slave-end device of the interventional surgical robot is parallel to the operating table.
The junction of first support arm 3 with support column 4 is first rotating part 8, the junction of first support arm 3 with second support arm 2 is second rotating part 7, connecting portion 1 with the junction of second support arm 2 is third rotating part 6.
As shown in fig. 2 to 3, the connecting portion 1 of the multi-position adjustable slave-end supporting device for an interventional surgical robot according to an embodiment of the present invention includes a first connecting unit 12 and a second connecting unit 11, wherein a second driving gear 121, a damping wheel 122 engaged with the second driving gear 121, and a limiting assembly 123 are installed at a connection portion of the second connecting unit 11 and the first connecting unit 12, the second connecting unit 11 is provided with a limiting groove 124, at least two damping wheels 122 are symmetrically installed at two sides of the second driving gear 121 and engaged with the second driving gear 121, and the damping wheels 122 can prevent the second driving gear 121 from rotating by inertia in a clockwise/counterclockwise rotation process.
The limiting component 123 is disposed on the first connecting unit 12, and includes an adjustable rod core 1232 and an adjusting handle 1231, the bottom end of the adjustable rod core 1232 is located in the limiting groove 124, the second connecting unit 11 is rotated, the adjustable rod core 1232 slides along the direction of the limiting groove 124, and the adjusting handle 1231 is pulled to drive the bottom end of the adjustable rod core 1232 located in the limiting groove 124 to be away from the limiting groove 124.
The limiting groove 124 includes a first limiting groove 1241. When the slave-end supporting device of the interventional surgical robot is installed on an operating bed to support slave-end equipment of the interventional surgical robot, and the slave-end equipment of the interventional surgical robot is ready to work, the bottom end of the adjustable rod core 1232 is positioned in the first limiting groove 1241, the second connecting unit 11 is rotated, the adjustable rod core 1232 slides along the direction of the first limiting groove 1241, and the rotating angle of the second connecting unit 11 relative to the first connecting unit 12 is a first angle range, such as 0-30 degrees, namely a working angle range, so that the working position of the slave-end equipment of the interventional surgical robot is adjusted; in order to facilitate the operator to store the slave end device of the interventional surgical robot, the limiting groove 124 further includes a second limiting groove 1242 spaced from the first limiting groove 1241, after the operation is completed, when the interventional surgical robot is removed from the operating bed from the end supporting device or moved to the proximal end of the operating bed, and the interventional surgical robot needs to be stored in the slave end device, the operator adjusts the proximal end of the interventional surgical robot from the end device to the operating bed direction, pulls the adjusting handle 1231, rotates the second connecting unit 11, moves the bottom end of the adjustable rod core 1232 to a position facing the second limiting groove 1242, releases the adjustable rod core 1232, inserts the bottom end of the adjustable rod core 1232 into the second limiting groove 1242, continues to rotate the second connecting unit 11, and the rotation angle of the second connecting unit 11 relative to the first connecting unit 12 is in a second angle range, if 40 ~ 90, accomodate the angle scope promptly to the adjustment intervenes surgical robot from end equipment for accomodating the position, if let intervene surgical robot from end equipment vertical putting, put perpendicularly with the operation table promptly. In this embodiment, the first limiting groove 1241 and the second limiting groove 1242 are both arc-shaped and located on the same circumference (with the connecting shaft 125 as a center). In other embodiments, the first limiting groove 1241 and the second limiting groove 1242 may also be respectively located on two circumferences (with the connecting shaft 125 as a center) with different radii; the first limiting groove 1241 and the second limiting groove 1242 may also be combined into a limiting groove, and the rotation angle of the second connection unit 11 relative to the first connection unit 12 is a third angle range, such as 0 ° to 90 °.
An operator forcibly lifts the near end of the slave end device of the interventional surgical robot, so that the far end moves towards the direction close to the operating bed, the inclination angle of the slave end device of the interventional surgical robot relative to the operating bed is adjusted, the first connecting unit 11 is driven to rotate relative to the first connecting unit 12, the second driving gear 121 is rotated under the damping action of the damping wheels 122 on the two sides, and the inclination angle of the slave end device of the interventional surgical robot and the operating bed is adjusted to a required position. The damping of the damping wheel 122 installed on both sides of the second driving gear 121 is large enough, and if there is no external force, the second driving gear 121 is prevented from rotating due to gravity, that is, the second connection unit 11 is protected and stationary with respect to the first connection unit 12, so that the fixation of the inclination angle of the slave end device of the interventional operation robot and the operating table is realized.
As shown in fig. 4, the first rotating portion 8 of the multi-position adjustable slave-end supporting device for an interventional robot according to an embodiment of the present invention is provided 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 "engaged with the first driving gear 201", the electromagnetic brake 21 "is connected to the driven gear 202", when the electromagnetic brake 21 "is powered on, the driven gear 202 is released, an external force is applied to rotate the first driving gear 201" to drive the driven gear 202 "to rotate, so as to realize rotation of the first arm 3 relative to the supporting column 4, when the electromagnetic brake 21" is powered off, the driven gear 202 is locked, and the first arm 3 stops rotating and is positioned. In this embodiment, the electromagnetic brake 21 ″ is attached to the first arm 3, and the driven gear 202 ″ is attached to the support column 4.
The first rotating portion 8 is further provided with a limiting block 23 ″ and correspondingly provided with a limiting convex plate 231 ″ adapted to the limiting block, where the limiting convex plate 231 ″ may be one or more than one, and is used to limit a rotation angle of the first support arm 3 relative to the support column 4, for example, the rotation angle range is 0 ° to 90 ° (see fig. 8).
As shown in fig. 5, the second rotating part 7 of the multi-position adjustable slave-end supporting device for the interventional surgical robot according to the embodiment of the present invention is provided with an electromagnetic brake 21 'and a rotating gear set 22', wherein, the rotation gear set 22 'includes a first driving gear 201' and a driven gear 202 'engaged with the first driving gear 201', the electromagnetic brake 21' is connected with the driven gear 202', when the electromagnetic brake 21' is electrified, releasing the driven gear 202', applying an external force to rotate the first driving gear 201', driving the driven gear 202' to rotate, so as to realize the rotation of the second support arm 2 relative to the first support arm 3, when the electromagnetic brake 21 'is powered off, the driven gear 202' is locked, and the second arm 2 stops rotating and is positioned. In this embodiment, the electromagnetic brake 21 'is mounted on the second arm 2, and the first driving gear 201' is mounted on the first arm 3.
The second rotating portion 7 is further provided with a limiting block 23', and correspondingly provided with a limiting protruding plate 231' adapted to the limiting block 23', where the limiting protruding plate 231' may be one or more than one, and is used to limit a rotation angle of the second support arm 2 relative to the first support arm 3, for example, the rotation angle range is 22 ° to 202 ° (see fig. 8).
As shown in fig. 6, the third rotating portion 6 of the multi-position adjustable slave-end supporting device for an interventional robot according to an embodiment of the present invention is provided 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 engaged with the first driving gear 201, the electromagnetic brake 21 is connected to the driven gear 202, when the electromagnetic brake 21 is powered on, the driven gear 202 is released to apply an external force to rotate the first driving gear 201, so as to drive the driven gear 202 to rotate, thereby realizing the rotation of the connecting portion 1 relative to the second arm 2, when the electromagnetic brake 21 is powered off, the driven gear 202 is locked, and the connecting portion 1 stops rotating and is positioned. In this embodiment, the electromagnetic brake 21 is mounted on the second arm 2, and the first driving gear 201 is mounted on the first connecting unit 12.
The third rotating portion 6 is further provided with a limiting block 23 fixed to the first connecting unit 12, the second support arm 2 is further provided with a limiting nut 231 adapted to the limiting block 23, and the limiting nut 231 may be one or more than one, and is configured to limit a rotation angle of the connecting portion 1 relative to the second support arm 2, for example, the rotation angle range is 90-270 ° (see fig. 8).
As shown in fig. 4 to 6, in the present embodiment, the first rotating unit 8, the second rotating unit 7, and the third rotating unit 6 have substantially the same structure, the electromagnetic brake 21 has the same type as the electromagnetic brake 21 'and the electromagnetic brake 21 ″, the rotation gear group 22 has the same structure as the rotation gear group 22' and the rotation gear group 22 ″, the first driving gear 201 has the same structure as the first driving gear 201 'and the first driving gear 201 ″, and the driven gear 202 has the same structure as the driven gear 202' and the driven gear 202 ″. In other embodiments, their structure and model may be different.
Referring to fig. 4 to 6, in this embodiment, the functions of the limiting block 23, the limiting block 23 'and the limiting block 23 ″ are substantially the same, and both are used for limiting the rotation angle of the corresponding structure, it is understood that the structures of the limiting block 23, the limiting block 23' and the limiting block 23 ″ may be the same or different, correspondingly, the functions of the limiting nut 231 and the limiting convex plate 231', and the structures of the limiting nut 231 and the limiting convex plate 231', and the limiting convex plate 231 ″ may be the same or different.
With reference to fig. 1 to 6, when the slave device of the interventional surgical robot mounted on the second connection unit 11 is to be adjusted, the power-on control button of the slave device of the interventional surgical robot is pressed, the electromagnetic brake 21 is powered on, the electromagnetic brake 21 releases the driven gear 202, the operator swings to intervene the near end or the far end of the slave device of the surgical robot, the first connection unit 12 drives the first driving gear 201 to rotate, the driven gear 202 rotates along with the first driving gear, and the connection portion 1 rotates counterclockwise or clockwise relative to the second support arm 2.
Referring to fig. 1 to 6, when the power-on control button of the slave device of the interventional surgical robot is pressed, the electromagnetic brake 21' is powered on, the electromagnetic brake 21' releases the driven gear 202', the operator swings the slave device of the interventional surgical robot, the second support arm 2 drives the first driving gear 201' to rotate, and the driven gear 202' rotates along with the second support arm 2, so that the second support arm 2 rotates counterclockwise/clockwise relative to the first support arm 3.
Referring to fig. 1 to 6, when an energization control button of a slave device of an interventional surgical robot is pressed, the electromagnetic brake 21 is energized, the electromagnetic brake 21 releases the driven gear 202, an operator pulls the slave device of the interventional surgical robot, the first arm 3 drives the first driving gear 201 to rotate, and the driven gear 202 rotates along with the first driving gear, so that the first arm 3 rotates clockwise or counterclockwise relative to the support column 4.
Referring to fig. 1 to 6, press the power-on control button of the interventional surgical robot slave end device, electromagnetic brake 21', 21 "can also be powered on simultaneously, electromagnetic brake 21' releases driven gear 202', electromagnetic brake 21" releases driven gear 202", operating personnel adjusts the interventional surgical robot slave end device with effort, drives first driving gear 201', 201" rotate, realizes that second support arm 2 is relative first support arm 3, first support arm 3 are relative the anticlockwise/clockwise rotation of support column 4, realizes the arbitrary motion of interventional surgical robot slave end device at the XOY plane where the operating table is located.
Simultaneously, when electromagnetic braking ware 21 also switched on, electromagnetic braking ware 21 releases driven gear 202 intervenes operation robot and passes through connecting portion 1 from end equipment and drive first driving gear 201 rotates, realizes connecting portion 1 is relative the anticlockwise/clockwise rotation of second support arm 2 lets intervene operation robot from end equipment in the planar motion of XOY at operation table place more nimble. In fact, when the first driving gear 201 rotates, the connection portion 1 horizontally rotates counterclockwise/clockwise relative to the second support arm 2, so that the slave end device of the interventional operation robot is inclined at a certain angle with the operating table in the XOY plane where the operating table is located. During these procedures, the level of the slave device of the interventional surgical robot remains unchanged.
It is understood that the power on and off of the electromagnetic brake 21, the electromagnetic brake 21', and the electromagnetic brake 21 ″ can be controlled one by one, two at the same time, or three at the same time.
With reference to fig. 1 to 6, after the slave device of the interventional surgical robot is adjusted to a certain position, the energization control button on the slave device of the interventional surgical robot is released, the electromagnetic brake 21 locks the driven gear 202, 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, 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, so that the slave device of the interventional surgical robot is positioned.
As shown in fig. 7, the base 5 of the multi-position adjustable slave-end supporting device for an interventional surgical robot according to an embodiment of the present invention includes a supporting plate 55, a sliding sleeve having a groove 53 for fixing the supporting plate 55, a main pulley 51, a plurality of auxiliary pulleys 52 and a fixing bolt handle 54, wherein the groove 53 of the sliding sleeve is adapted to a track of an operating table, and the plurality of auxiliary pulleys 52 are symmetrically installed at two ends of the groove 53, for example, 4 auxiliary pulleys 52 are symmetrically installed at two ends of the groove 53.
Loosen fixing bolt handle 54, operating personnel promotes with strength along operation table track direction intervene surgical robot from holding strutting arrangement, support to intervene surgical robot and remove required position from the end equipment, it is closed fixing bolt handle 54 makes intervene surgical robot is fixed on the operation table from holding strutting arrangement to prevent among the operation process intervene surgical robot and produce the removal from holding strutting arrangement.
The main pulley 51 and the auxiliary pulley 52 can assist the interventional operation robot to slide on the operation bed track from the end supporting device.
The above-mentioned embodiments only express one embodiment of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the claims.
Claims (12)
1. A multi-position adjustable interventional surgical robotic slave end support apparatus for securing an interventional surgical robotic slave end device, characterized by: but intervention operation robot slave end strutting arrangement of multiposition regulation is including supporting in the support column of operation table, rotationally connect in the first support arm of support column and rotationally connect in the second support arm of first support arm, the second support arm is on a parallel with the plane that the operation table was located, lets the motion of intervention operation robot slave end equipment in the plane that the operation table was located through the rotation of first support arm and first support arm.
2. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 1, wherein: the rotation axes of the first support arm and the second support arm are perpendicular to the plane of the operating table.
3. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 2, wherein: the multi-position adjustable slave-end supporting device of the interventional surgical robot further comprises a connecting part, wherein the connecting part comprises a first connecting unit which is rotatably connected with the second support arm, and the first connecting unit rotates in the plane of the operating bed.
4. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 3, wherein: the rotation axis of the first connecting unit is perpendicular to the plane of the operating table.
5. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 4, wherein: the first support arm with the junction of support column is first rotating part, first rotating part is equipped with and lets first support arm pivoted electromagnetic braking ware.
6. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 5, wherein: the first rotating part is provided with a rotating gear set, the rotating gear set comprises a first driving gear and a driven gear meshed with the first driving gear, the electromagnetic brake is connected with the driven gear, the first driving gear is released when the electromagnetic brake is powered on, and the first driving gear is locked when the electromagnetic brake is powered off.
7. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 5, wherein: the joint of the first support arm and the second support arm is a second rotating part, and the second rotating part is provided with an electromagnetic brake for rotating the second support arm.
8. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 7, wherein: the second rotating part is provided with a rotating gear set, the rotating gear set comprises a first driving gear and a driven gear meshed with the first driving gear, the electromagnetic brake is connected with the driven gear, the first driving gear is released when the electromagnetic brake is powered on, and the first driving gear is locked when the electromagnetic brake is powered off.
9. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 7, wherein: the joint of the first connecting unit and the first support arm is a third rotating part, and the third rotating part is provided with an electromagnetic brake for rotating the first connecting unit.
10. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 9, wherein: the third rotating part is provided with a rotating gear set, the rotating gear set comprises a first driving gear and a driven gear meshed with the first driving gear, the electromagnetic brake is connected with the driven gear, the first driving gear is released when the electromagnetic brake is powered on, and the first driving gear is locked when the electromagnetic brake is powered off.
11. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 9, wherein: the electromagnetic brakes of the first and second rotating portions are energized simultaneously.
12. A multi-position adjustable robotic slave-end support device for interventional surgery according to claim 9, wherein: the electromagnetic brakes of the first, second, and third rotating portions are energized simultaneously or individually.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111318953.9A CN114191089B (en) | 2021-11-09 | 2021-11-09 | Intervention operation robot slave end strutting arrangement that can multiposition is adjusted |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111318953.9A CN114191089B (en) | 2021-11-09 | 2021-11-09 | Intervention operation robot slave end strutting arrangement that can multiposition is adjusted |
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| CN114191089B CN114191089B (en) | 2024-04-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115645066A (en) * | 2022-11-14 | 2023-01-31 | 华中科技大学同济医学院附属协和医院 | Adjustable supporting device of interventional operation robot |
| WO2023082612A1 (en) * | 2021-11-09 | 2023-05-19 | 深圳市爱博医疗机器人有限公司 | Limiting type interventional surgical robot slave end supporting device |
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| CN112773566A (en) * | 2021-02-07 | 2021-05-11 | 潘湘斌 | Universal heart valvulopathy interventional instrument stabilizer |
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| WO2023082612A1 (en) * | 2021-11-09 | 2023-05-19 | 深圳市爱博医疗机器人有限公司 | Limiting type interventional surgical robot slave end supporting device |
| CN115645066A (en) * | 2022-11-14 | 2023-01-31 | 华中科技大学同济医学院附属协和医院 | Adjustable supporting device of interventional operation robot |
| CN115645066B (en) * | 2022-11-14 | 2023-05-05 | 华中科技大学同济医学院附属协和医院 | Adjustable strutting arrangement of intervention operation robot |
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| CN114191089B (en) | 2024-04-16 |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
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