CN117426946B - Coupling operating table system - Google Patents

Abstract

The invention discloses a coupling operating table system, which relates to the field of medical operating tables and comprises the following components in a pairing mode: the output end of the first mechanical arm system is rotationally connected with the first operation bed board; the output end of the second mechanical arm system is rotationally connected with the second operation bed board; so that the coupled operating table system is in: the coupling state is adopted, and the operation bed board can rotate circumferentially in the coupling state; or, in the separated state, the surgical bed plate can be rotated circumferentially in the separated state. The invention not only realizes all functions of the whole-position and rapid-position switching operating table, but also reduces occupation of peripheral space of an operation bed board by arranging the mechanical arm system, and can adjust the position and the length of the mechanical arm where the output end is positioned according to the needs, thereby reducing influence on an operation area to the greatest extent; under the control of a computer system, the whole-course automation of the coupling and separation states and various body positions is realized.

Description

Coupling operating table system

Technical Field

The invention relates to the field of medical operating tables, in particular to a coupling operating table system.

Background

Surgical procedures involve complex surgical sites and corresponding body positions, simultaneous exposure of multiple surgical sites, and rapid switching of multiple surgical positions. The implementation of this is dependent on the function of the operating table.

Taking lumbar and abdominal surgery as an example, the common surgical sites and corresponding body positions are as follows: the operator moves the urethra, vagina, anus and perineum between the two legs of the patient in the supine position to perform the corresponding lithotomy position (supine position and hip bending and knee bending position); the incision for lumbar and back operation corresponds to the lateral position; the waist and back and the transurethral simultaneous approach correspond to the inclined lateral lying position; the incision for lumbar and back operations also corresponds to the prone position; the upper abdomen and lower abdomen operation incision corresponds to the supine position, etc. In addition, in recent years, surgical minimally invasive techniques have been rapidly developed, and with the development of surgical postures, 5 basic postures commonly used by open surgery in the past have been developed: the section Dan Wei, supine position, recumbent position, lateral position, prone position, further derives a large number of new body positions, about 20 kinds of such as: the lateral position is derived from the lateral position, the refractive tool position, the lateral position, the hip bending and knee bending position, the oblique lateral position is derived from the oblique lateral position, the hip bending and knee bending position, the oblique lateral position, the refractive tool position and the like.

From the above list, the surgery at different locations requires the corresponding surgical positions. In the clinical situation, the required surgical positions are numerous, and each position is implemented by manually moving the patient; more troublesome is the need to manually move the patient between numerous positions during the procedure, because the patient is in a state of muscle relaxation after anesthesia, and each manual movement of the patient is at great risk.

The whole-position and quick-position switching operating table refers to an operating table which can implement all the above-mentioned about 20 positions and can mutually and quickly switch positions among various positions. Lithotomy positions (supine position and hip bending and knee bending position) are applied to many clinical professions, and rapid position switching is very difficult to implement when the lithotomy positions are all positions, and the critical positions of an operating table are switched by the rapid positions. However, the characteristics of the lithotomy position needing leg separation determine that the rotary actuating mechanism of the operating table for realizing the overall position and the rapid position switching of the lithotomy position must be designed in the middle of the operating table, and the rotary actuating mechanism must influence and obstruct the operating area in the middle, so that the difficulties can lead the operating table for realizing the overall position and the rapid position switching of the lithotomy position to develop slowly, and the operating table is completely dependent on manpower once the position switching of the lithotomy position, the inclined lateral position and the lateral position is related clinically.

Patent CN114404201 discloses a whole-body position and quick position switching operating table scheme, which can realize all 5 kinds of surgical basic positions and derivative positions thereof, multi-operation position exposure and quick position switching. The main design idea is that the annular component is used as a rotary execution structure of the operating table, and meanwhile, part of arc-shaped components which are temporarily not supported are moved out of the plane of the annular component through the turnover of the annular component, so that an operation area is exposed. The turnover annular member is used as a rotary actuating mechanism, so that the problem of overall position and rapid position switching is solved to a certain extent, but the following problems still exist:

(1) In this patent, "the hollow space of the rotating member is detachably connected to the surgical bed", which means that the diameter of the annular member must be larger than the width of the surgical bed, and the annular member+the bed support frame surrounds the surgical bed, and the annular member+the bed support frame is a large size of the rotating actuator (annular member+the bed support frame) serving as a rotary actuator on the working surface, the bottom surface, and both side surfaces of the surgical bed, which is itself an obstacle to the surgical field.

(2) In this patent, although each arc member can be moved away under different conditions, not each arc member can be moved away under any rotation angle due to the influence of the operation table, the table support frame, the rotating wheel and the limiting wheel, as a result, the operation table can be rotated to any angle, but only under a specific rotation angle, the annular member can be moved away by folding, and the operation area is exposed, so that the operation can be performed; even less desirable, the folding only removes the obstruction of the half annular member to the operative area, and the other half annular member and the bed board support frame are always present in the operative area or the periphery of the operative area at any rotation angle, so that the folding has a certain influence on the operator and the assistant.

(3) In addition, in the recumbent position and the recumbent position, the working surface, the bottom surface and the upward side surface of the operation bed plate can be the operation area; the size and the position of the annular component and the bed board support frame are fixed: the length of the surgical operation table can not be reduced, and the included angle between the surgical operation table and the table support frame can not be adjusted, so that the surgical operation table is greatly prevented from being used as a rotary executing mechanism.

(4) The structure such as a supporting seat is arranged below the operation bed plate, which is very unfavorable for X-ray perspective in the supine position. If X-ray fluoroscopy is required, the patient must be switched to a recumbent or lateral position.

(5) Before and after switching between the supine position and the prone position, the operation bed plate above the patient body needs to be manually detached and installed, the risk of damaging the patient exists because the manual operation is carried out by being clung to the patient body, the operation bed plate has the inherent requirement of structural strength, the weight of the operation bed plate completely depends on the manual detachment and installation, and the acceptance will of medical staff is considered, so that the weight is seriously influenced to be further increased to add and upgrade more functions to the operation bed plate.

In addition, in the operating table solution with the mechanical arm, such as US2022125466, US20190105785, CN115957007, the mechanical arm is only arranged around the bed board, so that the mechanical arm is convenient for performing operations or other auxiliary work, and the movement of the mechanical arm does not cause the position change of the operation bed board.

US20190255359 discloses a solution for controlling the movement of a bed plate by a robot arm, which aims to move a patient into an image examination area and rotate the patient body for image examination. The rotating plane of the rotating piece (connected to the side surface of the end part of the bed plate) is perpendicular to the moving plane of the mechanical arm, the rotating plane and the moving plane of the mechanical arm are not cooperated with each other to rotate the bed plate in the circumferential direction, and the rotating plane and the moving plane of the mechanical arm are independent of each other, namely, the mechanical arms enable the bed plate to move forwards and backwards, and the rotating piece connected to the side surface of the end part of the bed plate can enable the bed plate to rotate in the circumferential direction. The proposal provides an examination table, which is not an operation table, can realize circumferential rotation by a mode of a bed plate and binding patients, but cannot be a proposal of the operation table, in particular a proposal of a whole-position operation table, because any lower mechanical arm of the body position is an obstacle in the operation area; when in a prone position, the bed board covers the upper part of a patient, and the non-detachable bed board completely shields an operation area and can not perform an operation; the restraint device also acts as an obstruction to the surgical field in the lateral position. In addition, the scheme that the rotating piece is arranged on the side surface of the end part of the bed board is only suitable for the condition that a patient lies on the bed board in a short time, and obviously, the rotating piece is connected to the position of the bed board, and the scheme does not consider the counterweight relation of the whole bed board.

Disclosure of Invention

Aiming at the defects existing in the prior art, the invention aims to provide a coupling operating table system which is used as a whole-position and rapid-position switching operating table, so that the requirements of simultaneous exposure of all 5 basic positions and derivative positions thereof and multiple operation positions and rapid switching of multiple positions in surgery are completely met; furthermore, by arranging the mechanical arm system, the occupation of the peripheral space of the operation bed board is reduced, the position and the length of the mechanical arm where the output end is positioned can be adjusted according to the requirement, and the influence on the operation area is reduced to the greatest extent; under the control of a computer system, the whole-course automation of the coupling and separation states and various body positions is realized.

In order to achieve the above object, the present invention is realized by the following technical scheme:

Embodiments of the present invention provide a coupled operating table system comprising a pairing arrangement: the output end of the first mechanical arm system is rotationally connected with the first operation bed board; the output end of the second mechanical arm system is rotationally connected with the second operation bed board;

so that the coupled operating table system is in: the coupling state is adopted, and the operation bed board can rotate circumferentially in the coupling state; or, in the separated state, the surgical bed plate can be rotated circumferentially in the separated state.

As a further implementation manner, the coupled state refers to that the first operation bed board working face and the second operation bed board working face are arranged face to face with a set interval, and an accommodating space is formed between the first operation bed board working face and the second operation bed board working face, so that the movement of a patient body in the accommodating space can be limited.

As a further implementation mode, the surgical bed board rotates circumferentially in the coupling state, and in the coupling state, the first surgical bed board and the second surgical bed board rotate circumferentially synchronously in the rotating process, and the containing space between the first surgical bed board and the second surgical bed board is kept stable, so that the body of a patient can be limited to move in the containing space.

As a further implementation manner, a first rotating piece is arranged between the output end of the first mechanical arm system and the first operation bed board, and the first rotating piece can enable the first operation bed board to circumferentially rotate; a second rotating piece is arranged between the output end of the second mechanical arm system and the second surgical bed board, and the second rotating piece can enable the second surgical bed board to circumferentially rotate.

As a further implementation manner, the first mechanical arm system and the second mechanical arm system are arranged in a left-right pairing mode.

As a further implementation manner, the mechanical movement output by the first mechanical arm system and the second mechanical arm system can enable the coupling operation table system to complete the circumferential rotation of the operation table board in the coupling state.

As a further implementation, the first robotic arm system has at least one mechanical degree of freedom and the second robotic arm system has at least one mechanical degree of freedom.

As a further implementation manner, the mechanical motion output by the first mechanical arm system or the second mechanical arm system can enable the coupling operation table system to complete the circumferential rotation of the operation table board in the coupling state.

As a further implementation, the first robotic arm system has at least two mechanical degrees of freedom or the second robotic arm system has at least two mechanical degrees of freedom.

As a further implementation manner, a plurality of first mechanical arm systems are arranged, and the plurality of first mechanical arm systems are connected through connecting rods; and the spacing between the plurality of first robotic arm systems may be adjustable or non-adjustable;

And/or a plurality of second mechanical arm systems are arranged and are connected through connecting rods; and the spacing between the plurality of second robotic arm systems may or may not be adjustable.

The beneficial effects of the embodiment of the invention are as follows:

(1) The coupling operating table system can be in a coupling state or a separation state, so that the influence of the rotating executing mechanism on an operating area is eliminated, the operating table board is supported by only one mechanical arm as the rotating executing mechanism in any rotating state and any body position, and the size of the operating table board is obviously reduced compared with that of the annular member and the table board support frame.

(2) At any rotation angle, the mechanical arm is only connected with one part of the operation bed plate, so that the interference to the operation area and the periphery of the operation area is very small.

(3) By adjusting the position and the length of the mechanical arm where the output end is positioned, the obstruction to the operation area can be avoided, because the working surface, the bottom surface and the upward side surface of the operation bed plate are all operation areas in the recumbent position and the recumbent position.

(4) The operation bed board is supported by the mechanical arm system, and no other arrangement below the operation bed board can influence X-ray perspective in the supine position; the X-ray perspective is very convenient when the device rotates to the inclined side position and the lateral position.

(5) The coupling state and the separation state of the invention are all automatically controlled in the whole process, thus reducing the labor intensity and the possibility of human error operation; when the supine position and the prone position are mutually switched, the upper operation bed plate can be removed only by changing to the separated state, and the operation area is exposed, so that the operation bed plate above the body of the patient does not need to be manually removed; also, after entering the coupled state, the surgical bed board is installed in place, and no manual installation is needed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

FIG. 1 is a schematic diagram of a side lying position in a separated state according to an embodiment of the present invention;

FIG. 2 is a schematic view of a lateral position and a hip-bending knee-bending position in a separated state according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a side position and a folding knife position in a separated state according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a position of a mechanical arm with a recumbent position and an adjustment output end in a separated state according to an embodiment of the present invention;

FIG. 5 is a schematic illustration of a supine position with one embodiment of the present invention in a separated state;

FIG. 6 is a schematic view of a lithotomy position in a separated state according to an embodiment of the present invention;

fig. 7 to 9 are schematic views illustrating a circumferential rotation process of the surgical bed board in a coupled state according to an embodiment of the present invention;

FIG. 10 is a schematic diagram illustrating a separation state according to an embodiment of the present invention;

FIGS. 11-13 are schematic views illustrating a circumferential rotation process of the surgical bed plate in a coupled state according to a second embodiment of the present invention;

FIGS. 14-16 are schematic views illustrating a circumferential rotation process of the surgical bed plate in a three-coupled state according to an embodiment of the present invention;

FIG. 17 is a schematic view of the length of a mechanical arm with a recumbent position and an adjustment output end in a three-separated state according to an embodiment of the present invention;

FIG. 18 is a schematic view of the length of a mechanical arm with a recumbent position and an adjusting output end in a third separated state according to the embodiment of the present invention;

fig. 19 to 21 are schematic views showing a circumferential rotation process of the operation table board in a fourth coupling state according to the embodiment of the present invention.

The device comprises a first mechanical arm system 1, a second mechanical arm system 2, a first rotating piece 3, a second rotating piece 4, a first operation bed board 5, a second operation bed board 6, a connecting rod 7, a connecting rod 8, a sliding rail 9, a side baffle, a leg plate 10, a lower limb supporting frame 11.

Detailed Description

Noun interpretation:

A. The coupling operating table system of the invention, the mechanical arm system supports the operating bed board to a set height, when lying on the back in the initial position (lying on the back), the side far away from the ground of the patient is the upper side; the back side of the patient is the side facing the ground, and the vertical direction is the up-down direction, namely the direction vertical to the ground; along the direction of the long axis of the operation bed board and the long axis of the patient body, namely the front-back direction, the direction of the head end and the foot end of the operation bed board; transverse, i.e. parallel to the ground, and in the left-right direction of the patient, e.g. the robot arm system as a whole moves in the left-right direction, i.e. the robot arm system moves transversely.

In the invention, the operation bed board has the functions of bearing the whole body of a patient, including the head, the trunk and the lower limbs; the operation table is arranged by taking a human shape as a template, so the operation table comprises a head fixing device (head frame), a body part of the operation table and a lower limb part (leg plate or lower limb supporting frame) of the operation table. The working face of the operation bed board refers to the face bearing the patient; the bottom surface of the operation bed plate refers to the surface which does not bear a patient and the back surface of the working surface; the side surfaces are the left side surface and the right side surface corresponding to the edge of the bed board; the head end and the foot end of the operation bed board, namely the front and back ends.

The rotating piece is connected to the position of the operation bed board, and other positions except the working surface are all possible; comprises a bottom surface, two side surfaces and a head and foot end, which can meet the requirement of circumferential rotation of the operation bed board; the specific choice is affected by the weight relationship, structural strength and other factors, for example, a full-body surgical bed comprising a lithotomy position, and the option of arranging a rotating member at the foot end of the detachable leg plate is not suitable.

The supine initial position (lying position) in the invention refers to a position where a patient lies on the operation table and starts tracheal intubation anesthesia when the operation table is approximately parallel to the ground, and is a position where an operation starts. At this time, the included angle between the operation bed board and the ground is about 0 degrees; under the action of mechanical movement of the output end of the mechanical arm system and rotation of the rotating piece, the rotating operation bed board and the ground form a set included angle, and the set included angle is gradually increased according to the included angle to form a recumbent position (0 degrees < included angle <90 degrees), a recumbent position (about included angle 90 degrees) and a prone position (about included angle 180 degrees).

It should be noted that, the surgical positions such as the initial supine position, the recumbent position, the lateral position, the prone position, and the like are merely general descriptions, and the quantitative index of the included angle with the ground is used to reflect the surgical positions in an image, and not to limit how many degrees a certain position must be precisely.

B. The surgical bed board rotates circumferentially: the purpose of the rotation of the operation bed board is to enable a patient on the operation bed board to rotate by taking a long axis of a body as a rotation axis, so that the switching of a lying position, a leaning side position, a side lying position, a prone position and the like is realized, and the rotation of the operation bed board is the circumferential rotation of the operation bed board. The circumferential rotation of the operation bed board is the basis of body position switching. The circumferential rotation of the operation bed board is divided into: the surgical bed plate rotates circumferentially in the coupled state and rotates circumferentially in the separated state.

The source power of the circumferential rotation of the surgical bed plate comprises: mechanical movement of the output end of the mechanical arm system (namely mechanical movement output by the mechanical arm system) and rotation of the rotating piece; wherein, mechanical movement of the mechanical arm system output end includes: mechanical movement of the robotic arm system (vertical sliding of the robotic arm, lateral sliding of the robotic arm, rotation of the robotic arm), lateral movement of the robotic arm system.

In the present invention, one degree of rotational freedom, one degree of sliding freedom (one degree of lateral sliding freedom, one degree of vertical sliding freedom), and lateral movement of the robot arm system are all considered as one degree of mechanical freedom of the robot arm system (the rotation of the rotating member does not belong to the robot arm system). For example, a robotic arm system having one degree of lateral sliding freedom and one degree of vertical sliding freedom is considered to have two degrees of mechanical freedom; if there is also one degree of rotational freedom, the robotic arm system is considered to have three mechanical degrees of freedom; if lateral movement is also possible, the robotic arm system is considered to have four mechanical degrees of freedom.

C. Rotation of the rotating member: the rotation of the rotating piece enables the operation bed board to rotate relative to the output end of the mechanical arm system, the operation bed board rotates by taking the rotation shaft of the rotating piece as the shaft, and the output end of the mechanical arm system is taken as a supporting and reference object; the rotating piece which can rotate around one shaft can meet the requirement of the circumferential rotation of the operation bed board, and of course, the rotating piece which can rotate around a plurality of shafts can add additional functions; the rotation of the rotating piece and the mechanical movement of the output end of the mechanical arm system can be in step inconformity, but the rotation of the rotating piece and the mechanical movement of the output end of the mechanical arm system can be in synergistic effect to enable the surgical bed plate to circumferentially rotate, so that body position switching is realized.

D. Mechanical arm system: in the present invention, the mechanism is designed to output mechanical motion in most cases, but sometimes can be designed to not output mechanical motion; the mechanical arm system does not comprise an operation bed board and does not comprise a rotating piece between the output end of the mechanical arm system and the operation bed board. The mechanical movement mode of the mechanical arm system comprises the following steps: the mechanical motion of the mechanical arm system is output through the output end of the mechanical arm system, and the transverse motion of the mechanical arm system is also output through the output end of the mechanical arm system, so that the mechanical motion of the output end of the mechanical arm system is the result of the combined action of the mechanical motion of the mechanical arm system and the transverse motion of the mechanical arm system.

Whether the mechanical arm system outputs mechanical motion or not, the mechanical arm system has the following two functions: 1. the supporting mechanical arm system and the operation bed board are at a set height from the ground; 2. the mechanical arm system and the operation bed board are stable, so that overturning is avoided; the specific form of the mechanical arm system can be set according to the needs, and the specific structure and the appearance of the mechanical arm system are not limited.

It should be noted that, the first mechanical arm system and the second mechanical arm system of the present invention may be separately provided, or may be connected together, for example, a common base is provided to connect the two, a common slide rail is provided to connect the two, and so on.

E. The transverse movement of the mechanical arm system means that the first mechanical arm system and/or the second mechanical arm system transversely move so that the left-right distance between the first mechanical arm system and the second mechanical arm system is changed. For example, by providing pulleys, sliding rail measures, etc. at the lower end of the mechanical arm system, the mechanical arm system can slide on the ground as a whole, so that the mechanical arm system can move laterally, and although the mechanical arm system is not necessarily provided with the function, the mechanical arm system can move laterally so that the left-right distance between the two mechanical arm systems can be adjusted, in this case, the mechanical arm system actually has one degree of freedom of sliding laterally, and the function of the sliding mechanical arm arranged in the mechanical arm system can be replaced.

F. The mechanical movement output by the first mechanical arm system or the second mechanical arm system can enable the coupling operation table system to complete the circumferential rotation of the operation table board in the coupling state; the mechanical movement output by the first mechanical arm system and the second mechanical arm system can enable the coupling operation table system to complete the circumferential rotation of the operation table board in the coupling state; the mechanical arm system is used for helping to realize two modes of circumferential rotation of the operation bed board in a coupling state.

1. The mechanical motion output by the first mechanical arm system or the second mechanical arm system can enable the coupling operation table system to complete the circumferential rotation of the operation bed plate in the coupling state: that is, on the premise that the two rotating members of the coupled operating table system provide the source power, the two mechanical arm systems can realize the circumferential rotation of the operation table board in the coupled state as long as one of the mechanical arm systems can output at least two different mechanical movements, regardless of whether the other mechanical arm system outputs the mechanical movement, that is, the first mechanical arm system has at least two mechanical degrees of freedom or the second mechanical arm system has at least two mechanical degrees of freedom.

The specific arrangement comprises:

a. the first robotic arm system has at least two degrees of sliding freedom or the second robotic arm system has at least two degrees of sliding freedom.

B. The first robotic arm system has at least one sliding degree of freedom, one rotational degree of freedom, or the second robotic arm system has at least one sliding degree of freedom, one rotational degree of freedom.

C. The first robotic arm system has at least two degrees of rotational freedom or the second robotic arm system has at least two degrees of rotational freedom.

2. The mechanical movement output by the first mechanical arm system and the second mechanical arm system can enable the coupling operation table system to complete the circumferential rotation of the operation bed plate in the coupling state: that is, each of the robotic arm systems provides at least one mechanical motion under the precondition that the two rotating members of the coupled table system provide the source power, and the two cooperating to enable the coupled table system to rotate circumferentially about the surgical bed in the coupled state, i.e., the first robotic arm system has at least one mechanical degree of freedom and the second robotic arm system has at least one mechanical degree of freedom.

Specific arrangements in which the first and second robotic arm systems each have one degree of mechanical freedom include: the first robotic arm system has one vertical sliding degree of freedom and the second robotic arm system has one lateral sliding degree of freedom; the first robotic arm system has one degree of lateral sliding freedom and the second robotic arm system has one degree of rotational freedom.

In addition, the specific arrangement of more than one mechanical degree of freedom is numerous and not further listed.

Of course, increasing the mechanical degree of freedom of the robotic arm system may reduce the size of the robotic arm system and may be more flexible, or may add additional functions, such as the robotic arm system may have the function of tilting the surgical bed up and down (head-to-foot low or head-to-foot low) after adding an additional degree of rotational freedom.

G. Coupling state: after the surgical bed board and the corresponding mechanical arm system are precisely positioned, the computer precisely controls the rotating piece and the mechanical arm system; the first operation bed board working face and the second operation bed board working face are arranged face to face at a set interval, the edges of the two operation bed boards are matched, and an accommodating space is formed between the two operation bed boards, and the state is called as a coupling state which can effectively limit the movement of the body of a patient in the accommodating space. Under computer control, the two surgical beds are maintained in a face-to-face arrangement, either stationary or rotating.

The two operation bed board working surfaces are arranged face to face at a set interval, and the purpose is to support the abdomen and the back of a patient and limit the vertical movement of the body of the patient in the accommodating space in the rotating process; the distance is not a constant value, and the distance needs to be adaptively adjusted according to the actual application conditions, and the influence factors in the actual application are as follows: the body shape of the patient, the elasticity and function of the coating material, etc.

One specific embodiment of the coupling state is listed, the switching process between supine and prone positions:

The specific process of entering the coupling state is as follows: starting in the supine initial position, placing the head into a head fixation device to protect the head from rotating with the body at the same time; the lateral baffle plates are used for effectively limiting the lateral movement of the patient body in the accommodating space; meanwhile, the chest and abdomen of the patient in supine position is raised, the lower limbs are tiny, the patient is covered on the abdomen side of the whole body by using a coating material which does not damage the human body and has certain elasticity, and then the working surface of the operation bed board on the abdomen side is controlled to be covered on the surface of the coating material, so that the gap between the abdomen side bed board and the abdomen side of the patient is completely filled, and the vertical movement of the patient body in the accommodating space is effectively limited. So far, in the accommodating space, the vertical and horizontal movements of the patient are effectively limited.

The specific process of the coupling state is that: after rotating to the prone position, the filler of the gap between the ventral bed board and the ventral side of the patient does not obstruct the operation of the lumbar and back part, and does not need to be treated in the operation process; the computer control enables the back side operation bed board to move away from the coupling state, and after the waist and back operation area is exposed, the operation can be performed; after the operation of the waist and the back is finished, the back side operation bed board is moved back and is in substantial contact with the back, the back side operation bed board enters a coupling state again, the back side operation bed board is switched back to the supine position, the abdomen side operation bed board is moved away under the control of a computer, and finally the back side operation bed board is out of the coupling state, and the operation is finished.

The surgical bed board rotates circumferentially in the coupled state: under the coupled state, under the accurate control of a computer preset program, the mechanical motion of the output end of the mechanical arm system and the rotation of the rotating piece are matched in a cooperative manner, the two operation bed plates rotate circumferentially synchronously in the rotating process, the containing space between the two operation bed plates is kept stable, and the movement of the body of a patient in the containing space can be effectively limited. The circumferential rotation of the surgical couch in the coupled state may accomplish a body position switch in the range of about 0 ° -180 °, e.g., a supine position and a prone position switch to each other.

The synchronous circumferential rotation refers to the motion process from the beginning to the end when the operation bed board rotates circumferentially in a coupled state, and the time used by the motion processes of the two bed boards is equal. When the supine position and the prone position are switched mutually in the coupling state, the two bed plates start rotating from the supine position at the same time, and finish rotating to reach the prone position at the same time, so that the switching from the supine position to the prone position is completed, and the time used by the two bed plates in the moving process is equal; likewise, the time taken to switch from the prone position to the supine position is also equal.

H. Separation state: after the body position is switched by using the two mechanical arm systems which are arranged in a pairing way, or under the condition that only one mechanical arm system is needed to meet the requirement of the surgical body position switching, the two mechanical arm systems can be separated left and right, and the coupling operation table system can enter a separation state in the modes of rotation of the mechanical arm systems, lifting of a surgical bed plate and the like: the two operation bed boards are separated to be not in a face-to-face arrangement state. After entering the separated state, the two mechanical arm systems do not interfere with each other for independent use.

The surgical bed board rotates circumferentially in the separated state: in a separation state, each mechanical arm system, the rotating piece and the operation bed board are arranged, so that the independent use of the respective systems is supported, and the circumferential rotation of the operation bed board can be completed; body position switching in the range of about 0 ° -90 ° can be implemented, for example, switching between supine position, recumbent position, lateral position. In the source power of the circumferential rotation of the operation bed board, only the rotation piece rotates to support the circumferential rotation of the operation bed board in a separated state, and the mechanical movement of the output end of the mechanical arm system participates in the rotation process to different degrees according to different settings of the specific mechanical arm system.

I. Pairing and setting: the coupling operation table system is paired to be provided with a pair of mechanical arm systems, which can be paired left and right or front and back, and the final purpose is not affected by different relative position relations: the circumferential rotation of the operation bed board in the coupling state is realized, and the 180-degree body position switching is completed together. Thus, the side-to-side pairing or front-to-back pairing is only a general relative relationship and is not an absolute side-to-side, front-to-back alignment, as the two robotic arm systems themselves are also movable.

When the left mechanical arm system and the right mechanical arm system are paired, the middle position (about 90 degrees of lateral lying in the coupling state) in the rotating process is rotated in the coupling state, and the first mechanical arm system and the second mechanical arm system are respectively arranged at two sides of the operation bed board in the coupling state; when the surgical bed board is matched in front and back, the middle position of the process is rotated in a coupling state (about 90 degrees of lateral lying in the coupling state), and one mechanical arm system occupies two sides of the surgical bed board.

J. Adjusting the position and length of the mechanical arm where the output end is located: when the surgical bed is in the recumbent position and the recumbent position, the working face, the bottom face and the upward side face of the surgical bed plate can be the surgical area, and at the moment, the mechanical arm at the output end is used as the only supporting structure of the surgical bed plate, so that the surgical area is affected. The evading measure of the invention comprises that when the mechanical arm at the output end is a transverse sliding mechanical arm, the length of the mechanical arm can be adjusted and shortened, and when the mechanical arm at the output end is a rotating mechanical arm, the rotation direction of the operation bed board is opposite to that of the mechanical arm at the output end, the included angle between the mechanical arm at the output end and the upper operation bed board is increased, and the upper waist operation area is exposed. For example, when kidney stones pass through the lumbar skin and pass through the urethra and the double-lens combined lithotripsy, the operation bed board for blocking the lumbar part is removed, the lumbar part facing upwards is an operation area, the included angle between the mechanical arm where the output end is positioned and the operation bed board above is increased or the length of the mechanical arm is adjusted, and the obstruction to the operation area can be effectively avoided.

Embodiment one:

The embodiment provides a coupling operating table system, as shown in fig. 7-10, which comprises a first mechanical arm system 1 and a second mechanical arm system 2 which are arranged in a matched mode, wherein the output end of the first mechanical arm system 1 is rotationally connected with a first operation bed board 5, and the output end of the second mechanical arm system 2 is rotationally connected with a second operation bed board 6; so that the coupled operating table system is in: the coupling state is adopted, and the operation bed board can rotate circumferentially in the coupling state; or, in the separated state, the surgical bed plate can be rotated circumferentially in the separated state.

In this embodiment, the first mechanical arm system 1 and the second mechanical arm system 2 are arranged in a left-right pairing manner, as shown in fig. 8, and in the coupled state, the first mechanical arm system 1 and the second mechanical arm system 2 are respectively arranged at two sides of the surgical bed board in the coupled state in a rotation process middle position (about 90 ° lateral position in the coupled state). The first mechanical arm system 1 and the second mechanical arm system 2 are in a coupled state, the working surface of the first surgical bed board 5 and the working surface of the second surgical bed board 6 are arranged face to face, and a set distance is arranged between the working surfaces of the first and second mechanical arm systems to form an accommodating space, and the accommodating space can effectively limit the movement of the body of a patient in the accommodating space.

7-9 Show the circumferential rotation process of the operation bed board in the coupled state, before rotation, the first operation bed board 5 is positioned on the upper side of the second operation bed board 6, and the side baffle 9 connected with the second operation bed board 6 plays a role in blocking the rotation process of the patient; FIG. 8 illustrates the middle position of the rotation process, the first surgical bed plate 5 and the second surgical bed plate 6 are rotated by about 90 DEG, and the side baffle 9 is positioned at the lower side; fig. 9 shows the state after rotation, in which the second surgical bed 6 is positioned above the first surgical bed 5, and the side guards 9 are rotated to the right with the second surgical bed 6.

The separation state is shown in fig. 10, the first mechanical arm system 1 and the second mechanical arm system 2 are separated from each other, the two operation bed boards are separated to be not in a face-to-face arrangement state, and the two operation bed boards can be used independently without influencing each other.

The first mechanical arm system 1 and the second mechanical arm system 2 of the embodiment are fixedly arranged and cannot move transversely; the first mechanical arm system 1 and the second mechanical arm system 2 each comprise two degrees of freedom of rotation, specifically, the first mechanical arm system 1 and the second mechanical arm system 2 each comprise two rotating mechanical arms, and the rotatable mechanical arms are driven by motors.

It should be noted that, only one mechanical arm system has two degrees of freedom of rotation, so that the surgical bed board can be supported to rotate circumferentially in the coupled state; at the moment, the other mechanical arm system is not needed to provide source power, and the circumferential rotation of the operation bed board in the coupling state can be realized only by the rotation fit of the rotating piece.

When the two mechanical arm systems have two rotational degrees of freedom, the use is more flexible, the mechanical movement mode output by the first mechanical arm system and the second mechanical arm system can be selected, or the mechanical movement mode output by the first mechanical arm system or the second mechanical arm system can be selected, so that the coupling operation table system can complete the circumferential rotation of the operation table board under the coupling state.

As shown in fig. 7 to 10, the first mechanical arm system 1 and the second mechanical arm system 2 of the present embodiment can both output mechanical motion, and realize circumferential rotation of the surgical bed board under the synergistic effect of the mechanical motion of the output end of the mechanical arm system and rotation of the rotating member. The output end of the first mechanical arm system 1 is connected with the first operation bed board 5 through a first rotating piece 3, and the output end of the second mechanical arm system 2 is connected with the second operation bed board 6 through a second rotating piece 4. The rotating piece can rotate around an axis and can only support the circumferential rotation of the operation bed board.

In this embodiment, the rotating member includes a connecting lug and a motor driving assembly, the connecting lug is fixed on the bottom surface of the operation bed board, and the output end of the mechanical arm system is rotationally connected with the connecting lug through a pin shaft. The motor driving assembly comprises a motor, a speed reducer, a coupler, an output shaft, a pin, a bearing and the like, and belongs to conventional technical characteristics and is not repeated herein.

In the embodiment, the motion plane of the output end of the first mechanical arm system and the rotation plane of the first rotating member are in the same plane, and the motion plane of the output end of the second mechanical arm system and the rotation plane of the second rotating member are in the same plane, so that the mechanical motion output by the mechanical arm system can be cooperatively matched with the rotation of the rotating member, and the circumferential rotation of the operation bed board in the coupled state can be realized; the two planes are the same plane.

In the embodiment, when the mechanical arm system is arranged, the mechanical arm system is arranged in the middle area of the bottom surface of the operation bed plate in consideration of the relation of the counterweight, and the mechanical arm system corresponds to the waist and the hip of the patient. When the surgical bed board is in a detachable combination type (part of the surgical bed board is a leg frame), a mechanical arm system is arranged in the middle area of the surgical bed board.

In this embodiment, the mechanical arm where the output end is located is a rotating mechanical arm, so a manner of adjusting the position of the mechanical arm where the output end is located is adopted to avoid the interference of the rotating actuator on the operation area. As shown in fig. 4, the rotation direction of the operation table plate is opposite to that of the mechanical arm where the output end is located, so that the included angle between the mechanical arm where the output end is located and the upper operation table plate is increased, and the upper waist operation area is exposed.

The operation bed board can be an integral type or a detachable combined type; the operation bed board of the embodiment is arranged to be detachable and combined, which is the requirement for implementing the simultaneous exposure of the lithotomy position and a plurality of operation positions, for example, when in the operation of kidney stones in the lateral position, the detachable operation bed board which hinders the operation can be removed in the operation, and the support of the bed board to a patient is not influenced when the waist operation area is exposed. The lower limb part of the operation bed board is provided with a detachable leg board 10 and/or a lower limb supporting frame 11, the leg board 10 and the lower limb supporting frame 11 can support the legs of a patient, the legs of the patient can be conveniently placed at different positions, and one or both of the leg board 10 and the lower limb supporting frame 11 can be selectively arranged; the leg plate 10 can translate, and the lower limb support frame 11 can be bent at a certain angle to adapt to the operation.

The surgical bed board is provided with a head fixing device, a side baffle 9, binding belts and a cladding structure, wherein a plurality of binding belts and cladding structures can be arranged, a plurality of binding belts are arranged at the side part of the surgical bed board at intervals, the binding belts can bind a patient on the surgical bed board, fix the patient when the surgical bed board is inclined, and limit the left and right movement; the side baffle is detachable and can be folded to limit the left and right movement of the patient during rotation; the cladding structure is made of soft materials and is used for filling a gap between the abdomen side of a patient and the operation bed board; the head fixing device can adopt a head frame, and the head frame can be disassembled to support and fix the head of a patient.

When the coupled operating table system is used for operation, a patient lies on an operation bed board and is fixed by a binding belt, if body position switching in the range of about 0-90 degrees is to be implemented according to operation requirements, for example, the mutual switching of a supine position, a recumbent position and a lateral position can be brought into a separated state, and a mechanical arm system is independently used for adjusting to the required body position under the accurate control of a computer to perform the operation; if a body position switch in the range of about 0 ° -180 ° is to be implemented, for example, the supine position and prone position are switched to each other, the two mechanical arm systems are coupled for use, the two mechanical arm systems are adjusted to the required body position, then the two mechanical arm systems are separated, and the operation is performed after the operation area is exposed. If a posture switch is also required during the operation, the separated or coupled state is entered as required to switch the posture. Any body position switching in the whole operation process is performed under the control of a computer, and the whole operation process is automatic.

Fig. 1-6 show different positions that a single mechanical arm system can implement, wherein fig. 1 is a separated side position, fig. 2 is a separated side position+a hip bending and knee bending position, fig. 3 is a separated side position+a folding knife position, fig. 4 is a schematic diagram of a position of a mechanical arm where a tilted side position+an adjustment output end is located, fig. 5 is a separated side position, and fig. 6 is a lithotomy position.

In this embodiment, the surgical couch is rotated circumferentially in a coupled state under precise control of a computer preset program. The paired use of two robotic arm systems may accomplish a body position switch in the range of about 0 ° -180 °, e.g., a supine position and a prone position switch to each other. The multiple parts of the coupled operating table system are provided with positioning and distance measuring devices, and the positioning and distance measuring devices are processed by a computer system to precisely control the mechanical arm system and the rotating piece. In order to enable the computer system to accurately control the circumferential rotation of the operation bed board in the coupling state, variables affecting the accurate control should be reduced as much as possible, and corresponding measures include: 1. the two mechanical arm systems have the same structure, size and function. 2. Fixed rails are arranged below the two mechanical arm systems, coupling and separation are achieved through rail sliding, and positioning points and the like are arranged on the ground.

The coupling operating table system of the embodiment can be in a coupling state or a separation state, so that the influence of the rotating executing mechanism on an operating area is eliminated, the operating table board is supported by only one mechanical arm serving as the rotating executing mechanism in any rotating state and any body position, and the size of the operating table board is obviously reduced compared with that of the annular member and the table board support frame. In addition, the mechanical arm is connected with only one part of the operation bed plate at any rotation angle, so that the interference to the operation area and the periphery of the operation area is very small.

Embodiment two:

This embodiment provides a coupled operating table system, as shown in fig. 11-13, which differs from the first embodiment in that: the first robot arm system 1 has a vertically sliding robot arm, and the second robot arm system 2 has a robot arm that cannot move; the first mechanical arm system 1 and the second mechanical arm system 2 can both move transversely, and the two can realize transverse movement through a common sliding rail 8.

In this embodiment, the length of the mechanical arm of the first mechanical arm system 1 is adjustable, which is helpful for downsizing the operating table system; the mechanical arm is driven by a multi-section telescopic hydraulic motor/pneumatic motor, and comprises: the motor, the coupling, the output shaft, the pin, the bearing, etc., belong to the prior art and are not described here again.

In this embodiment, the lateral movement of the mechanical arm system is implemented in a common sliding rail manner, so that two manners of implementing circumferential rotation of the surgical bed board in the coupled state can be provided: 1. the first mechanical arm system 1 is provided with a vertical sliding mechanical arm and a transverse movement of the mechanical arm system, and the mode of using the mechanical movement output by the first mechanical arm system or the second mechanical arm system can be selected; 2. the first mechanical arm system 1 is provided with a vertical sliding mechanical arm, the second mechanical arm system 2 can move transversely, and the mode of using the mechanical movement output by the first mechanical arm system and the second mechanical arm system can be selected.

Embodiment III:

This embodiment provides a coupled operating table system, as shown in fig. 14-18, which differs from the first embodiment in that: 1. the first mechanical arm system 1 and the second mechanical arm system 2 comprise mechanical arms which slide vertically and slide transversely, namely two linear sliding degrees of freedom are provided; the length of the mechanical arm is adjustable. 2. A plurality of first mechanical arm systems 1 and a plurality of second mechanical arm systems 2 are arranged, the adjacent first mechanical arm systems 1 are connected through a connecting rod 7, and the interval between the first mechanical arm systems 1 is not adjustable; adjacent second robotic arm systems 2 are connected by a connecting rod 7, and the spacing between the second robotic arm systems 2 is not adjustable.

Of course, in other embodiments, the spacing between the first robotic arm systems 1 is set to be adjustable and the spacing between the second robotic arm systems 2 is set to be adjustable.

Specifically, the linear sliding mechanical arm is driven by a multi-section telescopic hydraulic motor/pneumatic motor, and the linear sliding mechanical arm comprises: the length of the linear sliding mechanical arm can be adjusted by a motor, a coupler, an output shaft, a pin, a bearing and the like.

As shown in fig. 14 to 16, two first mechanical arm systems 1 are provided, and the first surgical bed board 5 is connected with the two first mechanical arm systems 1; two second mechanical arm systems 2 are also arranged, and two second mechanical arm systems 2 are connected with the second surgical bed plate 6.

The connecting rod 7 of the operating table means a device which is required to have only the following functions: a plurality of mechanical arm systems are connected and fixed, so that the mechanical arm systems can synchronously move; the X-ray examination device is arranged below the mechanical arm system and does not affect X-ray examination in the supine position.

In this embodiment, the mechanical arm at the output end is a transverse sliding mechanical arm, so a manner of adjusting the length of the mechanical arm at the output end is adopted to avoid the interference of the rotation executing mechanism on the operation area. As shown in fig. 17 and 18, by shortening the length of the lateral sliding mechanical arm, the obstruction to the lumbar operation region is reduced.

Embodiment four:

This embodiment provides a coupled operating table system, as shown in fig. 19-21, which differs from the first embodiment in that: the first mechanical arm system 1 is provided with a rotating mechanical arm; the second mechanical arm system 2 is provided with a mechanical arm which slides vertically, a sliding rail 8 is arranged below the second mechanical arm system 2, and the second mechanical arm system 2 can move transversely; meanwhile, the first mechanical arm system 1 and the second mechanical arm system 2 of the embodiment are arranged in a front-back pairing mode, and in a coupling state, the first mechanical arm system 1 occupies two sides of the operation bed board in a rotation process middle position (about 90 degrees of lateral lying in the coupling state).

In the embodiment, the motion plane of the output end of the first mechanical arm system and the rotation plane of the first rotating member are in the same plane, and the motion plane of the output end of the second mechanical arm system and the rotation plane of the second rotating member are in the same plane, so that the mechanical motion output by the mechanical arm system can be cooperatively matched with the rotation of the rotating member, and the circumferential rotation of the operation bed board in the coupled state can be realized; the two planes are parallel to each other, and the circumferential rotation of the operation bed board in the coupled state can be realized.

Wherein, the vertical sliding mechanical arm of the second mechanical arm system 2 is driven by a multi-section telescopic hydraulic motor/pneumatic motor; thus, the mechanical arms of the second mechanical arm system 2 slide vertically and move transversely cooperatively to realize the circumferential rotation of the operation bed board in a coupling state; of course, the rotating mechanical arm set by the first mechanical arm system 1 may also participate in the circumferential rotation of the operation table board in the coupled state.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (4)

1. A coupled surgical table system comprising a mating arrangement: the output end of the first mechanical arm system is rotationally connected with the first operation bed board; the output end of the second mechanical arm system is rotationally connected with the second operation bed board;

So that the coupled operating table system is in: the coupling state is adopted, and the operation bed board can rotate circumferentially in the coupling state; or, in a separated state, the surgical bed plate can be rotated circumferentially in the separated state;

the coupling state means that the first operation bed board working face and the second operation bed board working face are arranged face to face at a set interval, an accommodating space is formed between the first operation bed board working face and the second operation bed board working face, and the movement of a patient body in the accommodating space can be limited;

The surgical bed board rotates circumferentially in the coupling state, and in the coupling state, the first surgical bed board and the second surgical bed board rotate circumferentially synchronously in the rotating process, and the accommodating space between the first surgical bed board and the second surgical bed board is kept stable, so that the body of a patient can be limited to move in the accommodating space;

The first robotic arm system having at least two sliding mechanical degrees of freedom and the first robotic arm system being capable of outputting at least two different mechanical movements, comprising: sliding vertically and laterally; alternatively, the second robotic arm system has at least two degrees of sliding mechanical freedom, and the second robotic arm system is capable of outputting at least two different mechanical movements, comprising: sliding vertically and laterally;

Alternatively, the first robotic arm system has at least one sliding mechanical degree of freedom, one rotating mechanical degree of freedom, and the first robotic arm system is capable of outputting at least two different mechanical movements, comprising: rotating, vertically sliding and transversely sliding; or, the second mechanical arm system has at least one sliding mechanical degree of freedom, one rotating mechanical degree of freedom, and the second mechanical arm system is capable of outputting at least two different mechanical movements, comprising: rotating, vertically sliding and transversely sliding;

Or the first mechanical arm system has at least two rotational mechanical degrees of freedom, and can output at least two different mechanical movements, including rotation, vertical sliding and transverse sliding; or the second mechanical arm system has at least two rotational mechanical degrees of freedom, and the second mechanical arm system can output at least two different mechanical movements, including rotation, vertical sliding and transverse sliding;

or, the first mechanical arm system has at least one vertical sliding mechanical degree of freedom, and the first mechanical arm system outputs at least one mechanical motion, including vertical sliding; and, the second robotic arm system has at least one lateral sliding mechanical degree of freedom, and the second robotic arm system outputs at least one mechanical motion comprising a lateral sliding;

Or, the first mechanical arm system has at least one lateral sliding mechanical degree of freedom, and the first mechanical arm system outputs at least one mechanical motion, including lateral sliding; and the second mechanical arm system has at least one rotational mechanical degree of freedom, and the second mechanical arm system outputs at least one mechanical motion including rotation and forms an output end motion plane.

2. The coupled surgical table system of claim 1, wherein a first rotating member is disposed between the output end of the first robotic arm system and the first surgical bed plate, the first rotating member being configured to rotate the first surgical bed plate circumferentially; a second rotating piece is arranged between the output end of the second mechanical arm system and the second surgical bed board, and the second rotating piece can enable the second surgical bed board to circumferentially rotate.

3. The coupled surgical table system of claim 1, wherein the first robotic arm system and the second robotic arm system are paired right and left.

4. The coupled surgical table system of claim 1, wherein the first robotic arm system is provided in plurality, the plurality of first robotic arm systems being connected by a connecting rod; and the spacing between the plurality of first robotic arm systems may be adjustable or non-adjustable;

And/or a plurality of second mechanical arm systems are arranged and are connected through connecting rods; and the spacing between the plurality of second robotic arm systems may or may not be adjustable.