CN117771069B

CN117771069B - Mechanical arm system on bed

Info

Publication number: CN117771069B
Application number: CN202410213297.3A
Authority: CN
Inventors: 江维; 张芳敏; 江国豪
Original assignee: Beijing Yunli Jingan Technology Co ltd
Current assignee: Beijing Yunli Jingan Technology Co ltd
Priority date: 2024-02-27
Filing date: 2024-02-27
Publication date: 2024-06-18
Anticipated expiration: 2044-02-27
Also published as: CN117771069A

Abstract

The invention discloses an on-bed mechanical arm system, which comprises a sickbed, a bed mechanical arm, an isolation mechanism and an interaction system, wherein the isolation mechanism is arranged on the sickbed; the isolation mechanism is arranged at the head of the sickbed, and a linear chute is arranged in the isolation mechanism; the bed-type mechanical arm is transversely movably arranged on the linear chute through a sliding block; the bed-type mechanical arm comprises a rotating arm and a telescopic arm, the rotating arm is connected to the sliding block, and the telescopic arm is connected to the rotating arm; the front side of the isolation mechanism is provided with a sealing mechanism, the tail end of the telescopic arm penetrates through the sealing mechanism to extend outwards and is provided with an executing mechanism, and the sealing mechanism isolates the extending part and the non-extending part of the bed-type mechanical arm when the bed-type mechanical arm executes moving, rotating and telescopic actions. The system can lighten the burden of the endoscope robot, save the total cost, improve the space use efficiency of an operating room, reduce the risk of surgical pollution, improve the convenience and the use experience of the system and is more convenient to repair and maintain.

Description

Mechanical arm system on bed

Technical Field

The invention relates to the technical field of medical instruments, in particular to a mechanical arm system on a bed, which is suitable for assisting a medical robot in completing an operation.

Background

When an operator performs an operation, the operator needs to perform the operation in person, so that fatigue and hand tremor are easy to cause, and the operation effect is affected. Meanwhile, some parts with high operation difficulty, such as deep tissues, tiny parts and the like, are difficult to directly operate, and an endoscope robot is required to be used for auxiliary operation. However, the endoscope robot generally needs to be moved during the operation, and the operation is not flexible, requiring manual control by the surgeon.

The bedside mechanical arm system is equipment applying the front technology in the medical field, realizes the automatic operation of the endoscope robot, and provides a more convenient operation environment for operators. The bedside mechanical arm system is arranged, so that an operator can keep away from an operating table, and operate through a remote controller or a computer, the difficulty and risk of operation are greatly reduced, and the operation effect and safety are improved.

At present, the bedside mechanical arm system is widely applied in clinical practice, achieves better effects, is considered as medical equipment with higher practical value, can greatly improve the working efficiency and the operation quality of operators, and brings huge innovation and development space for the medical field.

Although bedside robotic arm systems have achieved good results, there are still problems in practical applications. Firstly, the control system of the mechanical arm needs to be updated and perfected continuously so as to improve the precision and stability of the mechanical arm. Secondly, the bedside mechanical arm system has higher cost and limits the popularization and application of the bedside mechanical arm system in the medical field. In addition, due to the high degree of automation of the robotic arm operation, long training and skilled operation are required, which also limits the popularization and application of the bedside robotic arm system.

Disclosure of Invention

The invention aims to provide a mechanical arm system on a bed, which is used for assisting a medical robot to complete operation.

In order to achieve the above purpose, the invention provides an on-bed mechanical arm system, which comprises a sickbed, a bed mechanical arm, an isolation mechanism and an interaction system;

the isolation mechanism is arranged at the head of the sickbed, and a linear chute is arranged in the isolation mechanism; the root of the bed-type mechanical arm is positioned in the isolating mechanism and is transversely movably arranged in the linear chute through a sliding block;

The bed-type mechanical arm comprises a rotating arm and a telescopic arm, the rotating arm is connected to the sliding block, and the telescopic arm is connected to the rotating arm; the front side of the isolation mechanism is provided with a sealing mechanism, the tail end of the telescopic arm penetrates through the sealing mechanism to extend outwards and is provided with an executing mechanism, and when the bed mechanical arm executes moving, rotating and telescopic actions, the sealing mechanism isolates the extending part and the non-extending part;

the interaction system is connected with the bed-type mechanical arm and used for controlling the bed-type mechanical arm to act.

Optionally, the sickbed is an adjustable sickbed and comprises a separated bed plate, an adjusting mechanism and supporting legs; the split type bed plate comprises a large deformation bed plate and a small deformation bed plate, wherein the rigid parts of the large deformation bed plate and the small deformation bed plate are respectively connected with each other through flexible parts at the transverse central line position and the longitudinal central line position, and the small deformation bed plate is arranged above the large deformation bed plate through an elastic piece; the adjusting mechanism comprises hydraulic telescopic rods arranged at four corners, the upper ends of the hydraulic telescopic rods support the separated bed board, and the lower ends of the hydraulic telescopic rods are connected with the supporting legs.

Optionally, a circumferential elastic section is arranged between the edges of the large deformation bed plate and the small deformation bed plate.

Optionally, a first roller, a second roller and a first driving component are arranged in the sliding block, and the first driving component is in transmission connection with the first roller and the second roller so as to drive the first roller and the second roller to rotate; the first roller and the second roller are tangent to the bottom plane of the linear chute, and the rotating shaft of the first roller and the second roller is perpendicular to the moving direction of the sliding block.

Optionally, the rotating arm of the bed-type mechanical arm comprises a moving base and a rotating joint, and the moving base is vertically arranged on the sliding block; the rotary joint is arranged on the top of the movable base, forms a revolute pair with the movable base, and has at least one rotary degree of freedom.

Optionally, the rotary joints include a first rotary joint and a second rotary joint; the first rotary joint and the movable base form a first rotary pair, and a second driving part for driving the first rotary joint to rotate is arranged in the first rotary joint; the second rotary joint and the first rotary joint form a second revolute pair, and a third driving part for driving the second rotary joint to rotate is arranged in the second rotary joint; the first revolute pair rotates around a vertical rotating shaft, and the second revolute pair rotates around a horizontal rotating shaft.

Optionally, the telescopic arm is connected between the second rotary joint and the actuating mechanism, and comprises a shearing fork mechanism and a telescopic cylinder for driving the shearing fork mechanism, wherein one end of the shearing fork mechanism is connected with the second rotary joint, and the other end of the shearing fork mechanism is connected with the actuating mechanism.

Optionally, the actuating mechanism is connected to the end of the telescopic arm and is used for fixing an auxiliary operation mechanism; the actuator has a degree of freedom in leaning sideways and is rotatable along an axis perpendicular to the telescopic arm axis.

Optionally, the mobile base is of a split structure and comprises a first shell and a second shell which are formed into the whole mobile base through butt joint; the first shell is used for installing the second driving component, a coupler and a bearing which are connected with the first rotary joint so as to form a revolute pair with the first rotary joint, and the second driving component is used for driving the first rotary joint to rotate; the second housing is used for guiding wiring to a mechanical arm control unit, and the mechanical arm control unit is installed in the second housing and is located outside the movable base.

Optionally, the isolation mechanism comprises an isolation cover, and the isolation cover is arranged at the head of the bed and covers the outside of the bed type mechanical arm; the front side and the rear side of the isolation cover are respectively provided with an outlet, and the front side outlet and the rear side outlet of the isolation cover are respectively provided with the sealing mechanism.

Optionally, the sealing mechanism includes a flexible upper compression isolation cover and a flexible lower compression isolation cover, a transverse seam allowing the telescopic arm to pass through and execute moving, rotating and telescopic actions is formed between the upper compression isolation cover and the lower compression isolation cover, and a dust cover is arranged on the outer side of the part of the telescopic arm passing through.

Optionally, the interaction system is arranged on the bed-type mechanical arm, connected with the mechanical arm control unit and positioned outside the isolation mechanism; or the interactive system is a separate component which is connected with the mechanical arm control unit in a wireless mode.

According to the bed mechanical arm system provided by the invention, the bed mechanical arm is arranged at the position of the head of a sickbed and is used integrally with the head of the sickbed, so that the mechanical arm on the endoscope robot is reduced, the burden of the endoscope robot is shared, and the total cost is saved; in addition, the bed-type mechanical arm is used as an independent mechanical arm, so that the maintenance is convenient; by means of sickbed use, a robot trolley is omitted, space use efficiency of an operating room is improved, the bed-type mechanical arm is isolated through the sealing mechanism, the bed-type mechanical arm can be stored, risk of surgical pollution is reduced, and convenience and use experience of the system are improved.

In a preferred scheme, a shearing fork mechanism is arranged in the telescopic arm of the bed-type mechanical arm, the length of the end actuating mechanism is adjusted through the shearing fork mechanism, the mechanical arm is not required to increase redundant degrees of freedom, and the bed-type mechanical arm is direct and efficient and is easy to control.

Drawings

FIG. 1 is a schematic diagram of a structure of a bed robot arm system and an endoscope robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the on-bed robotic arm system of FIG. 1 after removal of the isolation mechanism;

FIG. 3 is a schematic view of the overall structure of the patient bed shown in FIG. 2;

FIG. 4 is an exploded view of the patient bed of FIG. 3;

FIG. 5 is a partial schematic view of the structure of FIG. 4;

FIG. 6 is a schematic view of the slider shown in FIG. 4;

FIG. 7 is an exploded view of the slider of FIG. 6;

FIG. 8 is an A-A axial side view of the slider of FIG. 6;

FIG. 9 is a schematic diagram of a bed robot and an interactive system;

FIG. 10 is a schematic diagram of an interactive system mounted to a mobile base;

FIG. 11 is an exploded view of FIG. 10;

FIG. 12 is a schematic view of the structure of the rotary arm and the telescopic arm;

FIG. 13 is a schematic view of an exploded construction of the swivel arm and telescoping arm of FIG. 12;

FIG. 14 is a schematic view of a structure of a scissor mechanism;

FIG. 15 is a schematic structural view of an isolation mechanism;

FIG. 16 is a schematic front view of an isolation mechanism;

FIG. 17 is a view B-B of FIG. 16;

Fig. 18 is a partial enlarged view of the portion I in fig. 17.

In the figure:

10. The adjustable bed 11, hydraulic telescoping rod 12, foot 13, foot switch 14, runner 15, first roller 152, second roller 153, first drive member 154, timing belt 155, timing wheel 16, large deformation bed plate 17, small deformation bed plate 18, spring 19, resilient section 20, bed arm 21, pivot arm 211, base 2111, first housing 2112, second housing 212, first rotary joint 213, second rotary joint 214, second drive member 215, third drive member 216, first rotary joint drive set 217, drive set cover 218, coupler 219, telescoping arm 221, scissor mechanism 223, stop collar 224, telescoping cylinder bracket 225, telescoping cylinder 226, push plate 23, actuator 30, endoscope type robot 40, isolation mechanism 41, sealing mechanism 411, upper compression isolation cover 412, lower compression isolation cover 413, transverse joint 414, dust cover 42, isolation cover 50, mechanical arm control unit 60, interactive system 61, mounting bracket.

Detailed Description

In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.

In the present specification, the terms "upper, lower, inner, outer" and the like are established based on the positional relationship shown in the drawings, and the corresponding positional relationship may be changed according to the drawings, so that the terms are not to be construed as absolute limitation of the protection scope; moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.

Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of a bed mechanical arm system and an endoscope robot according to an embodiment of the present invention; FIG. 2 is a schematic view of the on-bed robotic arm system of FIG. 1 after removal of the isolation mechanism.

As shown in the figure, in one embodiment, the system of the present invention mainly comprises two parts, i.e., the adjustable sickbed 10 and the bed robot 20, and is designed for use with the endoscope robot 30, mainly for performing operations such as holding and stabilizing the end of the endoscope by the bed robot 20 instead of another robot mounted on the endoscope robot 30.

The adjustable sickbed 10 is used as an operating room sickbed, four hydraulic telescopic rods 11 are used as bed legs, the split type bed board is adjusted through a pedal switch 13 arranged in the middle of a long-strip-type supporting leg 12, so that the adjustable sickbed 10 is adjusted, a linear sliding groove 14 is arranged at the head position of the sickbed and is provided with a sliding block 15, the sliding groove 14 is the movement track of a bed mechanical arm 20 on the adjustable sickbed 10, and the sliding block 15 is an adapting part between the bed mechanical arm 20 and the adjustable sickbed 10; by switching the bed robot 20 on the slide 15, one degree of freedom of movement of the bed robot 20 on the patient bed is achieved.

The bed-type mechanical arm 20 is provided with a rotating arm 21, a telescopic arm 22 and an actuating mechanism 23 in sequence from the sliding block 15, namely the bed-type mechanical arm 20 can be integrally used as an independent component to be connected to the adjustable sickbed 10; in addition, the rotating arm 21 and the telescopic arm 22 are sealed in the isolating mechanism 40, and only a part of the telescopic arm 22 extends outwards through the front sealing mechanism 41 and is exposed in the external environment, and the sealing mechanism 41 always isolates the extending part and the non-extending part of the bed-type mechanical arm 20 when the bed-type mechanical arm performs the moving, rotating and telescopic actions.

By arranging the adjustable bed type mechanical arm 20 at the bed head of the adjustable sickbed 10, the emergency treatment device can be quickly adjusted when a patient is in emergency, so that the emergency treatment and the rescue can be conveniently carried out, and the treatment efficiency and the rescue success rate are improved.

Referring to fig. 3, fig. 4, fig. 5, fig. 3 is a schematic diagram of the whole structure of the hospital bed shown in fig. 2; FIG. 4 is an exploded view of the patient bed of FIG. 3; fig. 5 is a partial schematic view of fig. 4.

The adjustable sickbed 10 of this embodiment uses four hydraulic telescopic rods 11 as the bed legs, the hydraulic telescopic rods 11 are installed inside the telescopic housing, the upper part supports the separated bed board, the bottom is installed on the strip type supporting legs 12 respectively, the foot switch 13 is installed in the middle of the strip type supporting legs 12, one side is provided with at least three switches which are respectively front-back, up-down and left-right adjusting switches, each hydraulic telescopic rod 11 is provided with a corresponding switch control, in addition, a switch is provided for simultaneously controlling the simultaneous lifting and lowering of the two hydraulic telescopic rods 11 at one side, the parallel connection and the serial connection of the control are realized by the combined control device, and the combined control device is installed between the bed legs and at the lower part of the separated bed board.

Specifically, the split type bed board is divided into two layers, the lower layer is a large deformation bed board 16, the upper layer is a small deformation bed board 17, the large deformation bed board 16 and the small deformation bed board 17 are composed of a rigid part a and a flexible part b, the rigid part a of the large deformation bed board 16 and the rigid part a of the small deformation bed board 17 are respectively connected through the flexible part b at the transverse central line position and the longitudinal central line position, the middle parts of the two bed boards are supported and connected by using springs 18, and the boundary parts are connected by using elastic sections 19.

The large deformation bed plate 16 is adjusted by the small deformation bed plate 17 through the elastic piece, the rigid part a of the separated bed plate is supported by the hydraulic telescopic rods 11 and also receives the tensile force from the hydraulic telescopic rods 11, if one hydraulic telescopic rod 11 is lifted to be larger than the other three hydraulic telescopic rods 11, namely, the corresponding bed plate of the hydraulic telescopic rods 11 is higher than the other three bed plates at the moment, and the corresponding bed plate flexible part b is deformed and stretched due to bending at the moment, so that the adjustment process of the large deformation bed plate 16 in the separated bed plate is realized; the deformation of the large deformation bed plate 16 can cause the deformation of the corresponding rigid part a and the flexible part b of the small deformation bed plate 17 with the same type and different body sizes due to the springs 18 connected with the middle of the small deformation bed plate 17, and the deformation of the small deformation bed plate 17 is often smaller than that of the large deformation bed plate 16 because the springs 18 absorb a part of the deformation force; the large deformation bed plate 16 and the small deformation bed plate 17 are connected at the boundary by the elastic sections 19 and are internally supported by the springs 18, so that the separated bed plate can realize the effect of the deformable mattress.

The separated bed board can support a patient according to the operation posture, so that the pressure of the patient is reduced, the comfort level of the patient is improved, and the posture of the patient in the operation process can be stabilized, so that medical staff can work more comfortably and naturally, and the working efficiency and quality are improved.

Referring to fig. 6, 7 and 8, fig. 6 is a schematic structural view of the slider shown in fig. 4; FIG. 7 is an exploded view of the slider of FIG. 6; FIG. 8 is an A-A axial side view of the slider of FIG. 6.

The sliding block 15 is internally provided with a first roller 151, a second roller 152 and a first driving component 153, the first driving component 153 can be a motor, and the first driving component 153 is in transmission connection with the first roller 151 and the second roller 152 through a synchronous belt 154 and a synchronous wheel 155 so as to drive the first roller 151 and the second roller 152 to rotate; the first roller 151 and the second roller 152 are tangential to the bottom plane of the chute 14, the rotation axis of the first roller 151 and the second roller 152 is perpendicular to the moving direction of the slide block 15, and the slide block 15 moves the bed mechanical arm 20 in the chute 14 of the bed head through the movement of the first roller 151 and the second roller 152.

Of course, in other embodiments, the first driving member 153 may be driven by gears, etc. and the first roller 151 and the second roller 152 may be driven by gears, etc. to ensure that the two rollers rotate synchronously.

With continued reference to fig. 9-14, fig. 9 is a schematic structural diagram of the bed robot and the interaction system; FIG. 10 is a schematic diagram of an interactive system mounted to a mobile base; FIG. 11 is an exploded view of FIG. 10; FIG. 12 is a schematic view of the structure of the rotary arm and the telescopic arm; FIG. 13 is a schematic view of an exploded construction of the swivel arm and telescoping arm of FIG. 12; fig. 14 is a schematic structural view of the scissors mechanism.

As shown in the figure, the rotating arm 21 of the bed-type mechanical arm 20 is provided with a moving base 211 and a rotating joint, and the moving base 211 is vertically installed on the sliding block 15; the rotary joint is mounted on top of the moving base 211 and constitutes a revolute pair therewith, and has at least one degree of rotational freedom for effecting movement in the X, Y direction and rotation in the sideways direction.

Specifically, the rotary joints are divided into a first rotary joint 212 and a second rotary joint 213; the first rotary joint 212 and the movable base 211 form a first rotary pair, and a second driving part 214 for driving the first rotary joint 212 to independently rotate is arranged in the first rotary joint 212; the second rotary joint 213 and the first rotary joint 212 form a second revolute pair, and a third driving part 215 for driving the second rotary joint 213 to independently rotate is arranged in the second rotary joint 213; the first revolute pair rotates around a vertical shaft, the second revolute pair rotates around a horizontal shaft, the first revolute joint 212 mainly adjusts the overall angle of the telescopic arm 22 relative to the patient, the second revolute joint 213 mainly adjusts the overall angle of the actuator 23 relative to the head of the patient, and the second driving part 214 and the third driving part 215 can adopt motors.

More specifically, a first rotary joint transmission set 216 and a corresponding first rotary joint transmission set cover 217 are disposed inside the first rotary joint 212, and the first rotary joint transmission set 216 is mainly used for adjusting the reduction ratio of the second driving component 214.

The telescopic arm 22 is connected between the second rotary joint 213 and the actuator 23, and is mainly composed of a scissors mechanism 221 and a telescopic cylinder 225 for driving the scissors mechanism 221, one end of the scissors mechanism 221 is connected to the second rotary joint 213, and the other end is connected to the actuator 23.

The second rotary joint 213 is provided with a shearing mechanism mounting hole, the shearing mechanism 221 is fixed on the second rotary joint 213 through a shearing mechanism mounting shaft, and a limiting copper sleeve 223 is arranged to axially position a telescopic cylinder bracket 224; the scissor mechanism 221 drives the hydraulic cylinder bracket 224 to rotate through the telescopic cylinder 225 to drive the scissor arm to rotate around the fixed pin, so that the push-out plate 226 at the front end of the scissor mechanism 221 performs telescopic motion, thereby realizing the telescopic function of the telescopic arm 22, and the telescopic cylinder 225 can be a hydraulic cylinder or an electric cylinder.

An actuator 23 is connected to the distal end of the telescopic arm 22 for securing an auxiliary surgical mechanism, the actuator 23 having a lateral freedom and being rotatable along an axis perpendicular to the axis of the telescopic arm 22.

The movable base 211 is of a split type structure and is composed of two parts of shells, namely a first shell 2111 and a second shell 2112, the two shells form the whole movable base 211 through butt joint, the first shell 2111 is used for installing a second driving part 214, a coupler 218 and a bearing which are connected with a first rotary joint 212 to form a revolute pair with the first rotary joint 212, a gasket 219 is additionally arranged in the revolute pair, friction between the first rotary joint 212 and the movable base 211 can be reduced, and the second driving part 214 is used for driving the first rotary joint 212 to rotate; the second housing 2112 is used for guiding wiring to the robot control unit 50, and the robot control unit 50 is mounted on the second housing 2112 and located outside the mobile base 211, on the one hand, for better connection to the interactive system 60 and, on the other hand, for easy maintenance.

Thus, the bed-type mechanical arm 20 can move transversely, rotate around double shafts and stretch out and draw back, can move in a large range, realizes the movement of the actuating mechanism 23 in the X, Y direction and the rotation in the side elevation direction, and is suitable for work in various postures and directions.

In addition, the control system of the bed robot 20 also includes a sensor system for detecting the position and orientation of the robot, which includes encoders and gyroscopes for measuring the position and orientation of the robot. The robotic arm may be controlled and operated by a computer or other controller.

The movable base 211 is also a mounting point of the interactive system 60, and the back of the movable base 211 supports the mounting bracket 61 to form a revolute pair with the interactive system 60, so that the interactive system 60 can rotate.

Specifically, the interactive system 60 may be a control panel, which is divided into a touch area and a press area, and the control panel is integrally hinged to the back of the moving base 211 of the bed-type mechanical arm 20 and forms a revolute pair with the moving base 211, and can rotate at a certain angle relative to the moving base 211, and is exposed outside the isolation mechanism 40 for convenient operation, and the isolation between the inside and the outside is also realized by using a layer of sealing mechanism 41.

Referring to fig. 15 to 18, fig. 15 is a schematic structural diagram of an isolation mechanism; FIG. 16 is a schematic front view of an isolation mechanism; FIG. 17 is a view B-B of FIG. 16; fig. 18 is a partial enlarged view of the portion I in fig. 17.

As shown, the isolation mechanism 40 is provided with an isolation cover 42, and the isolation cover 42 is arranged at the head position of the adjustable sickbed 10 and covers the outside of the bed mechanical arm 20; the front and rear sides of the isolation cover 42 are provided with outlets, respectively, and the sealing mechanism 41 is provided at the front and rear outlets of the isolation cover 42.

Taking the front side outlet sealing mechanism 41 as an example, the sealing mechanism has a flexible upper compression isolation cover 411 and a lower compression isolation cover 412, a transverse seam 413 allowing the telescopic arm 22 to pass through and perform moving, rotating and telescopic actions is formed between the upper compression isolation cover 411 and the lower compression isolation cover 412, and a dust cover 414 is arranged outside the passing-out position of the telescopic arm 22.

The transverse seam 413 may be formed by overlapping, so that an effective seal can be performed, when the telescopic arm 22 passes through, the transverse seam 413 is spread, and the spread seam can be secondarily sealed through the dust cover 414, so that the inner side and the outer side of the sealing mechanism 41 are always kept in a sealed and isolated state.

In this way, the extension of the bed robot 20 may be wrapped without affecting the movement of the extension over the adjustable bed 10.

Workflow in use: firstly, the patient lies on his side on the adjustable sickbed 10, the overall height or the local height of the adjustable sickbed 10 is adjusted through the pedal switch 13, the patient is supported to a proper operation position, secondly, the sliding block 15 is controlled to move through the interactive system 60, the sliding block 15 is adjusted to the using position of the bed type mechanical arm 20, then the angle of the rotary joint of the bed type mechanical arm 20 and the length of the telescopic arm 22 are adjusted again through the interactive system 60, the end actuating mechanism 23 is adjusted to a proper position in front of the mouth of the patient, finally, the bed type mechanical arm 20 is locked through the interactive system 60, and the control right is transferred to the control center of the endoscope type robot 30, so as to assist the endoscope type robot 30 to perform operation.

The above embodiments are merely preferred embodiments of the present invention, and are not limited thereto, and on the basis of these, specific adjustments may be made according to actual needs, thereby obtaining different embodiments. For example, the interactive system 60 may also be used as a stand-alone component, off-bed robot 20 via a wireless connection, and so forth. This is not illustrated here, as there are many possible implementations.

According to the invention, by arranging the rotary joint and the telescopic arm, the movement of the conveying device of the endoscope type robot 30 in the X, Y direction is assisted, and the endoscope type robot can tilt inwards within a certain range; in addition, the adjustable sickbed 10 can realize posture adjustment of a patient by matching the flexible part b and the elastic section 19 of the separated bed board through the adjusting mechanism, so that the comfort level of the patient is improved, and can realize position adjustment of the bed type mechanical arm 20 through the sliding block 15; the sealing mechanism 41 of the isolation mechanism 40 reduces the burden of the endoscope robot 30, enlarges the working range and reduces the risk of surgical infection.

The above describes the mechanical arm system on bed provided by the invention in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the core concepts of the invention. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.

Claims

1. The mechanical arm system on the bed is characterized by comprising a sickbed, a mechanical arm on the bed, an isolation mechanism and an interaction system;

The interaction system is connected with the bed-type mechanical arm and is used for controlling the bed-type mechanical arm to act;

The rotating arm of the bed-type mechanical arm comprises a movable base and a rotating joint, and the movable base is vertically arranged on the sliding block; the rotary joint is arranged on the top of the movable base, forms a revolute pair with the movable base, and has at least one degree of rotation freedom;

The rotary joints comprise a first rotary joint and a second rotary joint; the first rotary joint and the movable base form a first rotary pair, and a second driving part for driving the first rotary joint to rotate is arranged in the first rotary joint; the second rotary joint and the first rotary joint form a second revolute pair, and a third driving part for driving the second rotary joint to rotate is arranged in the second rotary joint; the first revolute pair rotates around a vertical rotating shaft, and the second revolute pair rotates around a horizontal rotating shaft;

The telescopic arm is connected between the second rotary joint and the actuating mechanism and comprises a shearing fork mechanism and a telescopic cylinder for driving the shearing fork mechanism, one end of the shearing fork mechanism is connected with the second rotary joint, and the other end of the shearing fork mechanism is connected with the actuating mechanism.

2. The on-bed robotic arm system of claim 1, wherein the patient bed is an adjustable patient bed comprising a split bed board, an adjustment mechanism, and a foot; the split type bed plate comprises a large deformation bed plate and a small deformation bed plate, wherein the rigid parts of the large deformation bed plate and the small deformation bed plate are respectively connected with each other through flexible parts at the transverse central line position and the longitudinal central line position, and the small deformation bed plate is arranged above the large deformation bed plate through an elastic piece; the adjusting mechanism comprises hydraulic telescopic rods arranged at four corners, the upper ends of the hydraulic telescopic rods support the separated bed board, and the lower ends of the hydraulic telescopic rods are connected with the supporting legs.

3. The on-bed robotic arm system of claim 2, wherein a circumferential elastic segment is provided between the edges of the large deformation deck and the small deformation deck.

4. The bed robot system according to claim 1, wherein a first roller, a second roller and a first driving member are arranged in the slider, and the first driving member is in transmission connection with the first roller and the second roller to drive the first roller and the second roller to rotate; the first roller and the second roller are tangent to the bottom plane of the linear chute, and the rotating shaft of the first roller and the second roller is perpendicular to the moving direction of the sliding block.

5. The robotic bed system as set forth in claim 1 wherein the actuator is connected to the distal end of the telescoping arm for securing an auxiliary surgical mechanism; the actuator has a degree of freedom in leaning sideways and is rotatable along an axis perpendicular to the telescopic arm axis.

6. The on-bed robotic arm system of claim 1, wherein the mobile base is a split structure comprising a first housing and a second housing that form the entire mobile base by docking; the first shell is used for installing the second driving component, a coupler and a bearing which are connected with the first rotary joint so as to form a revolute pair with the first rotary joint, and the second driving component is used for driving the first rotary joint to rotate; the second housing is used for guiding wiring to a mechanical arm control unit, and the mechanical arm control unit is installed in the second housing and is located outside the movable base.

7. The on-bed robotic arm system of claim 1, wherein the isolation mechanism comprises an isolation cover disposed at a head of a bed of the patient bed and covering an exterior of the bed robotic arm; the front side and the rear side of the isolation cover are respectively provided with an outlet, and the front side outlet and the rear side outlet of the isolation cover are respectively provided with the sealing mechanism.

8. The on-bed robotic arm system of claim 7, wherein the sealing mechanism comprises flexible upper and lower compression shields forming a transverse seam therebetween that allows the telescoping arm to pass through and perform movement, rotation and telescoping actions, and a dust shield disposed outside of the telescoping arm exit site.

9. The system according to any one of claims 1 to 8, wherein the interactive system is provided on the bed robot, which is connected to a robot control unit and is located outside the isolation mechanism; or the interactive system is a separate component which is connected with the mechanical arm control unit in a wireless mode.