CN221013462U - Mechanical arm for vascular intervention operation robot and vascular intervention operation system - Google Patents

Abstract

The utility model provides a mechanical arm for a vascular intervention operation robot and a vascular intervention operation system, wherein the mechanical arm comprises: the device comprises a support column, a first force arm, a second force arm, a third force arm and a clamping mechanism; the bottom end of the support column is fixed with a clamping mechanism, the clamping mechanism is in sliding connection with the operating table, and the top end of the support column is in rotational connection with the first force arm through a first rotary joint; the first force arm is rotationally connected with a second force arm through a second rotary joint, the second force arm is connected with a third force arm through a third rotary joint, and the third force arm is connected with the surgical robot; and the first rotating joint, the second rotating joint and the third rotating joint are internally provided with power-off brakes. The mechanical arm can be connected to an operation bed in a sliding way and is used for fixing a vascular intervention operation robot, and meanwhile, as the power-off brake is arranged in the first rotating joint, the second rotating joint and the third rotating joint, the mechanical arm is small in size and keeps the posture of the mechanical arm under the condition of providing stable torque.

Description

Mechanical arm for vascular intervention operation robot and vascular intervention operation system

Technical Field

The utility model belongs to the technical field of vascular intervention medical instruments, and particularly relates to a mechanical arm for a vascular intervention surgical robot and a vascular intervention surgical system.

Background

Vascular intervention is performed by a doctor under the guidance of a Digital Subtraction Angiography (DSA) system, controlling a catheter (a flexible tube with rigidity) to move in a human body blood vessel, pushing the catheter to a target position, and then performing relevant treatment on a focus to achieve the purposes of embolism malformed blood vessels, dissolving thrombus, dilating narrow blood vessels and the like. Compared with the traditional operation, the operation method does not need to be operated, and has the advantages of less bleeding, less wound, less complications, safety, reliability, quick postoperative recovery and the like.

The main steps of the vascular intervention operation performed by the doctor at present include: the puncture needle A penetrates the skin to enter a blood vessel according to a proper pose, and a guide wire is inserted into the needle tube; b, the vascular sheath is conveyed into the blood vessel along the guide wire and supported by the guide wire, the catheter is guided into the blood vessel along the vascular sheath, and the catheter is slowly pushed forward; the vascular sheath plays a role in guiding the catheter into the blood vessel and preventing arterial blood from flowing out when the catheter is pulled out of the blood vessel; under the guidance of the DSA image, a doctor observes the path of the catheter and the position of the tip of the catheter, manually rotates and advances the catheter, and adjusts the position and the direction of the catheter until the catheter reaches the focus part; and D, performing catheter diagnosis and treatment operation under the DSA image monitoring.

According to the operation flow, the vascular intervention operation needs to work under the guidance of DSA images, doctors always work under a high-intensity ray environment, and the long-term operation has great damage to the body; the controllability of the operation is poor, the time is long, and the factors such as fatigue of doctors, unstable operation of hands and the like can directly influence the operation quality; the operation is complex, the skill is strong, the risk is high, the doctor is difficult to master, and the operation training time is long.

Aiming at the problems, the robot technology is introduced into vascular interventional operation, and has important practical significance.

Typically the DSA image guided robotic assisted vascular interventional procedure includes:

The operating room controls the operating table, the operating table and the operating robot, a patient lies on the operating table, a contrast medium is pushed into the patient by a contrast medium matched with the operating table, the blood vessel of the patient can be clearly displayed on the DSA image display through the operation of auxiliary equipment such as a C-shaped arm and the like, and the position of the pushing catheter in the blood vessel of the patient can be displayed in real time; surgical robot: controlled by an operating table of an operating room, the patient moves according to planned data, and treatment on focus parts of the patient is realized.

It follows that the robotic body in the system configuration requires a robotic arm for gripping the vascular interventional procedure advancement mechanism.

Disclosure of utility model

According to the mechanical arm for the vascular intervention surgical robot and the vascular intervention surgical system, the mechanical arm is connected to an operating table in a sliding mode and used for fixing the vascular intervention surgical robot, and meanwhile, due to the fact that the power-off brake is arranged in the first rotating joint, the second rotating joint and the third rotating joint, the mechanical arm is small in size under the condition that stable torque is provided, and the posture of the mechanical arm can be kept.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

A robotic arm for a vascular interventional procedure robot, comprising: the device comprises a support column, a first force arm, a second force arm, a third force arm and a clamping mechanism;

The bottom end of the supporting column is fixed with the clamping mechanism, the clamping mechanism is in sliding connection with the operating table, and the top end of the supporting column is in rotational connection with the first force arm through a first rotary joint;

The first force arm is rotationally connected with the second force arm through a second rotating joint, the second force arm is connected with the third force arm through a third rotating joint, and the third force arm is connected with the surgical robot;

and the first rotating joint, the second rotating joint and the third rotating joint are internally provided with power-off brakes.

In a preferred embodiment, the first rotary joint, the second rotary joint and the third rotary joint are respectively provided with a damper.

In a preferred embodiment, the first rotating joint comprises a first housing, a first rotating shaft, a first bearing, a first power-off brake, a second power-off brake, a first upper brake block and a first lower brake block, wherein the first rotating shaft is fixed at the top end of the supporting column, the first bearing, the first lower brake block, the first power-off brake, the second power-off brake and the first upper brake block are sequentially installed on the first rotating shaft, the first housing is located at the outer side of the first bearing, and the housing is fixedly connected with the first force arm.

In an embodiment, the second rotary joint includes a second casing, a second rotating shaft, a second bearing, a third power-off brake, a fourth power-off brake, a second upper brake block and a second lower brake block, the second rotating shaft is fixed at a first end of the second arm, the second rotating shaft is sequentially provided with the second bearing, the first upper brake block, the third power-off brake, the fourth power-off brake and the second lower brake block, the first casing is located at the outer side of the second bearing, and the second casing is fixedly connected with the second arm.

In an embodiment, the third rotary joint includes a third housing, a third rotating shaft, a third bearing, a fifth power-off brake and a third brake pad, the third rotating shaft is fixed at the second end of the second arm, the third bearing, the third brake pad and the fifth power-off brake are sequentially installed on the second rotating shaft, the first housing is located at the outer side of the third bearing, and the third housing is fixedly connected with the third arm.

In a preferred embodiment, the first bearing, the second bearing and the third bearing are all double-angle contact bearings.

In a preferred embodiment, the clamping mechanism comprises a clamping component and a pressing component positioned above the clamping component, the clamping component is arranged at the bottom of the supporting column, and the clamping component is in sliding connection with the side surface of the operating table;

The compressing assembly comprises a compressing plate and a driving unit, wherein an output unit of the driving unit is connected with the compressing plate, the driving unit drives the compressing plate to vertically reciprocate along the supporting column, and the compressing plate is used for being compressed on the operating table.

In a preferred embodiment, the driving unit comprises a driving piece and a first transmission unit,

The first transmission unit is a screw rod and a nut, an output shaft of the driving piece is connected with the screw rod, the screw rod is vertically arranged in a cavity of the supporting column, the screw rod is in threaded connection with the nut, and the nut is fixedly connected with the compacting plate.

In a preferred embodiment, the driving piece is a knob and a knob shaft, the driving unit further comprises a second transmission unit, one end of the knob shaft is fixedly connected with the knob, and the other end of the knob shaft is connected with the second transmission unit.

In a preferred embodiment, the second transmission unit includes a first bevel gear and a second bevel gear, the first bevel gear is sleeved on the knob shaft, the second bevel gear is meshed with the first bevel gear, and the second bevel gear is sleeved on the screw rod.

In a preferred embodiment, reinforcing ribs are symmetrically arranged on the outer sides of the supporting columns on two sides of the nut, sliding rails are arranged on the reinforcing ribs, and sliding grooves which are in sliding connection with the sliding rails are arranged on the pressing plates.

In a preferred embodiment, the two sides of the operating table are provided with guide rails, the clamping assembly comprises a clamping plate, the clamping plate is installed at the bottom of the supporting column, the clamping plate is provided with a guide rail groove, and the guide rails are embedded in the guide rail groove.

In a preferred embodiment, a fixed frame is arranged on the side surface of the clamping plate, a threaded shaft is connected to the fixed frame in a threaded manner, a compression block is arranged in the fixed frame and the clamping plate, guide shafts are fixed in the fixed frame at two sides of the compression block, the compression block is in sliding connection with the guide shafts, and an elastic piece is further arranged on the guide shafts;

The screw shaft is arranged in parallel with the guide shaft, one end of the screw shaft contacts the compression block, the other end of the screw shaft extends out of the fixed frame, and the screw shaft drives the compression block to axially move along the guide shaft;

The compression block compresses the guide rail under the action of the threaded shaft and is used for locking the clamping assembly at a preset position of the guide rail, and when the compression block is in a state of compressing the guide rail, the elastic piece is in a compression state.

The screw shaft is rotated, the screw shaft contacts the compression block and pushes the compression block to move along the guide shaft, and the compression block compresses the guide rail under the action of the screw shaft and is used for locking the clamping assembly at a preset position of the guide rail; the screw shaft is rotated in the opposite direction, the screw shaft has no compression effect on the compression block, and at the moment, the compression block returns to the initial position along the guide shaft again due to the elastic effect of the elastic piece.

In a preferred embodiment, the third arm of force is a link lifting mechanism, the link lifting mechanism includes a first rotating seat, a second rotating seat, a first link and a second link, the first link and the second link are arranged in parallel, two ends of the first link are respectively connected with the first rotating seat and the second rotating seat in a rotating way, and two ends of the second link are respectively connected with the first rotating seat and the second rotating seat in a rotating way;

The first rotating seat is a first end part of the second force arm and is connected with a second rotating joint, and the second rotating seat is a second end part of the second force arm and is connected with a third rotating joint;

And a sixth power-off brake is arranged in each of the first rotating seat and the second rotating seat.

In a preferred embodiment, a pneumatic spring is disposed between the first link and the second link.

Based on the same inventive concept, the utility model also provides a vascular intervention operation system, which comprises the mechanical arm for the vascular intervention operation robot, an operation table, the operation robot and an operation control system, wherein the mechanical arm is in sliding connection with the operation table, a third arm of force of the mechanical arm is connected with the operation robot, and the first power-off brake, the second power-off brake, the third power-off brake, the fourth power-off brake, the fifth power-off brake and the sixth power-off brake are respectively and electrically connected with the operation control system.

By adopting the technical scheme, the utility model has the following advantages and positive effects compared with the prior art:

The mechanical arm is connected with the operating table in a sliding way, the mechanical arm is connected to the operating table by adopting the clamping mechanism, can move on the operating table and can stay at any preset position, and each arm of force comprises a support column, a first arm of force, a second arm of force and a third arm of force; meanwhile, each rotating joint is internally provided with a power-off brake, so that the rotating joint can further enable the mechanical arm to be small in size under the condition of providing stable torque, the vascular intervention operation robot can be removed from the upper part of a patient with force under the emergency or power-off condition, and the random posture of the mechanical arm can be realized by dragging by hands under the condition of power-on.

In the preferred embodiment of the utility model, each rotating joint adopts the angular contact bearing, so that the arm of force can bear larger load, meanwhile, each joint is provided with the damper, and the mechanical arm cannot swing easily because the joint is too flexible under the condition that the power-off brake is electrified, and only rotates under the condition that the mechanical arm is dragged by external force.

Drawings

FIG. 1 is a schematic diagram of a vascular interventional procedure system of the present utility model;

FIG. 2 is a schematic view of a robotic arm for a vascular interventional procedure robot according to the present utility model;

FIG. 3 is a schematic diagram showing the bottom of a support column of a robotic arm for a vascular interventional procedure robot according to the present utility model;

FIG. 4 is a schematic diagram showing the bottom of a support column of a robotic arm for a vascular interventional procedure robot according to the present utility model;

FIG. 5 is a vertical cross-sectional view of FIG. 4;

FIG. 6 is a cross-sectional view of a first rotational joint of a robotic arm for a vascular interventional procedure robot of the present utility model;

FIG. 7 is a cross-sectional view of a second revolute joint of the robotic arm for a vascular interventional procedure of the present utility model;

FIG. 8 is a cross-sectional view of a third revolute joint of the robotic arm for a vascular interventional procedure of the present utility model;

Fig. 9 is a schematic view of a third moment arm of the robotic arm for a vascular interventional procedure robot according to the present utility model.

Reference numerals illustrate: 1-a mechanical arm; 101-a clamping mechanism; 10101-knob; 10102-knob shaft; 10103-screw rod; 10104-nut; 10105-a first bevel gear; 10106-a second bevel gear; 10107-a compacting plate; 10108-reinforcing rib; 10109-slide rail; 10110-chute; 10111-handle; 10112-threaded shaft; 10113-a compact block; 10114-a fixed frame, 10115-a guide shaft; 10116-elastic member; 10117-clamping plate; 10118-clamping grooves;

102-supporting columns;

103-first rotary joint; 10301-a first shaft; 10302—a first bearing; 10303-a first lower brake pad; 10304-a first power-off brake; 10305-a second power-off brake; 10306-a first upper brake pad; 10307-a first housing;

104-a first moment arm;

105-a second revolute joint; 10501-a second shaft; 10502 a second bearing; 10503-second upper brake pad; 10504-a third power-off brake; 10505-fourth power-off brake; 10506-second lower brake pad; 10507-a second housing;

106-a second moment arm; 10601-a first swivel; 10602-a second swivel; 10603-first link; 10603-a second link; 10604-pneumatic spring; 10605-sixth power-off brake;

107-a third revolute joint; 10701-a third spindle; 10702-third bearing; 10703-third brake pad; 10704-fifth power-off brake; 10705-a third housing;

108-a third moment arm;

2-an operating bed; 201-a guide rail; 3-vascular interventional surgical robot; 4-a damping mounting plate; 5-damper.

Detailed Description

The utility model provides a mechanical arm for a vascular intervention operation robot, a vascular intervention operation system and further detailed description, wherein the mechanical arm and the vascular intervention operation system are provided with a plurality of connecting rods. The advantages and features of the present utility model will become more apparent from the following description.

Example 1

Referring to fig. 1-2, a robotic arm for a vascular interventional procedure robot, comprising: support column 102, first moment arm 104, second moment arm 106, third moment arm 108, and clamping mechanism 101;

The bottom end of the supporting column 102 is fixed with a clamping mechanism 101, the clamping mechanism 101 is in sliding connection with the operating table 2, and the top end of the supporting column 102 is in rotational connection with a first force arm 104 through a first rotary joint 103;

The first force arm 104 is rotationally connected with the second force arm 106 through a second rotary joint 105, the second force arm 106 is connected with a third force arm 108 through a third rotary joint 107, and the third force arm 108 is connected with the vascular intervention surgical robot 3;

The first rotary joint 103, the second rotary joint 105 and the third rotary joint 107 are respectively provided with a power-off brake.

The mechanical arm 1 of the embodiment is in sliding connection with the operating table 2, the vascular intervention operation robot 3 is fixed, the mechanical arm 1 is in sliding connection with the operating table 2 by adopting the clamping mechanism 101, the mechanical arm 1 moves on the operating table 2 and can stay at any preset position, so that the vascular intervention operation robot 3 is convenient for the operation of a patient in a proper position, the mechanical arm 1 comprises a support column 102, a first force arm 104, a second force arm 106 and a third force arm 108, and each force arm is connected through a rotating joint, namely, the first rotating joint 103, the second rotating joint 105 and the third rotating joint 107, so that the mechanical arm 1 has higher degree of freedom; meanwhile, each rotating joint is internally provided with a power-off brake, so that the rotating joint can further enable the mechanical arm 1 to be small in size under the condition of providing stable torque, the vascular intervention robot can be removed from the upper part of a patient under the emergency or power-off condition, and the random posture of the mechanical arm 1 can be realized by dragging by hands under the condition of power-on.

In a preferred embodiment, referring to fig. 6-8 specifically, the first rotary joint 103, the second rotary joint 105 and the third rotary joint 107 are all provided with the damper 5, after the power-off brake is unlocked, the mechanical arm 1 cannot swing easily because the rotary joint is too flexible, and only after the power-off brake is unlocked, the mechanical arm 1 can rotate with smaller damping under the condition of dragging by external force, so that the mechanical arm 1 is safer.

Specifically, referring to fig. 6, the first rotary joint 103 includes a first housing 10307, a first rotary shaft 10301, a first bearing 10302, a first power-off brake 10304, a second power-off brake 10305, a first upper brake pad 10306, and a first lower brake pad 10303, where the first rotary shaft 10301 is fixed at the top end of the support column 102, and the center line of the first rotary shaft 10301 coincides with the center line of the support column 102, the first bearing 10302, the first lower brake pad 10303, the first power-off brake 10304, the second power-off brake 10305, and the first upper brake pad 10306 are sequentially installed on the first rotary shaft 10301 from bottom to top, the first housing 10307 is located outside the first bearing 10302, and the housing is fixedly connected with the first force arm 104, so that the first force arm 104 is vertically arranged with the support column 102, and the first force arm 104 rotates with the first rotary shaft 10301 as a rotation axis. The first and second power-off brakes 10304 and 10305 are mounted back-to-back, and can reduce the size of the mechanical arm 1 and save the operation space under the condition of providing stable torque.

A damper mounting plate 4 is mounted on the upper portion of the first rotation shaft 10301 and the upper portion of the first upper brake pad 10306, and a damper 5 is mounted on the upper portion of the damper mounting plate 4.

Referring to fig. 7, the second rotary joint 105 includes a second housing 10507, a second rotary shaft 10501, a second bearing 10502, a third power-off brake 10504, a fourth power-off brake 10505, a second upper brake block 10503, and a second lower brake block 10506, the second rotary shaft 10501 is fixed at a first end portion of the second arm of force 106, the second arm of force 106 is located at an upper portion of the second rotary joint 105, the second rotary shaft 10501 is sequentially provided with the second bearing 10502, the second upper brake block 10503, the third power-off brake 10504, the fourth power-off brake 10505, and the second lower brake block 10506 from top to bottom, the first housing 10307 is located at an outer side of the second bearing 10502, the second housing 10507 is fixedly connected with the second arm of force 106, and accordingly, the third arm of force 108 rotates with the second rotary shaft 10501 as a rotary shaft, and a center line of the second rotary shaft 10501 is parallel to a center line of the first rotary shaft 10301.

Also on the second rotary shaft 10501, a damping mounting plate 4 is mounted on the lower surface of the second lower brake pad 10506, then a damper 5 is mounted under the damping mounting plate 4, and the third power-off brake 10504 and the fourth power-off brake 10505 are connected back-to-back.

Referring to fig. 8, the third rotary joint 107 includes a third housing 10705, a third rotary shaft 10701, a third bearing 10702, a fifth power-off brake 10704, and a third brake pad 10703, and since the third force arm 108 is directly connected to the vascular interventional surgical robot 3, the length of the third force arm 108 is shorter than that of the first force arm 104 and the second force arm 106, the third force arm 108 adopts a power-off brake, in this embodiment, the third rotary shaft 10701 is fixed at the lower part of the second end of the second force arm 106, the third bearing 10702, the third brake pad 10703, and the fifth power-off brake 10704 are sequentially mounted on the third rotary shaft 10701, the third housing 10705 is located at the outer side of the third bearing 10702, and the third housing 10705 is fixedly connected to the third force arm 108, thereby the third force arm 108 rotates about the third rotary shaft 10701 as a rotation axis.

Also on the third rotary shaft 10701, a damper mounting plate 4 is mounted on the lower surface of the third brake pad 10703, and then a damper 5 is mounted under the damper mounting plate 4.

Preferably, the first bearing 10302, the second bearing 10502 and the third bearing 10702 are all double-angle contact bearings, which can bear large loads.

The rotational shafts of the above embodiments are adopted for the first rotational joint 103, the second rotational joint 105, and the third rotational joint 107, and the degrees of freedom of the arm of force are relatively reduced, but the required posture of the vascular interventional surgical robot 3 can be satisfied with such degrees of freedom, so that not only the cost is reduced, but also the requirements can be satisfied. In addition, due to the particularity of vascular intervention operation, the vascular intervention operation robot 3 needs to keep a stable posture in the operation process, so that in each rotating joint, a power-off brake and a damper 5 are arranged, in the operation process, the power-off brake is kept to be powered off, the posture of the vascular intervention operation robot 3 can be locked and kept, and after the power-off brake is unlocked, the posture of the mechanical arm 1 can be changed under the action of external force due to the arrangement of the damper 5. Because the patient lies on the operating table 2, the safety is improved by adopting the rotating joint.

In yet another embodiment, referring specifically to fig. 3-5, the clamping mechanism 101 includes a clamping assembly mounted at the bottom of the support column 102 and a compression assembly located above the clamping assembly, the clamping assembly being slidably coupled to the side of the operating table 2;

The compressing assembly comprises a compressing plate 10107 and a driving unit, wherein an output unit of the driving unit is connected with the compressing plate 10107, the driving unit drives the compressing plate 10107 to vertically reciprocate along the supporting column 102, and the compressing plate 10107 is used for being compressed on the operating table 2.

The clamping assembly is used for realizing sliding connection with the operating table 2, and the pressing plate 10107 of the pressing assembly vertically reciprocates along the supporting column 102, so that compatibility with various operating tables 2 can be realized, and the mechanical arm 1 is high in universality.

Preferably, the driving unit comprises a driving member, a first transmission unit; the first transmission unit is a screw rod 10103 and a nut 10104, an output shaft of the driving piece is connected with the screw rod 10103, the screw rod 10103 is vertically arranged in a cavity of the supporting column 102, the screw rod 10103 is in threaded connection with the nut 10104, and the nut 10104 is fixedly connected with the compacting plate 10107.

The screw 10103 preferably uses a trapezoidal screw 10103, which has a self-locking function, and the pressing plate 10107 can stay at a certain position without self-sliding when the driving member does not work. The driving member of the pressing assembly can be driven by a motor, in this embodiment, the driving member adopts a knob 10101 disposed on the supporting column 102, which is convenient to operate, so that a second transmission unit needs to be added between the knob 10101 and the screw 10103 to change the transmission direction.

Specifically, the second transmission unit includes a first bevel gear 10105 and a second bevel gear 10106, the first bevel gear 10105 is sleeved on the output shaft of the driving member, the second bevel gear 10106 is meshed with the first bevel gear 10105, and the second bevel gear 10106 is sleeved on the screw rod 10103.

In particular, in this embodiment, the driving member is a knob 10101 and a knob shaft 10102, one end of the knob shaft 10102 is fixedly connected to the knob 10101, and the other end is connected to the first bevel gear 10105.

By adopting the embodiment, the pressing assembly rotates the knob 10101, drives the first bevel gear 10105 to rotate, further drives the second bevel gear 10106 to rotate, the first bevel gear 10105 is vertically arranged, and the second bevel gear 10106 is horizontally arranged, so that the screw rod 10103 is driven to rotate, further the nut 10104 is driven to reciprocate on the screw rod, and further the pressing plate 10107 is driven to reciprocate along the supporting column 102.

In order to maintain the linear reciprocating movement of the compacting plates 10107 along the vertical direction and the movement stability, guide rails for the movement of the compacting plates 10107 are arranged on two sides of the nut 10104, namely, reinforcing ribs 10108 are symmetrically arranged on the outer sides of the supporting columns 102 on two sides of the nut 10104, sliding rails 10109 are arranged on the reinforcing ribs 10108, and sliding grooves 10110 which are in sliding connection with the sliding rails 10109 are arranged on the compacting plates 10107.

Preferably, as shown in fig. 1 and 3-5, guide rails 201 are arranged on two sides of the operating table 2, the clamping assembly comprises a clamping plate 10117, the clamping plate 10117 is installed at the bottom of the supporting column, the clamping plate 10117 is provided with a guide rail 201 groove, the guide rail 201 is embedded in the guide rail 201 groove, the clamping assembly can slide along the guide rail 201, and the pressing plate 10107 can be fixed on the operating table 2 when the clamping assembly stays at a preset position.

To further fix the clamping assembly at a predetermined position on the operating table 2, a pressing block 10113 is provided in the groove of the guide rail 201 for pressing the guide rail 201 into the groove of the guide rail 201. The specific implementation mode is as follows: the side of the clamping plate 10117 is provided with a fixing frame 10114, the fixing frame 10114 is connected with a threaded shaft 10112 in a threaded manner, the fixing frame 10114 and the clamping plate 10117 are internally provided with a pressing block 10113, guide shafts 10115 are fixed in the fixing frame 10114 at two sides of the pressing block 10113, the pressing block 10113 moves axially along the guide shafts 10115, and elastic members 10116 are further arranged on the guide shafts 10115;

the screw thread shaft 10112 is arranged in parallel with the guide shaft 10115, one end of the screw thread shaft 10112 contacts the compression block 10113, the other end extends out of the fixed frame 10114, the screw thread shaft 10112 is used for driving the compression block 10113 to move along the guide shaft 10115, the central line of the compression block 10113 is arranged in parallel with the axis of the guide shaft 10115, the guide shafts 10115 can be arranged on two sides of the compression block 10113, the compression block 10113 is connected with the guide shaft 10115 by using a flange, and the elastic piece 10116 is sleeved on the guide shaft 10115;

The pressing block 10113 is used for pressing the guide rail 201, and is used for locking the clamping assembly at a preset position of the guide rail 201, and when the pressing block 10113 is in a state of pressing the guide rail 201, the elastic piece 10116 is in a compressed state.

If the threaded shaft 10112 is rotated clockwise, the threaded shaft 10112 contacts the pressing block 10113 and pushes the pressing block 10113 to move along the guide shaft 10115 from the initial position, the pressing block 10113 contacts and presses the guide rail 201, and the clamping assembly is locked at the preset position of the guide rail 201; the screw shaft 10112 is rotated counterclockwise, the screw shaft 10112 leaves the pressing block 10113, no external force is applied to the pressing block 10113 at this time, and the elastic member 10116 is restored because the elastic member 10116 is in a compressed state, and the pressing block 10113 moves to an initial position along the guide shaft 10115 under the action of the elastic force. Compacting the rail 201 with the compaction block 10113 prevents damage to the rail 201.

To facilitate rotation of the threaded shaft 10112, a handle 10111 is provided to facilitate manipulation of the portion of the threaded shaft 10112 exposed from the stationary frame 10114.

In yet another embodiment, referring specifically to fig. 2 and 9, the third arm 108 is a link lifting mechanism that not only can lift the third revolute joint 107, but also can always maintain the third revolute joint 107 parallel to the center line of the second revolute joint 105. The connecting rod lifting mechanism comprises a first rotating seat 10601, a second rotating seat 10602, a first connecting rod 10603 and a second connecting rod 10603, wherein the first connecting rod 10603 and the second connecting rod 10603 are arranged in parallel, two ends of the first connecting rod 10603 are respectively connected with the first rotating seat 10601 and the second rotating seat 10602 in a rotating way, and two ends of the second connecting rod 10603 are respectively connected with the first rotating seat 10601 and the second rotating seat 10602 in a rotating way;

The first rotary seat 10601 is a first end of the second arm 106 and is connected to the second rotary joint 105, and the second rotary seat 10602 is a second end of the second arm 106 and is connected to the third rotary joint 107;

The first rotating seat 10601 and the second rotating seat 10602 are provided with a sixth power-off brake 10605, and the second arm 106 can be kept in a posture when the sixth power-off brake 10605 is powered off.

In order to balance the gravity of the vascular intervention operation robot 3 connected with the third force arm 108, a pneumatic spring 10604 is arranged between the first connecting rod 10603 and the second connecting rod 10603, so that the vascular intervention operation robot 3 can be easily towed and lifted. One end of the pneumatic spring 10604 is rotatably connected with the first rotary seat 10601, the other end is rotatably connected with a portion of the first connecting rod 10603 adjacent to the second rotary seat 10602, or one end of the pneumatic spring 10604 is rotatably connected with the second rotary seat 10602, and the other end is rotatably connected with a portion of the first connecting rod 10603 adjacent to the second rotary seat 10602.

The mechanical arm 1 of the embodiment can meet the size difference of guide rail 201 beds of different factories by adopting the clamping mechanism 101, and is convenient and quick to clamp and high in universality; the first rotating joint 103 and the second rotating joint 105 are provided with double small-size power-off brakes, are installed back to back, reduce the size of the mechanical arm 1 under the condition of providing stable torque, and are provided with angular contact bearings in pairs so as to bear larger load; the third force arm 108 is directly connected with the vascular intervention operation robot 3, so that the size of the force arm can be reduced, and the third rotary joint 107 adopts a single-power-loss brake and paired angular contact bearings, so that the cost is reduced; each rotating joint is provided with a damper 5, and after the power-off brake is unlocked, the mechanical arm 1 cannot swing easily because the rotating joint is too flexible, and only rotates under the condition of external force dragging after the power-off brake is unlocked; the connecting rod elevating system can adjust different working heights of the vascular intervention operation robot 3, and the fifth power-off brake 10704 and the gas spring are designed in the vascular intervention operation robot, so that the gravity of the vascular intervention operation robot 3 can be balanced, and an operator can drag and elevate the vascular intervention operation robot 3 easily and conveniently after unlocking the sixth power-off brake 10605.

Example 2

Referring to fig. 1, a vascular intervention operation system includes a mechanical arm for a vascular intervention operation robot of embodiment 1, an operation table, an operation robot, and an operation control system, the mechanical arm is slidably connected with the operation table, a third arm of force of the mechanical arm is connected with the operation robot, and all power-off brakes of embodiment 1 are electrically connected with the operation control system.

The embodiments of the present utility model have been described in detail with reference to the drawings, but the present utility model is not limited to the above embodiments. Even if various changes are made to the present utility model, it is within the scope of the appended claims and their equivalents to fall within the scope of the utility model.

Claims (16)

1. A robotic arm for a vascular interventional procedure robot, comprising: the device comprises a support column, a first force arm, a second force arm, a third force arm and a clamping mechanism;

The bottom end of the supporting column is fixed with the clamping mechanism, the clamping mechanism is in sliding connection with the operating table, and the top end of the supporting column is in rotational connection with the first force arm through a first rotary joint;

The first force arm is rotationally connected with the second force arm through a second rotating joint, the second force arm is connected with the third force arm through a third rotating joint, and the third force arm is connected with the surgical robot;

and the first rotating joint, the second rotating joint and the third rotating joint are internally provided with power-off brakes.

2. The mechanical arm for a vascular interventional procedure robot according to claim 1, wherein the first rotary joint comprises a first housing, a first rotating shaft, a first bearing, a first power-off brake, a second power-off brake, a first upper brake block and a first lower brake block, the first rotating shaft is fixed at the top end of the support column, the first bearing, the first lower brake block, the first power-off brake, the second power-off brake and the first upper brake block are sequentially installed on the first rotating shaft, the first housing is located on the outer side of the first bearing, and the first housing is fixedly connected with the first force arm.

3. The mechanical arm for a vascular interventional procedure robot according to claim 2, wherein the second rotary joint comprises a second housing, a second rotating shaft, a second bearing, a third power-off brake, a fourth power-off brake, a second upper brake block and a second lower brake block, the second rotating shaft is fixed at a first end of the second arm, the second bearing, the second upper brake block, the third power-off brake, the fourth power-off brake and the second lower brake block are sequentially installed on the second rotating shaft, the second housing is located at the outer side of the second bearing, and the second housing is fixedly connected with the second arm.

4. The mechanical arm for vascular interventional operation robot according to claim 3, wherein the third rotary joint comprises a third housing, a third rotating shaft, a third bearing, a fifth power-off brake and a third brake pad, the third rotating shaft is fixed at the second end of the second arm, the third bearing, the third brake pad and the fifth power-off brake are sequentially installed on the second rotating shaft, the third housing is located at the outer side of the third bearing, and the third housing is fixedly connected with the third arm.

5. The robotic arm for a vascular interventional procedure robot according to claim 4, wherein the first bearing, the second bearing, and the third bearing are double-angle contact bearings.

6. The mechanical arm for a vascular interventional procedure robot according to claim 4, wherein dampers are attached to the first rotary joint, the second rotary joint, and the third rotary joint.

7. The robotic arm for a vascular interventional procedure robot according to claim 1, wherein the clamping mechanism comprises a clamping assembly and a compression assembly positioned above the clamping assembly, the clamping assembly is mounted at the bottom of the support column, and the clamping assembly is slidingly connected with the side of the operating table;

The compressing assembly comprises a compressing plate and a driving unit, wherein an output unit of the driving unit is connected with the compressing plate, the driving unit drives the compressing plate to vertically reciprocate along the supporting column, and the compressing plate is used for being compressed on the operating table.

8. The mechanical arm for a vascular interventional procedure robot according to claim 7, wherein the driving unit comprises a driving member, a first transmission unit,

The first transmission unit is a screw rod and a nut, an output shaft of the driving piece is connected with the screw rod, the screw rod is vertically arranged in a cavity of the supporting column, the screw rod is in threaded connection with the nut, and the nut is fixedly connected with the compacting plate.

9. The mechanical arm for a vascular interventional surgical robot according to claim 8, wherein the driving member is a knob and a knob shaft, the driving unit further comprises a second transmission unit, one end of the knob shaft is fixedly connected with the knob, and the other end of the knob shaft is connected with the second transmission unit.

10. The mechanical arm for a vascular interventional surgical robot according to claim 9, wherein the second transmission unit includes a first bevel gear and a second bevel gear, the first bevel gear is sleeved on the knob shaft, the second bevel gear is meshed with the first bevel gear, and the second bevel gear is sleeved on the screw rod.

11. The mechanical arm for a vascular interventional operation robot according to claim 8 or 9, wherein reinforcing ribs are symmetrically arranged on the outer sides of the supporting columns on two sides of the nut, sliding rails are arranged on the reinforcing ribs, and sliding grooves which are in sliding connection with the sliding rails are arranged on the pressing plates.

12. The robotic arm for a vascular interventional procedure robot according to claim 7, wherein guide rails are provided on both sides of the operating table, the clamping assembly comprises a clamping plate mounted on the bottom of the support column, the clamping plate has a guide rail groove, and the guide rail is embedded in the guide rail groove.

13. The mechanical arm for a vascular interventional operation robot according to claim 12, wherein a fixed frame is arranged on the side surface of the clamping plate, a threaded shaft is connected to the fixed frame in a threaded manner, a compression block is arranged in the fixed frame and the clamping plate, guide shafts are fixed in the fixed frame at two sides of the compression block, the compression block is in sliding connection with the guide shafts, and an elastic piece is further arranged on the guide shafts;

The screw shaft is arranged in parallel with the guide shaft, one end of the screw shaft is contacted with the compression block, the other end of the screw shaft extends out of the fixed frame, and the screw shaft is used for driving the compression block to move along the axis of the guide shaft;

The compression block compresses the guide rail under the action of the threaded shaft and is used for locking the clamping assembly at a preset position of the guide rail, and when the compression block is in a state of compressing the guide rail, the elastic piece is in a compression state.

14. The mechanical arm for a vascular interventional procedure robot according to any one of claims 1 to 5, wherein the third arm is a link lifting mechanism, the link lifting mechanism comprises a first rotating seat, a second rotating seat, a first link and a second link, the first link and the second link are arranged in parallel, two ends of the first link are respectively connected with the first rotating seat and the second rotating seat in a rotating way, and two ends of the second link are respectively connected with the first rotating seat and the second rotating seat in a rotating way;

And a sixth power-off brake is arranged in each of the first rotating seat and the second rotating seat.

15. The robotic arm for a vascular interventional procedure robot according to claim 14, wherein a pneumatic spring is provided between the first link and the second link.

16. A vascular intervention operation system, which is characterized by comprising the mechanical arm for the vascular intervention operation robot, an operation table and an operation robot, wherein the mechanical arm is in sliding connection with the operation table, and a third arm of force of the mechanical arm is connected with the operation robot.