WO2019090708A1 - Robotic proximal platform - Google Patents

Robotic proximal platform Download PDF

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Publication number
WO2019090708A1
WO2019090708A1 PCT/CN2017/110511 CN2017110511W WO2019090708A1 WO 2019090708 A1 WO2019090708 A1 WO 2019090708A1 CN 2017110511 W CN2017110511 W CN 2017110511W WO 2019090708 A1 WO2019090708 A1 WO 2019090708A1
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WIPO (PCT)
Prior art keywords
platform
proximal
robot
connecting plate
rail
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PCT/CN2017/110511
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French (fr)
Chinese (zh)
Inventor
唐佩福
王炳强
康伟伟
赵燕鹏
孙之建
曹延祥
王利峰
Original Assignee
威海威高骨科手术机器人有限公司
唐佩福
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Application filed by 威海威高骨科手术机器人有限公司, 唐佩福 filed Critical 威海威高骨科手术机器人有限公司
Priority to PCT/CN2017/110511 priority Critical patent/WO2019090708A1/en
Publication of WO2019090708A1 publication Critical patent/WO2019090708A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices

Definitions

  • the present invention relates to a proximal end platform for a robot, and more particularly to a proximal end platform for a resetting robot used in orthopedic surgery.
  • FIGS. 1 and 2 are drawings of CN2566828Y, side and top views, respectively, of the disclosed traction frame are shown.
  • the traction frame includes a hip plate assembly, a leg rest assembly, and a tractor assembly.
  • the front end of the hip plate 4 is provided with a soft column 7, and two directional wheels 15 are disposed under the base 1, and two ends thereof are respectively connected to the small horizontal column 9 and the large horizontal column 10.
  • the small horizontal column 9 is provided with leg studs 11 and leg supports 12.
  • the large transverse column 10 is connected to the traction column 14, the upper end of the traction column 14 is connected to the traction pipe 16, and the tractor 17 is placed above the traction pipe 16.
  • the traction frame In use, the traction frame is pushed into the operating table, and the hook 6 on the side of the small round column 3 of the base 1 is hung on the rail supporting column of the operating table, and the brake of the universal braking wheel 8 is depressed to fix the traction frame.
  • the handles 22, 23, 24, 25, 26, the height of the hip plate 4 and the distance from the operating table By loosening the handles 22, 23, 24, 25, 26, the height of the hip plate 4 and the distance from the operating table, the distance between the leg rest 19 and the hip plate 4, and the height of the leg rest 19 can be adjusted.
  • the handle 21 and the handles 28, 29 are used to adjust the distance of the tractor 17 from the leg rest 19, as well as the height of the tractor 17.
  • the above-described prior art traction frame can provide distance adjustment capability along the length of the patient.
  • the above-mentioned traction frames cannot provide a proximal platform for orthopaedic robots in a simple and efficient manner, allowing the control of the cylinder car and the patient's body. The distance can be adjusted.
  • the present invention provides a proximal platform of a robot that is coupled to a control cylinder car of a robot on a proximal side and to a distal platform of a robot on a distal side, the proximal platform including: Side panel assemblies on the left and right sides, each side panel assembly including a slide rail, a web and a side rail; wherein the rail can be along the proximal end - The distal direction slides relative to the connecting plate; the side rail is rigidly connected to the connecting plate; the side rail has at least one accessory mounting portion.
  • the proximal platform of the robot of the present invention is capable of adjusting the distance between the control cylinder and the patient in a simple and efficient manner.
  • 1 and 2 are side and top views of a prior art traction frame
  • FIG. 3 is a perspective view of the proximal platform of the robot as seen from above, in accordance with an embodiment of the present invention
  • FIG. 4 is a top plan view of a proximal platform of a robot in accordance with an embodiment of the present invention
  • Figure 5 is a side elevational view of a proximal platform of a robot in accordance with one embodiment of the present invention.
  • Figure 6 is a partial enlarged view of Figure 5, to more clearly show the components such as a lock knob;
  • FIG. 7 is a top plan view of a proximal end platform of a robot in which an x-shaped stiffener is added, in accordance with an embodiment of the present invention.
  • the proximal platform includes: side panel assemblies on the left and right sides, each side panel assembly includes a slide rail 120, a connecting panel 140 and a side rail 160 arranged from the inside to the outside;
  • the slide rail 120 is slidable relative to the connecting plate 140 in a proximal-distal direction;
  • the side rail 160 is rigidly coupled to the connecting plate 140;
  • the side rail 160 has at least one accessory mounting portion 167, 168 169.
  • the slide rail 120, the link plate 140, and the side rails 160 are arranged from the inside to the outside for the convenience of assembly.
  • the slide rail 120 includes a first connection portion 122 for connecting to the control cylinder car; the connection plate 140 includes a first connection for connecting to the remote platform a second connecting portion 144; the first connecting portion 122 of the sliding rail 120 will be connected to the connecting block 210 of the control cylinder car; the second connecting portion 144 of the connecting plate 140 will be connected to the distal platform of the robot
  • the rail mount 310 is secured by fasteners 320 of the distal platform.
  • the sliding fit of the proximal platform provides distance adjustment capability, ie, the ability to adjust between the control cylinder car and the patient distance.
  • first connecting portion 122 for connecting to the control cylinder car may be disposed on the connecting plate 140 or on the side rail 160, and for connecting to the remote platform
  • the two connecting portions 144 can be disposed on the slide rails 120, so that the distance adjustment function of controlling the tank car and the patient can also be realized.
  • the proximal platform of the robot according to an embodiment of the present invention, wherein the sliding rail 120 and the connecting plate 140 form a dovetail structure.
  • FIG. 4 is a top plan view of a proximal platform of a robot in accordance with one embodiment of the present invention.
  • the proximal end platform of the robot according to an embodiment of the present invention, wherein the first connecting portion 122 of the slide rail 120 is four screw holes arranged in a rectangular shape. The positions of the four screw holes correspond one by one to the four screws of the connecting block 210 of the control cylinder car shown in FIG.
  • the proximal end platform of the robot according to an embodiment of the present invention, wherein the second connecting portion 142 of the connecting plate 140 is a screw hole formed on a distal end side of the connecting plate 140.
  • the position of the screw hole corresponds to an end hole (not shown) of the rail mount 310 of the distal platform shown in FIG. 3, and the fastener 320 of the distal platform can pass through the screw hole and rail of the connecting plate 140.
  • the end holes of the mount 310 are securely coupled together.
  • Fig. 6 is a partial enlarged side elevational view of a proximal end platform of a robot in accordance with one embodiment of the present invention.
  • the proximal platform further includes a screw hole plate 124 rigidly connected to the slide rail 120, a lock knob 130 having a screw 134, and the screw 134 passes through a screw hole of the screw hole plate 124; The screw 134 bears against the connecting plate 140 when the lock knob 130 is screwed in.
  • the lock knob 130 When it is necessary to adjust the distance between the control tank car and the patient, the lock knob 130 is loosened, allowing the slide rail 120 to slide relative to the web 140. When the distance is appropriate, the locking knob 130 is tightened to abut the connecting plate 140; thereby fixing the relative position of the sliding rail 120 and the connecting plate 140.
  • lock knob 130 is a lock mechanism for locking the position of the slide rail 120 with respect to the connecting plate 140.
  • the position of the rail 120 relative to the web 140 can be locked continuously or at intervals in other manners.
  • a proximal end platform of a robot according to an embodiment of the present invention, wherein the side rails 160 are mounted to the connecting plate 140 by a plurality of mounting pins 164, thereby implementing the side rails 160 It is rigidly connected to the connecting plate 140.
  • the side rail 160 and the connecting plate 140 are two separate members that are rigidly connected in the above example, the above design is merely an example, and the advantage is that it is easy to manufacture.
  • the connecting plate and the side rail may be integrally formed.
  • the sliding portion of the integral member is the connecting plate of the present invention, and the accessory mounting portion of the integral member corresponds to the side rail of the present invention.
  • a proximal end platform of a robot wherein the at least one accessory mounting portion includes: two first mounting portions 167 for mounting a leg support frame; Portion 168 for mounting leg rest 180; third mounting portion 169 for mounting arm rest 190.
  • the leg support frame is two pieces that are respectively mounted on the two first mounting portions 167.
  • the second mounting portion 168 may be one and then disposed at a suitable position on the left side rail or the right side rail as needed.
  • the third mounting portion 169 may also be one and then disposed at a suitable position on the left side rail or the right side rail as needed.
  • the proximal end platform of the robot of the present invention can provide a placement of a corresponding limb for a patient undergoing orthopedic surgery.
  • a proximal end platform of a robot wherein the second mounting portion 168 includes: a card holder 1682 that is slidable on the side rail 160; and the card holder 1682 Rigidly connected rod holder 1683; a shaped rod 1684 having a vertical section mounted therein and rotatable in a vertical direction, the horizontal section having a mounting hole in a vertical direction, the leg rest 180 being mounted on the The mounting hole of the shaped lever 1684; and a locking member 1686 for locking the card holder 1682 to the side rail 160.
  • the second mounting portion 168 provides an adjustable mounting position for the leg rest 180 in a simple and effective manner by the above-described structure of the card holder 1682, the rod holder 1683, and the bracket 1684.
  • the third mounting portion 169 can also have similar components and configurations to provide a suitable mounting position for the arm rest 190.
  • a proximal end platform of a robot wherein the first mounting portion 167 includes: a card holder slidable on the side rail 160; and rigidly connected to the card holder a rod holder mounted in the rod holder; a locking member for locking the card holder to the side rail 160.
  • leg support frame is provided with a long support rod
  • the support rods of the two leg support frames are inserted into the rod holder of the first mounting portion 167 to provide a suitable leg support height.
  • the side rail as an accessory platform can itself be mounted to the connecting plate in a very simple mounting manner, making the side rail an easy-to-assemble and flexible accessory module.
  • a lateral reinforcing rib can be added, which can be connected to the left and right.
  • Side panel assembly For example, the left and right sides of the reinforcing rib may have notches which are respectively caught on the connecting plate 140.
  • the rib 150 may also be a x-shape in plan view, and two places on the left and right sides are stuck on the connecting plate 140.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

A robotic proximal platform connected to a control cylinder box of a robot at the proximal side and to a distal platform of a robot at the distal side. The proximal platform comprises side plate assemblies positioned on the left side and right side, each side plate assembly comprising a slide rail (120), a connecting plate (140), and an edge rail (160), wherein the slide rail (120) can move relative to the connecting plate (140) in the proximal-distal direction, and the edge rail (160) having at least one attachment mounting portion (167, 168, 169) is rigidly connected to the connecting plate (140). The robotic proximal platform can easily and efficiently adjust the distance between the control cylinder and a patient.

Description

机器人的近端平台Robotic proximal platform 技术领域Technical field
本发明涉及机器人的近端平台，尤其是一种在骨科手术中使用的复位机器人的近端平台。The present invention relates to a proximal end platform for a robot, and more particularly to a proximal end platform for a resetting robot used in orthopedic surgery.
背景技术Background technique
随着机器人技术的发展，在修复骨折的手术特别是长骨骨科手术中，出现了将机器人应用于其中的趋势。With the development of robotics, there has been a trend in the application of robots in the repair of fractures, especially in long bone orthopedic surgery.
参考图1和图2，其为CN2566828Y的附图，分别示出其公开的牵引架的侧视图和俯视图。该现有技术公开一种用于骨科手术的牵引架。所述牵引架包括臀板组件、搁腿架组件、牵引器组件。臀板4的前端设置有软柱7，底座1下方置有两个定向轮15，其两端分别连接于小横柱9和大横柱10。小横柱9上设有腿托柱11和腿托管12。大横柱10与牵引柱14相连，牵引柱14的上端与牵引管16连接，牵引管16的上方置有牵引器17。Referring to Figures 1 and 2, which are drawings of CN2566828Y, side and top views, respectively, of the disclosed traction frame are shown. This prior art discloses a traction frame for orthopedic surgery. The traction frame includes a hip plate assembly, a leg rest assembly, and a tractor assembly. The front end of the hip plate 4 is provided with a soft column 7, and two directional wheels 15 are disposed under the base 1, and two ends thereof are respectively connected to the small horizontal column 9 and the large horizontal column 10. The small horizontal column 9 is provided with leg studs 11 and leg supports 12. The large transverse column 10 is connected to the traction column 14, the upper end of the traction column 14 is connected to the traction pipe 16, and the tractor 17 is placed above the traction pipe 16.
使用时，该牵引架被推进手术台，将底座1的小圆管柱3的侧面的拉钩6挂在手术台的导轨支撑柱上，踩下万向刹车轮8的刹车将牵引架固定。通过旋松手柄22、23、24、25、26，可以调节臀板4的高度以及与手术台的距离、腿托19与臀板4的距离以及腿托19的高度。手柄21和手柄28、29则用于调节牵引器17与腿托19的距离，以及牵引器17的高度。In use, the traction frame is pushed into the operating table, and the hook 6 on the side of the small round column 3 of the base 1 is hung on the rail supporting column of the operating table, and the brake of the universal braking wheel 8 is depressed to fix the traction frame. By loosening the handles 22, 23, 24, 25, 26, the height of the hip plate 4 and the distance from the operating table, the distance between the leg rest 19 and the hip plate 4, and the height of the leg rest 19 can be adjusted. The handle 21 and the handles 28, 29 are used to adjust the distance of the tractor 17 from the leg rest 19, as well as the height of the tractor 17.
作为与手术台配合使用的器械，上述现有技术的牵引架可提供沿着患者身长方向的距离调节能力。但在将机器人应用到骨科手术中时，尤其是应用那些具有控制缸箱车的机器人时，上述牵引架不能以简单高效的方式为骨科机器人提供一个近端平台，让控制缸箱车与患者身体的距离可以调节。As an instrument for use with an operating table, the above-described prior art traction frame can provide distance adjustment capability along the length of the patient. However, when applying robots to orthopedic surgery, especially when using robots with controlled cylinder cars, the above-mentioned traction frames cannot provide a proximal platform for orthopaedic robots in a simple and efficient manner, allowing the control of the cylinder car and the patient's body. The distance can be adjusted.
因此，存在这样的需要，即，为骨科手术中能够使用的机器人提供一个近端平台，通过它，控制缸箱车与患者的距离可以调节。Therefore, there is a need to provide a proximal platform for a robot that can be used in orthopedic surgery, by which the distance between the control cylinder and the patient can be adjusted.
发明内容Summary of the invention
有鉴于此，本发明的目的是提出一种机器人的近端平台，通过这个近端平台患者与控制缸箱车的距离可以调节。In view of this, it is an object of the present invention to provide a proximal platform for a robot through which the distance between the patient and the control cylinder truck can be adjusted.
为实现上述目的，本发明提供一种机器人的近端平台，其在近端侧与机器人的控制缸箱车连接并在远端侧与机器人的远端平台连接，所述近端平台包括：位于左右两侧的侧板组件，每个侧板组件包括滑轨、连接板和边轨；其中，所述滑轨能够沿近端- 远端方向相对于所述连接板滑动；所述边轨刚性连接到所述连接板；所述边轨具有至少一个附件安装部。To achieve the above object, the present invention provides a proximal platform of a robot that is coupled to a control cylinder car of a robot on a proximal side and to a distal platform of a robot on a distal side, the proximal platform including: Side panel assemblies on the left and right sides, each side panel assembly including a slide rail, a web and a side rail; wherein the rail can be along the proximal end - The distal direction slides relative to the connecting plate; the side rail is rigidly connected to the connecting plate; the side rail has at least one accessory mounting portion.
与现有技术的牵引架相比，本发明机器人的近端平台能够以简单高效的方式调节控制缸箱车与患者的距离。Compared to prior art traction frames, the proximal platform of the robot of the present invention is capable of adjusting the distance between the control cylinder and the patient in a simple and efficient manner.
附图说明DRAWINGS
参考附图和说明书可以更好地理解本发明。附图中的部件不一定按比例绘制，其用意仅在于阐明本发明的原理。在附图中：The invention may be better understood by reference to the drawings and specification. The components in the figures are not necessarily drawn to scale, and are intended to illustrate the principles of the invention. In the drawing:
图1和图2为现有技术的牵引架的侧视图和俯视图；1 and 2 are side and top views of a prior art traction frame;
图3为根据本发明的一个实施例的机器人的近端平台的从上方看到的立体图；3 is a perspective view of the proximal platform of the robot as seen from above, in accordance with an embodiment of the present invention;
图4为根据本发明的一个实施例的机器人的近端平台的俯视图；4 is a top plan view of a proximal platform of a robot in accordance with an embodiment of the present invention;
图5为根据本发明的一个实施例的机器人的近端平台的侧视图；Figure 5 is a side elevational view of a proximal platform of a robot in accordance with one embodiment of the present invention;
图6为图5的局部放大图，以更清晰地示出锁位旋钮等部件；Figure 6 is a partial enlarged view of Figure 5, to more clearly show the components such as a lock knob;
图7为根据本发明的一个实施例的机器人的近端平台的俯视图，其中增设了x形加强筋。7 is a top plan view of a proximal end platform of a robot in which an x-shaped stiffener is added, in accordance with an embodiment of the present invention.
具体实施方式Detailed ways
下面的说明涉及根据本发明的一个实施例的机器人的近端平台，其在近端侧与机器人的控制缸箱车连接并在远端侧与机器人的远端平台连接。参考图3-图5，其所述近端平台包括：位于左右两侧的侧板组件，每个侧板组件包括从内到外排列的滑轨120、连接板140和边轨160；其中，所述滑轨120能够沿近端-远端方向相对于所述连接板140滑动；所述边轨160刚性连接到所述连接板140；所述边轨160具有至少一个附件安装部167、168、169。在示例中，为了组装的便利，滑轨120、连接板140和边轨160从内到外排列。The following description relates to a proximal platform of a robot in accordance with one embodiment of the present invention that is coupled to the robot's control cylinder car on the proximal side and to the distal platform of the robot on the distal side. Referring to FIG. 3 to FIG. 5, the proximal platform includes: side panel assemblies on the left and right sides, each side panel assembly includes a slide rail 120, a connecting panel 140 and a side rail 160 arranged from the inside to the outside; The slide rail 120 is slidable relative to the connecting plate 140 in a proximal-distal direction; the side rail 160 is rigidly coupled to the connecting plate 140; the side rail 160 has at least one accessory mounting portion 167, 168 169. In the example, the slide rail 120, the link plate 140, and the side rails 160 are arranged from the inside to the outside for the convenience of assembly.
具体地说，如图3所示，所述滑轨120包括用于连接到所述控制缸箱车的第一连接部122；所述连接板140包括用于连接到所述远端平台的第二连接部144；滑轨120的第一连接部122将会连接到所述控制缸箱车的连接块210；所述连接板140的第二连接部144将会连接到机器人的远端平台的轨座架310，并且由远端平台的紧固件320紧固。Specifically, as shown in FIG. 3, the slide rail 120 includes a first connection portion 122 for connecting to the control cylinder car; the connection plate 140 includes a first connection for connecting to the remote platform a second connecting portion 144; the first connecting portion 122 of the sliding rail 120 will be connected to the connecting block 210 of the control cylinder car; the second connecting portion 144 of the connecting plate 140 will be connected to the distal platform of the robot The rail mount 310 is secured by fasteners 320 of the distal platform.
由此，当近端平台在远端和近端分别连接远端平台和控制缸箱车时，近端平台的滑动配合提供了距离调节能力，即，能够调节控制缸箱车与患者之间的距离。Thus, when the proximal platform is coupled to the distal platform and the control cylinder car at the distal and proximal ends, respectively, the sliding fit of the proximal platform provides distance adjustment capability, ie, the ability to adjust between the control cylinder car and the patient distance.
基于上面的公开，还可以想到，用于连接到所述控制缸箱车的第一连接部122可以设置在连接板140上或边轨160上，而用于连接到所述远端平台的第二连接部144可以设置在滑轨120上，这样同样能实现控制缸箱车与患者的距离调节功能。 Based on the above disclosure, it is also conceivable that the first connecting portion 122 for connecting to the control cylinder car may be disposed on the connecting plate 140 or on the side rail 160, and for connecting to the remote platform The two connecting portions 144 can be disposed on the slide rails 120, so that the distance adjustment function of controlling the tank car and the patient can also be realized.
优选地，根据本发明一个实施例所述的机器人的近端平台，其中所述滑轨120与所述连接板140形成燕尾槽结构。Preferably, the proximal platform of the robot according to an embodiment of the present invention, wherein the sliding rail 120 and the connecting plate 140 form a dovetail structure.
图4为根据本发明一个实施例的机器人的近端平台的俯视图。参考图4，优选地，根据权利要求一个实施例的机器人的近端平台，其中所述滑轨120的所述第一连接部122为排列成矩形的四个螺钉孔。所述四个螺钉孔的位置一一对应图3示出的控制缸箱车的连接块210的四个螺钉。4 is a top plan view of a proximal platform of a robot in accordance with one embodiment of the present invention. Referring to FIG. 4, preferably, the proximal end platform of the robot according to an embodiment of the present invention, wherein the first connecting portion 122 of the slide rail 120 is four screw holes arranged in a rectangular shape. The positions of the four screw holes correspond one by one to the four screws of the connecting block 210 of the control cylinder car shown in FIG.
参考图4，优选地，根据本发明一个实施例的机器人的近端平台，其中所述连接板140的所述第二连接部142为形成在所述连接板140的远端侧的螺钉孔。所述螺钉孔的位置对应图3示出的远端平台的轨座架310的端孔(未示出)，远端平台的紧固件320可以穿过连接板140的所述螺钉孔和轨座架310的所述端孔，而将二者紧固地连接在一起。Referring to FIG. 4, preferably, the proximal end platform of the robot according to an embodiment of the present invention, wherein the second connecting portion 142 of the connecting plate 140 is a screw hole formed on a distal end side of the connecting plate 140. The position of the screw hole corresponds to an end hole (not shown) of the rail mount 310 of the distal platform shown in FIG. 3, and the fastener 320 of the distal platform can pass through the screw hole and rail of the connecting plate 140. The end holes of the mount 310 are securely coupled together.
参考图6，其为根据本发明一个实施例的机器人的近端平台的局部放大侧视图。优选地，所述近端平台还包括与所述滑轨120刚性连接的螺孔板124、具有螺杆134的锁位旋钮130，所述螺杆134穿过所述螺孔板124的螺孔；其中当所述锁位旋钮130被旋进时，所述螺杆134顶住所述连接板140。Reference is made to Fig. 6, which is a partial enlarged side elevational view of a proximal end platform of a robot in accordance with one embodiment of the present invention. Preferably, the proximal platform further includes a screw hole plate 124 rigidly connected to the slide rail 120, a lock knob 130 having a screw 134, and the screw 134 passes through a screw hole of the screw hole plate 124; The screw 134 bears against the connecting plate 140 when the lock knob 130 is screwed in.
当需要调节控制缸箱车与患者的距离时，锁位旋钮130被旋松，允许滑轨120相对于连接板140滑动。当距离合适以后，则旋紧锁位旋钮130，使其顶住连接板140；从而固定滑轨120与连接板140的相对位置。When it is necessary to adjust the distance between the control tank car and the patient, the lock knob 130 is loosened, allowing the slide rail 120 to slide relative to the web 140. When the distance is appropriate, the locking knob 130 is tightened to abut the connecting plate 140; thereby fixing the relative position of the sliding rail 120 and the connecting plate 140.
显然，上述锁位旋钮130是一种锁位机构，用于锁紧所述滑轨120相对于所述连接板140的位置。本领域技术人员可以想到，能够用其他方式连续地或者有间隔地锁紧滑轨120相对于连接板140的位置。Obviously, the above-mentioned lock knob 130 is a lock mechanism for locking the position of the slide rail 120 with respect to the connecting plate 140. Those skilled in the art will appreciate that the position of the rail 120 relative to the web 140 can be locked continuously or at intervals in other manners.
参考图3和图4，优选地，根据本发明一个实施例的机器人的近端平台，其中所述边轨160通过多个安装钉164安装到所述连接板140上，由此实现边轨160与连接板140的刚性连接。Referring to FIGS. 3 and 4, preferably, a proximal end platform of a robot according to an embodiment of the present invention, wherein the side rails 160 are mounted to the connecting plate 140 by a plurality of mounting pins 164, thereby implementing the side rails 160 It is rigidly connected to the connecting plate 140.
此外，尽管上述示例中边轨160与连接板140为刚性连接的两个单独部件，但上述设计仅为一种示例，其优势在于制造的容易。替代地、连接板与边轨也可以使一体形成，此时，该一体部件的滑动部分即为本发明的连接板，而该一体部件的附件安装部则对应本发明的边轨。Further, although the side rail 160 and the connecting plate 140 are two separate members that are rigidly connected in the above example, the above design is merely an example, and the advantage is that it is easy to manufacture. Alternatively, the connecting plate and the side rail may be integrally formed. At this time, the sliding portion of the integral member is the connecting plate of the present invention, and the accessory mounting portion of the integral member corresponds to the side rail of the present invention.
参考图5，优选地，根据本发明一个实施例的机器人的近端平台，其中所述至少一个附件安装部包括：两个第一安装部167，其用于安装腿部支撑架；第二安装部168，其用于安装腿托180；第三安装部169，其用于安装臂托190。Referring to FIG. 5, preferably, a proximal end platform of a robot according to an embodiment of the present invention, wherein the at least one accessory mounting portion includes: two first mounting portions 167 for mounting a leg support frame; Portion 168 for mounting leg rest 180; third mounting portion 169 for mounting arm rest 190.
具体地说，腿部支撑架为两片，分别安装在两个第一安装部167上。第二安装部168可以是一个，然后根据需要设置在左侧边轨或右侧边轨的合适位置。第三安装部169也可以是一个，然后根据需要设置在左侧边轨或右侧边轨的合适位置。 Specifically, the leg support frame is two pieces that are respectively mounted on the two first mounting portions 167. The second mounting portion 168 may be one and then disposed at a suitable position on the left side rail or the right side rail as needed. The third mounting portion 169 may also be one and then disposed at a suitable position on the left side rail or the right side rail as needed.
通过提供上述示例中的附件安装部，本发明的机器人的近端平台可以为骨科手术的患者提供相应肢体的托放安置等。By providing the accessory mounting portion in the above example, the proximal end platform of the robot of the present invention can provide a placement of a corresponding limb for a patient undergoing orthopedic surgery.
参考图6，优选地，根据本发明一个实施例的机器人的近端平台，其中所述第二安装部168包括：能够在所述边轨160上滑动的卡座1682；与所述卡座1682刚性连接的托杆座1683；
Figure PCTCN2017110511-appb-000001
形托杆1684，其竖直段安装在所述托杆座1683内并能够在竖直方向转动，其水平段具有沿竖直方向的安装孔，所述腿托180安装在所述
Figure PCTCN2017110511-appb-000002
形托杆1684的所述安装孔上；以及用于将卡座1682锁紧在所述边轨160上的锁紧件1686。Referring to FIG. 6, a proximal end platform of a robot according to an embodiment of the present invention, wherein the second mounting portion 168 includes: a card holder 1682 that is slidable on the side rail 160; and the card holder 1682 Rigidly connected rod holder 1683;
Figure PCTCN2017110511-appb-000001
a shaped rod 1684 having a vertical section mounted therein and rotatable in a vertical direction, the horizontal section having a mounting hole in a vertical direction, the leg rest 180 being mounted on the
Figure PCTCN2017110511-appb-000002
The mounting hole of the shaped lever 1684; and a locking member 1686 for locking the card holder 1682 to the side rail 160.
通过上述卡座1682、托杆座1683和托杆1684等结构，第二安装部168以简洁有效的方式为腿托180提供可调的安装位置。类似的，第三安装部169也可以具有类似的部件和结构，为臂托190提供合适的安装位置。The second mounting portion 168 provides an adjustable mounting position for the leg rest 180 in a simple and effective manner by the above-described structure of the card holder 1682, the rod holder 1683, and the bracket 1684. Similarly, the third mounting portion 169 can also have similar components and configurations to provide a suitable mounting position for the arm rest 190.
参考图6，优选地，根据本发明一个实施例的机器人的近端平台，其中所述第一安装部167包括：能够在所述边轨160上滑动的卡座；与所述卡座刚性连接的托杆座，所述腿部支撑架安装在所述托杆座内；用于将所述卡座锁紧在所述边轨160上的锁紧件。Referring to FIG. 6, a proximal end platform of a robot according to an embodiment of the present invention, wherein the first mounting portion 167 includes: a card holder slidable on the side rail 160; and rigidly connected to the card holder a rod holder mounted in the rod holder; a locking member for locking the card holder to the side rail 160.
由于腿部支撑架自带较长的支撑杆，将两个腿部支撑架的支撑杆***第一安装部167的托杆座内，就可以提供合适的腿部支撑高度。Since the leg support frame is provided with a long support rod, the support rods of the two leg support frames are inserted into the rod holder of the first mounting portion 167 to provide a suitable leg support height.
上面各实施例及相应附图，公开了各种新的设计和细节。这些设计和细节，在能够单独提供相应优点的同时，可以组合起来提供复合性的优势。例如，作为附件平台的边轨，本身可以以非常简单的安装钉方式安装到连接板上，使边轨成为一个组装容易且功能灵活的附件模块。Various new designs and details are disclosed in the above embodiments and corresponding figures. These designs and details can be combined to provide a composite advantage while being able to provide the respective advantages separately. For example, the side rail as an accessory platform can itself be mounted to the connecting plate in a very simple mounting manner, making the side rail an easy-to-assemble and flexible accessory module.
此外，额外的结构也可以加入到本发明的近端平台。例如，为了加强近端平台与远端平台的连接稳固性，可以在近端平台的远端被紧固到远端平台以后(参见图3)，增设一个横向加强筋，其能够连接到左右两侧的侧板组件。例如所述加强筋的左右两侧可具有槽口，分别卡在连接板140上。参考图7，所述加强筋150还可以是俯视的x形，在左侧和右侧均有两处卡在连接板140上。In addition, additional structures can be added to the proximal platform of the present invention. For example, in order to strengthen the connection stability between the proximal platform and the distal platform, after the distal end of the proximal platform is fastened to the distal platform (see FIG. 3), a lateral reinforcing rib can be added, which can be connected to the left and right. Side panel assembly. For example, the left and right sides of the reinforcing rib may have notches which are respectively caught on the connecting plate 140. Referring to FIG. 7, the rib 150 may also be a x-shape in plan view, and two places on the left and right sides are stuck on the connecting plate 140.
尽管已经公开多个示例性实施例，但是本领域技术人员将理解，在不偏离本发明的精神和保护范围的情况下，可做出各种改变和改进，并可适当地替代执行相同功能的部件。应注意，参考一个附图说明的特征可以与其他附图的特征组合起来，即使未明确提及。 Although a plurality of exemplary embodiments have been disclosed, it will be understood by those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention component. It should be noted that features illustrated with reference to one figure may be combined with features of other figures, even if not explicitly mentioned.

Claims (12)

  1. 一种机器人的近端平台，其在近端侧与机器人的控制缸箱车连接并在远端侧与机器人的远端平台连接，所述近端平台包括：A proximal platform of a robot coupled to a control cylinder cart of a robot on a proximal side and to a distal platform of a robot on a distal side, the proximal platform comprising:
    位于左右两侧的侧板组件，每个侧板组件包括滑轨(120)、连接板(140)和边轨(160)；Side panel assemblies on the left and right sides, each side panel assembly including a slide rail (120), a connecting plate (140) and a side rail (160);
    其中，所述滑轨(120)能够沿近端-远端方向相对于所述连接板(140)滑动；所述边轨(160)刚性连接到所述连接板(140)，所述边轨(160)具有至少一个附件安装部(167、168、169)。Wherein the slide rail (120) is slidable relative to the connecting plate (140) in a proximal-distal direction; the side rail (160) is rigidly connected to the connecting plate (140), the side rail (160) having at least one accessory mounting portion (167, 168, 169).
  2. 根据权利要求1所述的机器人的近端平台，其中，The proximal platform of the robot according to claim 1, wherein
    所述滑轨(120)包括用于连接到所述控制缸箱车的第一连接部(122)；所述连接板(140)包括用于连接到所述远端平台的第二连接部(144)。The slide rail (120) includes a first connection portion (122) for connecting to the control cylinder car; the connection plate (140) includes a second connection portion for connecting to the distal platform ( 144).
  3. 根据权利要求2所述的机器人的近端平台，其中A proximal platform for a robot according to claim 2, wherein
    所述滑轨(120)的所述第一连接部(122)为排列成矩形的四个螺钉孔。The first connecting portion (122) of the sliding rail (120) is four screw holes arranged in a rectangular shape.
  4. 根据权利要求2所述的机器人的近端平台，其中A proximal platform for a robot according to claim 2, wherein
    所述连接板(140)的所述第二连接部(142)为形成在所述连接板(140)的远端侧的螺钉孔。The second connecting portion (142) of the connecting plate (140) is a screw hole formed on a distal end side of the connecting plate (140).
  5. 根据权利要求1所述的机器人的近端平台，还包括The proximal platform of the robot of claim 1 further comprising
    锁位机构，其能够锁紧所述滑轨(120)相对于所述连接板(140)的位置。A locking mechanism capable of locking the position of the slide rail (120) relative to the connecting plate (140).
  6. 根据权利要求5所述的机器人的近端平台，其中A proximal platform for a robot according to claim 5, wherein
    所述锁位机构包括：The locking mechanism includes:
    与所述滑轨(120)刚性连接的螺孔板(124)a screw plate (124) rigidly connected to the slide rail (120)
    具有螺杆(134)的锁位旋钮(130)，所述螺杆(134)穿过所述螺孔板(124)的螺孔；a locking knob (130) having a screw (134), the screw (134) passing through a screw hole of the screw plate (124);
    其中当所述锁位旋钮(130)被旋进时，所述螺杆(134)顶住所述连接板(140)。Wherein the screw (134) bears against the connecting plate (140) when the locking knob (130) is screwed in.
  7. 根据权利要求1所述的机器人的近端平台，其中The proximal platform of the robot of claim 1 wherein
    所述至少一个附件安装部包括：The at least one accessory mounting portion includes:
    两个第一安装部(167)，其用于安装腿部支撑架；Two first mounting portions (167) for mounting the leg support brackets;
    第二安装部(168)，其用于安装腿托(180)；a second mounting portion (168) for mounting the leg rest (180);
    第三安装部(169)，其用于安装臂托(190)。A third mounting portion (169) for mounting the arm rest (190).
  8. 根据权利要求7所述的机器人的近端平台，其中A proximal platform for a robot according to claim 7, wherein
    所述第二安装部(168)或第三安装部(169)包括：The second mounting portion (168) or the third mounting portion (169) includes:
    能够在所述边轨(160滑动的卡座(1682)；Capable on the side rail (160 sliding deck (1682);
    与所述卡座(1682)刚性连接的托杆座(1683)； a rod holder (1683) rigidly connected to the card holder (1682);
    Figure PCTCN2017110511-appb-100001
    形托杆(1684)，其竖直段安装在所述托杆座(1683)内并能够在竖直方向转动，其水平段具有沿竖直方向的安装孔，所述腿托(180)安装在所述
    Figure PCTCN2017110511-appb-100002
    形托杆(1684)的所述安装孔上；以及
    Figure PCTCN2017110511-appb-100001
    a shaped lever (1684) having a vertical section mounted therein and capable of rotating in a vertical direction, the horizontal section having a mounting hole in a vertical direction, the leg rest (180) being mounted In the stated
    Figure PCTCN2017110511-appb-100002
    The mounting hole of the shaped lever (1684);
    用于将卡座(1682)锁紧在所述边轨(160)上的锁紧件(1686)。A locking member (1686) for locking the card holder (1682) to the side rail (160).
  9. 根据权利要求7所述的机器人的近端平台，其中A proximal platform for a robot according to claim 7, wherein
    所述第一安装部(167)包括：The first mounting portion (167) includes:
    能够在所述边轨(160)上滑动的卡座；a card holder that is slidable on the side rail (160);
    与所述卡座刚性连接的托杆座，所述腿部支撑架安装在所述托杆座(1683)内；a rod holder rigidly coupled to the card holder, the leg support frame being mounted in the rod holder (1683);
    用于将所述卡座锁紧在所述边轨(160)上的锁紧件。A locking member for locking the card holder to the side rail (160).
  10. 根据权利要求1所述的机器人的近端平台，其中The proximal platform of the robot of claim 1 wherein
    所述滑轨(120)与所述连接板(140)形成燕尾槽结构。The slide rail (120) and the connecting plate (140) form a dovetail groove structure.
  11. 根据权利要求1所述的机器人的近端平台，其中The proximal platform of the robot of claim 1 wherein
    所述边轨(160)通过多个安装钉(164)安装到所述连接板(140)上。The side rails (160) are mounted to the connecting plate (140) by a plurality of mounting pins (164).
  12. 根据权利要求1所述的机器人的近端平台，还包括The proximal platform of the robot of claim 1 further comprising
    横向加强筋(150)，其能够连接到所述的位于左右两侧的侧板组件。 A transverse stiffener (150) is connectable to the side panel assemblies on the left and right sides.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB699611A (en) * 1952-08-15 1953-11-11 Robert Schranz Improvements in hand drills particularly for surgeons' use
CN104274266A (en) * 2013-09-28 2015-01-14 沈阳新松机器人自动化股份有限公司 Full-automatic orthopaedic traction robot
CN105853186A (en) * 2016-05-16 2016-08-17 安庆米锐智能科技有限公司 Massage robot for treating cervical spondylosis of department of orthopaedics
CN106943279A (en) * 2017-04-27 2017-07-14 东北大学 Hand ectoskeleton both hands are servo-actuated convalescence device
CN206548606U (en) * 2016-08-09 2017-10-13 宝应县富康医疗器械有限公司 A kind of ear-nose-throat department tool stand
CN107736927A (en) * 2017-11-10 2018-02-27 威海威高骨科手术机器人有限公司 The near-end platform of robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB699611A (en) * 1952-08-15 1953-11-11 Robert Schranz Improvements in hand drills particularly for surgeons' use
CN104274266A (en) * 2013-09-28 2015-01-14 沈阳新松机器人自动化股份有限公司 Full-automatic orthopaedic traction robot
CN105853186A (en) * 2016-05-16 2016-08-17 安庆米锐智能科技有限公司 Massage robot for treating cervical spondylosis of department of orthopaedics
CN206548606U (en) * 2016-08-09 2017-10-13 宝应县富康医疗器械有限公司 A kind of ear-nose-throat department tool stand
CN106943279A (en) * 2017-04-27 2017-07-14 东北大学 Hand ectoskeleton both hands are servo-actuated convalescence device
CN107736927A (en) * 2017-11-10 2018-02-27 威海威高骨科手术机器人有限公司 The near-end platform of robot

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