Design method of telescopic support rod, passive telecentric mechanism and support rod thereof

Abstract

The invention discloses a design method of a telescopic support rod, a passive telecentric mechanism and a support plate thereof. The telescopic support rod includes a first support rod and a second support rod which are socketed and can slide relative to each other. The inner shaft of the first support rod is A telescopic passage is provided in the direction, and an accommodating groove is provided in the recess of the telescopic passage. The second support rod has a first end and a second end opposite to each other. The first end is provided with a friction block, and the first end extends into the telescopic passage to make the The friction block is in frictional contact with the inner wall of the telescopic channel, and the second end protrudes from the first support rod. During the relative sliding process of the first support rod and the second support rod, the friction block breaks away from or enters the accommodating groove to change the relationship between the second support rod and the first support rod. Friction between a rod. The design method of the telescopic support rod, the passive telecentric mechanism and the support rod thereof of the present invention uses a plurality of friction blocks to alternately contact with the inner wall of the telescopic channel at different positions, so that the support rod produces different frictional forces at different telescopic positions, which can Effectively balance the changing gravitational moment of the passive telecentric mechanism to achieve the effect of pulling and stopping.

Description

technical field [0001] The invention relates to the field of medical devices, and specifically relates to a telescopic support rod, a passive telecentric mechanism and a design method for the support rod. Background technique [0002] During minimally invasive surgery, doctors use telecentric mechanisms to hold imaging devices such as endoscopes or ultrasound endoscopes to perform surgical image guidance tasks. The telecentric mechanism used generally adopts a parallelogram structure, which can be dragged by hand to realize the movement of the telecentric point, including forward and backward pitch rotation, left and right swing, spin and translation, etc., so that the imaging device can take pictures or form images from different spatial postures in the body the goal of. This parallelogram telecentric mechanism dragged by hand is also called passive parallelogram telecentric mechanism or passive telecentric mechanism. [0003] The pitching rotation of the telecentric poin...

AI Technical Summary

Problems solved by technology

The most common telescopic support rods generally use a friction block to generate friction, and the size remains unchanged during the stretching process, which leads to the operation changing due to the excessive friction of the friction rod when it is dragged and rotated. It is difficult to obtain, or because the friction force of the friction force rod is small and cannot completely overcome the gravity of the passive telecentric mechanism, an imbalance occurs, or because the friction force of the friction force rod can only make the passive telecentric mechanism move in a certain section of the stroke. The apocentric point is in balance, while at other travel positions there is an imbalance due to the free fall of the apocentric point

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