Therapeutic assistive robotic arm device

Abstract

The application provides a kind of treatment auxiliary mechanical arm equipment, wherein first treatment component, second treatment component can be moved along column to adjust position;First treatment component includes first support arm and first treatment probe mounting portion connected at the end of first support arm, first treatment probe mounting portion includes first mounting seat and first mounting clamp elastically movably connected with first mounting seat, first mounting clamp is used to install first treatment probe, first mounting clamp makes first treatment probe closely adhere to treatment site by elastic force, and the structure of second treatment component is similar.In the application, first treatment component and second treatment component can be adjusted with multiple degrees of freedom similar to human arm, and can be used in combination, so that the treatment probe accurately corresponds to the lesion site for treatment, and can maintain the close state to ensure the treatment effect, improve the reliability and convenience of treatment, especially urological treatment, and reduce the workload of medical staff.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a therapeutic assistive robotic arm device. Background Technology

[0002] The urology department primarily treats various urological diseases. Surgical treatment is the most common approach, and assistive devices are often used during these procedures. Currently, robotic surgical arms are a widely used type of assistive device in urology; however, there are still some shortcomings in their use that require improvement.

[0003] For example, Chinese invention patent application CN112451099A discloses a robotic arm for assisting urological surgery, including a base and a storage cabinet. A chassis is fixedly connected to the other side of the top of the base, and a first arm is mounted on the top of the chassis. A second arm is fixedly connected to one side of the first arm, and a storage structure is fixedly connected to one end of the second arm. An adjusting rod is provided inside the second arm, and a fixing block is fixedly connected to one side of the adjusting rod. Two sets of rollers are fixedly connected to the bottom of the base, a servo motor is fixedly connected to one end of the first arm, and a lighting structure is movably hinged to the bottom of the fixing block. Therefore, this design is mainly used for auxiliary lighting and is not suitable for the auxiliary purpose of installing treatment probes. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the aforementioned background technology by providing a robotic arm suitable for urological treatment probes, which can further reduce the workload of medical staff.

[0005] To achieve the above objectives, the present invention provides a therapeutic assistive robotic arm device, including a column and a first therapeutic component and a second therapeutic component disposed on the column, wherein the first therapeutic component and the second therapeutic component are both capable of moving and adjusting their positions along the column.

[0006] The first treatment component includes a first support arm and a first treatment probe mounting part connected to the end of the first support arm. The first treatment probe mounting part includes a first mounting base and a first mounting clip that is elastically and movably connected to the first mounting base. The first mounting clip is used to mount the first treatment probe, and the first mounting clip is subjected to elastic force to make the first treatment probe fit tightly against the treatment site.

[0007] The second treatment component includes a second support arm and a second treatment probe mounting portion connected to the end of the second support arm. The second treatment probe mounting portion includes a second mounting base and a second mounting clip elastically connected to the second mounting base. The second mounting clip is used to mount the second treatment probe, and the second mounting clip is subjected to elastic force to make the second treatment probe fit tightly against the treatment site.

[0008] Furthermore, the first support arm includes a first front support arm and a first rear support arm. The first end of the first front support arm is rotatably connected to the first mounting base, the second end of the first front support arm is rotatably connected to the first end of the first rear support arm, and the second end of the first rear support arm is movably connected to the column.

[0009] The second support arm includes a second front support arm and a second rear support arm. The first end of the second front support arm is rotatably connected to the second mounting base, the second end of the second front support arm is rotatably connected to the second end of the second rear support arm, and the second end of the second rear support arm is movably connected to the column.

[0010] Furthermore, the first end of the first front support arm is hinged to the first mounting base via a first hinge seat, and the second end of the first front support arm is hinged to the first end of the first rear support arm via a second hinge seat.

[0011] The first end of the second front support arm is hinged to the second mounting base via the first hinge seat, and the second end of the second front support arm is hinged to the first end of the second rear support arm via the second hinge seat.

[0012] Furthermore, both the first hinge seat and the second hinge are provided with a retaining structure to ensure stability after rotation.

[0013] Furthermore, the first mounting clip is provided with a first guide post, and the first mounting base is provided with a first guide hole corresponding to the first guide post, and the first guide post and the first guide hole are movably engaged;

[0014] The second mounting clip is provided with a second guide post, and the second mounting base is provided with a second guide hole corresponding to the second guide post. The second guide post and the second guide hole are movably engaged.

[0015] Furthermore, a first spring is provided between the first mounting base and the first mounting clip, the first spring is sleeved on the first guide post, and the two ends of the first spring are respectively connected to the first mounting base and the first guide post;

[0016] A second spring is provided between the second mounting base and the second mounting clip. The second spring is sleeved on the second guide post, and the two ends of the second spring are respectively connected to the second mounting base and the second guide post.

[0017] Furthermore, the first mounting base is provided with a first guide groove, and the first mounting clip is provided with a first slider corresponding to the first guide groove;

[0018] The second mounting base has a second guide groove, and the second mounting clip has a second slider corresponding to the second guide groove.

[0019] Furthermore, both the first mounting clip and the second mounting clip are provided with clamps, which are made of elastic material.

[0020] Furthermore, both the first mounting base and the second mounting base include a fixed base and a movable base. The first guide hole and the second guide hole are respectively provided on the corresponding movable base. The fixed base has an adjustment groove, and the movable base has a screw hole. A fastening bolt is inserted into the adjustment groove. The fastening bolt is fixed at different positions of the adjustment groove to adjust the angle of the movable groove relative to the fixed groove.

[0021] Furthermore, a third guide rail is provided on the column, the second end of the first rear support arm is connected to the first support platform, and the first support platform is movably mounted on the third guide rail; the second end of the second rear support arm is connected to the second support platform, and the second support platform is movably mounted on the third guide rail.

[0022] The above-described solution of the present invention has the following beneficial effects:

[0023] The therapeutic assistive robotic arm device provided by this invention has a first treatment component and a second treatment component that can be adjusted in multiple degrees of freedom similar to a human arm, and can be used in combination to ensure that the treatment probe accurately corresponds to the lesion site for treatment, and can maintain a close fit to ensure the treatment effect, thereby improving the reliability and convenience of treatment, especially urological treatment, and reducing the workload of medical staff.

[0024] Other beneficial effects of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is another schematic diagram of the overall structure of the present invention;

[0027] Figure 3 for Figure 1Enlarged view of point A;

[0028] Figure 4 for Figure 1 Enlarged view of point B;

[0029] Figure 5 for Figure 2 Enlarged view of point C.

[0030] [Explanation of Labels in the Attached Image]

[0031] 1-Column; 2-First mounting base; 3-First mounting clamp; 4-First treatment probe; 5-Second mounting base; 6-Second mounting clamp; 7-Second treatment probe; 8-First front support arm; 9-First rear support arm; 10-Second front support arm; 11-Second rear support arm; 12-First hinge seat; 13-Second hinge seat; 14-First guide post; 15-Mounting groove; 16-First guide hole; 17-Second guide post; 18-Second guide hole; 19-First spring; 20-Second spring; 21-First guide groove; 22-First slider; 23-Second guide groove; 24-Second slider; 25-Clamp; 26-Fixed base; 27-Modible base; 28-Adjustment groove; 29-Fasting bolt; 30-Third guide rail; 31-First support platform; 32-Second support platform; 33-Third hinge seat. Detailed Implementation

[0032] To make the technical problems, solutions, and advantages of this invention clearer, a detailed description will be provided below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0033] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a locking connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] like Figures 1-5 As shown, an embodiment of the present invention provides a therapeutic auxiliary robotic arm device, including a column 1 and a first treatment component and a second treatment component disposed on the column 1. The column 1 serves to support and fix the entire robotic arm device. Both the first and second treatment components can move and adjust their positions along the column 1 to reach corresponding height positions and treat the lesion site.

[0036] It should be noted that in this embodiment, the first and second treatment components can work simultaneously to treat related urological diseases, such as prostatitis and erectile dysfunction. (Prostate ultrasound therapy involves continuously irradiating the prostate with a certain dose of low-intensity pulsed ultrasound energy through the perineum and pubic symphysis, utilizing the mechanical, thermal, and cavitation effects of ultrasound to treat prostatitis. Prostate ultrasound therapy uses pulse signals inside the treatment device to excite the piezoelectric ceramic in the ultrasound therapy probe, thereby generating ultrasound rays to achieve the therapeutic purpose. Erectile dysfunction (ED) is the most common male sexual dysfunction, referring to the persistent inability to achieve or maintain an erection sufficient for satisfactory sexual intercourse. It has been found that the mechanical, thermal, and cavitation effects of low-intensity pulsed ultrasound can stimulate the repair and regeneration of endogenous stem cells and promote the proliferation of smooth muscle cells in the corpus cavernosum, thereby improving penile pathological changes and ultimately achieving the effect of treating erectile dysfunction. Therefore, low-intensity pulsed ultrasound can be used to treat both prostatitis and erectile dysfunction simultaneously.)

[0037] Therefore, in this embodiment, the first treatment component includes a first support arm and a first treatment probe mounting portion connected to the end of the first support arm. The first treatment probe mounting portion includes a first mounting base 2 and a first mounting clip 3 elastically connected to the first mounting base 2. The first mounting clip 3 is used to mount the first treatment probe 4, and the first mounting clip 3, under elastic force, keeps the first treatment probe 4 tightly attached to the treatment site.

[0038] Similarly, the second treatment component includes a second support arm and a second treatment probe mounting part connected to the end of the second support arm. The second treatment probe mounting part includes a second mounting base 5 and a second mounting clip 6 that is elastically connected to the second mounting base 5. The second mounting clip 6 is used to mount the second treatment probe 7. The second mounting clip 6 is subjected to elastic force to make the second treatment probe 7 fit tightly against the treatment site.

[0039] The first and second support arms each have multiple degrees of freedom to flexibly adjust the position and angle of the first treatment probe 4 and the second treatment probe 7, so that the first treatment probe 4 and the second treatment probe 7 are respectively aligned with the lesion for treatment.

[0040] In this embodiment, the first support arm includes a first front support arm 8 and a first rear support arm 9. The first end of the first front support arm 8 is rotatably connected to the first mounting base 2, and the second end of the first front support arm 8 is rotatably connected to the first end of the first rear support arm 9. The second end of the first rear support arm 9 is movably connected to the column 1. Therefore, the first support arm as a whole has one degree of rotational freedom, allowing for internal rotational adjustment, similar to the human elbow. The first mounting base 2 can also be rotated relative to the first support arm, similar to the human wrist.

[0041] The second support arm includes a second front support arm 10 and a second rear support arm 11. The first end of the second front support arm 10 is rotatably connected to the second mounting base 5. The second end of the second front support arm 10 is rotatably connected to the second end of the second rear support arm 11. The second end of the second rear support arm 11 is movably connected to the column 1. It is similar to the first support arm, and will not be described in detail here.

[0042] Specifically in this embodiment, the first end of the first front support arm 8 is hinged to the first mounting base 2 through the first hinge seat 12, and the second end of the first front support arm 8 is hinged to the first end of the first rear support arm 9 through the second hinge seat 13. The hinge seat ensures the reliability of the connection and the service life.

[0043] Furthermore, since the adjustment of the first support arm, the first mounting base 2, etc., is all done manually—that is, the angle adjustment of the positions of the first hinge base 12 and the second hinge base 13 is directly completed manually by medical staff—both the first hinge base 12 and the second hinge base 13 are equipped with a holding structure to ensure that the position remains stable after adjustment for smooth treatment. It should be noted that the holding structure itself is existing technology, including but not limited to magnetic structures, etc., which rely on magnetic force to keep the first support arm, the first mounting base 2, etc., fixed when rotated to the corresponding angle position (any angle position), ensuring stability during subsequent treatment.

[0044] The first end of the second front support arm 10 is also hinged to the second mounting base 5 through the corresponding first hinge seat 12, and the second end of the second front support arm 10 is also hinged to the first end of the second rear support arm 11 through the corresponding second hinge seat 12. This will not be described in detail here.

[0045] Understandably, for the treatment of prostatitis and erectile dysfunction, the first treatment component adjusts the first treatment probe 4 to an upward angle, and the second treatment component adjusts the second treatment probe 7 to a downward angle, so that they are respectively aimed at the prostate and the penis without interfering with each other. Figure 1 The angle shown.

[0046] In this embodiment, the first mounting clip 3 is provided with a first guide post 14. The end of the first guide post 14 passes through the mounting groove 15 of the first mounting clip 3 and is fixed to the first mounting clip 3. The first mounting base 2 is provided with a first guide hole 16 corresponding to the first guide post 14. The first guide post 14 is movably engaged with the first guide hole 16, so the position of the first mounting clip 3 can be adjusted relative to the first mounting base 2. It is understood that a limiting structure needs to be provided at the end of the first guide post 14 to prevent the first guide post 14 from being completely pulled out of the first guide hole 16, which would cause the first mounting clip 3 and the first treatment probe 4 to fall off.

[0047] The second mounting clip 6 is provided with a second guide post 17, and the second mounting base 5 is provided with a second guide hole 18 corresponding to the second guide post 17. The second guide post 17 and the second guide hole 18 are movably engaged, which will not be described in detail here.

[0048] In this embodiment, a first spring 19 is provided between the first mounting base 2 and the first mounting clip 3. The first spring 19 is sleeved on the first guide post 14, and its two ends are respectively connected to the first mounting base 2 and the first mounting clip 3. Therefore, the first mounting clip 3 is continuously subjected to elastic tension, causing it to move closer to the first mounting base 2. During treatment, the first mounting clip 3 is first pulled away from the first mounting base 2, so that the first treatment probe 4 is aligned with the lesion. At this time, the first guide post 14 extends relative to the first guide hole 16. Then, the first mounting clip 3 is released, and the first treatment probe 4 is pushed forward under the action of the first spring 19, relying on elastic force to adhere tightly to the patient's treatment site, achieving a better treatment effect.

[0049] A second spring 20 is provided between the second mounting base 5 and the second mounting clip 6. The second spring 20 is sleeved on the second guide post 17. The two ends of the second spring 20 are respectively connected to the second mounting base 5 and the second mounting clip 6. This will not be described in detail here.

[0050] It should be noted that the first guide post 14 and the second guide post 17 are suspended relative to the mounting groove 15 and are formed by the support at the end. Therefore, there is a gap to facilitate the arrangement of the spring and to prevent interference when the corresponding guide hole is inserted. At this time, the outer wall of the guide hole and the mounting groove 15 can also form a certain fit, further improving stability.

[0051] As a further improvement, in this embodiment, the first mounting base 2 is provided with a first guide groove 21, and the first mounting clip 3 is provided with a first slider 22 corresponding to the first guide groove 21. The first slider 22 is slidably engaged with the first guide groove 21, and the first slider 22 is located on both sides of the first guide post 14. Therefore, the first mounting clip 3 further forms a sliding connection with the first mounting base 2, which improves the sliding stability and also prevents the first mounting clip 3 and the first treatment probe 4 from rotating relative to the axis of the first guide post 14, thus avoiding the first treatment probe 4 from shaking.

[0052] In a preferred embodiment, both the first guide groove 21 and the first slider 22 are inverted T-shaped to make their cooperation more stable.

[0053] The second mounting base 5 has a second guide groove 23, and the second mounting clip 6 has a second slider 24 corresponding to the second guide groove 23. These details will not be elaborated here.

[0054] In this embodiment, both the first mounting clip 3 and the second mounting clip 6 are equipped with clamps 25. The clamps 25 are made of elastic material, and the first treatment probe 4 and the second treatment probe 7 are directly clamped and fixed by elastic force, making installation and disassembly convenient. Of course, the wiring of the first treatment probe 4 and the second treatment probe 7 can be connected to the treatment device normally.

[0055] As a further improvement, both the first mounting clip 3 and the second mounting clip 6 can be adjusted in tilt angle relative to their corresponding mounting seats. Specifically, in this embodiment, both the first mounting seat 2 and the second mounting seat 5 include a fixed seat 26 and a movable seat 27. The first guide hole 16 and the second guide hole 18 are respectively provided on the corresponding movable seat 27, and of course, the first guide groove 21 and the second guide groove 23 are also provided on the corresponding movable seat 27. An adjustment groove 28 is provided on the fixed seat 26, and a screw hole is provided on the movable seat 27. A fastening bolt 29 is inserted into the adjustment groove 28. The fastening bolt 29 is fixed at different positions in the adjustment groove 28 to adjust the angle of the movable seat 27 relative to the fixed seat 26, thereby adjusting the tilt angle of the first mounting clip 3 and the second mounting clip 6, that is, the first treatment probe 4 and the second treatment probe 7, relative to the mounting seats.

[0056] It should be noted that both the first guide groove 21 and the second guide groove 23 are arc-shaped. The center of the movable seat 27 and the fixed seat 26 are rotatably connected through a rotating joint. Therefore, the fastening bolt 29 can tilt the movable seat 27 relative to the fixed seat 26 at a preset angle and fix it at different positions of the adjustment groove 28, so as to achieve the purpose of corresponding adjustment, that is, to make the first treatment probe 4 and the second treatment probe 7 more accurately align with the lesion site.

[0057] In this embodiment, a third guide rail 30 is provided on the column 1, and the second end of the first rear support arm 9 is connected to the first support platform 31. The first support platform 31 is movably mounted on the third guide rail 30, thus enabling the first support arm to move relative to the column 1 and adjust its height. Of course, to ensure the stability of the first support platform 31 and the first support arm after adjustment, gas springs or similar devices are also needed to further support the first support platform 31 so that it remains at a preset height position.

[0058] The second end of the second rear support arm 11 is connected to the second support platform 32, which is movably mounted on the third guide rail 30. This will not be described in detail here.

[0059] In addition, as a further improvement, a third hinge seat 33 is provided on both the first support platform 31 and the second support platform 32. The second end of the first rear support arm 9 and the second end of the second rear support arm 11 are respectively hinged to the corresponding third hinge seat 33, so they can also be rotated and adjusted to simulate the human shoulder movement, further improving the adjustment flexibility of the robotic arm.

[0060] When using the treatment-assisted robotic arm device provided in this embodiment, firstly, adjust the first support arm and the second support arm to the preset height position along the third guide rail 30 of the column 1. Then, adjust the internal angles of the first support arm and the second support arm, as well as the angles of the first mounting base 2 and the second mounting base 5. Finally, adjust the tilt angles of the first mounting clip 3 and the second mounting clip 6 so that the first treatment probe 4 and the second treatment probe 7 are respectively aligned with the corresponding lesion sites. Pull out the first mounting clip 3 and the second mounting clip 6 relative to the first mounting base 2 and the second mounting base 5, and then release them so that the first treatment probe 4 and the second treatment probe 7 press firmly against the lesion site for accurate treatment.

[0061] Of course, this device can also be configured with only one set of treatment components or more sets of treatment components to flexibly adapt to the needs of urological treatment.

[0062] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A therapeutic assistive robotic arm device, characterized in that, It includes a column and a first treatment component and a second treatment component arranged on the column. Both the first treatment component and the second treatment component can be moved and adjusted along the column. The first treatment component includes a first support arm and a first treatment probe mounting part connected to the end of the first support arm. The first treatment probe mounting part includes a first mounting base and a first mounting clip that is elastically and movably connected to the first mounting base. The first mounting clip is used to mount the first treatment probe, and the first mounting clip is subjected to elastic force to make the first treatment probe fit tightly against the treatment site. The second treatment component includes a second support arm and a second treatment probe mounting portion connected to the end of the second support arm. The second treatment probe mounting portion includes a second mounting base and a second mounting clip elastically connected to the second mounting base. The second mounting clip is used to mount the second treatment probe, and the second mounting clip is subjected to elastic force to make the second treatment probe fit tightly against the treatment site.

2. The therapeutic assistive robotic arm device according to claim 1, characterized in that, The first support arm includes a first front support arm and a first rear support arm. The first end of the first front support arm is rotatably connected to the first mounting base, the second end of the first front support arm is rotatably connected to the first end of the first rear support arm, and the second end of the first rear support arm is movably connected to the column. The second support arm includes a second front support arm and a second rear support arm. The first end of the second front support arm is rotatably connected to the second mounting base, the second end of the second front support arm is rotatably connected to the second end of the second rear support arm, and the second end of the second rear support arm is movably connected to the column.

3. The therapeutic assistive robotic arm device according to claim 2, characterized in that, The first end of the first front support arm is hinged to the first mounting base via a first hinge seat, and the second end of the first front support arm is hinged to the first end of the first rear support arm via a second hinge seat. The first end of the second front support arm is hinged to the second mounting base via the first hinge seat, and the second end of the second front support arm is hinged to the first end of the second rear support arm via the second hinge seat.

4. The therapeutic assistive robotic arm device according to claim 3, characterized in that, Both the first hinge seat and the second hinge are provided with a retaining structure to ensure stability after rotation.

5. The therapeutic assistive robotic arm device according to claim 1, characterized in that, The first mounting clip is provided with a first guide post, and the first mounting base is provided with a first guide hole corresponding to the first guide post, and the first guide post and the first guide hole are movably engaged; The second mounting clip is provided with a second guide post, and the second mounting base is provided with a second guide hole corresponding to the second guide post. The second guide post and the second guide hole are movably engaged.

6. The therapeutic assistive robotic arm device according to claim 5, characterized in that, A first spring is provided between the first mounting base and the first mounting clip. The first spring is sleeved on the first guide post, and the two ends of the first spring are respectively connected to the first mounting base and the first guide post. A second spring is provided between the second mounting base and the second mounting clip. The second spring is sleeved on the second guide post, and the two ends of the second spring are respectively connected to the second mounting base and the second guide post.

7. A therapeutic assistive robotic arm device according to claim 5, characterized in that, The first mounting base is provided with a first guide groove, and the first mounting clip is provided with a first slider corresponding to the first guide groove; The second mounting base has a second guide groove, and the second mounting clip has a second slider corresponding to the second guide groove.

8. A therapeutic assistive robotic arm device according to claim 5, characterized in that, Both the first mounting clip and the second mounting clip are provided with clamps, which are made of elastic material.

9. A therapeutic assistive robotic arm device according to claim 5, characterized in that, Both the first mounting base and the second mounting base include a fixed base and a movable base. The first guide hole and the second guide hole are respectively provided on the corresponding movable base. The fixed base has an adjustment groove, and the movable base has a screw hole. A fastening bolt is inserted into the adjustment groove. The fastening bolt is fixed at different positions in the adjustment groove to adjust the angle of the movable base relative to the fixed base.

10. A therapeutic assistive robotic arm device according to claim 2, characterized in that, A third guide rail is provided on the column, the second end of the first rear support arm is connected to the first support platform, and the first support platform is movably mounted on the third guide rail; the second end of the second rear support arm is connected to the second support platform, and the second support platform is movably mounted on the third guide rail.

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