Auxiliary robot in operation process
By installing auxiliary robots on the ceiling of the operating room, using multi-degree of freedom movement driven by slings and motors, the problem of physical exhaustion during long-term standing operations is solved, and the labor intensity is reduced and the convenience of activities is achieved.
Patent Information
- Application Number
- CN202510477673.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-16
- Publication Date
- 2025-07-29
AI Technical Summary
Existing medical assisted robots have failed to effectively reduce the labor intensity of doctors during prolonged surgery, especially physical exhaustion in standing states.
An auxiliary robot including guide rails, moving mechanisms and wire release devices is designed. It is tied to the doctor through a sling, and uses a motor to drive the sling's retracting and retracting mechanisms and multi-degree-of-free movement of the sling to reduce the doctor's physical consumption.
Sharing the doctor's weight through suspension reduces the doctor's labor intensity during the operation and improves the freedom of movement and comfort during the operation.
Smart Images
Figure CN120381343A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of medical devices, and particularly relates to an auxiliary robot during a surgical procedure. Background Art
[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as operations or movements through programming and automatic control. In the medical field, related robots are also applied to reduce the labor intensity of medical staff.
[0003] During a surgical procedure, a doctor always maintains a standing position. If a major surgery is performed, the standing time is even longer, generally four to five hours. Standing for a long time greatly increases the burden on the doctor, and generally, the doctor cannot rest during the surgery. Among the existing medical auxiliary robots, basically, they are aimed at improving the convenience during the surgery, and there is no auxiliary robot that directly acts to reduce the labor intensity of the doctor. Summary of the Invention
[0004] To solve the above problems, the present invention discloses an auxiliary robot during a surgical procedure, including a guide rail. A moving mechanism is arranged on the guide rail. The moving mechanism includes a moving seat. A rotating sleeve is rotatably connected below the moving seat. The lower end of the rotating sleeve is fixedly connected with a bottom shell. A screw rod is rotatably connected to the lower end of the bottom shell. A sliding rod is threadedly engaged with the screw rod. That is, the moving mechanism can move along the guide rail. At the same time, the rotating sleeve can rotate relative to the moving seat. And under the rotation of the screw rod, the sliding rod can be driven to move along the axis of the screw rod.
[0005] Both ends of the sliding rod are fixedly connected with a wire releasing device. The wire releasing device includes a housing. A fourth motor is arranged inside the housing. And the motor shaft of the fourth motor is fixedly connected to the housing. A wire winding wheel is fixedly connected to the side wall of the fourth motor. A suspension cable is wound around the wire winding wheel. And a strap is arranged at the lower end of the suspension cable. A through hole is opened in the lower part of the housing. And a guiding ring is arranged in the through hole. The suspension cable passes through the guiding ring. At least three pressure sensors are arranged at equal angles at the edge of the guiding ring. The wire releasing device is fixed on the sliding rod. That is, when the sliding rod moves, the position of the wire releasing device also changes. When the device is used, the strap is tied to the surgical doctor, and through the suspension method, the physical consumption of standing during the surgery is reduced.
[0006] Preferably, the guide rail includes a fixing plate. Tracks are arranged on both sides below the fixing plate. A plurality of rollers are arranged on the upper part of the moving seat. The rollers are rotatably fitted inside the tracks. Through the arrangement of the rollers and the tracks, the moving mechanism is realized to be attached to the guide rail.
[0007] Preferably, a rack is provided at the lower part of the guide rail, a third motor is fixedly connected to the upper end of the moving seat, a gear is fixedly connected to the output end of the third motor, and the gear is engaged with the rack. When the third motor is started, the gear rotates, and with the cooperation of the gear and the rack, the moving mechanism moves on the guide rail.
[0008] Preferably, a second motor is fixedly connected to the upper end of the bottom case, the output end of the second motor is in spline fit with the moving seat, a convex ring is fixedly connected to the inner wall of the upper part of the rotating sleeve, a circular ring is fixedly connected to the lower end of the moving seat, a ball track is arranged on the outer edge of the circular ring, and the ball track supports the bottom of the convex ring upward, and balls are arranged between the ball track and the convex ring. When the second motor is started, the rotating sleeve rotates around the moving seat. In addition, the convex ring, the circular ring and the balls provided are all to ensure the smooth rotation of the rotating sleeve and are used for bearing force to avoid the motor shaft of the second motor being subjected to tensile force.
[0009] Preferably, a first motor is fixedly connected to the upper end of the bottom case, belt pulleys are fixedly connected to the ends of the first motor and the screw rod, and a belt is sleeved on the belt pulley. When the first motor is started, the screw rod rotates through the rotation of the belt pulley and the belt.
[0010] Preferably, an end plate is fixedly connected to one side of the outer shell, two connecting blocks are fixedly connected to the other side of the outer shell, and the two connecting blocks clamp the end of the sliding rod.
[0011] The beneficial effects of the present invention are as follows: 1. By installing the auxiliary robot on the ceiling of the operating room and setting the sling to tie to the doctor's body to share part of the doctor's weight, the labor intensity of the doctor during the operation is reduced.
[0012] 2. During use, through the third motor, the moving mechanism moves on the guide rail, through the first motor, the position of the sliding rod is adjusted, through the second motor, the rotation angle of the rotating sleeve is realized, and through the fourth motor, the tightness of the sling is adjusted to meet the needs of the doctor's multi-degree-of-freedom movement during the operation.
[0013] 3. A number of pressure sensors are arranged on the side wall of the guiding ring. By judging the force-bearing method of the sling through the force received by the pressure sensors, the movement direction of the doctor can be obtained, which is beneficial for the auxiliary robot to autonomously follow the doctor. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 is a three-dimensional schematic diagram of the present invention; Figure 2 is a structural schematic diagram of the end of the guide rail of the present invention; Figure 3 is an exploded schematic diagram of the moving mechanism of the present invention; Figure 4 Schematic structural diagram of the screw drive of the present invention; Figure 5 Schematic structural diagram of the sliding rod of the present invention; Figure 6 Explosion schematic diagram of the wire winding and unwinding device of the present invention.
[0015] List of reference numerals: 1, guide rail; 2, moving mechanism; 11, track; 12, fixing plate; 13, rack; 21, wire unwinding device; 22, first motor; 23, bottom shell; 24, second motor; 25, ball raceway; 26, ring; 27, rotating sleeve; 28, convex ring; 29, moving seat; 210, gear; 211, roller; 212, third motor; 213, pulley; 214, belt; 215, screw; 216, sliding rod; 2101, end plate; 2102, fourth motor; 2103, wire reel; 2104, guide ring; 2105, sling; 2106, outer shell; 2107, connecting block. Detailed implementation manners
[0016] The following further clarifies the present invention in conjunction with the accompanying drawings and specific implementation manners. It should be understood that the following specific implementation manners are only used to illustrate the present invention and not to limit the scope of the present invention. It should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the accompanying drawings, and the terms "inner" and "outer" respectively refer to the directions towards or away from the geometric center of a specific component.
[0017] As Figures 1 to 6 shown, an auxiliary robot during a surgical procedure includes a guide rail 1. When the device is applied, it needs to be installed on the ceiling, that is, the guide rail 1 is fixedly connected to the ceiling in advance. A moving mechanism 2 is provided on the guide rail 1. The moving mechanism 2 is integrally cylindrical. The moving mechanism 2 includes a moving seat 29. The moving seat 29 directly moves on the guide rail 1. A rotating sleeve 27 is rotatably connected below the moving seat 29. The rotating sleeve 27 is a tubular member. A bottom shell 23 is fixedly connected to the lower end of the rotating sleeve 27. The bottom shell 23 is a circular tray structure with its edge turned up. When the bottom shell 23 is sleeved on the lower part of the rotating sleeve 27, the bottom shell 23 is fixedly connected to the rotating sleeve 27 by setting bolts in the radial direction. A screw 215 is rotatably connected to the lower end of the bottom shell 23. A sliding rod 216 is in threaded cooperation with the screw 215. When the screw 215 rotates, it drives the sliding rod 216 to move axially along the screw 215. Further, the sliding rod 216 includes a rod, and two convex rods are provided on one side of the rod, and the screw 215 passes through and is in threaded cooperation with the two convex rods. In the above settings, the auxiliary robot has multiple degrees of freedom.
[0018] Both ends of the sliding rod 216 are fixedly connected with wire pay - out devices 21. Therefore, there are two wire pay - out devices 21. The wire pay - out device 21 includes a housing 2106. The housing 2106 is an overall cylindrical thin - shell part. Inside the housing 2106, there is a fourth motor 2102, and the motor shaft of the fourth motor 2102 is fixedly connected to the housing 2106. That is, when the fourth motor 2102 works, its motor housing is in a rotating state. The side wall of the fourth motor 2102 is fixedly connected with a wire take - up wheel 2103. Therefore, when the fourth motor 2102 operates, the wire take - up wheel 2103 rotates. A sling 2105 is wound around the wire take - up wheel 2103, and a strap is provided at the lower end of the sling 2105. Before use, the strap is tied to the surgeon. Then, by controlling the fourth motor 2102, the sling 2105 can be wound or released, so as to support the surgeon's body to a certain extent, reduce the physical consumption of the surgeon during the operation, and reduce the labor intensity of the surgeon. A through - hole is opened in the lower part of the housing 2106, and a guide ring 2104 is arranged in the through - hole. The sling 2105 passes through the guide ring 2104. The inner side of the guide ring 2104 is a circular chamfer. At least three pressure sensors are arranged at equal angles on the edge of the guide ring 2104. By obtaining the data of the pressure sensors, the moving direction of the sling 2105, that is, the moving direction of the surgeon, can be judged. Therefore, the position of the moving mechanism 2, the rotation angle of the rotating sleeve 27, the displacement of the sliding rod 216, and the tightness of the sling 2105 are controlled, so as to ensure that the sling 2105 can be in a vertical state, which is beneficial to supporting the surgeon.
[0019] The guide rail 1 includes a fixing plate 12. The fixing plate 12 is a plate member and is fixedly connected to the ceiling. On both sides below the fixing plate 12, there are tracks 11. The track 11 is a rod with an L - shaped cross - section. A number of rollers 211 are arranged on the upper part of the moving seat 29. The rollers 211 are rotationally matched inside the track 11. That is, the rollers 211 roll on the track 11 and provide a supporting function for the moving mechanism 2.
[0020] A rack 13 is arranged at the lower part of the guide rail 1. Specifically, the rack 13 is fixedly connected to the middle part of the lower end of the fixing plate 12. A third motor 212 is fixedly connected to the upper end of the moving seat 29. The output end of the third motor 212 is fixedly connected with a gear 210. The gear 210 and the rack 13 are meshed. By starting the third motor 212, the gear 210 rotates, and through the cooperation of the rack 13, the moving mechanism 2 is pulled to move on the guide rail 1.
[0021] A second motor 24 is fixedly connected to the upper end of the bottom case 23, and the second motor 24 is fixedly connected to the middle of the upper end of the bottom case 23. The output end of the second motor 24 is in spline fit with the moving seat 29, that is, there is no vertical force between the second motor 24 and the moving seat 29. An inner wall of the upper part of the rotating sleeve 27 is fixedly connected with a convex ring 28. A circular ring 26 is fixedly connected to the lower end of the moving seat 29. A ball track 25 is arranged on the outer edge of the circular ring 26, and the ball track 25 supports the bottom of the convex ring 28 upward. A ball is arranged between the ball track 25 and the convex ring 28. Through the convex ring 28 and the circular ring 26, the moving seat 29 supports the rotating sleeve 27, and the arranged ball ensures the smooth rotation of the rotating sleeve 27 relative to the moving seat 29.
[0022] A first motor 22 is fixedly connected to the upper end of the bottom case 23. The first motor 22 is located on one side of the second motor 24. Belt pulleys 213 are fixedly connected to the ends of the first motor 22 and the screw rod 215 respectively. A belt 214 is sleeved on the belt pulley 213. When the first motor 22 is started, the screw rod 215 is driven to rotate through the transmission of the belt pulley 213 and the belt 214. In order to improve the transmission accuracy, the belt pulley 213 and the belt 214 are respectively a synchronous belt pulley and a synchronous belt. In addition, a protective case is arranged at one end of the screw rod 215, and the protective case covers the belt pulley 213 and the belt 214 below the bottom case 23.
[0023] An end plate 2101 is fixedly connected to one side of the outer shell 2106. The end part 2101 is of a circular structure. Two connecting blocks 2107 are fixedly connected to the other side of the outer shell 2106, and the two connecting blocks 2107 clamp the end of the sliding rod 216. Specifically, bolts are inserted through the connecting blocks 2107 and fixed with nuts.
[0024] The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features.
Claims
1. An auxiliary robot during a surgical procedure, characterized in that, It includes a guide rail (1), on which a moving mechanism (2) is arranged. The moving mechanism (2) includes a moving seat (29). A rotating sleeve (27) is rotatably connected below the moving seat (29). A bottom shell (23) is fixedly connected to the lower end of the rotating sleeve (27). A screw rod (215) is rotatably connected to the lower end of the bottom shell (23). A sliding rod (216) is in threaded cooperation with the screw rod (215). Both ends of the sliding rod (216) are fixedly connected with wire paying-off devices (21). The wire paying-off device (21) includes a housing (2106). A fourth motor (2102) is arranged inside the housing (2106), and the motor shaft of the fourth motor (2102) is fixedly connected to the housing (2106). A wire reel (2103) is fixedly connected to the side wall of the fourth motor (2102). A sling (2105) is wound around the wire reel (2103), and a strap is arranged at the lower end of the sling (2105). A through hole is formed in the lower part of the housing (2106), and a guiding ring (2104) is arranged in the through hole. The sling (2105) passes through the guiding ring (2104). At least three pressure sensors are arranged at equal angles on the edge of the guiding ring (2104).
2. The auxiliary robot during a surgical procedure according to claim 1, wherein: The guide rail (1) includes a fixing plate (12). Tracks (11) are arranged on both sides below the fixing plate (12). A number of rollers (211) are arranged on the upper part of the moving seat (29), and the rollers (211) are rotatably fitted inside the tracks (11).
3. The auxiliary robot during a surgical procedure according to claim 1, characterized in that: A rack (13) is arranged at the lower part of the guide rail (1). A third motor (212) is fixedly connected to the upper end of the moving seat (29). A gear (210) is fixedly connected to the output end of the third motor (212), and the gear (210) is meshed with the rack (13).
4. The auxiliary robot during a surgical procedure according to claim 1, wherein: A second motor (24) is fixedly connected to the upper end of the bottom shell (23). The output end of the second motor (24) is in spline fit with the moving seat (29). A convex ring (28) is fixedly connected to the inner wall of the upper part of the rotating sleeve (27). A circular ring (26) is fixedly connected to the lower end of the moving seat (29). A ball raceway (25) is arranged on the outer edge of the circular ring (26), and the ball raceway (25) supports the bottom of the convex ring (28) upwards. A ball is arranged between the ball raceway (25) and the convex ring (28).
5. The auxiliary robot during a surgical procedure according to claim 1, wherein: A first motor (22) is fixedly connected to the upper end of the bottom shell (23). Belt pulleys (213) are fixedly connected to the first motor (22) and the end of the screw rod (215), and a belt (214) is sleeved on the belt pulleys (213).
6. The auxiliary robot during a surgical procedure according to claim 1, wherein: An end plate (2101) is fixedly connected to one side of the housing (2106). Two connecting blocks (2107) are fixedly connected to the other side of the housing (2106), and the two connecting blocks (2107) clamp the end of the sliding rod (216).