Remotely-operated surgical auxiliary robot and method thereof

Abstract

The invention relates to the technical field of robots, in particular to a remotely-operated surgery assisting robot and a method thereof.The remotely-operated surgery assisting robot comprises a robot body, a mechanical bearing arm is fixedly arranged on the robot body, and a device bearing assembly is installed on the mechanical bearing arm; surgical instruments are stored through the instrument bearing assembly, a bearing assembly driving mechanism is further arranged on the robot body, the instrument bearing assembly is driven to move upwards through the bearing assembly driving mechanism, meanwhile, the instrument bearing assembly is driven to rotate, and a sealing assembly is installed on the instrument bearing assembly. The invention further relates to an operation method of the remotely-operated surgical auxiliary robot, and the operation method comprises the following steps that firstly, surgical instruments are pushed; step 2, playback of the surgical instrument; and 3, resetting the appliance bearing assembly.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a remotely operated surgical assistance robot and a method thereof. Background Art

[0002] During the operation, in order to ensure that there are no errors in the surgical instruments, the surgeon needs an assistant to provide him with the surgical instruments needed for the operation, and also needs an assistant to take over the instruments used by the surgeon. In this way, an operation will require more medical staff. The addition of more medical staff will, on the one hand, make it easier for more people to be present near the operation and accidents may occur. On the other hand, it will cause the occupation of medical resources. Under the current conditions, remote control technology has been used to achieve off-site surgery. This not only allows high-quality medical resources to be available across the country, but also effectively reduces the patient's medical expenses, reduces the configuration of operating room personnel, and thus reduces the probability of accidents caused by too many people. Since telemedicine technology is mostly used in areas with backward medical resources, allowing more professional doctors to perform remote surgery can reduce patient trauma, reduce surgical risks, speed up patient recovery, and reduce patient medical expenses. The implementation of this technology usually relies on high-speed networks, high-definition image transmission technology, and intelligent surgical robot systems.

[0003] The main control end of the remote surgical robot is generally controlled by the surgeon, who remotely controls the surgical robot to perform surgery on the patient. The existing surgical robots have very flexible arm freedom and a very large operating angle of view. However, during the remote surgery, the provision or retrieval of different surgical instruments still depends on the judgment of medical staff. The replacement of surgical instruments and other operations also rely on medical staff to implement. The carrier of the surgical instruments is still a very traditional instrument cart, and medical staff are still required to control the movement of the surgical auxiliary cart, which is not convenient. Summary of the Invention

[0004] The object of the present invention is to provide a remotely operated surgical assistance robot and method thereof to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: A remotely operated surgical assistance robot comprises a robot body, a mechanical carrying arm fixedly provided on the robot body, an instrument carrying assembly mounted on the mechanical carrying arm, and surgical instruments stored via the instrument carrying assembly; The robot body is also provided with a bearing assembly driving mechanism, which drives the tool bearing assembly to move upward and simultaneously drives the tool bearing assembly to rotate; The utensil bearing assembly is provided with a sealing assembly, which seals the utensil bearing assembly and limits the surgical utensils in the utensil bearing assembly; The sealing assembly is connected with a movable side protection assembly, which cooperates with the sealing assembly to form a sealed space for protecting the surgical utensils.

[0006] Preferably, the utensil bearing assembly is a bearing box, one end of which is fixedly provided with a rotating load block, and the rotating load block is fixedly provided with a rotating load column symmetrically.

[0007] Preferably, the bearing assembly driving mechanism comprises an electric telescopic rod, an adjusting mechanical arm and a linking carrier, the electric telescopic rod is fixedly installed on the mechanical bearing arm, and the bearing box is driven to move up and down by the electric telescopic rod.

[0008] Preferably, the adjusting mechanical arm is fixedly arranged on the robot body, the upper end of the adjusting mechanical arm is fixedly provided with an inclined part, the two sides of the adjusting mechanical arm are symmetrically provided with stable channels, and the two sides of the inclined part are symmetrically provided with adjusting channels.

[0009] Preferably, the stable channels and the adjusting channels are through-penetrating, and the linking carrier cooperates with the adjusting mechanical arm to drive the bearing box to rotate.

[0010] Preferably, the sealing assembly comprises a driving rack, a gear, a linking bearing strip and a box body cover plate, the driving rack is engaged with the gear, the linking carrier drives the driving rack to move, and then drives the gear to rotate.

[0011] Preferably, the gear drives the linking bearing strip to move when rotating, and the linking bearing strip drives the box body cover plate to move.

[0012] Preferably, the box body cover plate seals the upper port of the bearing box, and one end of the box body cover plate is fixedly provided with a movable matching carrier.

[0013] Preferably, the movable side protection assembly is a side protection movable plate, which can move to release the space on both sides of the bearing box.

[0014] An operation method of a remotely operated surgical auxiliary robot, comprising the following steps: Step one: pushing the surgical utensils: moving the utensil bearing assembly upward to the working height and rotating the utensil bearing assembly, so that the utensil bearing assembly is in an open state, facilitating the taking of the surgical utensils; Step two: playing back the surgical utensils: putting the good surgical utensils back into the utensil bearing assembly for recycling; Step three: reset of the appliance carrying assembly: the appliance carrying assembly moves downward for reset, and the appliance carrying assembly is closed again.

[0015] Compared with the prior art, the application has the advantages of reasonable structure and strong functionality, and has the following advantages: 1. The main surgeon can be provided with the required appliances for surgery and the recycling of the used appliances by remotely operating the robot body. The surgical appliances are stored by separate storage, and the appliances are provided during the surgery. Since the appliances are stored separately, there is no risk of mistaken taking, and the appliances can be easily put back after use. Only one person is needed to operate the robot body, and the double operation of providing and recycling is realized, thereby saving manpower.

[0016] 2. When the appliance carrying box is moved upward and rotated towards the main surgeon, the appliance carrying box is at an appropriate height, and the inclination towards the main surgeon facilitates the taking and placing of the appliances by the main surgeon. When the appliance carrying box is moved upward, the box body cover plate moves relative to the appliance carrying box, so that the appliance carrying box is in an open state, and the appliances in the appliance carrying box are well protected and limited in the closed state.

[0017] 3. In addition, the box body cover plate on the appliance carrying box moves, and the limiting stop also moves. During this process, the limiting stop is always above the appliances, so that the limiting stop can well limit the appliances in the appliance carrying box, and prevent accidents during the rotation of the appliance carrying box. When the box body cover plate moves to the working position, the limiting stop is no longer above the appliances, and the box body cover plate moves the side protection movable plate during the movement, so that the height of the two sides of the appliance carrying box is lowered, and the space on the two sides is released, which is more convenient for the main surgeon to take and place the appliances. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic view of the assembly of the robot body.

[0019] Figure 2 It is a schematic view of the structure of the robot body.

[0020] Figure 3 It is a first perspective view of the assembly of the appliance carrying box.

[0021] Figure 4 It is a second perspective view of the assembly of the appliance carrying box.

[0022] Figure 5 It is a third perspective view of the assembly of the appliance carrying box.

[0023] Figure 6This is a schematic diagram of the structure of the carrier box from the first perspective.

[0024] Figure 7 This is a schematic structural diagram of the carrier box from a second perspective.

[0025] Figure 8 Schematic diagram of the structure of the connecting carrier.

[0026] Figure 9 This is a schematic diagram of the assembly of the drive rack, gear and connecting load-bearing bar.

[0027] Figure 10 A first-person perspective diagram of the assembly of the box cover plate and the side guard movable plate.

[0028] Figure 11 A second-angle diagram of the assembly of the box cover plate and the side guard movable plate.

[0029] In the figure: 1. Robot body; 11. Mechanical carrying arm; 12. Electric telescopic rod; 13. Mechanical carrying frame; 14. Rotating carrying hole; 15. Support through hole; 16. Adjusting mechanical arm; 17. Tilt portion; 18. Stabilizing channel; 19. Adjusting channel; 2. Carrying box; 21. Inserting wall cavity; 22. Rotating carrying block; 23. Rotating carrying column; 24. Matching bearing; 25. Support side plate; 251. Mounting side hole; 26. Carrying hole; 27. Mounting channel; 28. Side bearing block; 281. Side bearing rod; 29. ​​Lower convex connecting block; 291. Rotating drive slot; 292. Driving carrying block; 293. Connecting carrying rod; 3. Connecting frame; 31. First driving block; 32. Carrying connecting frame; 33. Anti-collision groove; 34. Second drive block; 35. Support plug rod; 4. Drive rack; 41. Mounting plate; 42. Movable channel; 43. First spring; 44. Matching contact plate; 5. Gear; 51. Rotating bearing column; 52. Limiting top block; 53. Rotating carrying arm; 54. Connecting matching frame; 55. Connecting plug block; 6. Connecting bearing bar; 61. Connecting channel; 62. Plug-in bearing bar; 63. Connecting rotating bar; 7. Box cover plate; 71. Push sleeve; 72. Movable matching frame; 73. Limiting mounting rod; 74. Limiting stop bar; 8. Side guard movable plate; 81. Connecting carrying bar; 82. Matching rotating rod; 83. Bearing drive block; 84. Movable plug-in hole; 85. Second spring. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] The present invention provides a technical solution: like Figure 1 As shown, a remotely operated surgical assistance robot includes a robot body 1, and an electric moving device is provided at the bottom of the robot body. The movement control of the electric moving device is controlled by the main control end. The electric moving device is a simple existing technology in which a motor controls the moving wheels to walk. A mechanical carrying arm 11 is fixedly provided on the robot body 1, and an instrument carrying assembly is installed on the mechanical carrying arm 11. The surgical instruments are stored through the instrument carrying assembly. A carrying assembly driving mechanism is also provided on the robot body 1, which drives the instrument carrying assembly to move upward through the carrying assembly driving mechanism and drives the instrument carrying assembly to rotate at the same time. A closing assembly is installed on the instrument carrying assembly, and the instrument carrying assembly is closed by the closing assembly. At the same time, the closing assembly can also limit the surgical instruments in the instrument carrying assembly. The closing assembly is connected to a movable side guard assembly, and the movable side guard assembly cooperates with the closing assembly to form a closed space to protect the surgical instruments.

[0032] like Figure 6 and Figure 7 As shown, the device carrying assembly is a carrying box 2, one end of the carrying box 2 is fixedly provided with a rotating carrying block 22, and a rotating carrying column 23 is symmetrically fixedly provided on the rotating carrying block 22, and a plug-in wall cavity 21 is symmetrically provided on both sides of the carrying box 2, and a matching bearing 24 is sleeved on the rotating carrying column 23, and a supporting side plate 25 is symmetrically fixedly provided on both sides of the carrying box 2, and a mounting side hole 251 is provided on the supporting side plate 25, and a carrying plug hole 26 is also symmetrically provided on both sides of the carrying box 2, and a mounting channel 27 is provided on the other end of the carrying box 2 opposite to the rotating carrying block 22, and side bearing blocks 28 are symmetrically fixedly provided on the carrying box 2 on both sides of the mounting channel 27, and side bearing rods 281 are fixedly provided on the side bearing blocks 28, and a lower convex connecting block 29 is fixedly provided on the lower end of the carrying box 2, and a rotation drive groove 291 is symmetrically provided on both sides of the lower convex connecting block 29, and a drooping carrying block 292 is also symmetrically fixedly provided on the lower end of the carrying box 2, and a connecting carrying rod 293 is fixedly provided on the drooping carrying block 292.

[0033] like Figure 1 and Figure 2As shown, the carrying component driving mechanism includes an electric telescopic rod 12, an adjusting mechanical arm 16 and a connecting carrier 3. The electric telescopic rod 12 is fixedly mounted on the mechanical carrying arm 11, and the carrying box 2 is driven to move up and down by the electric telescopic rod 12. The adjusting mechanical arm 16 is fixedly mounted on the robot body 1, and an inclined portion 17 is fixedly provided on the upper end of the adjusting mechanical arm 16. Stable channels 18 are symmetrically provided on both sides of the adjusting mechanical arm 16, and adjustment channels 19 are symmetrically provided on both sides of the inclined portion 17. The stable channel 18 and the adjustment channel 19 are interconnected, and the internal widths of the stable channel 18 and the adjustment channel 19 are equal. The connecting carrier 3 cooperates with the adjusting mechanical arm 16 to drive the carrying box 2 to rotate. A mechanical carrying frame 13 is fixedly provided on the electric telescopic rod 12, and a rotating bearing hole 14 and a supporting through hole 15 are symmetrically provided on the mechanical carrying frame 13, and a matching bearing 24 is installed in the rotating bearing hole 14.

[0034] like Figure 1 、 Figure 3 and Figure 8 As shown, a first driving block 31 is symmetrically fixedly provided at one end of the connecting carrier 3. When the carrying box 2 does not move upward, the first driving block 31 is inserted in the stabilizing channel 18, and the first driving block 31 contacts the inner wall of the stabilizing channel 18. A carrying connecting frame 32 is symmetrically fixedly provided at the other end of the connecting carrier 3. An anti-collision groove 33 is provided at the upper end of the carrying connecting frame 32. Before the carrying box 2 does not move upward, the connecting carrying rod 293 is inserted in the anti-collision groove 33. A second driving block 34 is symmetrically fixedly provided on the carrying connecting frame 32. The second driving block 34 is inserted in the rotation driving groove 291, and the second driving block 34 contacts the inner wall of the rotation driving groove 291. A supporting rod 35 is also symmetrically fixedly provided on the carrying connecting frame 32, and the supporting rod 35 is inserted in the supporting through hole 15.

[0035] like Figure 4 and Figure 9As shown, the closing assembly includes a driving rack 4, a gear 5, a connecting bearing bar 6 and a box cover plate 7. The driving rack 4 is meshed with the gear 5, and the connecting carrier 3 drives the driving rack 4 to move, thereby driving the gear 5 to rotate. Two driving racks 4 are installed on each carrier box 2, respectively on both sides of the carrier box 2. A mounting plate 41 is fixedly provided on the driving rack 4, and a movable channel 42 is opened on the mounting plate 41. A connecting carrier rod 293 is inserted in the movable channel 42, and a first spring 43 is sleeved on the connecting carrier rod 293. The first spring 43 The two ends are respectively fixed on the mounting plate 41 and the pendant block 292. The lower end of the mounting plate 41 is also symmetrically fixed with a mating contact plate 44. The support plug 35 is between the mating contact plates 44. The upper end of the gear 5 is fixed with a rotating support column 51. The rotating support column 51 is inserted into the mounting side hole 251, and the upper end of the rotating support column 51 is fixed with a limiting top block 52. A rotating carrier arm 53 is fixed on the limiting top block 52. A connecting mating frame 54 is hinged on the rotating carrier arm 53. A connecting plug block 55 is symmetrically fixed on the connecting mating frame 54.

[0036] like Figure 5 、 Figure 9 and Figure 10 As shown, the gear 5 drives the connecting bearing bar 6 to move when it rotates, and drives the box cover plate 7 to move through the connecting bearing bar 6. Connecting channels 61 are symmetrically provided at the upper and lower ends of the connecting bearing bar 6, and connecting plug blocks 55 are inserted into the connecting channels 61. Connecting bearing rods 62 are symmetrically fixed at both ends of the connecting bearing bar 6, and the connecting bearing rods 62 are inserted into the bearing sockets 26. One end of the connecting bearing bar 6 is hinged with a connecting rotating rod 63, and the other end of the connecting rotating rod 63 is hinged with the box cover plate 7.

[0037] like Figure 10 and Figure 11As shown, the box cover plate 7 closes the upper port of the carrier box 2, and a movable loading frame 72 is fixedly provided at one end of the box cover plate 7. The movable side guard assembly is a side guard movable plate 8. The side guard movable plate 8 can be moved so that the space on both sides of the carrier box 2 is released. Push sleeves 71 are symmetrically fixed on both sides of the box cover plate 7 away from the movable loading frame 72. The lower end of the movable loading frame 72 is hinged to the connecting rotating rod 63, and a limited mounting rod 73 is fixed on the movable loading frame 72. The limited mounting rod 73 is inserted into the mounting channel 27. In the middle, a limiting stop bar 74 is fixedly provided on the limiting mounting rod 73, the side guard movable plate 8 is inserted in the plug-in wall cavity 21, and a connecting carrier bar 81 is fixedly provided on the side guard movable plate 8, and a matching rotating rod 82 is hinged on the connecting carrier bar 81, and a bearing drive block 83 is hinged on the upper end of the matching rotating rod 82. A movable plug hole 84 is provided on the bearing drive block 83, and a side bearing rod 281 is inserted in the movable plug hole 84. A second spring 85 is sleeved on the side bearing rod 281, and the two ends of the second spring 85 are respectively fixed on the side bearing block 28 and the bearing drive block 83.

[0038] A method for operating a remotely operated surgical assistance robot comprises the following steps: Step 1: Pushing the surgical instrument: The instrument carrying assembly is moved upward to the working height and the instrument carrying assembly is rotated at the same time, so that the instrument carrying assembly is in an open state, which is convenient for taking the surgical instrument; Step 2: Recycling of surgical instruments: Used surgical instruments are returned to the instrument carrier assembly for recycling; Step 3: Resetting the appliance carrier assembly: The appliance carrier assembly moves downward to reset, and the appliance carrier assembly is closed again.

[0039] The above-mentioned operation method uses the control system of the main control end to realize the pushing, recovery and resetting of surgical instruments, that is, a calling program for the instrument usage steps that match the surgical process is set in the main control end, and different surgical instruments are placed on different instrument carrying assemblies. The process of moving up and down of different instrument carrying assemblies can be called according to the steps of using surgical instruments. For example, when using a surgical knife first, the instrument carrying assembly carrying the surgical knife moves up first. When tweezers are needed, the instrument carrying assembly carrying tweezers moves up. That is, different surgical instruments will actively move up as the operation progresses to facilitate the next step. This is all called and implemented by the control system of the remote main control end.

[0040] The robot body 1 can be controlled by remote operation, and its movement in the operation position and the provision of surgical instruments are more flexible, and it can accurately provide surgical instruments to the surgeon, preventing medical staff from taking the wrong instruments. The robot body 1 has a high degree of freedom in operation, reduces the configuration of personnel, makes the operation angle of view larger than the traditional surgical angle of view, and reduces the labor intensity of medical staff and the cost of medical human resources. The real-time transmission of surgical instructions and high-definition images, with the error controlled at the millisecond level, ensures the accurate provision of surgical instruments. During the upward movement of the carrier box 2, the first drive block 31 and the adjustment channel 19 will push the connecting carrier 3 to move. As the connecting carrier 3 moves, the second drive block 34 will be driven to move in the rotating drive slot 291. The movement of the second driving block 34 causes the carrier box 2 to rotate, even if it is tilted toward the surgeon, which makes it more convenient to take the surgical instruments in the carrier box 2, and as the connecting carrier 3 moves, the carrier connecting frame 32 will contact the matching contact plate 44, so that under the action of the carrier connecting frame 32, the matching contact plate 44 will be pushed to move, thereby driving the driving rack 4 to move, and as the driving rack 4 moves, it will drive the gear 5 to rotate, and as the gear 5 rotates, it will drive the connecting matching frame 54 to move along the connecting carrier bar 6 under the action of the rotating carrier arm 53, and as the rotating carrier arm 53 rotates and the connecting matching frame 54 moves, it will drive the connecting carrier bar 6 to move toward the carrier box 2, so that The movement of the connecting support bar 6 will drive the box cover plate 7 to move under the action of the connecting rotating rod 63, so that the upper end of the support box 2 is opened. During the movement of the box cover plate 7, the limit stop bar 74 is always on the upper side of the surgical instrument in the support box 2, which can play a good limiting role in the surgical instrument to avoid accidents during the upward rotation of the support box 2. Until the box cover plate 7 moves to the working position, the limit stop bar 74 is no longer on the upper side of the surgical instrument and no longer restricts it, and the support box 2 no longer moves up and rotates. In addition, during the movement of the box cover plate 7, the pushing sleeve 71 on the box cover plate 7 will contact the carrying drive block 83, and then it can be sleeved on the side support rod 281 to push The carrying drive block 83 moves synchronously. As the carrying drive block 83 moves, the side guard movable plate 8 will be driven downward relative to the carrying box 2 under the action of the coordinated rotating rod 82. This will release the space on both sides of the carrying box 2, making it more convenient for the surgeon to take and put surgical instruments. Each surgical instrument can be placed separately. The corresponding carrying box 2 can be lifted according to the surgeon's needs so that the surgical instruments can be accurately pushed to the surgeon. After use, they can be put back into the corresponding carrying box 2 again, and then the carrying box 2 can be moved down and reset. Under the action of the second spring 85, the side guard movable plate 8 can be reset. Under the action of the first spring 43, the driving rack 4 can be reset, and then the box cover plate 7 can be reset.By sealing the surgical instruments, the surgical instruments can be collected after use and stored separately to avoid cross contamination, saving manpower and increasing the surgical operation space.

[0041] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A remotely operated surgical assistance robot, comprising a robot body, characterized in that: A mechanical carrying arm is fixedly provided on the robot body, and an instrument carrying assembly is installed on the mechanical carrying arm, and surgical instruments are stored through the instrument carrying assembly; The robot body is also provided with a bearing assembly driving mechanism, which drives the tool bearing assembly to move upward and simultaneously drives the tool bearing assembly to rotate; The instrument carrying assembly is provided with a closing assembly, which closes the instrument carrying assembly and can also restrict the surgical instruments in the instrument carrying assembly. The closing component is connected to a movable side guard component, and the movable side guard component cooperates with the closing component to form a closed space to protect the surgical instruments.

2. The remotely operated surgical assistance robot according to claim 1, characterized in that: The device carrying component is a carrying box, one end of which is fixedly provided with a rotating carrying block, and the rotating carrying column is symmetrically fixedly provided on the rotating carrying block.

3. The remotely operated surgical assistance robot according to claim 2, characterized in that: The carrying assembly driving mechanism includes an electric telescopic rod, an adjusting mechanical arm and a connecting carrier. The electric telescopic rod is fixedly installed on the mechanical carrying arm, and the carrying box is driven to move up and down by the electric telescopic rod.

4. The remotely operated surgical assistance robot according to claim 3, characterized in that: The adjusting mechanical arm is fixedly arranged on the robot body, and an inclined portion is fixedly arranged on the upper end of the adjusting mechanical arm. Stable channels are symmetrically opened on both sides of the adjusting mechanical arm, and adjusting channels are symmetrically opened on both sides of the inclined portion.

5. The remotely operated surgical assistance robot according to claim 4, characterized in that: The stabilizing channel and the adjusting channel are interconnected, and the connecting carrier cooperates with the adjusting mechanical arm to drive the carrying box to rotate.

6. The remotely operated surgical assistance robot according to claim 5, characterized in that: The closure assembly includes a driving rack, a gear, a connecting carrier bar and a box cover plate. The driving rack is engaged with the gear, and the connecting carrier drives the driving rack to move, thereby driving the gear to rotate.

7. The remotely operated surgical assistance robot according to claim 6, characterized in that: The gear drives the connecting bearing bar to move when rotating, and drives the box cover plate to move through the connecting bearing bar.

8. The remotely operated surgical assistance robot according to claim 7, characterized in that: The box body covering plate closes the upper port of the carrying box, and a movable loading rack is fixedly provided at one end of the box body covering plate.

9. The remotely operated surgical assistance robot according to claim 8, characterized in that: The movable side guard assembly is a side guard movable plate, and the side guard movable plate can be moved to release the space on both sides of the carrying box.

10. A method for operating a remotely operated surgical assistance robot, characterized in that: The operating method is applicable to the surgical assistance robot according to any one of claims 1 to 9, and comprises the following steps: Step 1: Pushing the surgical instrument: The instrument carrying assembly is moved upward to the working height and the instrument carrying assembly is rotated at the same time, so that the instrument carrying assembly is in an open state, which is convenient for taking the surgical instrument; Step 2: Recycling of surgical instruments: Used surgical instruments are returned to the instrument carrier assembly for recycling; Step 3: Resetting the appliance carrier assembly: The appliance carrier assembly moves downward to reset, and the appliance carrier assembly is closed again.

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