A device for delivering tool kits during surgery

Abstract

The present invention discloses a device for delivering a toolbox during surgery, and relates to the field of assisted reproductive technology. The device comprises: a tray, the top surface of the tray has a support surface for placing the toolbox; a first drive unit, the first drive unit is connected to the tray and supports the tray upward to drive the tray to rotate horizontally; a second drive unit, the second drive unit is connected to the first drive unit and supports the first drive unit upward to drive the first drive unit to rotate horizontally; a control unit, the control unit is connected to the first drive unit and the second drive unit respectively by signal to control the rotation angle of the first drive unit and the rotation angle of the second drive unit. The present invention solves the technical problem in the prior art that the scara robot is not suitable for assisted reproductive surgery to help doctors complete the transportation of the egg crown and the cumulus complex storage box, and achieves the beneficial effects of low cost, simplicity and ease of use.

Description

Technical Field

[0001] The present application relates to the field of assisted reproductive technology, and in particular to a device for delivering a tool box during surgery. Background Art

[0002] During assisted reproductive surgery, there are strict requirements for the storage of the ovum-coronal-cumulus complex, which needs to be stored in a special incubator. During the operation, the ovum-coronal-cumulus complex needs to be removed from the female patient's follicles through the vagina, and it needs to be protected in a special storage box during transportation to ensure the activity of the egg. During the operation, because the doctor cannot leave the operating table, one or two additional medical staff are required to help the doctor remove the eggs from the transfer window and send them to the operating table. Such a simple process requires one or two professional medical staff, which is a great waste of manpower costs.

[0003] The scara (Selective Compliance Assembly Robot Arm) robots on the market have the characteristics of high precision and high speed, and can carry objects, but their load-bearing performance is poor, and most of them can only carry small objects, and are generally used to carry small parts. The items that hospitals actually need to carry are medical constant temperature storage boxes, which are large in size and can weigh up to 10kg. The existing scara robots have a low load-bearing capacity and it is difficult to guarantee the load-bearing requirements for delivery. In addition, scara robots used in hospital surgical box transportation will have functional redundancy, and the corresponding manufacturing price will also be greatly increased. From the perspective of economic and technical indicators, the existing scara robots are not suitable for helping doctors complete the transportation of egg constant temperature storage boxes for assisted reproductive surgery.

[0004] However, the inventors of this application found that the above-mentioned prior art has at least the following technical problems in the process of implementing the technical solutions in the embodiments of this application:

[0005] In the prior art, the scara robot has poor load-bearing performance and is expensive, so it is not suitable for assisted reproductive surgery to help doctors complete the transportation of the egg-coronal-cumulus complex storage box. Summary of the invention

[0006] The embodiments of the present application provide a device for delivering tool boxes during surgery to solve the technical problem in the prior art that the scara robot has poor load-bearing performance and high cost, making it unsuitable for assisted reproductive surgery to help doctors complete the transportation of egg-coronary-cumulus complex storage boxes.

[0007] In order to solve the above problems, an embodiment of the present application provides a device for delivering a tool box during surgery, the device comprising:

[0008] A tray, wherein the top surface of the tray has a supporting surface for placing the tool box;

[0009] A first driving part, the first driving part is connected to the tray and supports the tray upward to drive the tray to rotate horizontally;

[0010] A second driving part, the second driving part is connected to the first driving part and supports the first driving part upward to drive the first driving part to rotate horizontally;

[0011] A control unit is connected to the first driving unit and the second driving unit via signals respectively, so as to control the rotation angle of the first driving unit and the rotation angle of the second driving unit.

[0012] Furthermore, the second driving unit includes:

[0013] A base, wherein the base is parallel to the tray;

[0014] A support column, the bottom end of which is fixed on the base, and the support column is perpendicular to the base;

[0015] A truss, wherein the truss is located on one side of the support column, and the truss is rotatably arranged on the support column, and the bottom surface of the truss is slidably arranged on the base through a sliding device;

[0016] A driving device is connected to the truss to drive the truss to rotate.

[0017] Furthermore, the driving device comprises:

[0018] A second gear, the second gear being fixed on the supporting column;

[0019] A first gear, the first gear is arranged on one side of the second gear, and the first gear is meshed with the second gear;

[0020] A first driving member, wherein the output shaft of the first driving member is coaxially fixedly connected with the first gear to drive the first gear to rotate.

[0021] Furthermore, the sliding device comprises:

[0022] A slider, wherein the slider is fixed on the bottom surface of the truss, and the bottom surface of the slider has a groove;

[0023] A slide rail is fixed on the upper surface of the base and is in an arc shape, the center of the arc is on the central axis of the support column, and the slide rail is embedded in the groove.

[0024] Furthermore, the base is provided with a base shell that supports the truss upward, the sliding device is located outside the base shell, the first gear and the second gear are both located under the base shell, and the output shaft of the first driving member passes downward through the base shell and is fixedly connected to the first gear.

[0025] Furthermore, the first driving part is fixed on the top surface of the truss through a bracket, and the first driving part includes:

[0026] A cantilever, the outer end of the cantilever exceeds the truss and the base, and the outer end of the cantilever is fixedly connected to the bottom surface of the tray;

[0027] A transition plate, the transition plate is arranged between the cantilever and the top surface 7 of the truss to support the cantilever upward, and a mounting groove is provided on the top surface of the transition plate;

[0028] A second driving member, the second driving member is fixed on the mounting surface of the bracket, the output shaft of the second driving member passes through the mounting surface, the inner end surface of the cantilever and the mounting groove and is rotatably inserted on the top surface of the truss, and the output shaft of the second driving member is fixedly connected to the inner end of the cantilever to drive the cantilever to rotate; the output shaft of the second driving member is parallel to the output shaft of the first driving member;

[0029] A first bearing, wherein the first bearing is sleeved on the output shaft of the second driving member, the first bearing is located in the mounting groove and supports the cantilever upward;

[0030] The second bearing is sleeved on the output shaft of the second driving member, and the second bearing is clamped between the mounting surface and the upper end surface of the cantilever.

[0031] Furthermore, the side of the truss away from the tray is rotatably connected to the support column through a rotating device, and the rotating device includes a linear bearing rotatably mounted on the support column, and the truss is fixedly connected to the linear bearing through a connecting piece.

[0032] Furthermore, a side of the truss facing the tray is in an arc shape recessed into the truss.

[0033] Furthermore, the first driving member includes a first stepper motor and an output shaft of the first stepper motor planetary reducer, the output shaft of the first stepper motor is coaxially connected to the output shaft of the first stepper motor planetary reducer, the output shaft of the first stepper motor serves as the output shaft of the first driving member, and the first stepper motor is connected to the control unit.

[0034] Furthermore, the second driving member includes a second stepper motor and an output shaft of a second stepper motor planetary reducer, the output shaft of the second stepper motor is coaxially connected to the output shaft of the second stepper motor planetary reducer, the output shaft of the second stepper motor serves as the output shaft of the second driving member, and the second stepper motor is connected to the control unit.

[0035] The above one or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:

[0036] 1. The embodiment of the present application sets a tray, a first drive unit and a second drive unit, and places the toolbox to be delivered on the tray. The control unit controls the second drive unit to rotate, and the second drive unit drives the first drive unit to rotate to roughly adjust the position of the tray; the control unit controls the first drive unit to rotate, and the first drive unit drives the tray to rotate to finely adjust the position of the tray, so that the movement trajectory of the tray is located between the delivery window of the operating room and the surgeon. After the medical staff outside the operating room places the toolbox on the tray, they operate the control unit to rotate the tray to the doctor, and the toolbox can be delivered to the doctor without the need for special medical staff to deliver it to the doctor, thereby realizing the delivery of the toolbox. Since the device has a simple structure and few parts, the overall cost is cheap; and the device is mostly mechanical load-bearing parts, so that the overall load-bearing performance is good, and at the same time, the second drive unit supports the first drive unit upward, and the first drive unit supports the tray upward, so that the stability of the tray is good, and the load-bearing capacity of the tray is further improved. This effectively solves the technical problem in the prior art that the scara robot has poor load-bearing performance and high cost, making it unsuitable for assisted reproductive surgery to help doctors complete the transportation of the egg-coronal-cumulus complex storage box, and achieves the beneficial effects of low cost, simple and easy to use, and small footprint.

[0037] 2. The base described in the embodiment of the present application is provided with a countersunk hole that can be fixed on the ground. After the base is laid on the ground and fixed, the device described in this embodiment has a stable chassis, and the truss and the support column have a stable foundation. In addition, the truss itself has good support, so it can support the tray more stably, so that the tray has good load-bearing performance, which is suitable for assisted reproductive surgery to help doctors complete the egg-crown complex storage box.

[0038] 3. After the tool box (constant temperature medical box) is placed on the tray, the first driving member drives the first gear to rotate, and the second gear is fixed. The first gear rotates relative to the second gear, driving the truss to rotate around the support column. The truss rotates as a whole with the first driving part to achieve coarse adjustment of the tray position.

[0039] 4. The control unit described in the embodiment of the present application controls the start and stop, speed and rotation angle of the first stepper motor, thereby controlling the rotation angle of the second drive unit to indirectly control the position of the tray.

[0040] 5. The groove described in the embodiment of the present application is a semicircular groove, the upper surface of the slide rail is arc-shaped, the base is circular, the center of the base is the center of the slide rail, and the slider slides along the slide rail to ensure the smooth rotation of the truss, thereby ensuring the stability of the transmission.

[0041] 6. The control unit described in the embodiment of the present application controls the start and stop, speed and rotation angle of the second stepper motor, thereby controlling the rotation angle of the first drive unit and adjusting the position of the tray.

[0042] 7. The connecting member described in the embodiment of the present application is fixed to the truss by a second bolt. The side of the truss facing the tray is in an arc shape that is recessed into the truss, which can effectively reduce the dead weight of the truss, thereby greatly reducing the load of the first stepper motor without affecting the load-bearing capacity.

[0043] 8. The truss described in the embodiment of the present application is hollow inside, which can effectively reduce the dead weight of the truss, thereby greatly reducing the load of the first stepper motor.

[0044] 9. The first frame and the second frame described in the embodiment of the present application are generally L-shaped, and the third frame is triangular, so that the bracket has good stability.

[0045] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a structural schematic diagram of a device for delivering a tool box during surgery according to an embodiment of the present invention;

[0047] Figure 2 It is a cross-sectional view of a device for delivering a tool box during surgery according to an embodiment of the present invention.

[0048] Explanation of the reference numerals: tray 1, cantilever 2, second stepper motor 3, second stepper motor planetary reducer 4, first bolt 5, bracket 6, mounting arm 7, second bolt 8, connecting piece 9, linear bearing 10, support column 11, truss 12, first stepper motor 13, first stepper motor planetary reducer 14, lower fixed seat 15, slider 16, slide rail 17, base shell 18, base 19, second bearing 20, second stepper motor output shaft 21, transition plate 22, first bearing 23, first stepper motor output shaft 24, first gear 25, flange 26, second gear 27, thrust bearing 28. DETAILED DESCRIPTION

[0049] The embodiments of the present application provide a device for delivering tool boxes during surgery to solve the technical problem in the prior art that the scara robot has poor load-bearing performance and high cost, making it unsuitable for assisted reproductive surgery to help doctors complete the transportation of egg-coronary-cumulus complex storage boxes.

[0050] In order to solve the above technical problems, the overall idea of ​​the technical solution provided by the present application is as follows: by setting a tray, a first drive unit and a second drive unit, the tool box to be delivered is placed on the tray, the control unit controls the second drive unit to rotate, and the second drive unit drives the first drive unit to rotate to roughly adjust the position of the tray; the control unit controls the first drive unit to rotate, and the first drive unit drives the tray to rotate to finely adjust the position of the tray, so that the movement trajectory of the tray is located between the delivery window of the operating room and the surgeon, and after the medical staff outside the operating room places the tool box on the tray, they operate the control unit to rotate the tray to the doctor, and the tool box can be delivered to the doctor without the need for special medical staff to deliver it to the doctor, thereby realizing the delivery of the tool box. Since the device has a simple structure and few components, the overall cost is cheap; and the device is mostly mechanical load-bearing components, so that the overall load-bearing performance is good, and at the same time, the second drive unit supports the first drive unit upward, and the first drive unit supports the tray upward, so that the stability of the tray is good, and the load-bearing capacity of the tray is further improved. This effectively solves the technical problem in the prior art that the scara robot has poor load-bearing performance and high cost, making it unsuitable for assisted reproductive surgery to help doctors complete the transportation of the egg-coronal-cumulus complex storage box, and achieves the beneficial effects of low cost, simple and easy to use, and small footprint.

[0051] The technical solution of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0052] Figure 1 FIG. 1 is a schematic diagram of a structure of a device for delivering a tool box during surgery according to an embodiment of the present invention. Figure 1 As shown, the device comprises a tray 1, a first driving unit, a second driving unit and a control unit.

[0053] The top surface of the tray 1 has a support surface for placing a tool box, and the tool box to be transferred (such as a freezing box for storing eggs) is placed on the tray. The first driving unit is connected to the tray 1 and supports the tray upward to drive the tray 1 to rotate horizontally. The second driving unit is connected to the first driving unit and supports the first driving unit upward to drive the first driving unit to rotate horizontally. The control unit is connected to the first driving unit and the second driving unit respectively by signal to control the rotation angle of the first driving unit and the rotation angle of the second driving unit.

[0054] In this embodiment, by setting a tray, a first drive unit and a second drive unit, the tool box to be delivered is placed on the tray, the control unit controls the second drive unit to rotate, and the second drive unit drives the first drive unit to rotate to roughly adjust the position of the tray; the control unit controls the first drive unit to rotate, and the first drive unit drives the tray 1 to rotate to finely adjust the position of the tray 1, so that the movement trajectory of the tray 1 is located between the delivery window of the operating room and the surgeon. After the medical staff outside the operating room places the tool box on the tray 1, they operate the control unit to rotate the tray 1 to the doctor, and the tool box can be delivered to the doctor without the need for special medical staff to deliver it to the doctor, thereby realizing the delivery of the tool box. Since the device has a simple structure and few parts, the overall cost is cheap; and the device is mostly mechanical load-bearing parts, so that the overall load-bearing performance is good, and at the same time, the second drive unit supports the first drive unit upward, and the first drive unit supports the tray 1 upward, so that the stability of the tray 1 is good, and the load-bearing capacity of the tray 1 is further improved. This effectively solves the technical problem in the prior art that the scara robot has poor load-bearing performance and high cost, making it unsuitable for assisted reproductive surgery to help doctors complete the transportation of the egg-coronal-cumulus complex storage box, and achieves the beneficial effects of low cost, simple and easy to use, and small footprint.

[0055] Furthermore, the second driving part includes a base 19, a support column 11, a truss 12 and a driving device. The base 19 is parallel to the tray 1. The bottom end of the support column 11 is fixed on the base 19, and the support column 11 is perpendicular to the base 19. The truss 12 is located on one side of the support column 11, and the truss 12 is rotatably arranged on the support column 11, and the bottom surface of the truss 12 is slidably arranged on the base 19 through a sliding device. The driving device is connected to the truss 12 to drive the truss 12 to rotate.

[0056] Specifically, the base 19 is provided with a countersunk hole that can be fixed on the ground. After the base 19 is laid on the ground and fixed, the device described in this embodiment has a stable chassis, and the truss 12 and the support column 11 have a stable foundation. In addition, the truss 12 itself has good support, so it can support the tray 1 more stably, so that the tray has good load-bearing performance and is suitable for assisted reproductive surgery to help doctors complete the egg-crown complex storage box.

[0057] Furthermore, the driving device comprises a second gear 27, a first gear 25 and a first driving member. The second gear 27 is fixed on the support column 11; the first gear 25 is arranged on one side of the second gear 27, and the first gear 25 is meshed with the second gear 27; the output shaft of the first driving member is coaxially fixedly connected with the first gear 25 to drive the first gear 25 to rotate.

[0058] Specifically, after the tool box (medical box) is placed on the tray 1, the first driving member drives the first gear 25 to rotate, and the second gear 27 is fixed. The first gear 25 rotates relative to the second gear 27, driving the truss 12 to rotate around the support column 11. The truss 12 rotates as a whole with the first driving part to achieve coarse adjustment of the position of the tray 1.

[0059] Furthermore, the first driving member includes a first stepper motor 13 and a first stepper motor planetary reducer 14, the output shaft of the first stepper motor 13 is connected to the output shaft of the first stepper motor planetary reducer, the output shaft 24 of the first stepper motor serves as the output shaft of the first driving member, and the first stepper motor 13 is connected to the control unit.

[0060] Specifically, the control unit controls the start and stop, speed and rotation angle of the first stepper motor 13 , thereby controlling the rotation angle of the second driving unit to indirectly control the position of the tray 1 .

[0061] Furthermore, the sliding device includes a slider 16 and a slide rail 17. The slider 16 is fixed on the bottom surface of the truss 12, and the lower surface of the slider 16 has a groove; the slide rail 17 is fixed on the upper surface of the base 19, and the slide rail 17 is arc-shaped, the center of the arc is on the central axis of the support column 11, and the slide rail 17 is embedded in the groove.

[0062] Specifically, the groove is a semicircular groove, the upper surface of the slide rail 17 is arc-shaped, the base 19 is circular, the center of the base 19 is the center of the slide rail 17, and the slider 16 slides along the slide rail 17 to ensure the smooth rotation of the truss 12, thereby ensuring the stability of the transmission. The bottom surface of the truss 12 is fixedly connected to the side of the truss 12 through the lower fixing seat 15.

[0063] Furthermore, the base 19 is provided with a base shell 18 that supports the truss 12 upward, the sliding device is located outside the base shell 18, the first gear 25 and the second gear 27 are both located under the base shell 18, and the output shaft of the first driving member passes downward through the base shell 18 and is fixedly connected to the first gear 25.

[0064] Specifically, the base casing 18 can protect the first gear 25 and the second gear 27, and can also support the first driving member upward.

[0065] Furthermore, the first driving part is fixed on the top surface of the truss 12 through a bracket 6 , and the first driving part includes a cantilever 2 , a transition plate 22 , a second driving part, a first bearing 23 and a second bearing 20 .

[0066] The outer end of the cantilever 2 exceeds the truss 12 and the base 19 , and the outer end of the cantilever 2 is fixedly connected to the bottom surface of the tray 1 .

[0067] The transition plate 22 is disposed between the cantilever 2 and the top surface of the truss 12 to support the cantilever 2 upward, and a mounting groove is formed on the top surface of the transition plate 22 .

[0068] The second driving member is fixed on the mounting surface of the bracket 6, and the output shaft of the second driving member passes through the mounting surface, the inner end surface of the cantilever 2 and the mounting groove and is rotatably inserted on the top surface of the truss 12, and the output shaft of the second driving member is fixedly connected to the inner end of the cantilever 2 to drive the cantilever 2 to rotate; the output shaft of the second driving member is parallel to the output shaft of the first driving member.

[0069] The first bearing 23 is sleeved on the output shaft of the second driving member. The first bearing 23 is located in the mounting groove and supports the cantilever 2 upward. Specifically, the first bearing 23 is an angular contact bearing.

[0070] The second bearing 20 is sleeved on the output shaft of the second driving member, and the second bearing 20 is sandwiched between the mounting surface and the upper end surface of the cantilever 2; specifically, the second bearing is a deep groove ball bearing.

[0071] Furthermore, the second driving member includes a second stepper motor 3 and a second stepper motor planetary reducer 4, the output shaft of the second stepper motor 3 is coaxially connected to the output shaft of the second stepper motor planetary reducer 4, the output shaft 21 of the second stepper motor serves as the output shaft of the second driving member, and the second stepper motor 3 is connected to the control unit.

[0072] Specifically, the housing of the second stepper motor 3 and the housing of the second stepper motor planetary reducer 4 are fixed by a first bolt 5, and the control unit controls the start and stop, speed and rotation angle of the second stepper motor 3, thereby controlling the rotation angle of the first drive unit and adjusting the position of the tray 1.

[0073] Furthermore, the side of the truss 12 away from the tray 1 is rotatably connected to the support column 11 through a rotating device, and the rotating device includes a linear bearing 10 rotatably mounted on the support column 11. The truss 12 is fixedly connected to the linear bearing 10 through a connecting piece 9, and the side of the truss 12 facing the tray 1 is in the shape of an arc that is recessed into the truss.

[0074] Specifically, the connecting member 9 is fixed to the truss 12 by a second bolt 8. The side of the truss 12 facing the pallet 1 is in an arc shape recessed into the truss, which can effectively reduce the dead weight of the truss 12, thereby greatly reducing the load of the first stepper motor 13 without affecting the load-bearing capacity.

[0075] Furthermore, the upper and lower ends of the truss 12 are connected to the support column 11 through the rotating device. The base shell 18 is placed on the base 19, and a thrust bearing 28 is provided between the base shell 18 and the linear bearing 10 at the lower end of the truss 12.

[0076] Furthermore, the truss 12 is hollow inside, which can effectively reduce the deadweight of the truss 12 , thereby greatly reducing the load of the first stepper motor, and the first driving member is disposed inside the truss 12 .

[0077] Furthermore, the diameter of the second gear 27 is greater than the diameter of the first gear 25 .

[0078] Furthermore, the central angle of the slide rail 17 is 180 degrees, thereby ensuring that the second driving part has a sufficient rotation angle.

[0079] Furthermore, the second gear 27 is fixed on the support column 11 via a flange 26 .

[0080] Furthermore, the bracket 6 includes a first frame, a second frame and a third frame, the first frame is parallel to the top surface of the truss, and the first frame is fixed on the top surface of the truss, and the bottom end of the second frame is vertically fixed on the first frame; the mounting surface is parallel to the first frame, and one end of the mounting surface is fixed on the second frame, and the other end of the mounting surface extends outward, and the third frame is connected to both the first frame and the second frame.

[0081] Specifically, a mounting arm 7 for mounting the bracket 6 can be laid on the top surface of the truss 12. The first frame and the second frame are generally L-shaped, and the third frame is triangular, so that the bracket 6 has good stability.

[0082] The method of using the device for delivering a tool box during surgery described in this embodiment is as follows:

[0083] 1. According to the position of the transfer window and the doctor's operating position, fix the base 19 and ensure that the movement trajectory of the tray 1 is located between the transfer window and the doctor's operating position;

[0084] 2. The control unit starts the second driving unit and moves the tray 1 close to the doctor;

[0085] 3. The control unit starts the first driving unit and moves the tray 1 to a position convenient for the doctor.

[0086] The above one or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:

[0087] 1. The embodiment of the present application sets a tray, a first drive unit and a second drive unit, and places the toolbox to be delivered on the tray. The control unit controls the second drive unit to rotate, and the second drive unit drives the first drive unit to rotate to roughly adjust the position of the tray; the control unit controls the first drive unit to rotate, and the first drive unit drives the tray 1 to rotate to finely adjust the position of the tray 1, so that the movement trajectory of the tray 1 is located between the delivery window of the operating room and the surgeon. After the medical staff outside the operating room places the toolbox on the tray 1, they operate the control unit to rotate the tray 1 to the doctor, and the toolbox can be delivered to the doctor without the need for special medical staff to deliver it to the doctor, thereby realizing the delivery of the toolbox. Since the device has a simple structure and few parts, the overall cost is cheap; and the device is mostly mechanical load-bearing parts, so that the overall load-bearing performance is good, and at the same time, the second drive unit supports the first drive unit upward, and the first drive unit supports the tray 1 upward, so that the stability of the tray 1 is good, and the load-bearing capacity of the tray 1 is further improved. This effectively solves the technical problem in the prior art that the scara robot has poor load-bearing performance and high cost, making it unsuitable for assisted reproductive surgery to help doctors complete the transportation of the egg-coronal-cumulus complex storage box, and achieves the beneficial effects of low cost, simple and easy to use, and small footprint.

[0088] 2. The base 19 described in the embodiment of the present application is provided with a countersunk hole that can be fixed on the ground. After the base 19 is laid on the ground and fixed, the device described in this embodiment has a stable chassis, and the truss 12 and the support column 11 have a stable foundation. In addition, the truss 12 itself has good support, so that the tray 1 can be supported more stably, and the tray has good load-bearing performance, which is suitable for assisted reproductive surgery to help doctors complete the egg-crown complex storage box.

[0089] 3. After the tool box (medical box) is placed on the tray 1, the first driving member drives the first gear 25 to rotate, and the second gear 27 is fixed. The first gear 25 rotates relative to the second gear 27, driving the truss 12 to rotate around the support column 11. The truss 12 rotates as a whole with the first driving part to achieve coarse adjustment of the position of the tray 1.

[0090] 4. The control unit described in the embodiment of the present application controls the start and stop, speed and rotation angle of the first stepper motor 13, thereby controlling the rotation angle of the second driving unit to indirectly control the position of the tray 1.

[0091] 5. The groove described in the embodiment of the present application is a semicircular groove, the upper surface of the slide rail 17 is arc-shaped, the base 19 is circular, the center of the base 19 is the center of the slide rail 17, and the slider 16 slides along the slide rail 17 to ensure the smooth rotation of the truss 12, thereby ensuring the stability of the transmission.

[0092] 6. The control unit described in the embodiment of the present application controls the start and stop, speed and rotation angle of the second stepper motor 3, thereby controlling the rotation angle of the first driving unit and adjusting the position of the tray 1.

[0093] 7. The connecting member 9 described in the embodiment of the present application is fixed to the truss 12 by the second bolt 8. The side of the truss 12 facing the tray 1 is in an arc shape recessed into the truss, which can effectively reduce the dead weight of the truss 12, thereby greatly reducing the load of the first stepper motor 13 without affecting the load-bearing capacity.

[0094] 8. The truss 12 described in the embodiment of the present application is hollow inside, which can effectively reduce the dead weight of the truss 12, thereby greatly reducing the load of the first stepper motor.

[0095] 9. The first frame and the second frame described in the embodiment of the present application are generally L-shaped, and the third frame is triangular, so that the bracket 6 has good stability.

[0096] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A device for delivering a tool box during surgery, characterized in that: The device comprises: A tray, wherein the top surface of the tray has a supporting surface for placing the tool box; A first driving part, the first driving part is connected to the tray and supports the tray upward to drive the tray to rotate horizontally; A second driving part, the second driving part is connected to the first driving part and supports the first driving part upward to drive the first driving part to rotate horizontally; A control unit, wherein the control unit is connected to the first driving unit and the second driving unit by signals respectively, so as to control the rotation angle of the first driving unit and the rotation angle of the second driving unit; The second driving unit comprises: A base, wherein the base is parallel to the tray; A support column, the bottom end of which is fixed on the base, and the support column is perpendicular to the base; A truss, wherein the truss is located on one side of the support column, and the truss is rotatably arranged on the support column, and the bottom surface of the truss is slidably arranged on the base through a sliding device; A driving device, the driving device is connected to the truss to drive the truss to rotate; The driving device comprises: A second gear, the second gear being fixed on the supporting column; A first gear, the first gear is arranged on one side of the second gear, and the first gear is meshed with the second gear; A first driving member, wherein an output shaft of the first driving member is coaxially fixedly connected to the first gear to drive the first gear to rotate; The sliding device comprises: A slider, the slider is fixed on the bottom surface of the truss, and the lower surface of the slider has a groove; A slide rail, wherein the slide rail is fixed on the upper surface of the base, the slide rail is in an arc shape, and the center of the arc shape is on the central axis of the support column, and the slide rail is embedded in the groove; The side of the truss away from the tray is rotatably connected to the support column through a rotating device, and the rotating device includes a linear bearing rotatably mounted on the support column. The truss is fixedly connected to the linear bearing through a connecting piece.

2. A device for delivering a tool box during surgery as claimed in claim 1, characterized in that: The base is provided with a base shell that supports the truss upward, the sliding device is located outside the base shell, the first gear and the second gear are both located under the base shell, and the output shaft of the first driving member passes downward through the base shell and is fixedly connected to the first gear.

3. A device for delivering a tool box during surgery as claimed in claim 2, characterized in that: The first driving part is fixed on the top surface of the truss through a bracket, and the first driving part includes: A cantilever, the outer end of the cantilever exceeds the truss and the base, and the outer end of the cantilever is fixedly connected to the bottom surface of the tray; A transition plate, the transition plate is arranged between the cantilever and the top surface of the truss to support the cantilever upward, and a mounting groove is provided on the top surface of the transition plate; A second driving member, the second driving member is fixed on the mounting surface of the bracket, the output shaft of the second driving member passes through the mounting surface, the inner end surface of the cantilever and the mounting groove and is rotatably inserted on the top surface of the truss, and the output shaft of the second driving member is fixedly connected to the inner end of the cantilever to drive the cantilever to rotate; the output shaft of the second driving member is parallel to the output shaft of the first driving member; A first bearing, wherein the first bearing is sleeved on the output shaft of the second driving member, the first bearing is located in the mounting groove and supports the cantilever upward; The second bearing is sleeved on the output shaft of the second driving member, and the second bearing is clamped between the mounting surface and the upper end surface of the cantilever.

4. A device for delivering a tool box during surgery as claimed in claim 3, characterized in that: The side of the truss facing the tray is in an arc shape recessed into the truss.

5. A device for delivering a tool box during surgery as claimed in claim 4, characterized in that: The first driving member includes a first stepper motor and an output shaft of the first stepper motor planetary reducer. The output shaft of the first stepper motor is coaxially connected to the output shaft of the first stepper motor planetary reducer. The output shaft of the first stepper motor serves as the output shaft of the first driving member. The first stepper motor is connected to the control unit.

6. A device for delivering a tool box during surgery as claimed in claim 5, characterized in that: The second driving member includes a second stepper motor and an output shaft of the second stepper motor planetary reducer. The output shaft of the second stepper motor is coaxially connected to the output shaft of the second stepper motor planetary reducer. The output shaft of the second stepper motor serves as the output shaft of the second driving member. The second stepper motor is connected to the control unit.

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