Surgical navigation control system and master hand control device

Abstract

The present invention relates to a surgical navigation control system and a master hand control device. The master hand control device comprises: a control component for controlling the operation of an interventional device in a surgical navigation control system; a linkage component connected to the control component and linked with the control component; and an elbow support component connected to the linkage component and moving with the linkage component. The elbow support component carries the elbow of the operator, and when the control component moves, the control device is also connected to the elbow support component through a connecting component, so that the linkage component adjusts the position of the elbow support component, reduces the friction between the elbow and the desktop, and automatically adjusts the position of the elbow relative to the control component. The real-time position adjustment of the operator's elbow is achieved, the operator's discomfort is reduced, hand shaking, numbness, etc. are avoided, the surgical effect is guaranteed, and it is convenient for the operator to use.

Description

Technical Field

[0001] The present invention relates to the technical field of medical surgical equipment, and particularly to a surgical navigation control system and a master hand control device. Background Art

[0002] Interventional therapy is a minimally invasive therapy using modern high-tech means. That is, under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.

[0003] Interventional therapy applies digital technology, expanding the doctor's field of vision. With the help of catheters and guide wires, the doctor's hands are extended. Its incision (puncture point) is only the size of a grain of rice. Without cutting the human tissue, many diseases that could not be treated in the past and required surgical treatment or had poor efficacy with medical treatment, such as tumors, hemangiomas, various hemorrhages, etc., can be treated. Interventional therapy has the characteristics of non-invasive, small trauma, fast recovery and good effect.

[0004] However, in interventional surgical treatment, the master hand controller for controlling the interventional probe is mostly placed on the table and has a certain height. The operator needs to operate with the arm suspended, or support the elbow joint on the table. During operation, it will move back and forth, causing friction with the table. After a long time, it will cause discomfort in the operator's arm, making it easy to feel sore and numb. Moreover, since the arm sometimes operates in a suspended state, it will cause the arm to shake, affecting the surgical effect, bringing great inconvenience to the operator and also posing a hidden danger to the operation. Summary of the Invention

[0005] Based on this, in view of the problem that the current master hand controller has an uncomfortable operation feeling and affects the surgical effect, it is necessary to provide a surgical navigation control system and a master hand control device.

[0006] A master hand control device includes:

[0007] A control component for controlling the operation of the interventional device in the surgical navigation control system;

[0008] A linkage component connected to the control component and capable of being linked with the control component; and

[0009] An elbow support component connected to the linkage component and capable of moving with the linkage component.

[0010] In one embodiment, the control component includes a control base and a control rod disposed on the control base. The control rod is used to connect to the interventional device to control the movement of the interventional device according to the movement of the control rod.

[0011] In one embodiment, the linkage assembly includes a sliding member and a connecting member that is linked to the sliding member. The sliding member is sleeved on the control rod and can slide along the control rod. The connecting member connects the control base and the elbow support assembly and can adjust the distance between the elbow support assembly and the control base.

[0012] In one embodiment, the connecting member includes a driving power source and a connecting rod. The connecting rod connects the elbow support assembly and the control base.

[0013] The elbow support assembly is movably arranged on the connecting rod, and the driving power source is used to drive the elbow support assembly to move along the connecting rod.

[0014] Alternatively, the elbow support assembly is fixedly arranged on the connecting rod, the connecting rod is a telescopic rod, and the driving power source is used to drive the connecting rod to perform a telescopic movement.

[0015] In one embodiment, the linkage assembly further includes an induction and measurement component. The induction and measurement component is electrically connected to the driving power source. The induction and measurement component can detect the distance and / or angle of the sliding member relative to the control base and control the driving power source to control the movement of the elbow support assembly relative to the control base.

[0016] In one embodiment, the connecting member further includes a first transmission group and a second transmission group that move synchronously. The first transmission group is connected to the sliding member, and the second transmission group is connected to the elbow support assembly. The sliding member controls the movement of the elbow support assembly through the first transmission group and the second transmission group.

[0017] In one embodiment, the first transmission group includes a first gear and a first rack that are engaged with each other. The second transmission group includes a second gear and a second rack that are engaged with each other. The first gear and the second gear are coaxially and rotatably arranged on the control base. The first rack is connected to the sliding member, and the second rack is connected to the elbow support assembly.

[0018] In one embodiment, the elbow support assembly includes a support plate for supporting the elbow and a support base. The support base connects the support plate and the connecting member. The master hand control device further includes a lifting assembly. The lifting assembly connects the support base and the support plate, and the lifting assembly can drive the support plate to perform a lifting movement relative to the connecting member.

[0019] In one embodiment, the linkage assembly further includes an induction detection component, which is disposed on the support pallet. The induction detection component is electrically connected to the lifting assembly, and the induction detection component detects whether the support pallet is carrying the elbow and controls the movement of the lifting assembly.

[0020] A surgical navigation control system includes an intervention device and a master hand control device as described in any one of the above technical features;

[0021] The master hand control device is electrically connected to the intervention device, and the master hand control device controls the intervention device to perform an intervention operation.

[0022] After adopting the above technical solution, the present invention has at least the following technical effects:

[0023] For the surgical navigation control system and the master hand control device of the present invention, the control component is connected to the intervention device in the surgical navigation control system to control the intervention device to perform an intervention operation. The elbow support component bears the elbow of the operator. Moreover, when the control component moves, the control device is also connected to the elbow support component through the communication component, so that the linkage component adjusts the position of the elbow support component, reduces the friction between the elbow and the tabletop, and automatically adjusts the position of the elbow relative to the control component. This can effectively solve the problem that the current master hand controller has an uncomfortable operation feeling and affects the surgical effect, realize the real-time position adjustment of the operator's elbow, reduce the discomfort of the operator, avoid situations such as hand shaking and numbness, ensure the surgical effect, and facilitate the operator to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of the master hand control device according to an embodiment of the present invention;

[0025] Figure 2 For Figure 1 The schematic diagram of the sliding part sliding down in the master hand control device shown;

[0026] Figure 3 For Figure 1 The schematic diagram of the sliding part sliding down in the master hand control device shown, where the solid line is the initial position of the main view control device, and the dotted line is the schematic diagram of the main shaft control device after the sliding part moves;

[0027] Figure 4 For Figure 1 The schematic diagram of the control rod rotating in the master hand control device shown;

[0028] Figure 5 For Figure 1 The schematic diagram of the control rod rotating in the master hand control device shown, where the solid line is the initial position of the main view control device, and the dotted line is the schematic diagram of the main shaft control device after the control rod rotates;

[0029] Figure 6 For Figure 1 the schematic diagram of an embodiment of the connecting rod in the master hand control device shown;

[0030] Figure 7 For Figure 1 the schematic diagram of another embodiment of the connecting rod in the master hand control device shown;

[0031] Figure 8 the structural schematic diagram of the master hand control device in another embodiment of the present invention.

[0032] Wherein: 100, master hand control device; 110, control component; 111, control base; 112, control rod; 120, linkage component; 121, sliding member; 122, connecting rod; 123, first transmission group; 1231, first gear; 1232, first rack; 124, second transmission group; 1241, second gear; 1242, second rack; 130, elbow support component; 200, arm. Specific Embodiments

[0033] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0035] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0036] In the present invention, unless otherwise clearly defined and limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0038] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0039] See Figures 1 to 8 , the present invention provides a master hand control device 100. The master hand control device 100 is mainly applied to a surgical navigation control system for realizing the control of interventional surgery. Of course, in other embodiments of the present invention, the master hand control device 100 can also be used in devices for controlling other types of surgical components.

[0040] Currently, the master hand controllers for controlling interventional probes are mostly placed on the desktop and have a certain height. The operator needs to operate with the arm suspended in the air, or support the elbow joint on the desktop. In this way, the operator has an uncomfortable feeling in the arm during the actual operation, which affects the surgical effect. Therefore, the present invention provides a new type of master hand control device 100, which can realize interventional surgical operations and at the same time support the operator's elbow, reduce the uncomfortable feeling of the operator during operation, and ensure the surgical effect. The following details the specific structure and working principle of the master hand control device 100.

[0041] See Figures 1 to 5 In one embodiment, the master hand control device 100 includes a control component 110, a linkage component 120, and an elbow support component 130. The control component 110 is used to control the operation of the intervention device in the surgical navigation control system. The linkage component 120 is connected to the control component 110 and can be linked with the control component 110. The elbow support component 130 is connected to the linkage component 120 and can move with the linkage component 120.

[0042] The control component 110 is the main operating component of the master hand control device 100, and is used to control the intervention puncture performed by the intervention device in the surgical navigation system to ensure the accuracy of the surgical process. It can be understood that the control component 110 is connected to the intervention device in a transmission manner. In actual application, there may be a certain distance between the intervention device and the control component 110. Medical staff can view the position of the intervention device on the display screen of the surgical navigation system in real time, so as to adjust the position of the intervention device through the control component 110.

[0043] The elbow support component 130 is used to support the operator's arm. In this way, when the operator uses the master hand control device 100, the operator's arm can be placed on the elbow support component 130, and the elbow support component 130 supports the operator's arm, avoiding the operator's arm from hanging in the air and reducing the operation errors caused by the operator's arm hanging in the air. Moreover, during the entire surgical process, the elbow support component 130 can always support the operator's arm, reducing the situation of arm soreness and numbness, and ensuring the accuracy of the surgical result.

[0044] Furthermore, during the actual operation process of the control component 110, the elbow support component 130 moves with the movement of the control component 110, and the position of the elbow support component 130 is adjusted in real time to match the position of the control component 110. When the elbow support component 130 moves, it will drive the operator's arm on it to move synchronously, without the operator having to move the arm actively, reducing the reciprocating friction generated when the arm moves, alleviating the situation of arm soreness and numbness of the operator, and avoiding the impact on operation control caused by shaking.

[0045] The movement of the elbow support component 130 following the control component 110 is realized through the linkage component 120. Specifically, one end of the linkage component 120 is connected to the control component 110, and the other end of the linkage component 120 is connected to the elbow support component 130. When the operator operates the intervention device through the control component 110, the movement of the control component 110 will drive the elbow support component 130 to move synchronously through the linkage component 120, so as to adjust the position of the operator's arm during actual use.

[0046] When the master hand control device 100 of the present invention is specifically used, the operator's arm is placed on the elbow support assembly 130, and the operator's hand holds the control assembly 110. The operator manipulates the control assembly 110 to move, so as to control the intervention device. While the control assembly 110 moves, the control assembly 110 drives the elbow support assembly 130 to move through the linkage assembly 120. Furthermore, the elbow support assembly 130 drives the operator's arm thereon to move, so as to adjust the position of the operator's arm, so that the operator's arm can adapt to the change in the position of the control assembly 110.

[0047] That is to say, the operator's arm moves along with the elbow support assembly 130 without the need to actively move the arm. This can reduce problems such as friction, soreness, and numbness caused by the operator's active movement, reduce the friction between the elbow and the tabletop, automatically adjust the position of the elbow relative to the control assembly 110, realize real-time position adjustment of the operator's elbow, reduce the discomfort of the operator, avoid situations such as hand shaking and numbness, ensure the surgical effect, and facilitate the operator's use.

[0048] See Figures 1 to 5 , in an embodiment, the control assembly 110 includes a control base 111 and a control rod 112 disposed on the control base 111. The control rod 112 is used to connect to the intervention device to control the movement of the intervention device according to the movement of the control rod 112. The control base 111 is the base body of the control rod 112 for realizing the installation of the control rod 112. Moreover, the control base 111 is installed on the tabletop or other reference planes. Components for electrically connecting the control rod 112 and the intervention device are also provided in the control base 111 to realize the control of the intervention device by the control rod 112.

[0049] The control rod 112 is rotatably installed on the control base 111. When the control rod 112 rotates relative to the control base 111, the control rod 112 can control the intervention device to adjust the inclination attitude so as to facilitate the alignment of the intervention device with the puncture point. The control rod 112 can rotate forward, backward, left, and right relative to the control base 111 to realize multi-angle adjustment of the intervention device and meet the use requirements of different working conditions. Exemplarily, the end of the control rod 112 is a spherical end, and the control base 111 has a spherical installation groove. The control rod 112 rotates in the spherical installation groove through the spherical end, so that the control rod 112 can rotate relative to the control base 111. Of course, in other embodiments of the present invention, the control rod 112 and the control base 111 can also be connected by a ball hinge or other rotatable connection components.

[0050] The control lever 112 is also movably mounted on the control base 111. When the control lever 112 moves relative to the control base 111, the control lever 112 can adjust the position of the intervention device so that the intervention device can perform actions such as intervention operations, pushing out, or aligning with the puncture point. The control lever 112 can move in the front, rear, left, right, and other directions relative to the control base 111 to adjust the position of the intervention device and meet the usage requirements of different working conditions. Exemplarily, the control base 111 has multi-directional sliding grooves, and the control lever 112 can slide along the corresponding directions.

[0051] The control of the movement of the intervention device by the control lever 112 is achieved through the movement of the control lever 112 relative to the control base 111. It should be noted that the form of the control base 111 is not restricted in principle as long as it can meet the installation requirements of the control lever 112.

[0052] In one embodiment, the linkage assembly 120 includes a sliding member 121 and a connecting member that is linked with the sliding member 121. The sliding member 121 is sleeved on the control lever 112 and can slide along the control lever 112. The connecting member connects the control base 111 and the elbow support assembly 130 and can adjust the distance between the elbow support assembly 130 and the control base 111.

[0053] The sliding member 121 can move up and down along the control lever 112, thereby driving the connecting member to move synchronously. One end of the connecting member is connected to the control base 111, and the other end of the connecting member is connected to the elbow support assembly 130. When the connecting member moves, it can drive the elbow support assembly 130 to move, so that the elbow support assembly 130 approaches or moves away from the control base 111 to adjust the distance from the operator's arm to the control lever 112 and avoid the friction caused by the active movement of the operator's arm.

[0054] See Figures 1 to 5 , it can be understood that the operator's arm is supported on the elbow support assembly 130. After the operator holds the control lever 112, a stable triangular relationship is formed among the operator's arm 200, the control lever 112, and the connecting member. Since the length of the operator's arm 200 is fixed, when the operator operates the sliding ring to move up and down, it is equivalent to the length and angle of one side of the triangle changing. In this way, the sliding member 121 will drive the connecting member to perform corresponding movements to ensure the stability of the triangular relationship.

[0055] Specifically, when the sliding member 121 moves downward, it indicates that the length of the vertical side of the triangular relationship will become smaller, then the connecting member extends, and the connecting member drives the elbow support assembly 130 to move away from the control base 111, so that the length of the connecting member increases. As Figure 2 and Figure 3As shown, the original length of the vertical side is a. When the sliding member 121 slides down by m, the length of the vertical side becomes a - m. The original length of the connecting member is b. Since the length of the operator's arm 200 remains unchanged, according to the Pythagorean theorem, the extended length of the connecting member is calculated as x.

[0056] When the sliding member 121 moves upward, the length of the vertical side indicating the triangular relationship becomes larger, then the connecting member contracts, and the connecting member drives the elbow support assembly 130 to approach the control base 111, causing the length of the connecting member to decrease. As Figure 4 and Figure 5 shown, the original length of the vertical side is a. When the sliding member 121 slides up by m, the length of the vertical side becomes a + m. The original length of the connecting member is b. Since the length of the operator's arm 200 remains unchanged, according to the Pythagorean theorem, the contracted length of the connecting member is calculated as x.

[0057] Optionally, the sliding member 121 is a slip ring, and the slip ring is slidably sleeved outside the control rod 112. In other embodiments of the present invention, the sliding member 121 can also be a slider, and the slider is slidably disposed on the outer wall of the control rod 112. Of course, the sliding member 121 can also be other types of sliding members, as long as it can slide along the control rod 112.

[0058] Refer to Figures 1 to 5 , in an embodiment, the connecting member includes a driving power source and a connecting rod 122. The connecting rod 122 connects the elbow support assembly 130 and the control base 111. The driving power source can control the elbow support assembly 130 and the connecting rod 122 to make the elbow support assembly 130 approach or move away from the control base 111. The cooperation between the driving power source and the connecting rod 122 can realize the automatic adjustment of the position of the elbow support assembly 130, without the need for the operator to manually adjust, which saves the operator's effort, enables flexible adjustment, and is convenient for the operator to use.

[0059] Through the cooperation between the driving power source and the connecting rod 122, the elbow support assembly 130 can be made to approach or move away from the control base 111, realizing the automatic adjustment of the position of the elbow support assembly 130. Optionally, the driving power source is a driving motor or a hydraulic motor. Of course, in other embodiments of the present invention, the driving power source can also be other components capable of outputting linear power.

[0060] Refer to Figure 1 and Figure 6, in one embodiment, the elbow support assembly 130 is movably arranged on the connecting rod 122, and the driving power source is arranged on the elbow support assembly 130. The driving power source is used to drive the elbow support assembly 130 to move along the connecting rod 122. That is to say, the connecting rod 122 is fixedly arranged, and the elbow support assembly 130 can move along the connecting rod 122. The connecting rod 122 is a relatively long rod-shaped component. The bottom of the elbow support assembly 130 can be movably connected to the connecting rod 122, and the elbow support assembly 130 can slide back and forth along the connecting rod 122 in the direction shown in the figure to approach or move away from the control base 111. Moreover, the driving power source is arranged on the elbow support assembly 130, and the driving power source provides the power for the elbow support assembly 130 to move, so that the elbow support assembly 130 can move along the connecting rod 122 to adjust the distance between the elbow support assembly 130 and the control base 111.

[0061] See Figure 1 and Figure 7 , in one embodiment, the elbow support assembly 130 is fixedly arranged on the connecting rod 122, the connecting rod 122 is a telescopic rod, and the driving power source is used to drive the connecting rod 122 to perform telescopic motion. That is to say, the connecting rod 122 is telescopically arranged by itself. The connecting rod 122 is a telescopic rod member, the driving power source is connected to the connecting rod 122, and the driving power source can control the connecting rod 122, which is a telescopic sleeve, to extend or shorten. The elbow support assembly 130 is fixedly connected to the end of the connecting rod 122 away from the control base 111, and the position of the elbow support assembly 130 and the control base 111 is adjusted by driving the connecting rod 122 to extend or shorten by the driving power source.

[0062] In one embodiment, the linkage assembly 120 further includes an induction measurement component. The induction measurement component is electrically connected to the driving power source. The induction measurement component can detect the distance and / or angle of the sliding component 121 relative to the control base 111, and control the driving power source to control the movement of the elbow support assembly 130 relative to the control base 111.

[0063] The induction measurement component is used to detect the distance of the sliding component 121 relative to the control base 111. That is to say, when the sliding component 121 slides up and down along the control rod 112, the induction measurement component can record the up and down movement distance of the sliding component 121 and calculate the distance from the sliding component 121 to the control base 111. It can be understood that the distance from the sliding component 121 to the control base 111 is the length of the vertical side in the triangular relationship. Moreover, the induction measurement component can also automatically measure the length of the operator's arm 200, which is the length of the hypotenuse in the triangular relationship. In this way, the induction measurement component can calculate the movement distance that the elbow support assembly 130 needs to move. The induction measurement component can feedback the movement distance of the elbow support assembly 130 to the driving power source, and control the telescopic movement of the connecting rod 122 or control the movement of the elbow support assembly 130 through the driving power source.

[0064] See Figures 1 to 5 , when the master hand control device 100 of the present invention is in use, when the operator places the arm on the elbow support assembly 130 and holds the control rod 112 with the hand, the induction measurement component will automatically measure and record the distance between the operator's elbow and the hand holding the operating rod. Thus, a stable triangular structure is formed by the operator's arm 200, the control rod 112, and the connecting rod 122, and the distance between the same operator's elbow joint and the hand holding the control rod 112 remains unchanged. Of course, in other embodiments of the present invention, the induction measurement component can also be automatically adjusted by using records, that is, it has a memory function and is bound to the operator's account. When the same operator uses the master hand control device 100, the induction measurement component can control the elbow support assembly 130 to automatically adjust to a suitable position.

[0065] When the operator operates the sliding component 121 to slide up and down along the control rod 112, it is equivalent to a change in one side of the triangular relationship. When the induction measurement component senses the up and down movement of the sliding component 121 along the control rod 112, it will control the driving power source to drive the connecting rod 122 to expand and contract, thereby driving the elbow support assembly 130 to slide horizontally on the desktop, or driving the elbow support assembly 130 to slide horizontally on the desktop along the connecting rod 122 through the driving power source, so that the elbow support assembly 130 approaches or moves away from the control base 111.

[0066] When the operator operates the control lever 112 to rotate forward and backward, after the induction measurement component senses the change in the angle of the control lever 112, the induction measurement component can detect the vertical distance from the sliding component 121 to the control base 111, and this vertical distance is the projection of the induction measurement component along the length of the control lever 112 in the vertical direction. It can be understood that no matter which direction the control lever 112 tilts, the length of the induction measurement component along the direction of the control lever 112 is less than its projection in the vertical direction. That is to say, the actual distance of the sliding component 121 relative to the control base 111 decreases. The induction measurement component can calculate the side lengths and angles of the triangle according to the formula in the above text, and then control the driving power source to drive the connecting rod 122 to expand and contract, thereby driving the elbow support assembly 130 to slide horizontally on the table, or driving the elbow support assembly 130 to slide horizontally on the table along the connecting rod 122, so that the elbow support assembly 130 approaches the control base 111.

[0067] Through the cooperation of the induction measurement component and the sliding component 121, the position of the elbow support assembly 130 relative to the control base 111 can be automatically adjusted. Moreover, the elbow support assembly 130 will drive the operator's arm to move along the table, without the operator having to move the arm independently, reducing the friction between the arm and the table, avoiding situations such as soreness and numbness in the arm, and reducing the uncomfortable feeling during operation.

[0068] Optionally, the induction measurement component is a sensor or a laser induction device, etc. Of course, in other embodiments of the present invention, the induction measurement component can also be other components capable of detecting the position of the slip ring.

[0069] It should be noted that the connecting component in the above embodiment realizes the linkage between the connecting component and the sliding component 121 through the cooperation of the induction measurement component and the driving power source. Of course, in other embodiments of the present invention, the connecting component can also adopt a mechanical structure to realize the linkage between the connecting component and the sliding component 121.

[0070] See Figure 8 , in an embodiment, the connecting component further includes a first transmission group 123 and a second transmission group 124 that move synchronously. The first transmission group 123 is connected to the sliding component 121, and the second transmission group 124 is connected to the elbow support assembly 130. The sliding component 121 controls the movement of the elbow support assembly 130 through the first transmission group 123 and the second transmission group 124.

[0071] The first transmission group 123 is connected to the second transmission group 124. The first transmission group 123 is also connected to the sliding member 121, and the second transmission group 124 is also connected to the elbow support assembly 130. When the sliding member 121 moves up and down along the control rod 112, the sliding member 121 will drive the first transmission group 123 to move synchronously. During the movement of the first transmission group 123, it will drive the second transmission group 124 to move synchronously, thereby enabling the second transmission group 124 to drive the elbow support assembly 130 to move, so that the elbow support assembly 130 approaches or moves away from the control base 111.

[0072] Optionally, the first transmission group 123 and the second transmission group 124 can be wrapped by a housing to prevent the first transmission group 123 and the second transmission group 124 from being exposed and damaged.

[0073] Optionally, the types of the first transmission group 123 and the second transmission group 124 are not restricted in principle, as long as they can output linear motion. In an embodiment, the first transmission group 123 includes a first gear 1231 and a first rack 1232 that mesh with each other, and the second transmission group 124 includes a second gear 1241 and a second rack 1242 that mesh with each other. The first gear 1231 and the second gear 1241 are coaxially and rotatably arranged on the control base 111. The first rack 1232 is connected to the sliding member 121, and the second rack 1242 is connected to the elbow support assembly 130.

[0074] The first rack 1232 is arranged parallel to the control rod 112. The end of the first rack 1232 is connected to the sliding member 121, and the tooth portion of the first rack 1232 also meshes with and mounts the first gear 1231. The second rack 1242 is arranged in the horizontal direction. The tooth portion of the second rack 1242 meshes with the second gear 1241, and the end of the second rack 1242 is connected to the elbow support assembly 130. The first gear 1231 and the second gear 1241 are coaxially arranged so that the first gear 1231 and the second gear 1241 can rotate synchronously.

[0075] When the sliding member 121 moves up and down along the control rod 112, the sliding member 121 will drive the first rack 1232 to move up and down synchronously. Then, the first rack 1232 drives the meshing first gear 1231 to rotate. Since the first gear 1231 and the second gear 1241 are coaxially arranged, the first gear 1231 will drive the second gear 1241 to rotate synchronously. When the second gear 1241 rotates, the second gear 1241 will drive the second rack 1242 meshing with it to move. When the second rack 1242 moves, the second rack 1242 can drive the elbow support assembly 130 thereon to move synchronously, realizing the adjustment of the position of the elbow support assembly 130.

[0076] Of course, in other embodiments of the present invention, the first transmission group 123 and the second transmission group 124 can also be a synchronous belt structure, a chain structure, or other structures capable of realizing linear motion. When the first transmission group 123 and the second transmission group 124 are a synchronous belt structure or a chain structure, the sliding member 121 and the elbow support assembly 130 can be connected to the synchronous belt or the chain to achieve linkage. It should be noted that the principles of the first transmission group 123 and the second transmission group 124 being a synchronous belt structure or a chain structure, etc., are substantially the same as the principle of the first transmission group 123 and the second transmission group 124 being a gear-rack structure in the above embodiments, and will not be elaborated here one by one.

[0077] See Figure 1 , in one embodiment, the elbow support assembly 130 includes a support plate for supporting the elbow and a support base. The support base connects the support plate and the connecting member, and the support base can move with the connecting member. The support plate is used to carry the operator's arm to effectively support the operator's arm, avoid the operator's arm from hanging in the air, and avoid the influence on operation control caused by shaking.

[0078] The support base plays a connecting role. The support base is arranged at the bottom of the support plate, and the connection between the support plate and the connecting member is established through the support base. When the elbow support assembly 130 slides along the connecting rod 122, the support base is slidably connected to the connecting rod 122. Optionally, the support base has a chute or slides along the connecting rod 122 through components such as sliders. When the connecting rod 122 drives the elbow support assembly 130 to expand and contract, the end of the connecting rod 122 is fixedly connected to the support base, and the connecting rod 122 drives the support base to perform an expansion and contraction movement.

[0079] In principle, the shape of the support plate is not limited as long as it can carry and support the operator's arm. Optionally, the shape of the support plate is flat. Of course, the support plate can also be arranged in an arc shape, and the movement of the operator's arm is restricted by the arc-shaped edge to prevent the operator's arm from accidentally sliding out of the support plate due to misoperation. In other embodiments of the present invention, the support plate can also be of other shapes. Optionally, the support base and the support plate can be an integral structure or can be separately arranged.

[0080] In one embodiment, the master hand control device 100 further includes a lifting assembly. The lifting assembly connects the support base and the support plate, and the lifting assembly can drive the support plate to perform a lifting movement relative to the connecting member. The lifting assembly is used to realize the lifting control of the support plate. It can be understood that when the operator operates the control lever 112, there may be a situation where the operator's arm is hanging in the air. At this time, the support plate can be lifted by the lifting assembly so that the support plate contacts the operator's arm to reliably support the operator's arm and avoid the uncomfortable feeling caused by the arm hanging in the air.

[0081] Specifically, the lifting assembly is installed between the support base and the support tray. When the operator's arm is lifted and suspended, the lifting assembly extends to drive the support tray to rise until the support tray contacts the operator's arm, and then the lifting assembly stops extending. When the operation is completed or it is necessary to lower the height of the support tray, a reset button can be set on the lifting assembly, and the lifting assembly can be controlled to return to the initial position through the reset button. Moreover, when the master hand control device 100 of the present invention is initially used, the operator's arm may not be able to contact the support tray. At this time, the support tray can also be controlled to rise through the lifting assembly.

[0082] In one embodiment, the lifting assembly includes a lifting power source and a lifting rod connected to the lifting power source. The lifting rod is connected to the support tray, and the lifting power source drives the lifting rod to drive the support tray to perform lifting motion. The lifting power source provides power for the lifting motion of the support tray. The output end of the lifting power source is connected to the lifting rod, and the end of the lifting rod is connected to the support tray. The lifting power source is installed on the support base. When the lifting power source works, the lifting power source drives the lifting rod to perform lifting motion, and then the lifting rod drives the support tray to perform lifting motion, realizing the lifting control of the support tray. Optionally, the lifting power source is a driving motor or a hydraulic motor, etc.

[0083] In one embodiment, the linkage assembly 120 further includes an induction detection component. The induction detection component is arranged on the support tray and is electrically connected to the lifting power source of the lifting assembly. The induction detection component detects whether the elbow is borne on the support tray and controls the movement of the lifting power source of the lifting assembly. The induction detection component is used to realize the detection of the operator's arm. The induction detection component is arranged on the support tray. The induction detection component can detect whether the operator's arm contacts the support tray. If the induction detection component detects the operator's arm, the induction detection component does not control the lifting assembly to work. If the induction detection component does not detect the operator's arm, the induction detection component controls the lifting assembly to drive the support tray to rise.

[0084] When the master hand control device 100 of the present invention is in use, when the operator holds the control rod 112, if there is a certain distance between the operator's arm and the support tray, the induction detection component is triggered, and the induction detection component controls the lifting assembly to drive the support tray to rise until the operator's arm is placed on the elbow support assembly 130. If the operator's arm can be placed on the support tray, there is no need to adjust the height of the support tray. Subsequently, the operator can operate the control rod 112 to control the movement of the intervention device. During the operation of the control rod 112, if the operator's arm is lifted, the induction detection component controls the lifting assembly to drive the support tray to rise to reliably support the operator's arm. After use or when it is necessary to lower the height of the support tray, the reset button can be operated for the convenience of the operator. Optionally, the induction detection component is a sensor or a laser induction device.

[0085] The master hand control device 100 of the present invention realizes the height of the sliding member 121 to the control base 111 by adding an induction measurement component to the control base 111, and adjusts the distance between the elbow support assembly 130 and the control base 111 in real time, alleviating problems such as soreness and numbness of the operator's arm. At the same time, it can effectively support the operator's elbow and avoid the influence on operation control caused by shaking. Moreover, it adopts an induction measurement component for automatic adjustment control, with simple operation, high intelligence level, and also has a memory function, which can automatically adjust the position of the elbow support assembly 130 according to the length of the operator's arm 200, facilitating the use by the same operator.

[0086] In addition, the master hand control device 100 connects the elbow support assembly 130 and the control base 111 through a connecting rod 122, and drives the elbow support assembly 130 to move relative to the control base 111 through a driving power source. When operating the control lever 112, according to the stable triangular structure formed among the operator's arm 200, the elbow support assembly 130, and the control lever 112, the operator operates the control lever 112 to drive the elbow support assembly 130 to move. The operator's arm is placed on the elbow support assembly 130, which can avoid the arm from exerting force and make the operator labor-saving. Moreover, the elbow support assembly 130 has a real-time adjustment function and also has a certain fixing effect, and can be flexibly adjusted and easily fixed.

[0087] The present invention also provides a surgical navigation control system, including an intervention device and the master hand control device 100 in any of the above embodiments. The master hand control device 100 is electrically connected to the intervention device, and the master hand control device 100 controls the intervention device to perform an intervention operation. After adopting the master hand control device 100 of the above embodiment in the surgical navigation control system of the present invention, automatic control of the intervention device can be realized, and moreover, it can also reduce situations such as soreness, numbness, and shaking of the operator's arm 200 during operation, ensuring the stability during operation. Except for the master hand control device 100 in the surgical navigation control system, the rest are existing structures, which will not be elaborated here one by one.

[0088] The technical features of the above embodiments can be combined arbitrarily. For the sake of brief description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope described in this specification.

[0089] The above embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent should be subject to the appended claims.

Claims

1. A main hand control device, characterized in that, Comprising: A control component for controlling the operation of the intervention device in the surgical navigation control system; the control component includes a control base and a control rod disposed on the control base, and the control rod is used to connect with the intervention device to control the movement of the intervention device according to the movement of the control rod; A linkage component connected to the control component and capable of being linked with the control component; the linkage component includes a sliding member and a connecting member linked with the sliding member, the sliding member is a slip ring, the sliding member is sleeved on the control rod and can slide along the control rod, thereby driving the connecting member to move synchronously; And An elbow support component connected to the linkage component and capable of moving with the linkage component; the connecting member connects the control base and the elbow support component and can adjust the distance between the elbow support component and the control base; while the control component is moving, the control component drives the elbow support component to move through the linkage component.

2. The master hand control device according to claim 1, characterized in that, The connecting member includes a driving power source and a connecting rod, and the connecting rod connects the elbow support component and the control base; The elbow support component is movably arranged on the connecting rod, and the driving power source is used to drive the elbow support component to move along the connecting rod; Or, the elbow support component is fixedly arranged on the connecting rod, the connecting rod is a telescopic rod, and the driving power source is used to drive the connecting rod to perform telescopic movement.

3. The master hand control device according to claim 2, wherein, The linkage component further includes an induction and measurement component, the induction and measurement component is electrically connected to the driving power source, and the induction and measurement component can detect the distance and / or angle of the sliding member relative to the control base and control the driving power source to control the movement of the elbow support component relative to the control base.

4. The master hand control device according to claim 1, characterized in that The connecting member further includes a first transmission group and a second transmission group that move synchronously, the first transmission group is connected to the sliding member, the second transmission group is connected to the elbow support component, and the sliding member controls the movement of the elbow support component through the first transmission group and the second transmission group.

5. The master hand control device according to claim 4, wherein The first transmission group includes a first gear and a first rack that mesh with each other, the second transmission group includes a second gear and a second rack that mesh with each other, the first gear and the second gear are coaxially and rotatably arranged on the control base, the first rack is connected to the sliding member, and the second rack is connected to the elbow support component.

6. The master hand control device according to claim 1, wherein, The elbow support component includes a support plate for supporting the elbow and a support seat, and the support seat connects the support plate and the connecting member; the master hand control device further includes a lifting component, the lifting component connects the support seat and the support plate, and the lifting component can drive the support plate to perform lifting movement relative to the connecting member.

7. The master hand control device according to claim 6, wherein, The linkage component further includes an induction and detection component, the induction and detection component is arranged on the support plate, the induction and detection component is electrically connected to the lifting component, and the induction and detection component detects whether the support plate bears the elbow and controls the movement of the lifting component.

8. A surgical navigation control system, characterized in that, Comprising an interventional device and a master hand control device as described in any one of claims 1 to 7; The master hand control device is electrically connected to the interventional device, and the master hand control device controls the interventional device to perform an interventional operation.

Images