Laparoscopic surgery camera support system

Abstract

The present invention provides a laparoscopic surgical camera support system, comprising: a first slide rail, one end of which is connected to a first rotating shaft, and the other end of which can rotate around the first rotating shaft; a first slider, which is arranged on the first slide rail and can move along the first slide rail; a second slide rail, which is arranged on the first slider; a second slider, which is arranged on the second slide rail and can move along the second slide rail; and a clamp, which is arranged on the second slider and is used to carry the laparoscopic surgical camera. The support system of the present invention can replace the human hand to firmly clamp the image acquisition device, and can enable the image acquisition device to rotate in space around a virtual center point. The support system of the present invention has two modes, a free movement mode and a locked mode, and the two modes can be switched freely. In the free movement mode, the device can perform passive movement under the push of the operator's hand. In the locked mode, the joints of the device are locked and cannot perform autonomous movement.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices and relates to a laparoscopic surgery auxiliary device, and in particular to a laparoscopic surgery camera support system. Background Art

[0002] Laparoscopic surgery is a minimally invasive procedure that creates a small window through the patient's body surface, but this can increase the difficulty of the procedure. During surgery, the surgeon often requires both hands to operate the instruments. Therefore, an assistant is required to hold a camera and follow the surgeon's angles for image capture. This often leads to crowded positions on the operating table, hindering the procedure. The assistant also becomes fatigued from maintaining a fixed position for extended periods.

[0003] To this end, the existing technology center has proposed a variety of brackets. For example, the solution of the existing patent US12900055 uses multiple ball joints to achieve the purpose of multiple angles, but it needs to be locked manually, the locking mechanism is far away, and the operation is inconvenient, and the device is not set with a virtual rotation center. It only relies on the patient's skin window as a fulcrum, and the stability of the entire device is insufficient. Patent CN203001133U discloses an adjustable bracket for laparoscopic surgery, which is connected by a hard rod and fixed by a screw knob. The operation is complicated, the end is prone to shaking, is not stable enough, and there is a risk to surgical safety. The solution of patent CN104921690B uses two gas struts as brackets, and the joints use ball joints and bracket end bearings. The degree of freedom is insufficient, and if the height needs to be changed during the operation, the two gas struts are inconvenient to operate, and there is no virtual rotation center.

[0004] Therefore, the existing bracket is not flexible enough, cannot be operated with one button, cannot perform operations such as telescopic adjustment of the camera, and is inconvenient to use. In addition, the existing bracket has safety issues such as long-term excessive pressure on the incision site.

[0005] Therefore, it is necessary to design a laparoscope camera bracket device with an adjustable angle at any time. Summary of the Invention

[0006] This invention proposes a laparoscopic surgical camera support system. This system utilizes a design that aligns a rotary joint, curved rails, and linear rails through a common rotational center, increasing the system's degrees of freedom. The rotary joint and curved rails are braked using an electromagnetic clutch, enabling one-touch operation and providing both locking and free movement.

[0007] The present invention provides a laparoscopic surgery camera support system, comprising:

[0008] a first slide rail, one end of which is connected to the first rotating shaft and the other end of which is capable of rotating around the first rotating shaft;

[0009] a first sliding block, disposed on the first sliding rail and capable of moving along the first sliding rail;

[0010] a second slide rail, disposed on the first slide block;

[0011] a second sliding block, disposed on the second sliding rail and capable of moving along the second sliding rail;

[0012] The clamping seat is arranged on the second sliding block and is used for carrying the laparoscopic surgery camera.

[0013] Furthermore, it also includes a plurality of position locking devices, which are respectively used to lock the first rotating shaft, the first sliding block and the second sliding block.

[0014] Furthermore, it also includes a first electromagnetic clutch, which is provided at one end of the first rotating shaft and is used to lock or release the first rotating shaft.

[0015] Furthermore, the first slide rail is an arc-shaped slide rail, and roller grooves are respectively provided on two opposite side surfaces.

[0016] Furthermore, it further comprises two groups of rollers, which are arranged on the first sliding block, and the two groups of rollers respectively cooperate with the roller grooves, so that the first sliding block can move along the arc-shaped sliding rail.

[0017] Furthermore, it further includes a second electromagnetic clutch, which is provided on the first slider, the second electromagnetic clutch is provided with a second rotating shaft, one end of the rotating shaft is provided with a first gear, and the second electromagnetic clutch is used to lock or release the second rotating shaft;

[0018] The arc-shaped slide rail is provided with an arc-shaped rack on one side, and the first gear is engaged with the arc-shaped rack.

[0019] Furthermore, the second slide rail is a linear slide rail, the second slider is a linear slider, and the linear slider is movably arranged on the linear slide rail.

[0020] Furthermore, it also includes a damper, which is arranged on one side of the linear slide rail, and the damper has a second gear;

[0021] A linear rack is provided on one side of the clamping seat or the linear slider, and the second gear is engaged with the linear rack.

[0022] Furthermore, it also includes a connecting piece, which is arranged on the first electromagnetic clutch housing.

[0023] Furthermore, it also includes a laser module, which is arranged near the first rotating shaft.

[0024] Furthermore, the first electromagnetic clutch or the second electromagnetic clutch includes:

[0025] case;

[0026] a first end face gear rotatably disposed in the housing;

[0027] a second end face gear, slidably and non-rotatably disposed in the housing and arranged opposite to the first end face gear;

[0028] a spring, providing a pre-thrust for the second end face gear, pushing the second end face gear toward the first end face gear;

[0029] The electromagnet attracts the second end face gear to separate from the first end face gear when energized.

[0030] Furthermore, the first end face gear and the second end face gear are both provided with teeth on surfaces facing each other, and the first end face gear and the second end face gear are meshed with each other through the teeth.

[0031] Furthermore, a tenon is provided on the side surface of the second end face gear, and a groove is correspondingly provided on the inner surface of the housing. The tenon and the groove cooperate so that the second end face gear can move relative to the first end face gear without rotating.

[0032] Furthermore, an iron sheet is provided between the second end face gear and the electromagnet, and the iron sheet is fastened to the rear portion of the second end face gear;

[0033] There is a gap between the electromagnet and the iron sheet, and the size of the gap is greater than the height of the teeth on any end face of the first end face gear and the second end face gear.

[0034] Furthermore, a rotating shaft is provided at the rear of the first end face gear.

[0035] Furthermore, a shaft sleeve is provided on the shell, the rotating shaft is passed through the shaft sleeve, and one end extends out of the shell.

[0036] Furthermore, the shaft sleeve is provided with two bearings, and the bearings are located in the bearing seat of the housing.

[0037] Furthermore, the rotating shaft is provided with a limiting structure so that the first end face gear cannot move along the axial direction of the rotating shaft.

[0038] Furthermore, the housing includes a first housing and a second housing that are butted against each other;

[0039] The first end face gear and the second end face gear are arranged in the first housing, and the electromagnet is arranged in the second housing.

[0040] Furthermore, the spring is sleeved on the outside of the electromagnet, with one end abutting against the bottom of the second housing and the other end abutting against the rear of the second end face gear.

[0041] The laparoscopic surgical camera support system of the present invention can be operated with one hand: of the three joints of the whole set of equipment, two joints can be controlled with one button through the electromagnetic clutch, and the other joint automatically adjusts the movement through the motion damper. The electromagnetic clutch switch is arranged near the camera clamping device, and the electromagnetic clutch can be unlocked, the camera angle is adjusted, the camera mirror body is extended and retracted, and the electromagnetic clutch is relocked with one hand.

[0042] The laparoscopic surgery camera support system of the present invention is provided with a virtual rotation center, the camera is not likely to generate long-term pressure on the patient's skin window, local necrosis is not likely to occur, and is friendly to wound healing.

[0043] The laparoscopic surgery camera support system of the present invention is small in size: the entire set of equipment is compact in size, which can save more surgical operation space for the surgeon.

[0044] The electromagnetic clutch of the present invention operates by turning the electromagnet on and off, making it easy to operate. Furthermore, it can be repeatedly disconnected and coupled in a short period of time, making it more efficient. In the de-energized state, a spring presses the push-pull end gear on one side against the rotatable end gear on the other side, eliminating the need for the electromagnet to operate for extended periods and preventing overheating.

[0045] The electromagnetic clutch of the present invention is light in weight and small in size, and the friction coefficient of the end gear is high. Therefore, a small electromagnet and a low-elasticity spring can meet the requirements of normal operation, and the device can be made more sophisticated.

[0046] In addition to the technical problems solved by the present invention, the technical features of the technical solutions constituted, and the advantages brought about by the technical features of these technical solutions described above, other technical features of the present invention and the advantages brought about by these technical features will be further explained in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 2 is a schematic structural diagram of an electromagnetic clutch according to an embodiment of the present invention.

[0048] Figure 2 It is a schematic diagram of the cooperation between the second end face gear and the first housing and the assembly of the circular iron sheet in an embodiment of the present invention.

[0049] Figure 3 Schematic diagram of the positional relationship among the electromagnet, compression spring and iron sheet according to an embodiment of the present invention.

[0050] Figure 4Schematic diagram of the structure of the second electromagnetic clutch according to an embodiment of the present invention.

[0051] Figure 5 1 is an assembly diagram of the first sliding block and the arc-shaped sliding rail according to an embodiment of the present invention.

[0052] Figure 6 This is an assembly diagram of a linear guide rail and a linear slider according to an embodiment of the present invention.

[0053] Figure 7 This is an overall structural diagram of the laparoscopic surgery camera support system according to an embodiment of the present invention.

[0054] Reference numerals:

[0055] First electromagnetic clutch 1, first end gear 2, second end gear 3, spring 4, electromagnet 5, first housing 6, second housing 7, first rotating shaft 8, sleeve 9, iron sheet 10, tenon 11, groove 12, connecting piece 13, second electromagnetic clutch 14, second rotating shaft 15, first gear 16, first slider 17, arcuate slide rail 18, arcuate rack 19, roller groove 20, roller 21, linear slide rail 22, second slider 23, linear rack 24, second gear 25, damper 26, cavity mirror clamp seat 27, laser module mounting hole 28, switch seat 29, camera mirror body 30, optical fiber interface 31, signal line 32, roller mounting hole 33, linear slide rail mounting seat 34, linear slider mounting groove 35, damper mounting seat 36, shaft hole 37. DETAILED DESCRIPTION

[0056] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0057] In addition, in the description of the present invention, unless otherwise specified, "multiple", "multiple roots", and "multiple groups" mean two or more, and "several", "several roots", and "several groups" mean one or more.

[0058] The present invention relates to a support system for laparoscopic surgical imaging equipment, which has a clamping structure compatible with the laparoscopic camera currently used in clinical practice, can replace human hands to firmly clamp the image acquisition equipment, and can enable the image acquisition equipment to rotate in space around a virtual center point.

[0059] The present invention provides a laparoscopic surgery camera support system, comprising:

[0060] a first slide rail, one end of which is connected to the first rotating shaft and the other end of which is capable of rotating around the first rotating shaft;

[0061] a first sliding block, disposed on the first sliding rail and capable of moving along the first sliding rail;

[0062] a second slide rail, disposed on the first slide block;

[0063] a second sliding block, disposed on the second sliding rail and capable of moving along the second sliding rail;

[0064] The clamping seat is arranged on the second sliding block and is used for carrying the laparoscopic surgery camera.

[0065] The laparoscopic surgical camera support system of the present invention can provide three-degree-of-freedom movement for the camera body, making surgical operations more flexible.

[0066] Furthermore, the device may include multiple position locking devices, each for locking the first rotating shaft, the first slider, and the second slider. The position locking device may be an electromagnetic clutch, a damper, or the like. Through the locking and unlocking operations of the position locking device, the support system of the present invention can have two modes: a free movement mode and a locked mode. The two modes can be freely switched. In the free movement mode, the support system can passively move under the push of the operator's hand. In the locked mode, each joint is locked and cannot move autonomously.

[0067] The electromagnetic clutch of the present invention may include: a housing; a first end face gear, rotatably arranged in the housing; a second end face gear, slidably and non-rotatably arranged in the housing, and arranged opposite to the first end face gear; a spring, providing a pre-thrust for the second end face gear, pushing the second end face gear toward the first end face gear; and an electromagnet, which attracts the second end face gear to separate from the first end face gear when energized.

[0068] In this solution, the first face gear can only rotate, while the second face gear can only push and pull. The two face gears can mesh with each other. When the electromagnet is energized, it attracts the second face gear toward the first, causing it to compress the spring to work. At this point, the two face gears are completely separated, allowing the first face gear to rotate. When the electromagnet is de-energized, the attraction between the electromagnet and the second face gear is eliminated, and the spring forces the second face gear to re-engage with the first face gear, preventing the first face gear from rotating.

[0069] Furthermore, a rotating shaft is disposed at the rear of the first face gear, and a sleeve is disposed in the housing. The rotating shaft is disposed within the sleeve, with one end of the rotating shaft extending out of the housing. Preferably, two bearings are disposed within the sleeve, and the bearings are located within a bearing seat in the housing. The first face gear can rotate about the rotating shaft, and a limiting mechanism, such as a pin or other fixing structure, is disposed on the other side of the rotating shaft to prevent the first face gear from moving axially along the rotating shaft.

[0070] Preferably, the housing is divided into a first housing and a second housing, which are butted together to form a cavity in the housing. The first end gear and the second end gear are arranged in the first housing, and the electromagnet is arranged in the second housing.

[0071] Preferably, a groove is provided on the inner wall of the first shell, and correspondingly, a matching tenon is formed on the second end face gear. The tenon cooperates with the groove so that the second end face gear can slide along the axial direction but cannot rotate. The second end face gear can slide toward the first end face gear and engage with it. After engagement, the first end face gear is locked.

[0072] Preferably, a spring (compression spring) is sleeved around the exterior of the electromagnet, with one end abutting the bottom of the second housing and the other end abutting the rear of the second face gear. Preferably, a first circular groove is provided at the closed end of the bottom interior of the second housing, into which the non-magnetic end of the electromagnet is inserted. A through hole is provided in the center of the closed end of the bottom interior of the second housing, and a threaded hole is provided at the non-magnetic end of the electromagnet. A nut is passed through the through hole of the second housing and fastened to the threaded hole of the electromagnet. The magnetic end of the electromagnet faces the second face gear.

[0073] Preferably, a second circular groove is provided on the side of the second end face gear facing the electromagnet, and a circular iron sheet is embedded in the second circular groove, with a through hole in the middle of the circular iron sheet, and the circular iron sheet is fastened to the second circular groove by a nut. After assembly, a gap exists between the electromagnet and the circular iron sheet, the size of the gap being smaller than the maximum value of the spring that can be compressed by the magnetic force of the electromagnet, and the size of the gap being larger than the tooth height of either end face gear of the first and second end face gears. Therefore, the second end face gear can be attracted to disengage from the first end face gear by energizing the electromagnet, and when the electromagnet is de-energized, the second end face gear is engaged with the first end face gear by the thrust of the compression spring.

[0074] When the device is properly assembled and powered off, the spring force of the compression spring is less than the attractive force generated by the electromagnet at rest. Considering the potential load on the shaft of the first face gear, the spring pressure should be even smaller to ensure normal operation of the entire system under load. Those skilled in the art can select the combination of spring and electromagnet based on specific application requirements.

[0075] Optionally, the compression spring may be replaced with other elastic components to apply an action force (pulling force or pushing force) to the second end face gear along the axial direction, so that the two end face gears mesh with each other.

[0076] Optionally, the compression spring may also be installed inside the hollow electromagnet, or in a groove on the end surface of the electromagnet.

[0077] Optionally, the teeth of the end face gears may be arranged radially, or may be replaced with other tooth profiles, the purpose of which is to increase the friction coefficient of the end face gears and increase the friction force.

[0078] Optionally, the two end face gears may be made of metal material or other materials with rough surfaces.

[0079] Optionally, the electromagnet may be a common electromagnet or a push-pull electromagnet, which provides an axial pulling force when powered on and an axial pressing force when powered off.

[0080] Alternatively, other arrangements can be chosen to achieve different permutations and combinations of the electromagnet, spring, and circular iron sheet. For example, a method can be used to provide thrust or pull to the second end gear. For example, the electromagnet can be placed between the spring and the circular iron sheet, or the circular iron sheet can be placed at the bottom of the second housing.

[0081] Optionally, the shaft sleeve of the first end gear shaft may also be a bearing.

[0082] Optionally, the tenon on the outer wall of the second face gear can be formed directly or by later inserting metal pins. The number of metal pins can be two or more, and the number of grooves on the inner wall of the first housing can be correspondingly two or more. Alternatively, the grooves can be provided on the outer wall of the second face gear, and the tenon can be provided on the inner wall of the first housing.

[0083] Optionally, a circular iron sheet is provided at the end of the second end gear facing the electromagnet, or the second end gear is directly processed from a magnetic-affinity metal, which may be metallic iron or other magnetic-affinity materials.

[0084] The electromagnetic clutch of the present invention can also be replaced by other types of electromagnetic switches, which are characterized by having a central rotating shaft, which functions to be locked when the power is off and unlocked and rotatable around the central shaft when the power is on.

[0085] Optionally, any one or both of the first electromagnetic clutch and the second electromagnetic clutch can be replaced by a damper, that is, the resistance of the damper is used to lock the position. When the instrument needs to be adjusted, work needs to be done to overcome the resistance of the damper. In this way, the entire support system can include 1-3 dampers.

[0086] Optionally, a connecting piece is provided on the housing of the first electromagnetic clutch and can be integrally formed with the outer shell of the first electromagnetic clutch. The connecting piece is perpendicular to the axial direction of the first electromagnetic clutch.

[0087] Preferably, the first slide rail is an arcuate slide rail having roller grooves disposed on two opposing sides thereof. A curved rack is disposed on one side of the arcuate slide rail. The first slider includes two sets of rollers, each of which engages with the roller grooves, enabling the first slider to move along the arcuate slide rail.

[0088] The first end face gear of the first electromagnetic clutch extends out of the first rotating shaft, and the first rotating shaft is a D-shaped shaft. A threaded hole is provided on the end face of the first rotating shaft. Correspondingly, a D-shaped through hole matching it is provided at one end of the arc-shaped slide rail. The first rotating shaft can be tightly nested into the D-shaped through hole of the arc-shaped slide rail and is fixed by screws to prevent the arc-shaped slide rail from slipping off the first rotating shaft. The arc-shaped slide rail can rotate around the axial direction of the first rotating shaft together with the first rotating shaft.

[0089] A portion of the housing of the second electromagnetic clutch is formed on the first slider, and the first end face gear extends out of the second rotating shaft. The second rotating shaft and the first gear are non-rotatably connected through a D-shaped hole. After the three rollers are correctly adapted to the arc-shaped slide rail, the first gear can just engage with the arc-shaped rack.

[0090] Preferably, the second slide rail is a linear slide rail, and the second slider is a linear slider, which is movably arranged on the linear slide rail.

[0091] The second slider is fixed to the first slider by screws, and the laparoscope clamp is fixed to the second slide rail by screws. The linear slide rail is slidably connected to the second slider, and the laparoscope clamp can slide back and forth along the linear slide rail. A linear rack is formed on one side of the laparoscope clamp.

[0092] The damper is mounted on the first slider, flanking the linear rack. The damper's shaft is non-rotatably connected to the second gear via a D-shaped hole. The second gear meshes with the linear rack on one side of the laparoscope holder. As the laparoscope holder slides along the linear rail, the gear and rack drive the damper's rotation. The damper provides resistance, securing the position of the laparoscope holder.

[0093] In the present invention, the laparoscope holder can be telescopically moved along the extension line of the camera lens body. The camera lens body and the laparoscope holder are tightly connected, and the camera lens body can be held by hand to overcome resistance and rotate the lens body and the laparoscope holder.

[0094] The laser module is installed at the laser module mounting hole. The laser module can be a linear laser or a planar laser module, and the purpose is to display the position of the virtual rotation center on the camera lens. The extension line of the camera lens just passes through the virtual rotation center of the present invention. When the laparoscopic surgery camera support system is connected to the passive arm or external bracket through a connector, the position of the passive arm or external bracket can be adjusted by the indication of the laser spot so that the virtual rotation center (the position of the spot) is located at the junction of the camera lens and the skin incision. During the operation, the lens rotates around the virtual rotation center, and the camera lens is not likely to generate long-term pressure on the patient's skin window, and local necrosis is not likely to occur, which is friendly to wound healing.

[0095] Optionally, the arc-shaped rack of the present invention is directly formed on the arc-shaped slide rail, or they can be formed separately and then fixed together, and the linear rack is directly formed on the laparoscope holder, or they can be formed separately and then fixed together.

[0096] Optionally, the laparoscope clamp of the present invention can adopt a semi-wrapped buckle style, or a clamping mechanism with elasticity or a fully wrapped annular structure, the purpose of which is to firmly fix the laparoscope body and allow the laparoscope body to rotate slightly.

[0097] Optionally, the first gear and arcuate rack, and the second gear and linear rack of the present invention are mounted parallel to the first slider's motion plane. Other mounting orientations are also possible, provided they meet functional requirements, such as the linear rack being perpendicular to the first slider's motion plane. Furthermore, the gears and racks can be replaced with other transmission components, such as bevel gears or helical gear structures. The damper described herein is mounted perpendicular to or parallel to the first slider's motion plane.

[0098] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0099] like Figure 1-3 As shown, the first electromagnetic clutch 1 provided in the embodiment of the present invention includes a first end face gear 2, a second end face gear 3, a spring 4, an electromagnet 5, a first housing 6, a second housing 7, a first rotating shaft 8, a sleeve 9, an iron sheet 10, a tenon 11, and a groove 12.

[0100] The first housing 6 and the second housing 7 are butted together to form a cavity within the housing. The first face gear 2 and the second face gear 3 are disposed within the first housing 6, and the electromagnet 5 is disposed within the second housing 7. The end faces of the first face gear 2 and the second face gear 3 are disposed opposite each other, each face gear having radially arranged teeth disposed thereon, and the teeth on the two end faces can mesh with each other. A sleeve 9 is disposed at the bottom of the first housing 6, and a first rotating shaft 8 is disposed within the sleeve 9. One end of the first rotating shaft 8 is connected to the outside of the first face gear 2, and the other end extends from the first housing 6.

[0101] A groove 12 is formed on the inner wall of the first housing 6, and a corresponding tenon 11 is formed on the second face gear 3. The tenon 11 cooperates with the groove 12, allowing the second face gear 3 to slide axially but not rotate. The second face gear 3 can slide toward and mesh with the first face gear 2, locking the first face gear 2 after meshing. In this embodiment, four tenons 11 are evenly distributed around the outer circumference of the second face gear 3, and four corresponding grooves 12 are formed on the inner wall of the first housing 6.

[0102] The spring 4 is sleeved on the outside of the electromagnet 5, with one end abutting the bottom inside the second housing 7 and the other end abutting the rear of the second end face gear 3. The spring 4 is a compression spring and can freely extend and retract along the axial direction of the electromagnet 5, providing a pre-thrust for the second end face gear 3, pushing the second end face gear 3 toward the first end face gear 2. The non-magnetic end of the electromagnet 5 is connected to the bottom of the second housing 7 by a screw. The magnetic end of the electromagnet 5 faces the second end face gear 3. An iron sheet 10 is provided at the bottom of the second end face gear 3, and the iron sheet 10 is connected to the bottom of the second end face gear 3 by a screw. There is a gap between the iron sheet 10 and the electromagnet 5, the size of the gap is larger than the tooth height of a single end face gear, and smaller than the critical distance for the electromagnet 5 to resist the elastic work of the spring 4 used.

[0103] When electromagnet 5 is energized, it attracts iron sheet 10, which in turn pulls second face gear 3 toward electromagnet 5, causing second face gear 3 to compress spring 5 and generate work. At this point, first face gear 2 and second face gear 3 are completely separated, allowing first face gear 2 to rotate. When electromagnet 5 is de-energized, iron sheet 10 separates from electromagnet 5, and spring 4 forces second face gear 3 to re-engage with first face gear 2, preventing first face gear 2 from rotating.

[0104] A connecting member 13 is provided on the housing of the first electromagnetic clutch 1 for connecting the laparoscopic surgery camera support system to a passive arm or an external bracket.

[0105] like Figure 4As shown, the structure and operating principle of the second electromagnetic clutch 14 of this embodiment are basically the same as those of the first electromagnetic clutch 1, except that the first housing of the second electromagnetic clutch 14 and the first slider 17 are integrally formed. The first end gear of the second electromagnetic clutch 14 extends from a second rotating shaft 15, which extends from the first slider 17. The end of the second rotating shaft 15 is provided with a first gear 16, and the second rotating shaft 15 and the first gear 16 are non-rotatably connected via a D-shaped hole. When the electromagnet of the second electromagnetic clutch 14 is energized, the second rotating shaft 15 and the first gear 16 are released and can rotate. When the electromagnet of the second electromagnetic clutch 14 is de-energized, the second rotating shaft 15 and the first gear 16 are locked and cannot rotate.

[0106] The first slider 17 includes a roller mounting hole 33, which includes three roller mounting holes 33 in this embodiment, for mounting the roller 21. The first slider 17 is also provided with a linear guide rail mounting seat 34, a linear slider mounting slot 35 and a damper mounting seat 36.

[0107] like Figure 5 As shown, one end of the arcuate slide 18 is provided with an axial hole 37, and the first rotating shaft 8 is assembled in the axial hole 37. In this embodiment, the first rotating shaft 8 is a D-shaped shaft, and a threaded hole is formed on the end surface of the first rotating shaft 8. Accordingly, the axial hole 37 is a D-shaped through hole. The first rotating shaft 8 can be tightly nested in the axial hole 37 and fixed by screws to prevent the arcuate slide 18 from slipping off the first rotating shaft 8. The arcuate slide 18 can rotate together with the first rotating shaft 8 around the axial direction of the first rotating shaft 8. Therefore, the locking and release of the first rotating shaft 8 can be controlled by the first electromagnetic clutch 1, thereby controlling the rotation and locking of the arcuate slide 18 around the first rotating shaft 8.

[0108] The curved rail 18 is provided with an arc-shaped rack 19 on its upper surface. The curvature of the arc-shaped rack 19 matches the curvature of the curved rail 18. The upper and lower surfaces of the curved rail 18 are respectively provided with roller grooves 20. The first slider 17 is slidably mounted on the curved rail 18 via rollers 21.

[0109] Three rollers 21 are mounted on the first slider 17, one of which is an eccentric roller. The three rollers 21 are arranged on either side of the curved rail 18 and are embedded in the roller groove 20. The eccentric rollers 21 are arranged in a single row on one side. By adjusting the orientation of the eccentric rollers 21, the three rollers 21 can precisely press against the roller groove 20 of the curved rail 18 and slide along the roller groove 20.

[0110] After the three rollers 21 are properly fitted with the arc-shaped slide rail 18, the first gear 16 can be meshed with the arc-shaped rack 19. Therefore, the locking and releasing of the first gear 16 can be controlled by the second electromagnetic clutch 14, thereby controlling the movement and locking of the first slider 17 on the arc-shaped slide rail 18.

[0111] As shown in the figure, a laser module mounting hole 28 is provided at the end of the arc-shaped slide rail 18, located near the shaft hole 37. The laser module is installed in the laser module mounting hole 28. The laser module can be a linear laser generator. When the laser module is turned on, a laser spot is displayed on the camera lens. This spot is the virtual rotation center position.

[0112] like Figure 6 As shown, the second slider 23 is assembled on the linear slide 22. The linear slide 22 is a U-shaped groove structure with grooves symmetrically provided on both side walls. Linear protrusions are correspondingly provided on both sides of the second slider 23. The protrusions cooperate with the grooves so that the second slider 23 can slide on the linear slide 22. Preferably, a linear bearing is provided in the groove of the linear slide 22.

[0113] The laparoscope holder 27 is connected to the second slider 23 and can move with the second slider 23. A linear rack 24 is provided on one side of the laparoscope holder 27. A damper 26 is provided on the outside of the linear rack 24. A second gear 25 is mounted on one end of the damper 26's rotating shaft. The damper 26's rotating shaft and the second gear 25 are non-rotatably connected via a D-shaped hole. The second gear 25 meshes with the linear rack 24. When the laparoscope holder 27 slides along the linear guide rail 22, the engagement of the second gear 25 and the linear rack 24 drives the damper 26 to rotate. After the laparoscope holder 27 is adjusted to the correct position, the resistance provided by the damper 26 can fix the position of the laparoscope holder 27.

[0114] Figure 7 The figure shows the overall structure of the laparoscopic surgery camera support system. Figure 7 As shown, the first rotating shaft 8 of the first electromagnetic clutch 1 is mounted in the shaft hole 37 of the arcuate slide 18. The first slider 17 is assembled on the arcuate slide 18 via three rollers 21, and the first gear 16 meshes with the arcuate rack 19. The linear slide 22 is mounted on the linear slide mounting seat 34 of the first slider 17, and the second slider 23 can slide in the linear slide mounting groove 35. The damper 26 is mounted in the damper mounting seat 36. The laparoscope clamp 27 is mounted on the second slider 23, and the linear rack 24 meshes with the second gear 25.

[0115] The laparoscopic surgical camera head, comprising a camera body 30, an optical fiber interface 31, and a signal cable 32, is a conventional camera head. The camera body 30 is mounted on the laparoscopic clamping base 27. A switch base 29 is mounted on the housing of the second electromagnetic clutch 14, and a switch is installed within this base. This switch simultaneously controls the power supply to both the first and second electromagnetic clutches 1, 14. Positioned near the camera clamping device, the switch allows single-handed operation for unlocking the electromagnetic clutch, adjusting the camera angle, extending and retracting the camera body, and relocking the electromagnetic clutch.

[0116] The working process of the laparoscopic surgery camera support system of this embodiment is as follows:

[0117] First, fix the support system to the bedside bracket or robotic arm through the connector 13, load the camera lens 30 at the position of the laparoscope clamp 27 and turn on the power of the device. At this time, the laser module will start and a laser spot will be displayed on the camera lens 30. This spot is the virtual rotation center position. By adjusting the bracket or robotic arm, the spot position is aligned with the surgical operation window on the patient's body surface, and the equipment is ready.

[0118] During surgery, the surgeon can hold the camera lens 30 and simultaneously press the switch. This energizes the first and second electromagnetic clutches 1 and 14, allowing the first and second rotating shafts 8 and 15 to rotate. This allows the surgeon to freely adjust the orientation of the camera lens 30. When the camera lens 30 is pushed or pulled, the engagement of the second gear 25 and the linear rack 24 drives the damper 25 to rotate, allowing the camera lens 30 to slowly extend or retract. When the camera angle is satisfactory, the switch is released, de-energizing the first and second electromagnetic clutches 1 and 14. The rotational motion of the entire support system is locked, and the damper 25 holds the camera lens 30 in place.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A laparoscopic surgery camera support system, characterized in that: include: a first slide rail, one end of which is connected to the first rotating shaft and the other end of which is capable of rotating around the first rotating shaft; a first sliding block, disposed on the first sliding rail and capable of moving along the first sliding rail; a second slide rail, disposed on the first slide block; a second sliding block, disposed on the second sliding rail and capable of moving along the second sliding rail; A clamping seat, provided on the second sliding block, for carrying a laparoscopic surgery camera; The first slide rail is an arc-shaped slide rail, with roller grooves provided on two opposite side surfaces, and an axis hole provided at one end of the arc-shaped slide rail; Two sets of rollers are provided on the first slider, and the two sets of rollers are respectively matched with the roller grooves so that the first slider can move along the arc-shaped slide rail; a first electromagnetic clutch comprising the first rotating shaft, the first rotating shaft being assembled in the shaft hole, and the first electromagnetic clutch controlling the locking and releasing of the first rotating shaft, thereby controlling the rotation and locking of the arc-shaped slide rail around the first rotating shaft; a second electromagnetic clutch, disposed on the first slider, the second electromagnetic clutch being provided with a second rotating shaft and a damper mounting seat, a first gear being provided at one end of the second rotating shaft, the second electromagnetic clutch being used to lock or release the second rotating shaft; The arc-shaped slide rail is provided with an arc-shaped rack on one side, and the first gear is meshed with the arc-shaped rack; A switch base is provided on the housing of the second electromagnetic clutch, and a switch is installed in the switch base, and the switch controls the on and off of the first electromagnetic clutch and the second electromagnetic clutch at the same time; The second slide rail is a linear slide rail, and the second slider is a linear slider, and the linear slider is movably arranged on the linear slide rail; A damper is provided on the damper mounting seat, the damper is provided on one side of the linear slide rail, and the damper has a second gear; A linear rack is provided on one side of the clamping seat or the linear slider, and the second gear is meshed with the linear rack; The laser module is installed in the laser module installation hole on the end of the arc-shaped slide rail close to one end of the shaft hole. When the laser module is turned on, a laser spot can be displayed on the camera lens. This spot is the virtual rotation center position.

2. The laparoscopic surgery camera support system according to claim 1, characterized in that: It further includes a plurality of position locking devices, which are respectively used to lock the first rotating shaft, the first sliding block and the second sliding block.

3. The laparoscopic surgery camera support system according to claim 1, characterized in that: It further includes a connecting piece, which is arranged on the first electromagnetic clutch housing.

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