Position indicator position adjustment device and system

Abstract

The application discloses a positioning indicator position adjusting device and system, and belongs to the technical field of positioning instruments. The positioning indicator position adjusting device is used for cooperating with a positioning indicator and comprises a mounting bracket, a first motor and a second motor. The mounting bracket is used for mounting the positioning indicator. The first motor is connected with the mounting bracket, the output shaft of the first motor is distributed along a first axial direction, and the first motor is used for driving the positioning indicator to rotate around the first axial direction. The second motor is connected with the mounting bracket, the output shaft of the second motor is distributed along a second axial direction, the second axial direction is orthogonal to the first axial direction, and the second motor is used for driving the positioning indicator to rotate around the second axial direction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning instrument, in particular to a positioning indicator position adjusting device and system. BACKGROUND

[0002] In the medical field, some treatment processes need visual positioning for assistance. For example, doctors use markers to mark lines when performing puncture or local anesthesia on patients. However, such an operation method will cause a large error. The positioning indicator is used for visual positioning of the target position and is widely used in many technical fields. At present, only laser positioning is used for radiotherapy and chemotherapy, and a laser positioning indicator position adjusting device is specifically used. By adjusting the irradiation angle of the laser lamp, visual positioning of the target area of the patient is realized. However, the laser positioning indicator position adjusting device provided in the related art has the defect of complex structure. SUMMARY

[0003] The technical problem to be solved by the present application is to overcome the defect of complex structure of the positioning indicator position adjusting device in the prior art, and to provide a positioning indicator position adjusting device and system.

[0004] The present application solves the above technical problems by the following technical solutions:

[0005] In a first aspect, the present application provides a positioning indicator position adjusting device. The positioning indicator position adjusting device is used in cooperation with a positioning indicator and comprises:

[0006] A mounting bracket is used to mount the positioning indicator;

[0007] A first motor is connected with the mounting bracket, an output shaft of the first motor is distributed along a first axis, and the first motor is used to drive the positioning indicator to rotate around the first axis; and

[0008] A second motor is connected with the mounting bracket, an output shaft of the second motor is distributed along a second axis, the second axis is orthogonal to the first axis, and the second motor is used to drive the positioning indicator to rotate around the second axis.

[0009] Optionally, the mounting bracket comprises:

[0010] A fixed part is used to mount the first motor and the second motor, and

[0011] A mounting part is used to mount the positioning indicator, the mounting part is movably connected with the fixed part, and the mounting part can rotate around the first axis and the second axis relative to the fixed part.

[0012] Optionally, the device further comprises:

[0013] a first transmission assembly, abutting against the mounting portion and connected to the first motor, for driving the mounting portion to rotate around the first axis under the driving of the first motor; and

[0014] a second transmission assembly, abutting against the mounting portion and connected to the second motor, for driving the mounting portion to rotate around the second axis under the driving of the second motor.

[0015] Optionally, the first transmission assembly comprises a first part and a second part, which are located on two sides of the mounting portion along a direction in which the mounting portion rotates around the first axis; and / or,

[0016] the second transmission assembly comprises a third part and a fourth part, which are located on two sides of the mounting portion along a direction in which the mounting portion rotates around the second axis.

[0017] Optionally, along an extension direction of the mounting portion away from the fixed portion, the first part and the second part are located above the third part and the fourth part.

[0018] Optionally, the first part and the second part are both in point contact with the mounting portion, and / or,

[0019] the third part and the fourth part are both in point contact with the mounting portion.

[0020] Optionally, the first transmission assembly extends along the first axis, and a first detection assembly is arranged at an end of the first transmission assembly away from the first motor, the first detection assembly being configured to detect a rotation angle of the first transmission assembly; and / or,

[0021] the second transmission assembly extends along the second axis, and a second detection assembly is arranged at an end of the second transmission assembly away from the second motor, the second detection assembly being configured to detect a rotation angle of the second transmission assembly.

[0022] Optionally, the mounting support comprises:

[0023] a first support configured to mount the positioning indicator and connected to the first motor, for rotating around the first axis under the driving of the first motor;

[0024] a second support configured to connect the first motor and the second motor, the second support being relatively fixed with the first motor and configured to drive the first support to rotate around the second axis under the driving of the second motor.

[0025] Optionally, the second support comprises:

[0026] The first connecting part is used for connecting the first motor;

[0027] The second connecting part is connected with the first connecting part and extends along the first axis, and is used for connecting the second motor.

[0028] Optionally, the second support further comprises a third connecting part connected with the first connecting part, the third connecting part extending along the first axis and being oppositely arranged with the second connecting part.

[0029] Optionally, the device comprises at least two positioning modules, one of the positioning modules comprising the mounting support, the first motor and the second motor connected with the second support in the mounting support;

[0030] In the adjacent two positioning modules, the second motor in one of the positioning modules is connected with the third connecting part of the other module in a relatively fixed manner.

[0031] Optionally, the first monitoring assembly for monitoring the rotating speed of the first motor is arranged in the first motor; and / or

[0032] The second monitoring assembly for monitoring the rotating speed of the second motor is arranged in the second motor.

[0033] In a second aspect, an embodiment of the present application provides a positioning indicator position adjusting system, the system comprising a positioning indicator and the positioning indicator position adjusting device of the first aspect, the positioning indicator being connected with the mounting support in the positioning indicator position adjusting device.

[0034] The positive progress effect of the present application is that:

[0035] The mounting support is driven by the first motor and the second motor to drive the positioning indicator to rotate around two mutually orthogonal axes, so as to change the position of the positioning indicator, so that the positioning indicator indicates the point in the plane formed by the first axis and the second axis. Moreover, the output shaft of the first motor and the rotating shaft for driving the positioning indicator to rotate are both the first axis, and the output shaft of the second motor and the rotating shaft for driving the positioning indicator to rotate are both the second axis. No transmission assembly for changing the rotating direction is needed between the first motor and the mounting support and between the second motor and the mounting support, which ensures that the overall positioning indicator position adjusting device is simple in structure and compact in structure, and solves the defect of complex structure of the positioning indicator position adjusting device in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a schematic view of a positioning indicator position adjusting device according to an exemplary embodiment;

[0037] Figure 2 is a structural diagram of a positioning indicator position adjusting device according to an exemplary embodiment;

[0038] Figure 3 is a structural diagram of a mounting bracket of a positioning indicator position adjusting device according to an exemplary embodiment;

[0039] Figure 4 is a structural diagram of a bracket in a fixing portion according to an exemplary embodiment;

[0040] Figure 5 is a structural diagram of a first motor and a first transmission assembly according to an exemplary embodiment;

[0041] Figure 6 is a structural diagram of a first transmission assembly according to an exemplary embodiment;

[0042] Figure 7 is a structural diagram of a second motor and a second transmission assembly according to an exemplary embodiment;

[0043] Figure 8 is a structural diagram of a second transmission assembly according to an exemplary embodiment;

[0044] Figure 9 is a structural diagram of a positioning indicator position adjusting device according to another exemplary embodiment;

[0045] Figure 10 is a structural diagram of a positioning indicator position adjusting device according to another exemplary embodiment;

[0046] Figure 11 is a structural diagram of a first bracket according to an exemplary embodiment. As shown in Figure 11 ;

[0047] Figure 12 is a structural diagram of a first motor according to an exemplary embodiment;

[0048] Figure 13 is a structural diagram of a connection between a first motor and a base according to an exemplary embodiment;

[0049] Figure 14-1 and Figure 14-2 are structural diagrams of a connecting member according to different exemplary embodiments;

[0050] Figure 15 is a structural diagram of a second bracket according to an exemplary embodiment;

[0051] Figure 16is a structural schematic view of a positioning indicator position adjusting device shown according to another exemplary embodiment;

[0052] Figure 17 is a structural schematic view of a second bracket shown according to another exemplary embodiment;

[0053] Figure 18 is a structural schematic view of a positioning indicator position adjusting device shown according to another exemplary embodiment.

[0054] In the above-described drawings, the reference signs are illustrated as follows:

[0055] 100, first motor, 110, output portion, 111, end surface, 1111, bracket interface, 120, motor housing;

[0056] 200, second motor;

[0057] 300, mounting bracket, 310, fixed portion, 311, mounting seat, 3111, motor shaft mounting hole, 3112, motor support mounting hole, 312, bracket, 312a, first side plate, 312b, second side plate, 312c, third side plate, 312d, fourth side plate, 320, mounting portion; 330, first bracket, 331, base, 3311, motor connection interface, 332, mounting frame; 3321, mounting hole; 340, second bracket, 341, first connection portion, 342, second connection portion, 343, third connection portion;

[0058] 400, positioning indicator;

[0059] 510, first detection assembly, 511, connecting bracket, 520, second detection assembly, 521, connecting bracket;

[0060] 600, first transmission assembly, 610, first portion, 620, second portion, 630, first connecting plate, 640, second connecting plate;

[0061] 700, second transmission assembly, 710, third portion, 720, fourth portion, 730, third connecting plate, 740, fourth connecting plate, 751, first extension piece, 752, second extension piece;

[0062] 800, connecting piece, 810, bracket interface, 820, through hole, 830, central portion, 820, connecting arm;

[0063] 900, overall mounting frame, 910, first mounting plate, 920, second mounting plate;

[0064] 1A, First Axis; 1B, Second Axis; X, Positioning Module; X1, First Positioning Module; X2, Second Positioning Module; X3, Third Positioning Module; X4, Fourth Positioning Module. Detailed Implementation

[0065] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0066] In a first aspect, embodiments of the present invention provide a positioning indicator position adjustment device, which is used to cooperate with a positioning indicator.

[0067] Figure 1 This is a schematic diagram of a positioning indicator position adjustment device according to an exemplary embodiment. Figure 1 As shown, the positioning indicator position adjustment device includes: a first motor 100, a second motor 200, and a mounting bracket 300. The mounting bracket 300 is used to mount the positioning indicator 400. The first motor 100 is connected to the mounting bracket 300, and its output shaft is distributed along a first axis 1A. The first motor 100 drives the positioning indicator 400 to rotate around the first axis 1A. The second motor 200 is connected to the mounting bracket 300, and its output shaft is distributed along a second axis 1B. The second motor 200 drives the positioning indicator 400 to rotate around the second axis 1B. The second axis 1B is orthogonal to the first axis 1A.

[0068] The first motor 100 and the second motor 200 drive the mounting bracket 300 to rotate the positioning indicator 400 around two orthogonal axes, thereby changing the position of the positioning indicator 400 so that it indicates a point in the plane formed by the first axis 1A and the second axis 1B. Furthermore, the output shaft of the first motor 100 and the rotation axis driving the positioning indicator 400 are both the first axis 1A, and the output shaft of the second motor 200 and the rotation axis driving the positioning indicator 400 are both the second axis 1B. No transmission components for changing the rotation direction are needed between the first motor 100 and the mounting bracket 300, or between the second motor 200 and the mounting bracket 300, ensuring that the overall positioning indicator position adjustment device has a simple and compact structure, thus overcoming the shortcomings of complex structures in related technologies.

[0069] In this embodiment of the invention, the positioning indicator position adjustment device is provided in the following two ways, which will be described in detail below with reference to the accompanying drawings.

[0070] <First Implementation Method>

[0071] Figure 2This is a schematic diagram illustrating the structure of a positioning indicator position adjustment device according to an exemplary embodiment. Figure 2 As shown, in the first implementation, the first motor 100 and the second motor 200 are integrated and mounted on the mounting bracket 300, and the first motor 100 and the second motor 200 directly drive the part of the mounting bracket 300 that connects to the positioning indicator 400, so as to realize the position change of the positioning indicator 400.

[0072] Figure 3 This is a schematic diagram illustrating the structure of a mounting bracket in a positioning indicator position adjustment device according to an exemplary embodiment. Figure 2 Based on the combination Figure 3 The mounting bracket 300 includes a fixing part 310 and a mounting part 320.

[0073] The fixing part 310 is used to mount the first motor 100 and the second motor 200. The mounting part 320 is used to mount the positioning indicator 400, and the mounting part 320 is movably connected to the fixing part 310. Specifically, the mounting part 320 can rotate relative to the fixing part 310 around the first axis 1A and the second axis 1B. In this way, the mounting part 320 drives the positioning indicator 400 to rotate relative to the fixing part 310 around the first axis 1A and the second axis 1B.

[0074] Regarding the structure of the fixing part 310, optionally, the fixing part 310 includes a mounting base 311 and a bracket 312 that are fixedly connected. The bracket 312 is connected to the mounting base 311 by fasteners or adhesive.

[0075] Mounting base 311 is used for movable connection with mounting part 320. As an example, mounting base 311 and mounting part 320 are connected by ball joint, thereby enabling mounting part 320 to rotate relative to fixed part 310 about two orthogonal axes.

[0076] Figure 4 This is a schematic diagram of the structure of the bracket in the fixing part according to an exemplary embodiment. Figure 2 Based on the combination Figure 4 The bracket 312 is used to connect the first motor 100 and the second motor 200. As an example, the bracket 312 includes a first side plate 312a, a second side plate 312b, a third side plate 312c, and a fourth side plate 312d, extending from the first side plate 312a to the fourth side plate 312d in a direction perpendicular to the mounting base 311. The first side plate 312a and the third side plate 312c are arranged in parallel, as are the second side plate 312b and the fourth side plate 312d. The first motor 100 is connected to the first side plate 312a, and the second motor 200 is connected to the second side plate 312b. In this manner, the output shafts of the first motor 100 and the second motor 200 are orthogonally distributed.

[0077] The connection method between bracket 312 and the first motor 100 and the second motor 200 will be explained in detail using the first side plate 312a and the first motor 100 as an example.

[0078] A first motor support is provided on the first motor 100. Optionally, the first motor support is a lug that is fixedly connected to the outside of the first motor 100. (Refer to...) Figure 4 The first side plate 312a has a motor shaft mounting hole 3111 and a motor support mounting hole 3112. The motor shaft mounting hole 3111 is for the output shaft of the first motor 100 to pass through, so as to drive the mounting part 320 through the first motor 100. The motor support mounting hole 3112 is for mounting the motor support 110 to stabilize the body of the first motor 100 and ensure stable output of the first motor 100. Similarly, the second motor 200 is provided with a second motor support, and the second side plate 312b has a motor shaft mounting hole 3111 and a motor support mounting hole 3112 that cooperate with the second motor 200.

[0079] Furthermore, it should be noted that the third side plate 312c and the fourth side plate 312d are configured to accommodate a rotation angle detection assembly that cooperates with the first motor 100 and the second motor 200. Specifically, the third side plate 312c, parallel to the first side plate 312a, connects to the first detection assembly 510, which detects the rotation angle of the first motor 100 driving the mounting portion 320. The fourth side plate 312d, parallel to the second side plate 312b, connects to the second detection assembly 520, which detects the rotation angle of the second motor 200 driving the mounting portion 320. Optionally, mounting holes are provided on the third side plate 312c and the fourth side plate 312d, and the rotation angle detection assembly is connected by fasteners that engage with these holes. The implementation of the rotation angle detection assembly will be described in detail later.

[0080] Continue to refer to Figure 3 Regarding the structure of the mounting part 320, optionally, the mounting part 320 has a mounting cavity (not shown in the figure), and a positioning indicator is installed in the mounting cavity, for example, the positioning indicator is connected to the mounting part 320 by a fastener. One end of the mounting part 320 is connected to the mounting seat 311 of the fixing part 310 by a ball joint, so as to realize the universal rotation of the mounting part 320 relative to the fixing part 310; the other end of the mounting part 320 extends in a direction away from the mounting seat 311.

[0081] See also Figure 2In the first implementation, the positioning indicator position adjustment device further includes a first transmission assembly 600 and a second transmission assembly 700. The first transmission assembly 600 abuts against the mounting portion 320 and is connected to the first motor 100. Driven by the first motor 100, the first transmission assembly 600 causes the mounting portion 320 to rotate around a first axis 1A. The second transmission assembly 700 abuts against the mounting portion 320 and is connected to the second motor 200. Driven by the second motor 200, the second transmission assembly 700 causes the mounting portion 320 to rotate around a second axis 1B.

[0082] The first transmission component 600 is used to enable the mounting part 320 to rotate smoothly around the first axis 1A, and the second transmission component 700 is used to enable the mounting part 320 to rotate smoothly around the second axis 1B, thereby ensuring the positioning effect of the positioning indicator.

[0083] Figure 5 This is a schematic diagram illustrating the structure of a first motor and a first transmission assembly according to an exemplary embodiment. Figure 5 As shown, the first transmission assembly 600 includes a first part 610 and a second part 620 extending along a first axial direction 1A, and a first connecting plate 630 connected to the same side end of the first part 610 and the second part 620.

[0084] The first connecting plate 630 is fixedly connected to the output shaft of the first motor 100, so that the first part 610 and the second part 620 are driven to rotate by the first motor 100. A gap is provided between the first part 610 and the second part 620, and the space formed by this gap is used to house the mounting part. Figure 2 Along the rotation direction of the mounting portion 320 about the first axis 1A, the first part 610 and the second part 620 are located on both sides of the mounting portion 320. In this manner, when the output shaft of the first motor 100 rotates clockwise (for example only) about the first axis 1A, the first part 610 pushes the mounting portion 320 to rotate relative to the fixed part 310. When the output shaft of the first motor 100 rotates counterclockwise (for example only) about the first axis 1A, the second part 620 pushes the mounting portion 320 to rotate relative to the fixed part 310.

[0085] Both the first part 610 and the second part 620 are in point contact with the mounting part to ensure that the first transmission assembly 600 can smoothly drive the mounting part to rotate. Figure 6 This is a schematic diagram illustrating the structure of a first transmission assembly according to an exemplary embodiment. (In conjunction with...) Figure 2 and Figure 6 The mounting portion 320 has a cylindrical structure, and its outer surface is an arc-shaped surface. The inner surfaces of the first portion 610 and the second portion 620 facing the mounting portion 320 are also arc-shaped surfaces, specifically arc-shaped surfaces protruding towards the mounting portion 320. In this manner, the first portion 610 and the second portion 620 are in point contact.

[0086] In one embodiment, continue to refer to Figure 5 The first detection component 510 is provided at the end of the first transmission component 600 away from the first motor 100. The first detection component 510 is used to detect the rotation angle of the first transmission component 600 driven by the first motor 100, that is, to detect the rotation angle of the first motor 100 driving the mounting part 320.

[0087] Optionally, the first transmission assembly 600 further includes a second connecting plate 640 for mounting the first detection assembly 510. The second connecting plate 640 is disposed opposite to the first connecting plate 630 and connected to the ends of the first part 610 and the second part 620 away from the first motor 100. The output shaft of the first detection assembly 510 passes through the second connecting plate 640 and rotates synchronously with the first transmission assembly 600. In this way, the first detection assembly 510 obtains the rotation angle of the first transmission assembly 600 based on the rotation angle of the output shaft. Optionally, a connecting bracket 511 is provided on the first detection assembly 510, which is used to connect with the side plate of the bracket in the mounting bracket (…). Figure 4 The third side plate 312c shown is connected to ensure the stability of the first detection component 510 and improve detection accuracy. Optionally, the first detection component 510 is an absolute encoder or a potentiometer.

[0088] Based on the above, the first transmission component 600 extends along the first axis 1A, with a compact overall structure and high integration. It can drive the mounting part 320 to rotate smoothly around the first axis 1A, ensuring that the positioning indicator is stably located in the set position and optimizing the indicating effect of the positioning indicator.

[0089] Figure 7 This is a schematic diagram illustrating the structure of a second motor and a second transmission assembly according to an exemplary embodiment. Figure 7 As shown, the second transmission 700 includes a third part 710 and a fourth part 720 extending along the second axis 1B, and a third connecting plate 730 connected to the same side end of the third part 710 and the fourth part 720.

[0090] The third connecting plate 730 is fixedly connected to the output shaft of the second motor 200, so that the third part 710 and the fourth part 720 are driven to rotate by the second motor 200. A gap is provided between the third part 710 and the fourth part 720, and the space formed by this gap is used to house the mounting part. Figure 2 Along the rotation direction of the mounting portion 320 about the second axis 1B, the third portion 710 and the fourth portion 720 are respectively located on both sides of the mounting portion 320. In this manner, when the output shaft of the second motor 200 rotates clockwise about the second axis 1B... Figure 2Taking the indicated orientation as an example, the third part 710 rotates, pushing the mounting part 320 to rotate relative to the fixed part 310. When the output shaft of the second motor 200 rotates counterclockwise around the second axis 1B (taking the direction shown as an example), the third part 710 pushes the mounting part 320 to rotate relative to the fixed part 310. Figure 2 (Taking the orientation shown as an example) Rotate, and the fourth part 720 pushes the mounting part 320 to rotate relative to the fixed part 310.

[0091] Both the third part 710 and the fourth part 720 are in point contact with the mounting part 320 to ensure that the second transmission assembly 700 can smoothly drive the mounting part 320 to rotate. Figure 8 This is a schematic diagram illustrating the structure of a second transmission assembly according to an exemplary embodiment. (In conjunction with...) Figure 2 and Figure 8 The mounting part 320 has a cylindrical structure, and its outer surface is an arc-shaped surface. The inner surfaces of the third part 710 and the fourth part 720 facing the mounting part 320 are also arc-shaped surfaces, specifically arc-shaped surfaces protruding towards the mounting part 320. In this way, the third part 710 and the fourth part 720 are in point contact.

[0092] In one embodiment, continue to refer to Figure 7 The second detection component 520 is provided at the end of the second transmission component 700 away from the second motor 200. The second detection component 520 is used to detect the rotation angle of the second transmission component 700 driven by the second motor 200, that is, to detect the rotation angle of the second motor 200 driving the mounting part 320.

[0093] Optionally, the second transmission assembly 700 further includes a fourth connecting plate 740 for mounting the second detection assembly 520. The fourth connecting plate 740 is disposed opposite to the third connecting plate 730 and connected to the ends of the third part 710 and the fourth part 720 away from the second motor 200. The output shaft of the second detection assembly 520 passes through the fourth connecting plate 740 and rotates synchronously with the second transmission assembly 700. In this way, the second detection assembly 520 obtains the rotation angle of the second transmission assembly 700 based on the rotation angle of the output shaft. Optionally, a connecting bracket 521 is provided on the second detection assembly 520, which is used to connect with the side plate of the bracket in the mounting bracket (e.g., ...). Figure 4 The fourth side plate 312d shown is connected to ensure the stability of the second detection component 520 and improve detection accuracy. Optionally, the second detection component 520 is an absolute encoder or a potentiometer.

[0094] Based on the above, the second transmission component 700 extends along the second axis 1B as a whole, with a compact overall structure and high integration. It can drive the mounting part 320 to rotate smoothly around the second axis 1B, ensuring that the positioning indicator is stably located in the set position and optimizing the indicating effect of the positioning indicator.

[0095] See alsoFigure 2 The first transmission assembly 600 and the second transmission assembly 700 are both integrated on the mounting bracket 300. Specifically, the first transmission assembly 600 is located between the first side plate 312a and the third side plate 312c, and the second transmission assembly 700 is located between the second side plate 312b and the fourth side plate 312d. This approach improves the overall structural integration of the device, reduces its overall size, and allows the positioning indicator adjustment device to be installed in various application scenarios.

[0096] Furthermore, in the extending direction of the mounting portion 320 away from the fixing portion 310, the first portion 610 and the second portion 620 of the first transmission assembly 600 are located above the third portion 710 and the fourth portion 720 of the second transmission assembly 700. That is, the distance from the first portion 610 and the second portion 620 to the mounting base 311 is less than the distance from the third portion 710 and the fourth portion 720 to the mounting base 311. In this manner, the first transmission assembly 600 and the second transmission assembly 700 do not interfere with each other in the direction along the mounting portion 320 away from the fixing portion 310.

[0097] To achieve this technical effect, see Figure 8 The third part 710 and the fourth part 720 are connected to the third connecting plate 730 via the first extension 751, and to the fourth connecting plate 740 via the second extension 752. Figure 2 The first extension 751 and the second extension 752 both extend in a direction away from the mounting base 311, thereby reserving installation space for the first part 610 and the second part 620.

[0098] It should also be noted that the rotatable angle of the mounting part 320 around the first axis 1A is adjusted by adjusting the lengths of the first part 610 and the second part 620 along the first axis 1A; and the rotatable angle of the mounting part 320 around the second axis 1B is adjusted by adjusting the lengths of the third part 710 and the fourth part 720 along the second axis 1B.

[0099] Optionally, a first monitoring component for monitoring the rotational speed of the first motor 100 is provided in the first motor 100; and / or a second monitoring component for monitoring the rotational speed of the second motor 200 is provided in the second motor 200. By monitoring the rotational speeds of the first motor 100 and the second motor 200 in real time using the first and second monitoring components, precise control of the rotational speed of the mounting section 320 is achieved. The first and second monitoring components are incremental encoders.

[0100] Optionally, the first motor 100 and the second motor 200 are also coordinated with a reducer to prevent vibration during the rotation of the mounting part 320 and ensure that the mounting part 320 rotates smoothly and steadily.

[0101] Figure 9 This is a schematic diagram of the structure of a positioning indicator position adjustment device according to another exemplary embodiment. Figure 2 and Figure 9 This embodiment demonstrates different usage states of the positioning indicator position adjustment device provided.

[0102] like Figure 2 As shown, the positioning indicator adjustment device is in the zero position. At this time, the mounting part 320 is stationary perpendicular to the mounting base 311, and neither the first motor 100 nor the second motor 200 drives the mounting part 320 to rotate relative to the fixed part 310.

[0103] like Figure 9 As shown, the positioning indicator position adjustment device is in operation. At this time, the first motor 100 drives the mounting part 320 to rotate around the first axis 1A, and / or the second motor 200 drives the mounting part 320 to rotate around the second axis 1B. Accordingly, the mounting part 320 forms a certain angle with the mounting base 311, so that the positioning indicator 400 on the mounting part 320 indicates the target position.

[0104] In summary, the positioning indicator position adjustment device shown in the first implementation can achieve large-angle rotation of the positioning indicator and features a simple structure, high integration, and light weight, making it suitable for a wide range of applications. Furthermore, the overall position adjustment process is highly controllable, enabling the positioning indicator to smoothly change position and ensuring positioning accuracy and effectiveness.

[0105] <Second Implementation Method>

[0106] Figure 10 This is a schematic diagram illustrating the structure of a positioning indicator position adjustment device according to another exemplary embodiment. Figure 10 As shown, in the second implementation, the first motor 100 and the second motor 200 are integrated and mounted on the mounting bracket 300, and the first motor 100 directly drives the part of the mounting bracket 300 that connects to the positioning indicator 400, while the second motor 200 drives the first motor 100 and the mounting bracket 300 to change the position of the positioning indicator 400.

[0107] like Figure 10 As shown, the mounting bracket 300 includes a first bracket 330 and a second bracket 340. The first bracket 330 is used to mount the positioning indicator 400 and is connected to the first motor 100, and is driven by the first motor 100 to rotate around the first axis 1A.

[0108] Figure 11 This is a schematic diagram of the structure of a first support according to an exemplary embodiment. Figure 11 As shown, the first bracket 330 includes a base 331 and a mounting bracket 332 connected to each other.

[0109] The base 331 is used to connect the first motor 100. Optionally, the base 331 is connected to the output of the first motor 100 and is driven to rotate by the output of the first motor 100. The mounting bracket 332 is used to mount a positioning indicator. Figure 10 The mounting bracket 332 protrudes from the surface of the base 331 along the first axis 1A. A mounting hole 3321 is provided on the mounting bracket 332. The axis of the mounting hole 3321 is orthogonal to the first axis 1A, and the mounting hole 3321 is used to mount the positioning indicator 400. For example, the positioning indicator 400 is inserted into the mounting hole 3321 along its axis. In this way, the first motor 100 drives the positioning indicator to rotate around the first axis 1A.

[0110] Regarding the connection method between the base 331 and the first motor 100, optionally, at least one motor connection interface 3311 is provided on the base 331, and the connection between the base 331 and the output part of the first motor 100 is achieved through the cooperation of the motor connection interface 3311 and the fastener. There is no specific limitation on the number and distribution of the motor connection interfaces 3311; for example, four motor connection interfaces 3311 may be evenly arranged around the center of the radial section of the base 331.

[0111] In one example Figure 12 This is a schematic diagram of the structure of a first motor according to an exemplary embodiment. For example... Figure 12 As shown, the first motor 100 includes a motor housing 120, which has an inner cavity in which an output section 110 is disposed. The end face 111 of the output section 110 is used to connect with the base 331. Figure 12 (Not shown above) is connected. Specifically, the end face 111 is provided with a bracket interface 1111 that is adapted to the motor connection interface 3311. The output part 110 and the base 331 are connected by fasteners passing through the motor interface 3311 and the bracket interface 1111.

[0112] In this example, the radial cross-sectional area of ​​the output section 110 of the first motor 100 is larger, resulting in a larger contact area with the base 331. This improves the connection stability between the first motor 100 and the base 331, ensuring that the base 331 rotates smoothly with the output section of the first motor 100. The first motor 100 can be a gimbal motor.

[0113] In one example Figure 13 This is a schematic diagram illustrating the connection structure of a first motor and a base according to an exemplary embodiment. Figure 13As shown, the output section 110 of the first motor 100 is connected to the base 331 via a connector 800. The connector 800 is fixedly connected to the output section 110 and rotates synchronously with the output section 110. A bracket interface 810 adapted to the motor connection interface 3311 is provided on the connector 800, so that the connector 800 is connected to the base 331.

[0114] Figure 14-1 and Figure 14-2 This is a schematic diagram illustrating the structure of a connector according to different exemplary embodiments. Optionally, as shown... Figure 14-1 As shown, the connector 800 has a plate-like structure, with a through hole 820 and a bracket interface 810 surrounding the through hole 820. The output part is inserted into the through hole 820 to connect with the connector 800. Optionally, as... Figure 14-2 As shown, the connector 800 includes a central portion 830 and a plurality of connecting arms 840 connected to the central portion 830. A through hole 820 is provided on the central portion 830 to connect to the output portion, and a bracket interface 810 is provided on each connecting arm 840 to connect to the base 331.

[0115] In this example, the connection stability between the first motor 100 and the base 311 is improved by the connector 800, ensuring that the base 311 rotates stably with the first motor 100.

[0116] See also Figure 10 The second bracket 340 is used to connect the first motor 100 and the second motor 200. Specifically, the second bracket 340 is relatively fixed to the first motor 100, and is driven by the second motor 200 to rotate the first bracket 330 around the second axis 1B. Furthermore, the first bracket 330 is also connected to a positioning indicator 400, so the positioning indicator 400 is rotated around the second axis 1B by the second motor 200.

[0117] Figure 15 This is a schematic diagram of the structure of a second support according to an exemplary embodiment. Figure 10 Based on the combination Figure 15 The second bracket 340 includes orthogonally distributed first connecting portion 341 and second connecting portion 342. The first connecting portion 341 is used to connect the first motor 100 in a relatively fixed manner. Optionally, the first connecting portion 341 extends along a second axial direction 1B and is provided with at least one motor mounting hole 3411. The motor housing 120 of the first motor 100 is fixedly connected to the first connecting portion 341 by the cooperation of fasteners and the motor mounting hole 3411.

[0118] The second connecting part 342 is connected to the first connecting part 341 and extends along the first axial direction 1A. Optionally, a motor connection interface is provided on the second connecting part 342 for connecting the output part of the second motor 200. The connection method between the second connecting part 342 and the output part of the second motor 200 is the same as the connection method between the base 331 and the first motor 100. Specifically, the output part of the second motor 200 is directly connected to the second connecting part 342; or, the output part of the second motor 200 is connected to the second connecting part 342 via a connector, using a connector to enhance the connection stability between the output part and the second connecting part 342.

[0119] See also Figure 10 The positioning indicator adjustment device also includes an overall mounting bracket 900. This overall mounting bracket 900 includes a first mounting plate 910 and a second mounting plate 920. The first mounting plate 910 is connected to the second motor 200 in a relatively fixed manner. Optionally, the first mounting plate 910 is connected to the motor housing of the second motor 200 (fastener connection, adhesive connection, or welding). The second mounting plate 920 is located above the first motor 100 and the second motor 200, and is used to fix the overall positioning indicator adjustment device in a designated position (e.g., fixing the positioning indicator adjustment device to a diagnostic system).

[0120] Figure 16 This is a schematic diagram of the structure of a positioning indicator position adjustment device according to another exemplary embodiment. Figure 10 and Figure 16 The different usage states of the positioning indicator position adjustment device provided in this embodiment are shown respectively.

[0121] like Figure 10 As shown, the positioning indicator adjustment device is in the zero position. At this time, the mounting bracket 332 in the first bracket 330 is stationary perpendicular to the plane where the first axis 1A and the second axis 1B are located, and neither the first motor 100 nor the second motor 200 drives the first bracket 330 to rotate.

[0122] like Figure 16 As shown, the positioning indicator position adjustment device is in operation. At this time, the first bracket 330 is driven by the first motor 100 to rotate around the first axis (not shown in the figure), and is driven by the second motor 200 to rotate around the second axis 1B. Accordingly, the positioning indicator 400 on the mounting bracket 332 indicates the target position.

[0123] In the positioning indicator position adjustment device provided in the second implementation, the second bracket also has the following optional structure, which enables the adjustment device to integrate multiple positioning indicators and realize multi-position positioning indication.

[0124] Figure 17This is a schematic diagram of the structure of a second support according to another exemplary embodiment. In one example, such as... Figure 17 As shown, the second bracket 340 also includes a third connecting portion 343 connected to the first connecting portion 341. The third connecting portion 343 extends along the first axial direction 1A and is disposed opposite to the second connecting portion 342. Furthermore, the third connecting portion 343 and the second connecting portion 342 extend towards the same side of the first connecting portion 341. At this time, the second bracket 340 forms a semi-enclosed structure that surrounds the first motor 100, providing a certain degree of protection for the first motor 100 and the first bracket 340.

[0125] Figure 18 This is a schematic diagram illustrating the structure of a positioning indicator position adjustment device according to another exemplary embodiment. Figure 18 As shown, when the second bracket 340 includes a third connecting portion 343, the positioning indicator position adjustment device includes at least two positioning modules X. One positioning module X includes: a mounting bracket 300, and a first motor 100 and a second motor 200 cooperating with the mounting bracket 300. The first motor 100 cooperating with the mounting bracket 300 refers to a first motor 100 connected to the first bracket 330 of the mounting bracket 300 and driving the first bracket 330 to rotate about a first axis 1A. The second motor 200 cooperating with the mounting bracket 300 refers to a second motor 200 connected to the second bracket 340 of the mounting bracket 300 and driving the second bracket 340 to rotate about a second axis 1B.

[0126] At this time, in two adjacent positioning modules X, the second motor 200 in one positioning module X is connected to the third connecting part 343 of the other positioning module X in a relatively fixed manner. In this way, multiple positioning modules X can work together to control multiple positioning indicators, achieving precise positioning of the target position (the number of target positions is not limited and can be one or more). Specifically, the rotation of different positioning modules X around the first axis 1A is independently controllable, but the rotation around the second axis 1B requires coordinated control.

[0127] See Figure 18 The first positioning module X1, the second positioning module X2, the third positioning module X3, and the fourth positioning module X4 are distributed along the second axis 1B and connected sequentially. Taking the first positioning module X1 and the second positioning module X2 as examples, the second motor 200 in the second positioning module X2 is connected to the third connecting part 343 in the first positioning module X1 in a relatively fixed manner. The second positioning module X2, the third positioning module X3, and the fourth positioning module X4 are also connected in the same manner.

[0128] In a plurality of interconnected positioning modules, the positioning module that acts as the active party during rotation around the second axis 1B is designated as the upper-level module, and the positioning module that acts as the driven party during rotation around the second axis 1B is designated as the lower-level module. Specifically, the first positioning module X1 is the upper-level module of the second positioning module X2, and the third positioning module X3 is the lower-level module of the second positioning module X2.

[0129] In use, the second motor 200 in the upper-level module can drive the lower-level module to rotate around the second axis 1B. That is, the angle of the positioning indicator in the lower-level module around the second axis 1B is based on the rotation angle of the positioning indicator in the upper-level module around the second axis 1B.

[0130] This approach, by adjusting the relative angles between upper and lower positioning modules, reduces the impact of system errors on the rotation angle of the positioning indicator around the second axis 1B, improving positioning accuracy and ensuring precision. Furthermore, multiple positioning modules can be adapted to multiple positioning indicators; in this case, the positioning indicator position adjustment device can simultaneously control at least two positioning indicators to position at least two target locations. Compared to devices with a single positioning module, the collaborative work of multiple positioning modules improves positioning efficiency and optimizes positioning results. In addition, the overall positioning indicator position adjustment device features an advanced structure, low structural complexity, and light weight, making it suitable for various application scenarios.

[0131] Furthermore, when the positioning indicator position adjustment device includes at least two positioning modules X, the second motor 200, which is not connected to the third connecting part 343, is connected to the overall mounting frame 900 in a relatively fixed manner. In this case, at least two positioning modules X share one overall mounting frame 900, further improving the structural integration and facilitating the installation and fixation of the overall adjustment device.

[0132] Optionally, a first monitoring component is provided in the first motor 100 for monitoring the rotation angle of the output section of the first motor. By detecting the rotation angle of the first motor 100 through the first monitoring component, precise control of the rotation angle of the positioning indicator 400 around the first axis 1A can be achieved.

[0133] Optionally, a second monitoring component is provided in the second motor 200 for monitoring the rotation angle of the output section of the second motor. By detecting the rotation angle of the second motor 200 through the second monitoring component, precise control of the rotation angle of the positioning indicator 400 around the second axis 1B can be achieved. The first and second monitoring components are absolute encoders.

[0134] Furthermore, when the positioning indicator position adjustment device includes at least two positioning modules, the angle formed by the rotation of the positioning indicators in any two positioning modules around the second axis 1B can be determined by the second monitoring component in each positioning module that cooperates with the second motor. This provides a reference for adjusting the position of the positioning indicator, enabling precise positioning at multiple locations.

[0135] In summary, the positioning indicator position adjustment device described above, as an example of the second implementation, enables the positioning indicator to actively adjust at any angle. It features a simple structure, high integration, and high quality, making it suitable for numerous application scenarios. Furthermore, the overall position adjustment process is highly controllable, allowing the positioning indicator to smoothly change position, ensuring positioning accuracy and effectiveness.

[0136] The positioning indicator position adjustment device provided by the first and second implementation methods mentioned above effectively solves the problem of complex structure of positioning indicator position adjustment devices in related technologies. It has the characteristics of high structural integration, light weight and high control precision, and can be applied to many scenarios with target position positioning requirements.

[0137] Secondly, embodiments of the present invention provide a positioning indicator position adjustment system. This positioning indicator position adjustment system includes a positioning indicator and the positioning indicator position adjustment device described in the first aspect. The positioning indicator is connected to a mounting bracket in the positioning indicator position adjustment device. Specifically, embodiments of the present invention provide... Figure 2 , Figure 10 and Figure 18 Positioning indicator and position adjustment system.

[0138] The positioning indicators include, but are not limited to, laser pointers and magnetic induction pointers. Laser pointers output a laser beam, and by adjusting the beam angle, a visual indication of the target location is achieved. Magnetic induction pointers indicate the target location by detecting the strength of the target magnetic field within a preset magnetic field; the target magnetic field strength corresponds to the target location. During use, the position of the magnetic induction pointer needs to be adjusted to detect the magnetic field strength at different locations, thereby achieving positioning indication.

[0139] The positioning indicator position adjustment system provided in this invention features high structural integration, light weight, and high control precision, making it applicable to numerous scenarios requiring target position positioning. Optionally, this positioning indicator position adjustment system can be applied to medical robots to provide positioning guidance for patients' target positions, for doctors' reference. Alternatively, this positioning indicator adjustment system can be applied to other instruments requiring assisted positioning.

[0140] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A positioning indicator position adjustment device, characterized in that, The device is used in conjunction with a positioning indicator (400) and includes: Mounting bracket (300) for mounting the positioning indicator (400); A first motor (100) is connected to the mounting bracket (300), the output shaft of the first motor (100) is distributed along a first axial direction (1A), and the first motor (100) is used to drive the positioning indicator (400) to rotate about the first axial direction (1A); and The second motor (200) is connected to the mounting bracket (300). The output shaft of the second motor (200) is distributed along the second axis (1B). The second axis (1B) is orthogonal to the first axis (1A). The second motor (200) is used to drive the positioning indicator (400) to rotate around the second axis (1B). The output shaft of the first motor (100) and the rotation shaft that drives the positioning indicator (400) to rotate around the first axis (1A) are coaxial; The output shaft of the second motor (200) and the rotation shaft by which the second motor (200) drives the positioning indicator (400) to rotate about the second axis (1B) are coaxial; The mounting bracket (300) includes: Fixing part (310), said fixing part (310) is used to mount the first motor (100) and the second motor (200), and Mounting part (320) is used to mount the positioning indicator (400). The mounting part (320) is movably connected to the fixing part (310). The mounting part (320) can rotate relative to the fixing part (310) about the first axis (1A) and the second axis (1B). Alternatively, the mounting bracket (300) may include: The first bracket (330) is used to mount the positioning indicator (400) and is connected to the first motor (100), and is driven by the first motor (100) to rotate around the first axis (1A); The second bracket (340) is used to connect the first motor (100) and the second motor (200). The second bracket (340) is relatively fixed to the first motor (100) and is driven by the second motor (200) to rotate the first bracket (330) around the second axis (1B).

2. The apparatus according to claim 1, characterized in that, The device further includes: A first transmission assembly (600) abuts against the mounting portion (320) and is connected to the first motor (100), for being driven by the first motor (100) to rotate the mounting portion (320) around the first axis (1A); and The second transmission assembly (700) abuts against the mounting part (320) and is connected to the second motor (200), and is used to drive the mounting part (320) to rotate around the second axis (1B) by the second motor (200).

3. The apparatus according to claim 2, characterized in that, The first transmission assembly (600) includes a first part (610) and a second part (620), which are located on opposite sides of the mounting portion (320) in the direction of rotation about the first axial direction (1A) along the mounting portion (320); and / or, The second transmission assembly (700) includes a third part (710) and a fourth part (720) rotating about the second axis (1B) along the mounting part (320), with the third part (710) and the fourth part (720) located on both sides of the mounting part (320).

4. The apparatus according to claim 3, characterized in that, Along the extending direction of the mounting portion (320) away from the fixed portion (310), the first portion (610) and the second portion (620) are located above the third portion (710) and the fourth portion (720).

5. The apparatus according to claim 3, characterized in that, Both the first part (610) and the second part (620) are in point contact with the mounting part (320), and / or, Both the third part (710) and the fourth part (720) are in point contact with the mounting part (320).

6. The apparatus according to claim 2, characterized in that, The first transmission assembly (600) extends along the first axial direction (1A), and a first detection assembly (510) is provided at the end of the first transmission assembly (600) away from the first motor (100). The first detection assembly (510) is used to detect the rotation angle of the first transmission assembly (600); and / or, The second transmission assembly (700) extends along the second axial direction (1B), and a second detection assembly (520) is provided at the end of the second transmission assembly (700) away from the second motor (200). The second detection assembly (520) is used to detect the rotation angle of the second transmission assembly (700).

7. The apparatus according to claim 1, characterized in that, The second support (340) includes: The first connecting part (341) is used to connect the first motor (100). The second connecting part (342) is connected to the first connecting part (341) and extends along the first axial direction (1A) for connecting the second motor (200).

8. The apparatus according to claim 7, characterized in that, The second bracket (340) further includes a third connecting portion (343) connected to the first connecting portion (341), the third connecting portion (343) extending along the first axial direction (1A) and disposed opposite to the second connecting portion (342).

9. The apparatus according to claim 8, characterized in that, The device includes at least two positioning modules (X), and one positioning module (X) includes: the mounting bracket (300), a first motor (100) and a second motor (200) connected to the second bracket (340) in the mounting bracket (300); In two adjacent positioning modules (X), the second motor (200) in one positioning module (X) is connected to the third connecting part (343) of the other positioning module (X) in a relatively fixed manner.

10. The apparatus according to any one of claims 1 to 9, characterized in that, A first monitoring component for monitoring the rotational speed of the first motor (100) is provided in the first motor (100); and / or A second monitoring component for monitoring the rotational speed of the second motor (200) is provided in the second motor (200).

11. A positioning indicator position adjustment system, characterized in that, The system includes a positioning indicator (400) and a positioning indicator position adjustment device as described in any one of claims 1 to 10. The positioning indicator (400) is connected to the mounting bracket (300) in the positioning indicator position adjustment device.

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