A device and method for adjusting the pitch angle of a binocular camera for surgical robot navigation

Abstract

The application provides a device and method for adjusting the pitch angle of a binocular camera for surgical robot navigation, which comprises a binocular vision camera balance weight movement assembly and a binocular vision camera fixing part, wherein the binocular vision camera balance weight movement assembly comprises a binocular vision camera, a binocular vision camera adapter, a binocular vision camera fixing part rotating shaft, a counterweight handle, a spring, a limiting ring, a counterweight nut, a bearing and an adjusting screw rod, and the binocular vision camera fixing part comprises a binocular vision camera fixing shaft, a shaft sleeve, a damping block, a fixing shaft end cover, a fixing screw and a binocular vision camera rotating shaft fixing part. The device can be adapted to different models of binocular vision cameras, the center of gravity of the binocular vision camera movement assembly coincides with the rotating shaft, no additional damping is needed to overcome gravity, the pitch angle adjustment is smoother, the angle does not change after the pitch angle is adjusted to the right position due to gravity, and the suspension at any angle can be realized.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a device and method for adjusting the pitch angle of a binocular camera used for surgical robot navigation. Background Technology

[0002] In recent years, with the rapid development of orthopedic technology, image-assisted surgery has become one of the main directions of orthopedic surgery. Under these circumstances, navigation binocular cameras have been widely used in orthopedic surgical robot navigation systems. However, adjusting the pitch angle of the navigation binocular camera has become another challenge.

[0003] Adjusting the pitch angle of a current surgical robot's navigation binocular camera is complex. For example, patent CN103735315A provides a method for adjusting the pitch angle of a navigation binocular camera. This patent fixes the navigation binocular vision camera to a folding bracket with multiple rotatable joints, allowing for horizontal rotation and vertical extension via a pneumatic telescopic rod. However, this patent has friction damping at the connecting shaft 250. After the navigation binocular vision camera is adjusted to the correct position, the friction at part 250 overcomes gravity to maintain angle stability. Therefore, adjusting the pitch angle downwards requires the friction force minus the weight of the binocular vision camera, making adjustment relatively easy. Adjusting upwards requires the friction force plus the weight of the navigation binocular vision camera, making adjustment more laborious. Furthermore, the hinge section uses friction to fix the pitch angle of the navigation binocular vision camera; over time, the hinge can loosen, causing the pitch angle to easily shift under gravity after adjustment. Therefore, existing methods and devices for adjusting the pitch angle of navigation binocular cameras cannot meet the needs of orthopedic surgery. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art described in the background section and to provide a device and method for adjusting the pitch angle of a binocular camera used for surgical robot navigation. This device is compatible with different models of binocular vision cameras, and the center of gravity of the camera's motion components coincides with the axis of rotation, eliminating the need for additional damping to overcome gravity. This allows for smoother pitch angle adjustment, and once the pitch angle is adjusted to the correct position, the angle will not change due to gravity, enabling hovering at any angle.

[0005] This invention is achieved through the following technical solution: Firstly, this invention provides a device for adjusting the pitch angle of a binocular vision camera on a surgical robot. The device includes a binocular vision camera balancing weight motion assembly and a binocular vision camera fixing component. The binocular vision camera balancing weight motion assembly includes a binocular vision camera, a binocular vision camera adapter, a binocular vision camera fixing component shaft, a weight handle, a spring, a limiting ring, a weight nut, a bearing, and an adjusting screw. The binocular vision camera fixing component includes a binocular vision camera fixing shaft, a bushing, a damping block, and a fixing shaft end. The device comprises a cover, fixing screws, and a binocular vision camera shaft fixing component; wherein the binocular vision camera is fixed to the binocular vision camera adapter, the binocular vision camera adapter is fixed to the binocular vision camera fixing component shaft, and the binocular vision camera fixing component shaft is fixed to the counterweight handle; the binocular vision camera fixing shaft passes sequentially through the bushing, the damping block, the center of the binocular vision camera fixing component shaft, and the damping block is connected to the fixing shaft end cover, and the above components are fixed in the binocular vision camera shaft fixing component by the fixing screws.

[0006] Furthermore, the binocular vision camera is fixed to the binocular vision camera adapter with screws, the binocular vision camera adapter is fixed to the binocular vision camera fixing shaft with screws, and the binocular vision camera fixing shaft is fixed to the counterweight handle with threads.

[0007] Furthermore, the lower end of the counterweight handle is a cylindrical structure, a limiting groove is formed on the outer wall of the cylindrical structure, the spring is assembled in the limiting groove, and a protruding structure is provided on the inner wall of the cylindrical structure.

[0008] Furthermore, the lower end of the limiting ring is provided with an extension feature, which abuts against the spring to assemble the limiting ring and the counterweight handle together.

[0009] Furthermore, the lower end of the limiting ring is provided with a toothed limiting groove, and the adjusting screw knob is designed with toothed protrusions that cooperate with the toothed limiting groove.

[0010] Furthermore, the outer side of the counterweight nut is provided with a keyway that matches the protruding structure on the inner side of the counterweight handle.

[0011] Furthermore, the adjusting screw passes through the counterweight nut and the bearing in sequence and is assembled with the counterweight handle. Under the action of the spring, the toothed protrusion of the adjusting screw engages with the toothed limiting groove of the limiting ring.

[0012] Secondly, the present invention also provides a method for adjusting the pitch angle of a binocular vision camera on a surgical robot, comprising the following steps:

[0013] Step 1: Push the limiting ring towards the spring to release the engagement between the limiting ring and the adjusting screw;

[0014] Step 2: Rotate the knob of the adjusting screw, and the counterweight nut moves within the counterweight handle to adjust the center of gravity of the counterweight handle. For different models of binocular vision cameras, by adjusting the position of the counterweight nut, the center of gravity of the binocular vision camera's balance counterweight motion component is always at the axis of pitch angle adjustment rotation, thereby achieving hovering at any angle.

[0015] Step 3: After the position of the counterweight nut is adjusted, loosen the limiting ring so that it re-engages with the adjusting screw;

[0016] Step 4: Push the counterweight handle, and the binocular vision camera balance counterweight motion component can rotate around the fixed axis of the binocular vision camera, thereby realizing the adjustment of the tilt angle of the binocular vision camera.

[0017] This invention provides a device and method for adjusting the pitch angle of a binocular camera used for surgical robot navigation. Compared with existing technologies, this invention has the following technical advantages:

[0018] 1. Different models of binocular vision cameras can be matched by adjusting the position of the counterweight nut;

[0019] 2. The center of gravity of the balance weight motion component of the binocular vision camera coincides with the axis of rotation, eliminating the need for additional damping to overcome gravity and allowing for smoother pitch angle adjustment;

[0020] 3. When adjusting the angle, the center of gravity of the balance weight motion component of the binocular vision camera will not change. After the pitch angle is adjusted to the correct position, the angle will not change due to gravity, and it can achieve hovering at any angle.

[0021] 4. Damping blocks are installed at both ends of the binocular vision camera's balancing counterweight motion component to prevent the trolley from shaking and changing its pitch angle when accidentally hit. Attached Figure Description

[0022] The features, advantages and technical effects of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings.

[0023] Figure 1 This is an exploded view of the binocular vision camera balance weight motion component provided in an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the counterweight handle provided in an embodiment of the present invention at one angle;

[0025] Figure 3 This is a schematic diagram of the limiting ring provided in an embodiment of the present invention at one angle;

[0026] Figure 4 This is a schematic diagram of the counterweight nut provided in an embodiment of the present invention at an angle;

[0027] Figure 5 This is a schematic diagram of the adjusting lead screw provided in an embodiment of the present invention at one angle;

[0028] Figure 6 This is a schematic diagram of the assembly of the binocular vision camera balance weight motion component provided in an embodiment of the present invention;

[0029] Figure 7 This is an assembly diagram of the binocular vision camera balance weight motion component and the binocular vision camera fixing component provided in an embodiment of the present invention.

[0030] Figure 8 This is a cross-sectional view of the device for adjusting the pitch angle of a binocular navigation camera provided in an embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram of the assembly of the device for adjusting the pitch angle of a binocular navigation camera provided in an embodiment of the present invention;

[0032] Explanation of reference numerals in the attached drawings: 100. Binocular vision camera balance weight motion assembly; 101. Binocular vision camera; 102. Binocular vision camera adapter; 103. Binocular vision camera fixing shaft; 104. Counterweight handle; 105. Spring; 106. Limiting ring; 107. Counterweight nut; 108. Bearing; 109. Adjusting screw; 201. Binocular vision camera fixing shaft; 202. Bushing; 203. Damping block; 204. Fixing shaft end cap; 205. Fixing screw; 206. Binocular vision camera rotating shaft fixing component; 1041. Limiting groove; 1042. Protruding structure; 1061. Extended feature. Detailed Implementation

[0033] The features and exemplary embodiments of various aspects of this disclosure will now be described in detail. To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to explain this disclosure only and not to limit it. For those skilled in the art, this disclosure can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this disclosure by illustrating examples.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0035] To better understand the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] This invention provides a device for adjusting the pitch angle of a binocular vision camera on a surgical robot, comprising a binocular vision camera balancing weight motion assembly 100 and a binocular vision camera fixing component, such as... Figure 1 As shown, the binocular vision camera balance weight motion assembly 100 includes a binocular vision camera 101, a binocular vision camera adapter 102, a binocular vision camera fixing shaft 103, a counterweight handle 104, a spring 105, a limiting ring 106, a counterweight nut 107, a bearing 108, and an adjusting screw 109. Figure 7 As shown, the binocular vision camera fixing component includes a binocular vision camera fixing shaft 201, a bushing 202, a damping block 203, a fixing shaft end cap 204, a fixing screw 205, and a binocular vision camera rotating shaft fixing component 206.

[0037] like Figure 1 As shown, the binocular vision camera 101 is fixed to the binocular vision camera adapter 102 by screws, the binocular vision camera adapter 102 is fixed to the binocular vision camera fixing shaft 103 by screws, and the binocular vision camera fixing shaft 103 is fixed to the counterweight handle 104 by threads.

[0038] like Figure 2 As shown, the lower end of the counterweight handle 104 is a cylindrical structure. A limiting groove 1041 is provided on the outer side wall of the cylindrical structure. The spring 105 is assembled in the limiting groove 1041. A protruding structure 1042 is provided on the inner side wall of the cylindrical structure.

[0039] like Figure 3 As shown, the lower end of the limiting ring 106 is provided with an extension feature 1061, which abuts against the spring 105 to assemble the limiting ring 106 and the counterweight handle 104 together.

[0040] As an optional implementation, the lower end of the limiting ring 106 is also provided with a toothed limiting groove, and the knob of the adjusting screw 109 is designed with toothed protrusions that cooperate with the toothed limiting groove, such as... Figure 5 As shown.

[0041] like Figure 4 As shown, the outer side of the counterweight nut 107 has a keyway that matches the protruding structure on the inner side of the counterweight handle 104.

[0042] As an optional implementation, the adjusting screw 109 passes sequentially through the counterweight nut 107 and the bearing 108 and is assembled with the counterweight handle 104, as shown below. Figure 6 As shown, under the action of the spring 105, the toothed protrusion of the adjusting screw 109 engages with the toothed limiting groove of the limiting ring 106.

[0043] like Figure 7 As shown, the binocular vision camera fixing axis 201 passes sequentially through the bushing 202, the damping block 203, the center of the binocular vision camera fixing shaft 103, and the damping block 203 is connected to the fixing shaft end cap 204. The assembly is then fixed within the binocular vision camera rotating shaft fixing member 206 by the fixing screws 205. A cross-sectional schematic diagram of the assembled pitch angle adjustment device is shown below. Figure 8 As shown.

[0044] Figure 9 This is a schematic diagram of the assembled binocular camera pitch angle adjustment device for navigation provided by the present invention.

[0045] Secondly, the present invention also provides a method for adjusting the pitch angle of a binocular vision camera on a surgical robot, comprising the following steps:

[0046] Step 1: Push the limiting ring towards the spring to release the engagement between the limiting ring and the adjusting screw;

[0047] Step 2: Rotate the knob of the adjusting screw, and the counterweight nut moves within the counterweight handle to adjust the center of gravity of the counterweight handle. For different models of binocular vision cameras, by adjusting the position of the counterweight nut, the center of gravity of the binocular vision camera's balance counterweight motion component is always at the axis of pitch angle adjustment rotation, thereby achieving hovering at any angle.

[0048] Step 3: After the position of the counterweight nut is adjusted, loosen the limiting ring so that it re-engages with the adjusting screw;

[0049] Step 4: Push the counterweight handle, and the binocular vision camera balance counterweight motion component can rotate around the fixed axis of the binocular vision camera, thereby realizing the adjustment of the tilt angle of the binocular vision camera.

[0050] This invention provides a device and method for adjusting the pitch angle of a binocular camera used for surgical robot navigation. Compared with existing technologies, this invention has the following technical advantages:

[0051] 1. Different models of binocular vision cameras can be matched by adjusting the position of the counterweight nut;

[0052] 2. The center of gravity of the balance weight motion component of the binocular vision camera coincides with the axis of rotation, eliminating the need for additional damping to overcome gravity and allowing for smoother pitch angle adjustment;

[0053] 3. When adjusting the angle, the center of gravity of the balance weight motion component of the binocular vision camera will not change. After the pitch angle is adjusted to the correct position, the angle will not change due to gravity, and it can achieve hovering at any angle.

[0054] 4. Damping blocks are installed at both ends of the binocular vision camera's balancing counterweight motion component to prevent the trolley from shaking and changing its pitch angle when accidentally hit.

[0055] The above description is merely a specific embodiment of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this disclosure is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this disclosure, and these modifications or substitutions should all be covered within the protection scope of this disclosure.

Claims

1. A device for adjusting the pitch angle of a binocular vision camera of a surgical robot, comprising a binocular vision camera counterweight movement assembly (100) and a binocular vision camera fixture, characterized in that, The binocular vision camera counterweight movement assembly (100) comprises a binocular vision camera (101), a binocular vision camera adapter (102), a binocular vision camera fixing piece rotating shaft (103), a counterweight handle (104), a spring (105), a limiting ring (106), a counterweight nut (107), a bearing (108), and an adjusting screw rod (109), the binocular vision camera fixing piece comprises a binocular vision camera fixing shaft (201), a shaft sleeve (202), a damping block (203), a fixed shaft end cover (204), a fixed screw (205), and a binocular vision camera rotating shaft fixing piece (206); The binocular vision camera (101) is fixed with the binocular vision camera adapter (102), the binocular vision camera adapter (102) is fixed with the binocular vision camera fixing piece rotating shaft (103), and the binocular vision camera fixing piece rotating shaft (103) is fixed with the counterweight handle (104). The binocular vision camera fixing shaft (201) passes through the shaft sleeve (202), the damping block (203), the center of the binocular vision camera fixing piece rotating shaft (103) in sequence, the damping block (203) is connected with the fixed shaft end cover (204), and the above components are fixed in the binocular vision camera rotating shaft fixing piece (206) through the fixed screw (205); The adjusting screw rod (109) passes through the counterweight nut (107) and the bearing (108) in sequence and is assembled with the counterweight handle (104), under the action of the spring (105), the toothed protrusions of the adjusting screw rod (109) are engaged with the toothed limiting grooves of the limiting ring (106); The lower end of the counterweight handle (104) is a cylindrical structure, the inner side wall of the cylindrical structure is provided with a protruding structure (1042), and the outer side of the counterweight nut (107) is provided with a key groove matched with the protruding structure on the inner side of the counterweight handle (104).

2. The device for adjusting the pitch angle of the binocular vision camera of the surgical robot according to claim 1, wherein, The binocular vision camera (101) is fixed with the binocular vision camera adapter (102) through a screw, the binocular vision camera adapter (102) is fixed with the binocular vision camera fixing piece rotating shaft (103) through a screw, and the binocular vision camera fixing piece rotating shaft (103) is fixed with the counterweight handle (104) through a thread.

3. The device for adjusting the pitch angle of the binocular vision camera of the surgical robot according to claim 1, wherein, The outer side wall of the cylindrical structure is provided with a limiting groove (1041), and the spring (105) is assembled in the limiting groove (1041).

4. The device for adjusting the pitch angle of the binocular vision camera of the surgical robot according to claim 1, characterized in that, The lower end of the limiting ring (106) is provided with an extension feature (1061), the extension feature (1061) abuts against the spring (105) to assemble the limiting ring (106) and the counterweight handle (104) together.

5. The device for adjusting the pitch angle of the binocular vision camera of the surgical robot according to claim 1, wherein, The lower end of the limiting ring (106) is also provided with a toothed limiting groove, and the toothed protrusions matched with the toothed limiting groove are designed on the knob of the adjusting screw rod (109).

6. A method of adjusting a pitch angle of a binocular vision camera of a surgical robot, the method comprising: The device for adjusting the pitch angle of the binocular vision camera of the surgical robot according to any one of claims 1 to 5 comprises the following steps: Step 1: push the limit ring in the direction of the spring to disengage the limit ring from the adjusting screw rod; Step 2: turn the knob of the adjusting screw rod, and the counterweight nut moves in the counterweight handle to adjust the center of gravity of the counterweight handle. For different models of binocular vision cameras, the center of gravity of the binocular vision camera balance counterweight motion assembly is always at the axis position of the pitch angle adjustment rotation by adjusting the position of the counterweight nut, so as to realize hovering at any angle; Step 3: after the position adjustment of the counterweight nut is completed, release the limit ring to reengage it with the adjusting screw rod; Step 4: push the counterweight handle, and the binocular vision camera balance counterweight motion assembly can rotate around the binocular vision camera fixed shaft, so as to realize the pitch angle adjustment of the binocular vision camera.

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