Lifting components, lifting devices, medical trolleys and their control methods for medical equipment

Abstract

This invention relates to a lifting assembly, lifting device, medical trolley, and control method for medical equipment. The assembly includes a base, a telescopic device, a first sensor, and a controller. The telescopic device is elastically mounted on the base and configured to move elastically relative to the base along a straight trajectory parallel to the telescopic direction. The first sensor is configured to acquire movement information of the telescopic device relative to the base. The controller is connected to the telescopic device and at least one first sensor and controls the telescopic movement of the device based on the movement information. When the telescopic device touches the ground during its extension, the ground exerts a reaction force on the device. The first sensor acquires the movement information of the telescopic device, and the controller stops the extension based on this information, ensuring that multiple lifting assemblies for medical equipment can touch the ground.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a lifting assembly, lifting device, medical trolley and its control method for medical equipment. Background Technology

[0002] With the continuous development of the medical field, more and more surgical robots are being applied to surgeries, such as minimally invasive surgery. Because minimally invasive surgeries involve smaller incisions, high precision in positioning is required. The medical trolley serves as the supporting foundation for the surgical robot, and its stability directly impacts the success of the surgery. To ensure the stability of the medical trolley, it is typically supported by a support device, ensuring stable contact between the trolley and the ground. Existing support devices usually have three or four support legs; multiple legs simultaneously touching the ground provide stable support for the medical trolley.

[0003] However, in existing support devices, the extension and retraction strokes of multiple support legs are fixed. While a fixed extension and retraction stroke can ensure that all support legs extend and retract at the same length, this requires a high degree of flatness of the ground. If the ground is uneven, the multiple support legs of the support device will not be able to fully touch the ground, thus failing to provide stable support for the medical trolley and reducing the safety of the surgery. Summary of the Invention

[0004] Therefore, it is necessary to provide a lifting component, lifting device, medical trolley, and control method for medical equipment to address the problem of unstable support when the medical trolley faces different ground conditions.

[0005] This invention provides a lifting assembly for medical devices, the lifting assembly for medical devices comprising:

[0006] Base;

[0007] A telescopic device, elastically mounted on the base, the telescopic device being configured to elastically move relative to the base along a straight trajectory parallel to the telescopic direction of the telescopic device;

[0008] At least one first sensor element, the first sensor element being configured to acquire movement information of the telescopic device elastically moving relative to the base;

[0009] A control device, connected to the telescopic device and at least one of the first sensor devices, for controlling the telescopic device to extend or retract based on the movement information.

[0010] In one embodiment, the first sensor is a first micro switch, the first sensor is disposed on the base, and the first sensor is configured to contact the telescopic device to obtain the movement information.

[0011] In one embodiment, the telescopic device includes:

[0012] The base component is elastically mounted on the base.

[0013] The movable part is telescopically mounted on the base part and is configured to be linearly telescopic relative to the base part.

[0014] In one embodiment, the lifting assembly for the medical device includes:

[0015] An elastic element is provided, through which the base is assembled onto the base.

[0016] In one embodiment, the elastic element is a disc spring, a limiting structure is provided on the base, the disc spring is fitted on the base, and both ends of the disc spring elastically abut against the limiting structure and the base, respectively.

[0017] In one embodiment, the base has an assembly hole, the base part is a lead screw that is movably inserted through the assembly hole, the movable part has a threaded hole and is threadedly connected to the lead screw, the base has a limiting rail, the limiting rail is parallel to the extension direction of the telescopic device, and the movable part is slidably assembled with the limiting rail.

[0018] In one embodiment, the lifting assembly for the medical device includes:

[0019] At least one second sensor is configured to acquire extension information of the active part relative to the base.

[0020] In one embodiment, the second sensor is a second micro switch, which is disposed on the base and configured to contact the movable part to obtain the extension information.

[0021] The present invention also provides a lifting device for medical equipment, the lifting device for medical equipment comprising:

[0022] The substrate has multiple support positions;

[0023] A plurality of lifting components for medical devices are arranged parallel to each other on the base plate, and the plurality of lifting components for medical devices are respectively located at a plurality of support positions.

[0024] In one embodiment, the lifting device for the medical device includes:

[0025] A tilt angle detection device is disposed on the substrate and configured to acquire horizontal tilt angle information of the substrate; a control device is connected to the tilt angle detection device and is used to control the extension and retraction of at least one of the telescopic devices according to the horizontal tilt angle information.

[0026] The present invention also provides a medical trolley, comprising:

[0027] The lifting assembly for the medical device; or...

[0028] The lifting device for the medical equipment.

[0029] In one embodiment, the lifting device for the medical equipment has a stable support state, the medical trolley has a surgical working state, and the medical trolley is configured to enter the surgical working state only in the stable support state.

[0030] In one embodiment, the lifting device for the medical equipment has a stable support state, the medical trolley has a surgical working state, and the controller is configured to prevent the telescopic device from extending or retracting in both the stable support state and the surgical working state.

[0031] The present invention also provides a control method for a medical trolley, which includes the following steps:

[0032] Before the lifting device for the medical equipment is in a stable supporting state, the medical trolley is prohibited from entering the surgical working state; after the lifting device for the medical equipment is in a stable supporting state, the medical trolley is allowed to enter the surgical working state; and / or,

[0033] When the lifting device for the medical equipment is not in a stable support state or the medical trolley is not in the surgical operation state, the telescopic device is allowed to extend or retract. When the lifting device for the medical equipment is in a stable support state and the medical trolley is in the surgical operation state, the telescopic device is prohibited from extending or retracting.

[0034] The aforementioned lifting components, lifting devices, medical trolleys, and their control methods for medical equipment include multiple lifting components that are simultaneously mounted on the bottom of the medical trolley. The telescopic components have a telescopic function, and the controller can control the extension or shortening of these components, thereby adjusting the lifting height of the multiple lifting components to collectively support the medical trolley. When a telescopic component touches the ground during its extension, the ground exerts a reaction force on it, indicating that the current extension length is sufficient. The reaction force causes the telescopic component to move elastically relative to the base. A first sensor can acquire the movement information of the telescopic component, and the controller controls the telescopic component to stop extending based on this information, thus completing the entire lifting and support process. The elastic movement of the telescopic component relative to the base not only provides indication of the extension degree, ensuring that multiple lifting components can touch the ground, but also creates a buffering effect when the telescopic component touches the ground. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of a lifting assembly for a medical device provided in one embodiment of the present invention;

[0036] Figure 2 For example Figure 1 A cross-sectional view of the lifting assembly for the medical device shown;

[0037] Figure 3a This is a schematic diagram of the first state of a lifting assembly for a medical device provided in an embodiment of the present invention;

[0038] Figure 3b This is a schematic diagram of the second state of a lifting assembly for a medical device provided in one embodiment of the present invention;

[0039] Figure 3c This is a schematic diagram of the third state of a lifting assembly for a medical device provided in an embodiment of the present invention.

[0040] Icon labels:

[0041] 100, Base; 200, Telescopic device; 300, First sensor; 400, Control device; 500, Second sensor;

[0042] 110. Assembly hole; 120. Limiting rail; 130. Bearing housing; 140. Bearing; 150. Mounting cover; 160. Outer sleeve;

[0043] 210. Base section; 220. Moving section; 230. Elastic component; 240. Limiting structure;

[0044] 211. Lead screw; 221. Nut; 222. Inner sleeve; 223. Support leg;

[0045] 410. Driving gear; 420. Driven gear. Detailed Implementation

[0046] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0047] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0051] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0052] See Figure 1 , Figure 2 , Figure 3a , Figure 3b and Figure 3c As shown, an embodiment of the present invention provides a lifting assembly for a medical device. The lifting assembly includes a base 100, a telescopic device 200, a first sensor 300, and a controller 400. The telescopic device 200 is elastically mounted on the base 100 and is configured to move elastically relative to the base 100 along a straight trajectory parallel to the telescopic direction of the telescopic device 200. The first sensor 300 is configured to acquire movement information of the telescopic device 200 relative to the base 100. One or more first sensor 300s may be used as needed. The controller 400 is connected to the telescopic device 200 and at least one first sensor 300 and controls the telescopic movement of the telescopic device 200 based on the movement information.

[0053] Lifting components for medical equipment are suitable for devices requiring lifting functions, such as medical trolleys. During use, one or more lifting components can be used simultaneously to ensure stability. When one or more lifting components are mounted on the bottom of the medical trolley, the telescopic device 200 extends or retracts, and the control device 400 adjusts the lifting height of the one or more lifting components. The lifting of these components provides support for the medical trolley and other equipment. Typically, medical trolleys and other equipment will have multiple lifting components working together to achieve the lifting operation. The lifting of these components needs to be coordinated and synchronized to achieve the lifting operation of the medical trolley and other equipment.

[0054] Therefore, when multiple medical equipment lifting components are raised and lowered, the telescopic device 200 of the medical equipment lifting component will touch the ground during the extension process. The ground will exert a reaction force on the telescopic device 200. At this time, it proves that the current extension length of the telescopic device 200 is basically sufficient and there is no need to continue to extend. Instead, it is necessary to wait for the other telescopic devices 200 to extend and lower. When all the telescopic devices 200 touch the ground and receive the reaction force applied by the ground, it proves that the raising and lowering of all medical equipment lifting components has formed a coordinated state, which can meet the stable placement of medical trolleys and other equipment.

[0055] Regarding the coordination of all medical device lifting components, specifically, after the telescopic device 200 touches the ground, the ground's reaction force is applied to the telescopic device 200, causing the entire telescopic device 200 to elastically move relative to the base 100. This elastic movement of the telescopic device 200 relative to the base 100 is configured to form a linear movement along a straight trajectory, parallel to the telescopic direction of the telescopic device 200. Therefore, when the telescopic device 200 elastically moves relative to the base 100 to a predetermined position, the first sensor 300 can identify the elastic movement of the telescopic device 200 by acquiring its movement information. The control device 400 can acquire the movement information and control the telescopic device 200 to stop extending based on it. When the telescopic device 200 stops extending under the control of the control device 400, the current medical device lifting component has completed its lifting support and no further lifting action is needed. Instead, it waits for other medical device lifting components to complete their lifting support through the same process.

[0056] During this process, the elastic movement of the telescopic components 200 in multiple medical device lifting assemblies relative to the base 100 not only works in conjunction with the first sensor 300 to indicate the extension degree of the telescopic components 200, ensuring that the telescopic components 200 stop extending to the appropriate length, but also guarantees that all medical device lifting assemblies contact the ground during the lifting support process. This avoids the problem of one or more medical device lifting assemblies failing to contact the ground due to uneven ground or other factors, which could cause the medical trolley to be placed unstablely on the ground, thus effectively improving safety. Moreover, because the movement of the telescopic components 200 relative to the base 100 is elastic, it also provides a certain elastic buffer after the telescopic components 200 contact the ground, ensuring a smooth landing.

[0057] The first sensor 300 can be selected from suitable types of sensing elements as needed. For example, the first sensor 300 can be a contact sensor, a distance sensor, etc. Based on the sensing principles of different types of sensing elements, the first sensor 300 can also be set at a suitable position on the base 100 in conjunction with the assembly form of the telescopic device 200. For example, when the first sensor 300 is a contact sensor, especially in one embodiment where the first sensor 300 is a first micro switch, the first sensor 300 is set on the base 100 and passes through the elastic movement path of the telescopic device 200. For example, the first sensor 300 is located at the corresponding position of the end of the telescopic device 200, so that when the telescopic device 200 elastically moves relative to the base 100, the telescopic device 200 can touch the first micro switch, and then the position of the telescopic device 200 can be identified by the contact between the first micro switch and the telescopic device 200, thereby obtaining the movement information of the telescopic device 200. Or, when the first sensor 300 is a distance sensor, especially in one embodiment where the first... When the sensor 300 is an infrared sensor, the first sensor 300 is disposed on the base 100 and faces the elastic movement path of the telescopic device 200, rather than being directly located on the elastic movement path of the telescopic device 200. As long as the telescopic device 200 moves elastically relative to the base 100, the infrared sensor can identify the telescopic device 200, and then identify the position of the telescopic device 200 by the change in distance between the infrared sensor and the telescopic device 200, thereby obtaining the movement information of the telescopic device 200. For example, the first sensor 300 is located on the side of the telescopic device 200. In addition, the first sensor 300 is not limited to using other sensing elements and different sensing principles. Those skilled in the art can choose according to their needs, and no limitation is made here.

[0058] Furthermore, the sensing element can be used not only to obtain the movement information of the telescopic device 200, but also to obtain the extension information of the telescopic device 200. It should be noted that the elastic movement of the telescopic device 200 relative to the base 100 represents the movement information, and the extension movement of the telescopic device 200 itself represents the extension information. The extension information can give the extension length of the telescopic device 200. Therefore, in one embodiment, the lifting assembly for the medical device may also include a second sensor 500, which is used to obtain the extension information of the telescopic device 200. The number of second sensor 500 can also be one or more, which is not limited here.

[0059] The second sensor 500 can be selected from suitable types of sensing elements as needed. For example, the second sensor 500 can be a contact sensor, a distance sensor, etc. Based on the sensing principles of different types of sensing elements, the second sensor 500 can also be arranged in a suitable position on the base 100 in conjunction with the assembly form of the telescopic device 200. For example, when the second sensor 500 is a contact sensor, especially in one embodiment where the second sensor 500 is a second microswitch, the second sensor 500 is arranged on the base 100 and passes through the telescopic path of the telescopic device 200. Located at the end of the telescopic device 200, the telescopic device 200 can contact the second micro switch during its extension and retraction. The extension and retraction length of the telescopic device 200 is then identified through this contact, thus obtaining its extension and retraction information. Alternatively, when the second sensor 500 is a distance sensor, particularly in one embodiment where it is an infrared sensor, the second sensor 500 is positioned on the base 100 and facing the extension and retraction path of the telescopic device 200, rather than directly on that path. As long as the infrared sensor can detect the extension and retraction of the telescopic device 200 during its extension and retraction, the extension and retraction length can be identified through the change in distance between the infrared sensor and the telescopic device 200, thus obtaining its extension and retraction information. For example, the second sensor 500 is located at the end of the telescopic device 200. In addition to the side portion, the second sensor 500 is not limited to using other sensing elements and different sensing principles. Those skilled in the art can choose according to their needs, and no limitation is made here.

[0060] Compared to existing technologies that rely on detecting motor torque, power, current, or speed as the basis for judgment, the present invention uses sensors such as microswitches to detect the movement or extension information of the telescopic device 200 as the basis for judgment. The movement or extension information can directly reflect the motion state of the telescopic device 200, thus making the control more direct and faster. The implementation of the solution does not require complex logic algorithms and current monitoring, which can effectively simplify the control difficulty, improve the stability of control, and reduce the misjudgment of ground contact signals.

[0061] The telescopic device 200 can adopt any structure capable of telescopic movement, such as an electrically controlled telescopic rod, a hydraulic telescopic rod, a pneumatic telescopic rod, or a screw-nut mechanism. Therefore, for the telescopic device 200 to perform telescopic movements, relative movement between two parts is required. For example, in one embodiment, the telescopic device 200 includes a base part 210 and a movable part 220. When the movable part 220 moves relative to the base part 210, the telescopic device 200 can be telescopic. For example, the base part 210 can be a fixed section in a telescopic rod, and the movable part 220 can be a telescopic section in a telescopic rod. Alternatively, the base part 210 can be a screw 211 in a screw-nut structure, and the movable part 220 can be a nut 221 in a screw-nut structure. No limitation is made here.

[0062] When the telescopic device 200 is constructed by a base part 210 and a movable part 220, the base part 210 can be elastically mounted on the base 100. The elastic movement of the base part 210 relative to the base 100 is the elastic movement of the entire telescopic device 200 relative to the base 100. The movable part 220 is telescopically mounted on the base part 210. The movable part 220 is configured to be able to linearly extend and retract relative to the base part 210. Therefore, the telescopic movement of the movable part 220 realizes the extension and retraction of the telescopic device 200. At this time, the extension and retraction information obtained by the second sensor 500 is the extension and retraction information of the movable part 220 relative to the base part 210.

[0063] The elastic assembly of the telescopic device 200 on the base 100 can adopt various structural forms. For example, the telescopic device 200 can be assembled on the base 100 using any component with elastic properties. In one embodiment, the lifting assembly for the medical device further includes an elastic element 230, which can be a spring, sheet spring, disc spring, rubber component, etc., without limitation. The base part 210 is assembled on the base 100 through the elastic element 230, and can move elastically relative to the base 100 using the elastic function of the elastic element 230. See reference. Figure 2As shown, for example, in one embodiment, the elastic element 230 can be a disc spring, and the base part 210 is provided with a limiting structure 240. The limiting structure 240 can be a part of the base part 210 body, or it can be an external structure added relative to the base part 210. For example, the limiting structure 240 can be a protruding point or boss on the base part 210, or it can be a collar or a snap-fitting piece fitted on the base part 210, thereby using the collar or snap-fitting piece to form a limiting effect. No limitation is made here.

[0064] Therefore, the limiting structure 240 has the effect of limiting the disc spring, and can hold the disc spring in the position defined by the limiting structure 240 on the base part 210. The position of the limiting structure 240 can be set in a suitable position according to the requirements. During assembly, the disc spring can be fitted onto the base part 210, so that the two ends of the disc spring elastically abut against the limiting structure 240 and the base 100 respectively. The disc spring makes elastic contact with the base part 210 through the limiting structure 240, and also makes elastic contact with the base 100, so that an elastic assembly can be formed between the base part 210 and the base 100.

[0065] The base 100 can adopt any structural form. The base 100 can be an integral structure composed of independent components or a split structure composed of multiple components. The structural shape of the base 100 can be set according to actual assembly requirements without specific limitations. For example, the base 100 can include a bearing housing 130, a bearing 140, a mounting cover 150, and an outer sleeve 160. The bearing housing 130 serves as the assembly base for the bearing 140 and is used to fix the bearing 140. The bearing 140 can serve as the assembly base for the base part 210 and is used to fix the base part 210. The mounting cover 150 can serve as an external protective structure for the bearing housing 130 and can be used to assemble and connect the lifting assembly of the medical device with the device to be lifted and controlled. The outer sleeve 160 can form an axial channel, which can be used to form the telescopic channel of the telescopic device 200.

[0066] The base 210 and the movable part 220 can also adopt any structural form. The base 210 serves as the motion basis for the movable part 220. The base 210 will adopt corresponding components according to the type of telescopic device 200. The movable part 220 moves relative to the base 210 to realize the telescopic movement of the telescopic device 200. The movable part 220 needs to complete the movement relative to the base 210 and the contact with the ground. Therefore, the movable part 220 can include a connecting structure that cooperates with the base 210 and a part for contacting the ground. For example, the base 210 adopts a lead screw 211, and the movable part 220 can include a nut 221, an inner sleeve 222 and a support foot 223. The nut 221 is used to thread with the lead screw 211 and undertake the function of linear movement relative to the lead screw 211. The inner sleeve 222 can be connected between the nut 221 and the support foot 223. The inner sleeve 222 can be fitted on the outside of the lead screw 211. The support foot 223 is used to make the telescopic device 200 contact the ground.

[0067] The control device 400 can use any mechanical mechanism to control the telescopic device 200. Depending on the different structural forms of the telescopic device 200, the control device 400 can also adopt a suitable structural form. For example, when the telescopic device 200 is an electric telescopic rod, the control device 400 can be an electronic controller. When the telescopic device 200 is a pneumatic telescopic rod or a hydraulic telescopic rod, the control device 400 can be a pneumatic controller or a hydraulic controller. When the telescopic device 200 is a lead screw and nut mechanism, the control device 400 can use a motor with gear transmission or belt drive to implement control.

[0068] Continue reading Figure 2As shown, in one embodiment, when the base 210 adopts a lead screw 211, the base 100 may have an assembly hole 110, which is an axial hole structure. The long rod structure of the lead screw 211 can be movably inserted through the assembly hole 110. The movable part 220 has a threaded hole and is threadedly connected to the lead screw 211. The movable part 220 may include components such as a nut 221. The lead screw 211 and the nut 221 form a threaded assembly. The base 100 has a limiting rail 120, which is parallel to the extension direction of the telescopic device 200. The nut 221 is slidably assembled with the limiting rail 120, which can ensure that the nut 221 moves strictly along the extension direction of the telescopic device 200 during its movement relative to the lead screw 211, thereby improving the stability of the extension. At this time, the control device 400 may include a motor, a drive gear 410, and a driven gear 420. The motor can perform forward or reverse rotation after starting, based on the movement information obtained by the first sensor device 300. The motor transmits power to the lead screw 211 through the drive gear 410 and the driven gear 420. The rotation of the lead screw 211 drives the nut 221 to rotate, so that the nut 221 moves linearly relative to the lead screw 211, thereby realizing the telescopic movement of the telescopic device 200.

[0069] This invention also provides a lifting device for medical equipment, comprising a base plate and a plurality of lifting components. The base plate has multiple support positions, the number of which depends on the number of lifting components to be assembled on the base plate. Each lifting component can function as a retractable leg of the base plate. The height and horizontal angle of the base plate can be adjusted collaboratively by multiple lifting components; for example, there can be three, four, or six lifting components, etc., without limitation. During assembly, the multiple lifting components can be arranged parallel to each other on the base plate, with each component located at one of the multiple support positions. The connection method of the lifting components at the support positions can be any acceptable mechanical connection method, such as threaded connection, snap-fit ​​connection, adhesive bonding, riveting, etc., without limitation.

[0070] In one embodiment, to detect the coordinated level of multiple lifting components for medical devices, the lifting device for medical devices may further include a tilt detection device disposed on the substrate. The tilt detection device can be configured to acquire horizontal tilt information of the substrate. The tilt detection device can be any type of sensor capable of acquiring horizontal tilt information, such as a dynamic tilt sensor, a static tilt sensor, or a servo tilt sensor; no limitation is made here. The controller 400... It can also be connected to the tilt angle detection device to control the extension and retraction of at least one of the telescopic devices 200 according to the horizontal tilt angle information. For example, when the horizontal tilt angle information indicates that the current substrate is not in a horizontal state, the controller 400 can coordinately control multiple telescopic devices 200 to extend or shorten, so that the actual extension and retraction lengths of multiple telescopic devices 200 form a coordinated support to adjust the substrate to a horizontal state. The levelness of the substrate can be dynamically adjusted to face different ground forms. For example, when the substrate is detected to exceed the predetermined horizontal tilt angle, the controller 400 can coordinately control multiple telescopic devices 200 to extend or shorten, and adjust the substrate to within the predetermined horizontal tilt angle. The predetermined horizontal tilt angle can be limited to a reasonable value, such as 1°, 2° or 3°, and is not limited here.

[0071] This invention also provides a medical trolley, which includes the aforementioned lifting components for medical equipment. Multiple lifting components can be directly assembled onto the medical trolley, allowing for coordinated adjustment of the trolley's height and horizontal angle. For example, there can be three, four, or six lifting components, etc., without limitation. During assembly, the multiple lifting components can be arranged parallel to each other on the medical trolley. The connection method of the lifting components on the medical trolley can be any acceptable mechanical connection method, such as threaded connection, snap-fit ​​connection, adhesive bonding, riveting, etc., without limitation. Alternatively, the medical trolley includes the aforementioned lifting device for medical equipment. In this case, multiple lifting components are assembled using a base plate as the assembly foundation, forming an assembly connection with the medical trolley as a whole. Using the base plate as the assembly foundation allows for convenient coordinated detection of the position and angle of the multiple lifting components before assembly onto the medical trolley, ensuring assembly accuracy.

[0072] The lifting device for the medical equipment has a stable support state, which means that all lifting components of the medical equipment lifting device are in contact with the ground and are supported together between the base plate and the ground. The medical trolley has a surgical working state, which means that the medical trolley has participated in the surgery and various surgical instruments on the medical trolley are performing surgical operations. Because the surgical instruments need to ensure navigation accuracy when performing surgical operations, the medical trolley cannot move. In order to ensure the safety of the surgery, the medical trolley can only enter the surgical working state in the stable support state. If the lifting device for the medical equipment has not yet entered the stable support state, it means that the medical trolley is still at risk of moving. At this time, it is not appropriate to put the medical trolley into the surgical working state. It is necessary to prevent the medical trolley from participating in the surgery before the lifting device for the medical equipment is stable.

[0073] For example, before the surgical instruments perform the surgical operation, the first sensor 300 determines whether all the lifting components of each medical device are in contact with the ground and have entered a stable support state. Only when the determination result is that they have entered a stable support state can the various surgical instruments on the medical trolley be allowed to perform the surgical operation, and the intraoperative workflow can continue.

[0074] Meanwhile, if the lifting device for the medical equipment is already in a stable support state and the medical trolley is in the surgical operating state, in order to ensure that the surgery can be performed safely and not interrupted by the movement of the medical trolley, the control device 400 can be restricted to prevent the telescopic device 200 from extending or retracting in both the stable support state and the surgical operating state. Therefore, if the user unintentionally triggers the movement of the lifting device for the medical equipment or if the lifting device itself experiences slight movement, the control device 400 can be used to prevent the telescopic device 200 from extending or retracting in this state, keeping the lifting device for the medical equipment in a stable support state. In addition, an alarm can be triggered to alert the user.

[0075] In a specific embodiment, the control device 400 may include corresponding control buttons, which are convenient for users to trigger according to their needs. There are no limitations on this. For example, the medical trolley may have an up control button and a down control button. When the user triggers the up control button, the low level is active, and the telescopic device 200 shortens (rises). When the user triggers the down control button, the low level is active, and the telescopic device 200 extends (falls). During this process, if the telescopic device 200 is not in the maximum shortened state (highest position), the telescopic device 200 is allowed to shorten; otherwise, the telescopic device 200 is not allowed to shorten. If the telescopic device 200 is not in the stable supported state (lowest position), the telescopic device 200 is allowed to extend; otherwise, the telescopic device 200 is not allowed to extend. When the various surgical instruments or surgical systems on the medical trolley are in the registration and positioning state, the user cannot cause the telescopic device 200 to extend or retract when triggering the up or down control button. The telescopic device 200 can only extend or retract in other states. Moreover, when the telescopic device 200 is already in a stable support state, the user cannot cause the telescopic device 200 to extend or retract when triggering the up or down control button, and in particular, the telescopic device 200 is prohibited from retracting.

[0076] This invention also provides a control method for a medical trolley. It should be noted that a stable support state indicates that all lifting components of the medical equipment lifting device are in contact with the ground, working together for support between the base plate and the ground. A surgical working state indicates that the medical trolley has participated in surgery, and various surgical instruments on the trolley are performing surgical operations. When controlling the medical trolley, before the lifting device is in a stable support state, the medical trolley is prohibited from entering the surgical working state. After the lifting device is in a stable support state, the medical trolley is allowed to enter the surgical working state. The stable support state of the lifting device can be controlled by a controller 400 and determined by movement information obtained from a first sensor 300. Whether the lifting device is in a stable support state serves as the basis for allowing or prohibiting the medical trolley from entering the surgical working state, thereby enabling the medical trolley to perform surgical operations using various surgical instruments under safe conditions.

[0077] Furthermore, when the lifting device for the medical equipment is not in a stable support state or the medical cart is not in surgical operation, the telescopic device 200 is allowed to extend or retract; when the lifting device for the medical equipment is in a stable support state and the medical cart is in surgical operation, the telescopic device 200 is prohibited from extending or retracting. The stable support state of the lifting device for the medical equipment can be controlled by the control device 400. The system is controlled and the movement information obtained through the first sensor 300 is used for judgment. The surgical working status of the medical trolley can be judged by starting the surgical instruments or by the control command of the surgical instruments. The extension and retraction of the telescopic device 200 can be controlled by the controller 400. When it is determined that the lifting device of the medical equipment is not in a stable support state or the medical trolley is not in a surgical working state, it indicates that the medical trolley is not yet supported stably or the surgery has not yet started. The extension and retraction of the telescopic device 200 will not cause surgical danger, so the extension and retraction of the telescopic device 200 can be allowed. However, once it is determined that the lifting device of the medical equipment is in a stable support state and the medical trolley is in a surgical working state, it indicates that the medical trolley is already supported stably and the extension and retraction of the telescopic device 200 is no longer needed. The extension and retraction of the telescopic device 200 may easily cause danger, or the surgery has already started. If the telescopic device 200 extends and retracts at this time, it will affect the stability of the surgery, so the extension and retraction of the telescopic device 200 must be prohibited.

[0078] In addition, when various surgical instruments or surgical systems on the medical trolley are in the registration and positioning state, it is necessary to maintain the stability of the current coordinates. Therefore, it is also necessary to prohibit the extension and retraction of the telescopic device 200. The extension and retraction of the telescopic device 200 can only be allowed in other states. Moreover, when the telescopic device 200 is in a stable support state, it means that the medical trolley is stably supported. At this time, the extension and retraction of the telescopic device 200 can also be prohibited, especially the retraction of the telescopic device 200. The extension and retraction control of the telescopic device 200 can be controlled by the controller 400.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A lifting assembly for medical equipment, characterized in that, The lifting assembly for the medical device includes: Base; A telescopic device is elastically mounted on a base and configured to elastically move relative to the base along a straight trajectory parallel to the telescopic direction of the device. The telescopic device comprises a base and a movable part. The base is elastically mounted on the base and elastically movable relative to the base. The movable part is telescopically mounted on the base and configured to telescopically extend and retract relative to the base. An elastic element has one end confined to the base and the other end confined to the foundation portion; the foundation portion is assembled onto the base via the elastic element so as to utilize the elastic function of the elastic element to elastically move relative to the base; At least one first sensor element, the first sensor element being configured to acquire movement information of the telescopic device elastically moving relative to the base; A control device, connected to the telescopic device and at least one of the first sensor devices, for controlling the telescopic device to extend or retract based on the movement information.

2. The lifting assembly for medical equipment according to claim 1, characterized in that, The first sensor is a first micro switch, which is disposed on the base and configured to contact the telescopic device to obtain the movement information.

3. The lifting assembly for medical equipment according to claim 1, characterized in that, The elastic element is a disc spring, and a limiting structure is provided on the base. The disc spring is fitted on the base, and both ends of the disc spring elastically abut against the limiting structure and the base, respectively.

4. The lifting assembly for medical equipment according to claim 3, characterized in that, The base has an assembly hole, the base part is a lead screw that is movably inserted through the assembly hole, the movable part has a threaded hole and is threadedly connected to the lead screw, the base has a limiting rail, the limiting rail is parallel to the extension direction of the telescopic device, and the movable part is slidably assembled with the limiting rail.

5. The lifting assembly for medical equipment according to claim 1, characterized in that, The lifting assembly for the medical device includes: At least one second sensor is configured to acquire extension information of the active part relative to the base.

6. The lifting assembly for medical equipment according to claim 5, characterized in that, The second sensor is a second micro switch, which is disposed on the base and configured to contact the movable part to obtain the extension and retraction information.

7. A lifting device for medical equipment, characterized in that, The lifting device for the medical equipment includes: The substrate has multiple support positions; A plurality of lifting assemblies for medical devices as described in any one of claims 1-6, wherein the plurality of lifting assemblies for medical devices are arranged parallel to each other on the base plate, and the plurality of lifting assemblies for medical devices are respectively located at the plurality of support positions.

8. The lifting device for medical equipment according to claim 7, characterized in that, The lifting device for the medical equipment includes: A tilt angle detection device is disposed on the substrate and configured to acquire horizontal tilt angle information of the substrate; a control device is connected to the tilt angle detection device and is used to control the extension and retraction of at least one of the telescopic devices according to the horizontal tilt angle information.

9. A medical trolley, characterized in that, include: Lifting assembly for medical devices as described in any one of claims 1-6; or, The lifting device for medical equipment as described in claim 7 or 8.

10. The medical trolley according to claim 9, characterized in that, The lifting device for the medical equipment has a stable support state, the medical trolley has a surgical working state, and the medical trolley is configured to enter the surgical working state only in the stable support state.

11. The medical trolley according to claim 9, characterized in that, The lifting device for the medical equipment has a stable support state, the medical trolley has a surgical working state, and the control device is configured to prevent the telescopic device from extending or retracting in both the stable support state and the surgical working state.

12. A control method for a medical trolley, characterized in that, The medical trolley according to any one of claims 9-11 comprises the following steps: Before the lifting device for the medical equipment is in a stable supporting state, the medical trolley is prohibited from entering the surgical working state; after the lifting device for the medical equipment is in a stable supporting state, the medical trolley is allowed to enter the surgical working state; and / or, When the lifting device for the medical equipment is not in a stable support state or the medical trolley is not in the surgical operation state, the telescopic device is allowed to extend or retract. When the lifting device for the medical equipment is in a stable support state and the medical trolley is in the surgical operation state, the telescopic device is prohibited from extending or retracting.

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