A multifunctional mechanical dual arm suitable for surgical operations

Abstract

The application discloses a multifunctional mechanical double arm suitable for surgical operation and relates to the technical field of medical instruments, which comprises a base, a shell, a connecting frame, a support mechanism and a remote controller. The bottom end of the shell is fixedly arranged at the top end of the base, and an inner side of the shell is provided with a placing groove. The connecting frame is arranged at the top end of the base, and the other end of the connecting frame is connected with one side of the shell. The top end of the connecting frame forms an article placing area. The support mechanism is rotatably arranged in the placing groove. The remote controller is movably arranged on the outer wall of the shell. Two mechanical arms are respectively arranged at the top end of the support mechanism through damping rotating shafts. An adaptive traction mechanism is arranged in the mechanical arm provided with a cavity. The fixing mechanism can stably fix and support the legs of a patient, can realize relatively safe and certain traction strength, and can improve the accuracy and safety of the operation.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of medical devices, in particular to a multifunctional mechanical double arm suitable for surgical operations. BACKGROUND

[0002] In the existing medical technology, the fixation and support of the patient's limbs during the operation mainly depend on the manual operation of medical staff or simple support devices. These support devices are usually single-arm structures and are mainly used for fixing the patient's limbs during the operation to maintain a stable operation posture. These devices have a wide application in some operations that require long-term fixation of the limbs, such as knee joint replacement surgery or arthroscopic surgery. In addition, these devices also have a certain application for patients who need to perform multi-directional actions during the operation, such as disinfection and traction of fracture patients.

[0003] Since the existing support devices are usually single-arm structures, their support capacity is limited, and for some heavy limbs such as legs, they may not be able to provide sufficient support force, resulting in the need for long-term manual fixation by medical staff, thereby increasing the working intensity of medical staff. The support device usually does not have a full range of freedom adjustment function, and it is difficult to achieve accurate control and adjustment of the differences in the limbs of different patients. In some operations that require accurate control of the position and posture of the limbs, the accuracy and safety of the operation may be affected. Therefore, the support device in the prior art cannot meet the needs of multi-state control of the limbs and strong support force during the operation. SUMMARY

[0004] The application provides a multifunctional mechanical double arm suitable for surgical operations, which mainly aims to solve the problem of limited artificial support capacity and difficulty in providing sufficient support force and full range of freedom adjustment function.

[0005] To achieve the above-mentioned purpose, the application provides a multifunctional mechanical double arm suitable for surgical operations, which comprises:

[0006] A base and a shell, the bottom end of the shell is fixedly arranged at the top end of the base, and an inside is provided with a placing groove;

[0007] A connecting frame, which is arranged at the top end of the base and connected to one side of the shell at the other end, and the top end of the connecting frame forms an article placing area;

[0008] A support mechanism, which is rotatably arranged inside the placing groove;

[0009] A remote controller, which is movably placed outside the outer wall of the shell;

[0010] The two mechanical arms are respectively arranged at the top end of the supporting mechanism through damping rotating shafts, and a cavity is arranged in one of the mechanical arms;

[0011] An adaptive traction mechanism is arranged in the cavity of the mechanical arm to form a constant limb traction force;

[0012] A fixing mechanism is arranged at the top end of the adaptive traction mechanism and the other mechanical arm.

[0013] In an embodiment, the supporting mechanism comprises a supporting seat which is rotatably arranged in a housing placing groove and is biased towards one end of the housing, and a self-driving structure is arranged in the supporting seat; a hydraulic cylinder is fixedly arranged at the top end of the supporting seat, and the telescopic end is connected with the two mechanical arms through damping rotating shafts.

[0014] In an embodiment, the fixing mechanism comprises an arc-shaped carrying sheet which is arranged on one side of one of the two extending sections through a self-locking universal ball seat to support the upper arm or the upper leg; a circular ring is arranged on one side of the other extending section through a self-locking universal ball seat to form a fixing structure of the hand or the foot; and a fixing belt is mounted at the top end of the circular ring.

[0015] In an embodiment, the fixing mechanism comprises two mechanical hands which are respectively arranged in the two mechanical arms through electric push rods, and the two mechanical hands are arranged to be telescopically movable along the length direction of the small arms of the mechanical arms; an adaptive traction mechanism is arranged between one of the mechanical hands and one of the electric push rods to limit the traction strength.

[0016] In an embodiment, the adaptive traction mechanism comprises a controller which is arranged at the bottom end of the electric push rod and is used to control the telescopic state of the electric push rod; an outer frame which is fixedly arranged on the telescopic end of the electric push rod and is arranged in the inner cavity of the mechanical arm to be movable along the linear direction; and an adjusting assembly which is movably mounted on the mechanical arm with the cavity and is connected with the fixing mechanism.

[0017] In an implementation, the adjusting assembly comprises: an extension section, one end of the extension section movably inserted into the inner cavity of the outer frame, the other end of the extension section extending to the outside of the mechanical arm, the extension section being movable along a sliding rail; a plurality of clamping grooves, the clamping grooves being equidistantly arranged on the wall surface of the extension section away from one end of the sliding rail; an adjusting member, the adjusting member being fixedly arranged on the outer wall of the outer frame, the adjusting member being movably arranged in the side wall of the mechanical arm with a cavity, the adjusting member having a T-shaped recess inside; a screw rod, the screw rod being screwed on the adjusting member and extending into the T-shaped recess, the outer end of the screw rod being located outside the mechanical arm; a connecting block, the connecting block being rotatably connected with the end of the screw rod and movably arranged in the T-shaped recess close to the inner side of the extension section; a toothed plate, the toothed plate being arranged on the inner side of the other end of the T-shaped recess, the toothed plate having a plurality of teeth, each of the teeth being clamped in the clamping groove; and a spring, the spring being arranged in the T-shaped recess, the two ends of the spring being abutted against the back of the connecting block and the toothed plate respectively, so as to ensure the clamping strength of the toothed plate and the clamping groove.

[0018] In an implementation, the adjusting assembly further comprises an infrared sensor, the infrared sensor being fixedly arranged in the inner wall of the extension section on the same side as the clamping grooves, a strip-shaped through hole being arranged in the clamping groove in a fully penetrating state, the signal detection end of the infrared sensor facing the strip-shaped through hole in the clamping groove, so as to detect the contact depth of the toothed plate and the clamping groove.

[0019] In an implementation, the strip-shaped through hole is rectangular or elliptical, the strip-shaped through hole containing two detection channels corresponding to different clamping groove depths; the infrared sensor comprises at least two probes, each of the probes facing the detection channel of different clamping groove depth, the signal output end of the infrared sensor being connected with the controller.

[0020] In an implementation, the clamping teeth on the toothed plate and the clamping grooves are matched with each other, the two ends of the toothed plate and the clamping grooves in the relative movement direction being slope structures.

[0021] The multifunctional mechanical double arm for surgical operation provided in the application has the following beneficial effects:

[0022] The multifunctional mechanical double arm suitable for surgical operation provided by the embodiment of the application mainly comprises a base, a shell, a connecting frame, a remote controller, a mechanical arm, a supporting mechanism, a self-adaptive traction mechanism and a fixing mechanism, wherein the mechanical arm is arranged at the top end of the supporting mechanism through a damping rotating shaft, the self-adaptive traction mechanism is arranged inside the mechanical arm and is used for forming a constant limb traction degree, the fixing mechanism is arranged at the top end of the self-adaptive traction mechanism and another mechanical arm and is used for fixing the limb of a patient, in the surgical process, the hydraulic cylinder is controlled to extend through the remote controller, so that the two mechanical arms move to the supporting state, the medical staff places the lower leg part of the patient on the fixing mechanism, and then starts to adjust the extension distance of the hydraulic cylinder, and at the same time, the angle of the two mechanical arms is adjusted to a suitable angle and a corresponding position, in addition, a waste liquid collecting groove is arranged at the top end of the shell and is used for collecting the waste liquid dripping from the leg of the patient in the process of applying medicine, so as to prevent the waste liquid from dripping on the floor of the operating room and causing the risk of slipping, the device can completely replace the two hands of the medical staff, reduces the working intensity of the medical staff, has stronger stability, and provides convenience for knee replacement or arthroscopic surgery. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The structural schematic diagram of the multifunctional mechanical double arm suitable for surgical operation provided by the embodiment of the application is shown;

[0024] Figure 2 The structural schematic diagram of the contraction state of the multifunctional mechanical double arm suitable for surgical operation provided by the embodiment of the application is shown;

[0025] Figure 3 The three-dimensional structural schematic diagram of the adjusting assembly of the multifunctional mechanical double arm suitable for surgical operation provided by the embodiment of the application is shown;

[0026] Figure 4 The local enlarged structural schematic diagram of the multifunctional mechanical double arm suitable for surgical operation provided by the embodiment of the application is shown;

[0027] Figure 5 The main cross-sectional structural schematic diagram of the outer extension section of the multifunctional mechanical double arm suitable for surgical operation provided by the embodiment of the application is shown;

[0028] Figure 6 The front view cross-sectional structural schematic diagram of the adjusting structure of the multifunctional mechanical double arm suitable for surgical operation provided by the embodiment of the application is shown;

[0029] Figure 7 The three-dimensional structural schematic diagram of the outer extension section and the strip-shaped through hole of the multifunctional mechanical double arm suitable for surgical operation provided by the embodiment of the application is shown;

[0030] Figure 8A structural block diagram of the adaptive traction mechanism is shown.

[0031] Figure 9 A mechanical hand structural schematic diagram of the multifunctional mechanical double arm suitable for surgical operation is shown.

[0032] Figure 10 A mechanical hand structural schematic diagram of the adaptive traction mechanism is shown.

[0033] In the figure: 1, base, 2, shell, 3, connecting frame, 4, remote controller, 5, mechanical arm, 6, adjusting caster, 7, fixing belt, 8, mechanical hand, 9, support seat, 10, hydraulic cylinder, 11, electric push rod, 12, controller, 13, outer frame, 14, slide rail, 15, outer extension section, 16, clamping groove, 17, adjusting piece, 18, screw rod, 19, connecting block, 20, spring, 21, toothed plate, 22, infrared sensor, 23, carrying sheet, 24, circular ring. DETAILED DESCRIPTION

[0034] In order to better understand the technical solutions provided by the embodiments of the present specification, the technical solutions of the embodiments of the present specification will be described in detail below through the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present specification and the embodiments are detailed descriptions of the technical solutions of the embodiments of the present specification, and not limitations of the technical solutions of the present specification. In the case of no conflict, the technical features in the embodiments of the present specification and the embodiments can be combined with each other.

[0035] In this document, relational terms such as first and second and the like can only be used to distinguish one entity or action from another entity or action, without necessarily requiring or implying that these entities or actions are in any way mutually exclusive or in any way in a sequence. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, such that processes, methods, articles, or devices that include a series of elements not only include those elements, but also include other elements not explicitly listed, or other elements inherent in such processes, methods, articles, or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article, or device including the element. The term "more than two" includes two or more than two.

[0036] Please refer to Figures 1 to 8As shown, the multifunctional mechanical double arm suitable for surgical operation provided by the embodiment of the application comprises a base 1 and a shell 2, a connecting frame 3, a remote controller 4, a mechanical arm 5, a supporting mechanism, an adaptive traction mechanism and a fixing mechanism, the bottom end of the shell 2 is fixedly arranged at the top end of the base 1, and the inner side is provided with a placing groove; the connecting frame 3 is arranged at the top end of the base 1, and the other end is connected with one side of the shell 2, and the top end of the connecting frame 3 forms an article placing area; the supporting mechanism is rotatably arranged in the inside of the placing groove; the remote controller 4 is movably arranged outside the outer wall of the shell 2; the two mechanical arms 5 are respectively arranged at the top end of the supporting mechanism through damping rotating shafts, and a cavity is arranged in the inside of one of the two mechanical arms 5; the adaptive traction mechanism is arranged in the inside of the mechanical arm 5 provided with the cavity, and is used for forming a constant limb traction degree; and the fixing mechanism is arranged at the top end of the adaptive traction mechanism and the other mechanical arm 5.

[0037] In the specific implementation process, it needs to be explained that when the patient is subjected to knee replacement surgery or arthroscopic surgery, first of all, the shell 2 is moved and locked to the front of the operating bed through the locking adjusting casters 6 at the bottom thereof, then the patient's leg is lifted, the bottom of the shell 2 is provided with a counterweight material such as a lead block, etc., and the force balance of the device is maintained when supporting the patient's leg, so as to prevent tilting, since joint replacement requires long-time fixation of the limb, at this time, the hydraulic cylinder 10 is controlled to start stretching through the remote controller 4, so that the two mechanical arms 5 move to the supporting state, the medical staff places the patient's lower leg on the fixing mechanism, places the patient's heel in the fixing mechanism, then adjusts the stretching distance of the hydraulic cylinder 10, at the same time, adjusts the angle of the two mechanical arms 5 to a suitable angle and corresponding position, after adjustment, the locking casters are locked to fix the shell 2, so as to prevent the shell 2 from slipping during the operation process, etc., which is convenient for the doctor to perform knee replacement surgery on the patient, since the fractured patient needs to be tractioned in the operation process in addition to fixing the limb, the adaptive traction mechanism is arranged to meet the traction action in the hand or after the operation, the device can completely replace the hands of the medical staff, reduces the working intensity of the medical staff, at the same time, has stronger stability, and provides convenience for knee replacement or arthroscopic surgery.

[0038] Please refer to Figure 1 and Figure 2 In some examples, further, the supporting mechanism comprises a supporting seat 9 and a hydraulic cylinder 10, the supporting seat 9 is rotatably arranged in the placing groove of the shell 2 and is deviated to one end of the shell 2, and a self-driving structure is arranged in the supporting seat 9; the bottom end of the hydraulic cylinder 10 is fixedly arranged at the top end of the supporting seat 9, and the telescopic end is connected with the two mechanical arms 5 through damping rotating shafts.

[0039] In the implementation process, it needs to be pointed out that the support seat 9 can rotate inside the shell 2 through the self-driving structure arranged therein to realize the switching of the device in the working state (higher occupied height) and the storage state (lower occupied height), the hydraulic cylinder 10 is stably supported on the support seat 9 to provide a stable foundation for the self-adaptive traction mechanism fixing mechanism, and can be adjusted in height according to the actual situation, when the operation starts, the hydraulic cylinder 10 starts to extend through the remote controller 4, the extension or contraction of the hydraulic cylinder 10 can directly drive the up and down movement of the two mechanical arms 5, the two mechanical arms 5 at different heights can rotate horizontally by 360 degrees at the extension end of the hydraulic cylinder 10, medical staff can adjust the extension distance of the hydraulic cylinder 10 and the height and angle of the two mechanical arms 5 through the remote controller 4 according to the needs of the operation to achieve the best operation position and angle, therefore, the device greatly reduces the working intensity of medical staff during the operation and traction, and improves the accuracy and safety of the operation, after the operation is completed, the hydraulic cylinder 10 is controlled to contract through the remote controller 4, and the two mechanical arms 5 are lowered, so that the patient's legs can be safely removed from the fixing mechanism at the top end of the mechanical arm 5.

[0040] Please refer to Figures 1 to 6 As shown in the drawings, in some examples, further, the fixing mechanism comprises: a carrying sheet 23, a circular ring 24 and a fixing belt 7, the carrying sheet 23 is arc-shaped and is arranged on one side of one of the outer extension sections 15 through a self-locking universal ball seat, for supporting the upper arm or the thigh; the circular ring 24 is arranged on one side of the other outer extension section 15 through a self-locking universal ball seat, for forming a fixing structure of the hand or the foot; and the two ends of the fixing belt 7 are installed at the top end of the circular ring 24.

[0041] In the implementation process, it needs to be pointed out that the carrying sheet 23 and the circular ring 24 can rotate and tilt in multiple directions through the self-locking universal ball to adapt to different operation needs and patient positions, the carrying sheet 23 effectively supports the calf of the patient, and the circular ring 24 is used to support the heel of the patient to adapt to different operation needs and patient positions, and the fixing belt 7 further fixes the limbs, when the operation starts, medical staff can adjust the positions of the carrying sheet 23 and the circular ring 24, and then the fixing belt 7 is tightly fixed on the feet of the patient, so as to realize the stable support of the legs of the patient, wherein medical staff can determine whether to use the adjustable fixing belt 7 or the elastic fixing belt 7 according to the actual situation, the cooperative work of the carrying sheet 23, the circular ring 24 and the fixing belt 7 can realize the accurate fixing and stable support of the legs of the patient during the operation, which greatly reduces the working intensity of medical staff and improves the accuracy and safety of the operation, after the operation is completed, medical staff can unfasten the fixing belt 7, and the patient can be safely removed from the mechanical arm 5.

[0042] Please refer toFigures 9 to 10 As shown, in some examples, further, the fixing mechanism is two mechanical hands 8, the two mechanical hands 8 are respectively arranged in the two mechanical arms through the electric push rod, the two mechanical hands 8 can be arranged in the small arm length direction of the mechanical arm and retract, one of the mechanical hands 8 is provided with an adaptive traction mechanism between the electric push rod, and the adaptive traction mechanism is used to limit the traction strength.

[0043] In the specific implementation process, it should be noted that the bending and position keeping of the two mechanical hands 8 belong to the prior art, and each finger joint can be adjusted and fixed.

[0044] Please refer to Figures 3 to 8 As shown, in some examples, further, the adaptive traction mechanism includes an electric push rod 11, a controller 12, an outer frame 13 and an adjusting assembly, the electric push rod 11 is fixedly arranged in the cavity of one of the mechanical arms 5, which is used to support the hand or foot; the controller 12 is located at the bottom end of the electric push rod 11, the controller 12 is used to control the extension state of the electric push rod 11, when the traction strength is missing, the electric push rod 11 can automatically supplement the traction force; the outer frame 13 is fixedly arranged on the extension end of the electric push rod 11 and can be arranged in the inner cavity of the mechanical arm 5 in a linear direction; the adjusting assembly is movably installed on the mechanical arm 5 with a cavity and is connected with the fixing mechanism.

[0045] In the specific implementation process, it should be noted that the adaptive traction mechanism is an important part of the device, mainly composed of an electric push rod 11, a controller 12, an outer frame 13 and an adjusting assembly, the electric push rod 11 is located in the cavity of one of the mechanical arms 5, which is used to support the hand or foot, the extension of the electric push rod 11 can realize the accurate control of the force on the hand or foot, realize the implementation of the traction state of the limb, the controller 12 is located at the bottom end of the electric push rod 11, responsible for controlling the extension state of the electric push rod 11, also can receive signals from other electronic elements, when the other electronic elements perceive that the traction strength is missing, the controller 12 can instruct the electric push rod 11 to automatically supplement the traction force, so as to ensure the reliability in the process of operation and traction, the adjusting assembly is movably installed on the mechanical arm 5 with a cavity, used to adjust the strength of the traction state under the state of external force, the mechanism not only greatly reduces the working strength of the medical staff, but also improves the constant traction effect in the process of operation and traction.

[0046] Please refer to Figures 3 to 8Further shown, in some examples, the adjusting assembly further includes an extended section 15, a clamping groove 16, an adjusting piece 17, a screw rod 18, a spring 20 and a toothed plate 21. One end of the extended section 15 is movably inserted into the inner cavity of the outer frame 13, and the other end of the extended section 15 extends to the outside of the mechanical arm 5. The extended section 15 is movable along the slide rail 14. A plurality of clamping grooves 16 are equidistantly formed on the wall surface of the extended section 15 away from one end of the slide rail 14. The adjusting piece 17 is fixedly arranged on the outer wall of the outer frame 13, and is movably arranged in the side wall of the mechanical arm 5 with a cavity through a sliding groove. The adjusting piece 17 has a T-shaped groove formed in the inside thereof. The screw rod 18 is screwed on the adjusting piece 17 and extends into the T-shaped groove. The outer end of the screw rod 18 is located outside the mechanical arm 5. The connecting block 19 is rotatably connected with the end of the screw rod 18 and movably arranged in the T-shaped groove close to the inside of the extended section 15. The toothed plate 21 is arranged inside the other end of the T-shaped groove. The toothed plate 21 is provided with a plurality of teeth, each of which is clamped in the clamping groove 16. The spring 20 is arranged in the T-shaped groove and abuts against the connecting block 19 and the back of the toothed plate 21 at two ends thereof, so as to ensure the clamping strength of the toothed plate 21 and the clamping groove 16. The clamping teeth on the toothed plate 21 and the clamping groove 16 are matched with each other. The two ends of the toothed plate 21 and the clamping groove 16 in the relative movement direction are both in slope surface structure.

[0047] In the specific implementation process, it should be noted that the adjusting assembly includes the extended section 15, the clamping groove 16, the adjusting piece 17, the screw rod 18, the spring 20 and the toothed plate 21. The extended section 15 is movable along the slide rail 14, so that the device can adapt to the surgical requirements and the patient position needs of different traction effects. The clamping groove 16 is equidistantly formed on the wall surface of the extended section 15, so as to clamp the teeth on the toothed plate 21, thereby realizing the connection effect of the electric push rod 11 and the extended section 15. The adjusting piece 17 is arranged in the connecting structure, which includes the screw rod 18, the connecting block 19, the toothed plate 21 and the spring 20. The staff can adjust the compression degree of the spring 20 by rotating the screw rod 18, adjust the clamping strength between the toothed plate 21 and the clamping groove 16 through the reaction thrust of the spring 20 on the toothed plate 21, and clamp each tooth on the toothed plate 21 in the clamping groove 16. When in the clamping groove 16, the extension section 15 can be directly moved linearly by the extension and retraction movement of the electric push rod 11. When the patient position moves or the equipment position moves, the relative movement between the human body and the equipment will occur. If the instantaneous traction degree is too large, it will cause harm to the patient. The safety structure formed by the adjusting piece 17 can avoid this situation. At the same time, the adjusting piece 17 can adjust the safety degree, thereby realizing the precise control and safety protection of the traction state.

[0048] Please refer to Figures 6 to 8As shown, in some examples, the adjusting assembly further comprises an infrared sensor 22 fixedly arranged in the inner wall of the overhanging section 15 on the same side as the clamping groove 16, a strip-shaped through hole is formed in the clamping groove 16 in a fully penetrating state, the signal detection end of the infrared sensor 22 faces the strip-shaped through hole in the clamping groove 16, and the infrared sensor 22 is used for detecting the contact depth of the tooth plate 21 and the clamping groove 16. The strip-shaped through hole is rectangular or elliptical, and the strip-shaped through hole contains two detection channels corresponding to different depths of the clamping groove 16; the infrared sensor 22 comprises at least two probes, each probe faces a detection channel corresponding to a different depth of the clamping groove 16, and the signal output end of the infrared sensor 22 is connected with the controller 12.

[0049] It should be noted that the infrared sensor 22 in the adjusting assembly is an electronic element of a sensing type, the infrared sensor 22 is fixedly arranged in the inner wall of the overhanging section 15 on the same side as the clamping groove 16, and is used for detecting the contact depth of the tooth plate 21 and the clamping groove 16, so as to perceive the current traction degree according to the clamping position. The device can monitor the traction state in real time, so as to realize automatic compensation of the traction degree.

[0050] Specifically, a strip-shaped through hole is formed in the clamping groove 16 in a fully penetrating state, and each probe faces a detection channel corresponding to a different depth of the clamping groove 16. The purpose of this design is to realize partition detection and accurately detect the contact depth of the tooth plate 21 and the clamping groove 16. In the specific implementation process, when the human body or the equipment moves relatively, if the traction degree caused is too small, both the two probes in the infrared sensor 22 can perceive that the tooth plate 21 is completely present in the clamping groove 16, and it is judged that the traction state lacks traction force, which is an abnormal traction state. If the abnormal traction state is detected, the signal output end of the infrared sensor 22 is connected with the controller 12, and the controller 12 instructs the electric push rod 11 to extend outwardly by a small amplitude to drive automatic compensation of the traction force, so as to ensure the constant effect and safety of the traction process. It can be seen that the design can not only realize real-time monitoring and automatic compensation of the traction state, but also greatly improve the safety and efficiency of the operation, reduce the working strength of the medical staff, and especially solve the problem that the traction degree is not easy to perceive in the operation, meet the demand for accurate control and strong supporting force of the patient's limbs in the knee replacement and arthroscopic surgery.

[0051] The above is only an embodiment of the present application and is not used to limit the present application. The present application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A multi-functional mechanical dual arm suitable for surgical operation, characterized in that, The utility model relates to a kind of self-adapting traction mechanism and its control method, including: Base and shell, the bottom end of the shell is fixedly arranged at the top end of base, and inside is provided with placing slot; Connecting frame, the connecting frame is arranged at the top end of base, and the other end is connected with the side of shell, and the top end of the connecting frame forms article placing area; Supporting mechanism, the supporting mechanism is rotatably arranged inside the placing slot; Remote controller, the remote controller is movably placed outside the outer wall of the shell; Mechanical arm, two the mechanical arm is respectively arranged at the top end of supporting mechanism by damping rotating shaft, and the inside of one of the mechanical arm is provided with cavity; Self-adapting traction mechanism, the self-adapting traction mechanism is arranged inside the mechanical arm provided with cavity, for forming constant limb traction degree; Fixing mechanism, the fixing mechanism is arranged at the top end of self-adapting traction mechanism and another mechanical arm; The fixing mechanism is two mechanical hands, two the mechanical hand is respectively arranged in two the mechanical arm by electric push rod, and two the mechanical hand can be telescopic along the length direction of the forearm of mechanical arm, and the self-adapting traction mechanism is arranged between one of the mechanical hand and one of the electric push rod, and the self-adapting traction mechanism is used to limit traction intensity; The self-adapting traction mechanism includes: Controller, the controller is located at the bottom end of electric push rod, and the controller is used to control the telescopic state of electric push rod; Outer frame, the outer frame is fixedly arranged on the telescopic end of electric push rod, and can be movably arranged in the inner chamber of the mechanical arm along linear direction; Adjusting assembly, the adjusting assembly is movably mounted on the mechanical arm provided with cavity, and is connected with fixing mechanism; The adjusting assembly includes: Outer stretch section, one end of the outer stretch section is movably inserted in the inner chamber of the outer frame, the other end of the outer stretch section extends to the outside of the mechanical arm, and the outer stretch section can move along slide rail; Clamping groove, several clamping grooves are equidistantly arranged on the wall surface of the outer stretch section away from one end of the slide rail; Adjusting piece, the adjusting piece is fixedly arranged on the outer wall of the outer frame, and is movably arranged in the side wall of the mechanical arm provided with cavity by sliding groove, and T-shaped recess is arranged in the inside of the adjusting piece; Screw rod, the screw rod is screwed on the adjusting piece, and extends to the inside of T-shaped recess, and the outer end of the screw rod is located at the outside of the mechanical arm; Connecting block, the connecting block is rotatably connected with the end of screw rod, and is movably arranged in the T-shaped recess close to the inside of the outer stretch section; Toothed plate, the toothed plate is arranged at the inside of the other end of T-shaped recess, and a plurality of teeth are arranged on the toothed plate, and each tooth is clamped in the clamping groove; Spring, the spring is arranged in the T-shaped recess, and the two ends of the spring are respectively abutted on the back of the connecting block and the toothed plate, to ensure the clamping strength of the toothed plate and the clamping groove; The supporting mechanism includes: Support seat, the support seat rotatable is established in the shell placement groove in, and it is inclined to the shell one end, the support seat is arranged in self driving structure inside; Support seat through its inside arrangement self driving structure can rotate in the shell inside, to realize this device in working condition and storage condition The switching of state; The bottom of the shell is provided with counterweight material, keep in the support of patient leg state device stress balance; Hydraulic cylinder, the bottom end of the hydraulic cylinder is fixedly arranged at the top end of the support seat, and the telescopic end is connected with the two mechanical arms through the damping rotating shaft.

2. A multi-functional mechanical dual arm suitable for surgical operation according to claim 1, characterized in that: The fixing mechanism comprises: The carrying sheet is arc-shaped and is arranged on one side of one of the outer extension sections through a self-locking universal ball seat for supporting the upper arm or the upper leg; The circular ring is arranged on one side of the other outer extension section through a self-locking universal ball seat for forming a fixing structure of the hand or the foot; The fixing belt is installed at both ends of the top end of the circular ring.

3. The multifunctional mechanical double arm suitable for surgical operation according to claim 2, wherein: The adjusting assembly further comprises an infrared sensor fixedly arranged in the inner wall of the outer extension section on the same side as the clamping groove, a strip-shaped through hole completely penetrating is formed in the clamping groove, the signal detection end of the infrared sensor faces the strip-shaped through hole in the clamping groove, and the contact depth of the toothed plate and the clamping groove is detected.

4. The multifunctional mechanical double arm suitable for surgical operation according to claim 3, wherein: The strip-shaped through hole is rectangular or elliptical, and the strip-shaped through hole contains two detection channels corresponding to different clamping groove depths; The infrared sensor comprises at least two probes, each probe faces a detection channel of different clamping groove depth, and the signal output end of the infrared sensor is connected with the controller.

5. The multifunctional mechanical double arm suitable for surgical operation according to claim 2, wherein: The clamping teeth on the toothed plate are matched with the clamping grooves, and the two ends of the toothed plate and the clamping grooves in the relative movement direction are both slope structures.

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