Medical auxiliary device and medical system

Abstract

The application discloses a medical auxiliary device and a medical system. The medical auxiliary device comprises a lifting mechanism. The lifting mechanism comprises a stand, a lifting device, a counterweight, a first cable, a second cable and a driving device. The stand has a first side and a second side opposite to each other, and a first roller and a second roller are arranged at the top and the bottom of the stand respectively. The lifting device is arranged on the first side, and the counterweight is arranged on the second side. The first cable is arranged around the first roller, and the second cable is arranged around the second roller. The two ends of the first cable and the second cable are connected to the counterweight and the lifting device respectively. The driving device is arranged on the first roller and / or the second roller, and can transmit torque to the first roller and / or the second roller, so that the force of the lifting device from the medical auxiliary device is balanced in the vertical direction. According to the medical auxiliary device, the driving device can provide a compensation force to the lifting device, so that the operator can manipulate the lifting device to lift with the smallest resistance.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a medical auxiliary device and a medical system. Background Technology

[0002] Surgical medical aid systems are widely used in various abdominal surgeries, prostate surgeries, and gynecological surgeries. They offer significant advantages such as reduced incision size and increased surgical success rates. Surgeons can operate the machines remotely from the operating table, gaining a wider field of vision and greater flexibility in surgical procedures. The system eliminates human-induced vibrations, making the surgery more stable. Research into surgical medical aid systems has also emerged as a new area of ​​application in medical devices in recent years.

[0003] The surgical medical assistance system mainly consists of three parts: a patient-side robot, a doctor's control panel, and a vision cart. During surgery, the patient-side robot, as the direct surgical execution mechanism, has four independently movable robotic arms attached to its column. At the ends of these arms are surgical instruments that directly act on the patient. The robotic arms need multiple degrees of freedom for multi-posture adjustment, and they also need to be able to move vertically to adapt to the actual height required for the surgery. This adjustment and lifting action is generally performed by the nurse at the patient's side.

[0004] However, because robotic arms generally have a large mass and experience frequent changes in resistance during lifting and lowering, it makes it difficult for nurses to operate the robotic arms, and the height adjustment is difficult to be precise and very laborious.

[0005] Therefore, a medical assistive device and medical system are needed to at least partially solve the above problems. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] To at least partially solve the above-mentioned problems, a first aspect of the present invention provides a medical assistive device, the medical assistive device including a lifting mechanism, the lifting mechanism comprising:

[0008] A column, wherein a first roller is provided at the top of the column and a second roller is provided at the bottom, and the column has a first side and a second side that are opposite to each other;

[0009] A lifting device is provided on the first side, and the lifting device is configured to be able to move up and down along the column;

[0010] A counterweight is disposed on the second side and is configured to move up and down along the column;

[0011] A first cable is arranged around the first roller, and both ends of the first cable are respectively connected to the counterweight and the lifting device;

[0012] A second cable, which is arranged around the second roller and whose two ends are respectively connected to the counterweight and the lifting device; and

[0013] A drive device is disposed on the first roller and / or the second roller, the drive device being configured to transmit torque to the first roller and / or the second roller so that the force from the medical auxiliary device on the lifting device is balanced vertically.

[0014] Optionally, the lifting device includes an elastic component connected to the column to provide an elastic force that tends to move the lifting device upward.

[0015] Optionally, the elastic component includes at least one constant force spring;

[0016] The sum of the weight of the counterweight and the rated elastic force of at least one constant force spring is equal to the total weight of the lifting device and the load on the lifting device.

[0017] Optionally, at least two of the constant force springs are overlapped and rewound to form a spring rewound group.

[0018] Optionally, the ends of the constant force springs of at least two of the spring rewinding groups overlap to form the elastic component.

[0019] Optionally, the medical assistive device further includes a braking device disposed on the first roller and / or the second roller to brake the first roller and / or the second roller.

[0020] Optionally, the medical assistive device further includes a position detection device, which is at least partially disposed on the lifting device for detecting the height of the lifting device.

[0021] Optionally, the position detection device is configured as a pull-rope encoder, which is located on the first side of the column and between the lifting device and the second roller. The main body of the pull-rope encoder is connected to the column through a connecting seat, and the rope end of the pull-rope encoder is connected to the lifting device.

[0022] Optionally, the medical auxiliary device further includes a rotation direction detection device disposed on the drive device for detecting the rotation direction of the drive shaft of the drive device, wherein the drive shaft is connected to the first roller and / or the second roller.

[0023] Optionally, the rotation direction detection device is configured as a rotary encoder, the rotary encoder comprising:

[0024] A fixed base is disposed on the driving device, and the fixed base is provided with an encoder positioning part;

[0025] A rotating part is located within the fixed base and connected to the drive shaft so as to rotate synchronously with the drive shaft. The rotating part is provided with an encoder moving part, wherein the encoder moving part and the encoder stationary part can interact with each other.

[0026] Optionally, the bottom of the lifting device is provided with a receiving part, and a compression spring is provided inside the receiving part. The end of the second cable passes through the receiving part and is connected to the top of the compression spring so that the second cable can be tensioned.

[0027] Optionally, the first side is provided with a first guide rail and a first moving block. The first guide rail is arranged vertically, the first moving block is disposed on the first guide rail and is configured to be able to move up and down along the first guide rail. The lifting device is disposed on the first moving block.

[0028] The second side is provided with a second guide rail and a second movable block. The second guide rail is arranged vertically, and the second movable block is arranged on the second guide rail and is configured to be able to move up and down along the second guide rail. The counterweight is arranged on the second movable block.

[0029] Optionally, the upper and lower parts of the first guide rail are respectively provided with limit devices to limit the lifting range of the first moving block, and the end of the limit device facing the lifting device is provided with an anti-collision block.

[0030] According to the medical auxiliary device of the present invention, a driving device can provide a compensating force to the lifting device, so that the resistance encountered by the operator when operating the lifting device is as small as possible, so as to achieve the effect of lifting heavy objects with ease.

[0031] A second aspect of the present invention provides a medical system comprising:

[0032] The medical assistive device described in the first aspect above, the medical assistive device comprising:

[0033] The lifting mechanism includes a lifting device.

[0034] A robotic arm, which is mounted on the lifting device.

[0035] Drive unit; and

[0036] A control device, which is signal-connected to the drive device;

[0037] The control device is configured as follows:

[0038] The drive device is controlled to provide positive or negative torque so that the force from the medical auxiliary equipment on the lifting device can be balanced vertically.

[0039] Optionally, the medical assistive device further includes a braking device, and the control device is signal-connected to the braking device;

[0040] The control device is configured as follows:

[0041] When the braking device releases the brake, the drive device is controlled to operate to provide torque, so that the force from the medical auxiliary equipment on the lifting device can be balanced vertically.

[0042] When the braking device applies the brakes, the drive device is locked to cooperate with the braking, so that the lifting device can come to a standstill.

[0043] Optionally, the lifting device of the medical auxiliary device includes at least one constant force spring, the end of which is connected to the column to provide an upward elastic force to the lifting device;

[0044] The medical auxiliary device also includes a position detection device, which is used to sense the height of the lifting device;

[0045] The control device is signal-connected to the position detection device. The control device pre-stores the average characteristic curve data of the constant force spring based on its extension length, and also pre-stores the mapping relationship between the height of the lifting device and the extension length of the constant force spring. The control device is configured as follows:

[0046] When the braking device releases the brake, the extension length of the constant force spring is determined based on the height of the lifting device detected by the position detection device and the mapping relationship. The drive device is then controlled to operate to provide torque based on the average characteristic curve data, so that the force from the medical auxiliary equipment on the lifting device can be balanced vertically.

[0047] Optionally, the drive device is provided with a rotation direction detection device, which is used to detect the rotation direction of the drive shaft;

[0048] The control device is signal-connected to the rotation direction detection device;

[0049] The control device is configured to determine whether the lifting device is in an ascending or descending state based on the rotation direction of the drive shaft detected by the rotation direction detection device.

[0050] Optionally, the control device pre-stores elongation characteristic curve data based on the extension length during the constant force spring's elongation process, and also pre-stores contraction characteristic curve data based on the extension length during the constant force spring's shortening process.

[0051] The control device is also configured to:

[0052] When the lifting device is in the rising state, the drive device is controlled to operate according to the contraction characteristic curve data to provide torque, so that the force from the medical auxiliary equipment on the lifting device can be balanced vertically.

[0053] When the lifting device is in the lowering state, the drive device is controlled to operate according to the elongation characteristic curve data to provide torque, so that the force from the medical auxiliary equipment on the lifting device can be balanced vertically.

[0054] Optionally, the control device is further configured to: when the position detection device detects a change in the height of the lifting device, but the rotation direction detection device does not detect the rotation of the drive shaft, determine that slippage has occurred and issue a warning.

[0055] The medical system according to the present invention can achieve similar technical effects to the medical auxiliary equipment of the first aspect described above. Attached Figure Description

[0056] The following drawings, which are incorporated herein by reference as part of this invention, are provided for understanding the invention. The drawings illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention.

[0057] In the attached image:

[0058] Figure 1 This is a partial structural schematic diagram of the main support column of the medical auxiliary device according to the present invention;

[0059] Figure 2 This is a schematic diagram of the lifting mechanism of the medical auxiliary device according to the present invention;

[0060] Figure 3 for Figure 2 Side view of the lifting mechanism;

[0061] Figure 4 for Figure 2An enlarged view of the top of the central lifting mechanism;

[0062] Figure 5 A schematic diagram of the spring rewinding assembly of the lifting mechanism of the medical auxiliary device according to the present invention; and

[0063] Figure 6 This is a schematic diagram of the elastic component of the lifting mechanism of the medical auxiliary device according to the present invention. Detailed Implementation

[0064] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0065] To fully understand the present invention, a detailed description will be set forth in the following description. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0066] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0067] The ordinal numbers such as "first" and "second" used in this invention are merely identifiers and do not have any other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0068] Now, refer to Figures 1 to 6 An exemplary embodiment of the present invention will be described in more detail below.

[0069] This invention provides a medical system (not shown), which includes medical assistive devices (not shown), a control device (not shown), a doctor's console (not shown), and a vision cart (not shown), etc. The medical assistive devices may be surgical robots or medical testing equipment, etc.

[0070] The medical assistive device includes a base (not shown), a main support column 13 mounted on the base, and four robotic arms (not shown) mounted on the four sides of the main support column 13 and capable of being raised and lowered.

[0071] refer to Figure 1 The main support column 13 includes four sets of lifting mechanisms 100, each set of lifting mechanisms 100 corresponding to a robotic arm. Each set of lifting mechanisms 100 corresponds to one side of the main support column 13. In an optional embodiment, the four sets of lifting mechanisms 100 are combined into a square column and then mounted on the base plate 15, with a top cover (not shown) fitted on top to form the aforementioned main support column 13.

[0072] Please refer to the following for the specific structure of the lifting mechanism 100. Figures 2 to 3 The lifting mechanism 100 includes a column 110, a lifting device 130, a counterweight 140, a first cable 119, a second cable 120, and a drive device 150. The column 110 can be generally plate-shaped, having a first side 111 and a second side 112, with the first side 111 opposite to the second side 112. The counterweight 140 can be a copper counterweight, a weight, or a lead counterweight, etc. The first cable 119 and the second cable 120 can be wire ropes, synchronous belts, flat belts, or V-belts, etc.

[0073] A first guide rail 115 is provided on the first side 111, which extends along the length / height direction of the column 110. Alternatively, the first guide rail 115 extends vertically. A first movable block 117 is provided on the first guide rail 115, which is configured to move up and down along the first guide rail 115. For example, the first guide rail 115 is configured as a slide rail, and the first movable block 117 is configured as a slider that can slide along the slide rail.

[0074] Correspondingly, a second guide rail 116 is provided on the second side 112, which also extends vertically. A second moving block 118 is provided on the second guide rail 116, which is configured to move up and down along the first guide rail 115. For example, the second guide rail 116 is configured as a slide rail, and the second moving block 118 is configured as a slider that can slide along the slide rail.

[0075] The lifting device 130 is disposed on the first side 111 and connected to the first moving block 117, while the counterweight 140 is disposed on the second side 112 and connected to the second moving block 118. The upper and lower parts of the first guide rail 115 are respectively provided with limit devices 122 to limit the lifting range of the first moving block 117, and the end of the limit device 122 facing the lifting device 130 is provided with a collision block 123.

[0076] A first roller 113 is provided at the top of the column 110, and a second roller 114 is provided at the bottom. The first roller 113 is connected to the top of the column 110 via a support 126, and the pivot axis of the first roller 113 is pivotally connected to the support 126. The second roller 114 can be provided at a notch at the bottom of the column 110, and its pivot axis is pivotally connected to the column 110. Thus, when the four sets of lifting mechanisms 100 are combined, supports 126 of different heights can be provided respectively, so that the components at the first roller 113, such as the drive device 150 (described in detail below) and the braking device 160 (described in detail below), are staggered and can be accommodated within the top cover 12.

[0077] A first cable 119 is arranged around a first roller 113, and its two ends are respectively connected to a counterweight 140 and a lifting device 130. That is, the first cable 119 wraps around the upper side of the first roller 113. A second cable 120 is arranged around a second roller 114, and its two ends are respectively connected to a counterweight 140 and a lifting device 130. That is, the second cable 120 wraps around the lower side of the second roller 114.

[0078] Preferably, both the first cable 119 and the second cable 120 are connected to the counterweight 140 and the lifting device 130 via a connecting post 125. The connecting post 125 may be constructed as a hollow structure, with the first cable 119 and the second cable 120 extending into it to limit cable sway at the connection points between the first cable 119 and the second cable 120 and the counterweight 140 and the lifting device 130.

[0079] During assembly, it is preferable to pre-tension the first cable 119, so that after installation, the first cable 119 will automatically tension under the gravity of the counterweight 140 and the lifting device 130. More preferably, the bottom of the lifting device 130 is provided with a receiving portion 133, and a compression spring 134 is provided within the receiving portion 133. The connecting post 125 located at the bottom of the lifting device 130 preferably penetrates the receiving portion 133, so that the end of the second cable 120 can be connected to the top of the compression spring 134. Therefore, due to the pre-compression of the compression spring 134, the second cable 120 can also be kept taut, preventing the cable from falling off.

[0080] In one alternative embodiment, both the first cable 119 and the second cable 120 are configured with two strands. Of course, in alternative embodiments, more strands may also be used. Furthermore, the number of connecting posts 125 and the number of compression springs 134 correspond to the number of cable strands.

[0081] Optionally, a stop (not shown) can be provided on the top of the plurality of compression springs 134 in the receiving part 133, and the end of the second cable 120 is connected to the stop so that the plurality of compression springs 134 can be subjected to force uniformly.

[0082] Therefore, a pulley mechanism consisting of the first roller 113, the first cable 119, the second roller 114, and the second cable 120 connects the counterweight 140 and the lifting device 130 into a closed loop, enabling them to move in tandem. That is, when the counterweight 140 rises, the lifting mechanism 100 falls, or vice versa.

[0083] The first cable 119 and the second cable 120 are preferably steel wire ropes. This reduces the precision requirements during installation and decreases resistance. In particular, compared to transmission methods such as lead screws or gears, it significantly reduces resistance caused by insufficient installation precision.

[0084] A drive unit 150 is disposed on the first roller 113 and / or the second roller 114 to transmit torque to the first roller 113 and / or the second roller 114. In an alternative embodiment, the drive unit 150 may be a drive motor or a servo motor, etc.

[0085] In this embodiment, the drive device 150 is preferably disposed on the first roller 113. Alternatively, the drive shaft 151 of the drive device 150 is fixedly connected to the pivot shaft of the first roller 113, so that the drive device 150 can transmit torque to the first roller 113. Thus, the drive device 150 can be used to achieve vertical balance of the forces (i.e., forces other than those applied to the lifting device 130 by the operator) received by the lifting device 130 from the medical assistive device.

[0086] According to the medical auxiliary device of the present invention, the driving device 150 can provide a compensating force to the lifting device 130, so that the resistance encountered by the operator when operating the lifting device 130 is as small as possible, so as to achieve the effect of lifting heavy objects with ease.

[0087] In one alternative embodiment, the weight on both sides of the column 110 can be set to be approximately equal, for example, the weight of the counterweight 140 is equal to the total weight of the drive unit 150 and the robotic arm. Thus, when an operator applies a force to the drive unit 150, the lifting device 130 can be easily moved up and down.

[0088] However, due to the presence of resistance at various points, such as friction at the rollers and friction at the guide rails, the driving device 150 can provide torque in the opposite direction to the resistance to overcome it, making the operation easier and less strenuous for the operator.

[0089] For example, the control device of the medical system is signal-connected to the drive device 150, and the control device controls the drive device 150 to provide positive or negative torque so that the force from the medical auxiliary equipment on the lifting device 130 can be balanced vertically.

[0090] Since the drive shaft 151 of the drive device 150 rotates synchronously with the first roller 113, the following description will take the example of the lifting device 130 descending when the drive shaft 151 rotates forward and the lifting device 130 rising when the drive shaft 151 rotates in reverse as an example.

[0091] When the lifting device 130 is lowered under the operation of the operator, the drive device 150 provides a positive torque to the first roller 113 to overcome resistance and assist the lifting device 130 in descending. When the lifting device 130 is raised under the operation of the operator, the drive device 150 provides a reverse torque to the first roller 113 to overcome resistance and assist the lifting device 130 in rising.

[0092] refer to Figure 1 , Figure 2 and Figure 3 The lifting mechanism 100 also includes a braking device 160. The braking device 160 is disposed on the first roller 113 and / or the second roller 114 to brake the first roller 113 and / or the second roller 114. In embodiments, the braking device may be a permanent magnet brake, an electrically excited brake, or other electromagnetic brake. In this embodiment, the braking device 160 is disposed on the side of the first roller 113 opposite to the drive device 150.

[0093] Furthermore, the drive unit 150 is also connected to the control unit of the medical system via signal, and the medical auxiliary device is equipped with a button or sensor (not shown) that can perform signal association mapping with the braking device 160. Thus, the medical auxiliary device can obtain button commands or sensor signal commands and issue braking commands or release braking commands to the braking device 160 according to these commands.

[0094] In one embodiment, the button may be located on the robotic arm. When the operator presses the button to raise or lower the robotic arm, the control device controls the braking device 160 to release the brake. When the operator manipulates the robotic arm to the raised or lowered position and releases the button, the control device controls the braking device 160 to brake the first roller 113. In one embodiment, sensors on the medical assistive device can obtain the operator's movement trend of the robotic arm, and the control system can then analyze the movement trend of the robotic arm and the raising device to control the braking or releasing of the braking device.

[0095] When the braking device 160 brakes the first roller 113, the control device preferably controls the drive device 150 to lock in coordination with the braking, that is, controls the drive device 150 to stop running and keeps the drive shaft 151 stationary so that the lifting device 130 can come to an immediate stop. When the braking device 160 releases the brake, the control device controls the drive device 150 to run to provide torque so that the force from the medical auxiliary equipment on the lifting device 130 can be balanced vertically.

[0096] Continue to refer to Figure 1 , Figure 2 and Figure 3 In a preferred embodiment, the lifting device 130 further includes an elastic component 170, which is connected to the column 110. Alternatively, the elastic component 170 is connected between the column 110 and the lifting device 130 in a stretched state to provide an elastic force that tends to move the lifting device 130 upward.

[0097] In this case, it is preferable that the sum of the weight of the counterweight 140 and the elastic force of the elastic component 170 is approximately equal to the total weight of the lifting device 130 and the robotic arm. To achieve this, the elastic component 170 is preferably a constant force spring 171, so that the elastic component 170 can provide approximately the same elastic force whether the lifting device 130 is rising or falling.

[0098] To reduce the weight of medical assistive devices, it is preferable to use a group of multiple constant force springs 171 coiled together. For example... Figure 5 The metal sheets of the two constant force springs 171 shown are overlapped and re-wound to form a group of constant force springs 171. Optionally, more constant force springs 171 can be re-wound, such as 3, 4, 5, etc., and the number is unlimited.

[0099] More preferably, a plurality of spring rewinding groups 172 are arranged side by side, or in other words, the ends of the constant force springs 171 of each plurality of spring rewinding groups 172 overlap to form an elastic component 170. For example Figure 6The metal sheet extensions of the four spring rewinding groups 172 shown overlap. Alternatively, other numbers of spring rewinding groups 172 can be arranged in parallel, such as 3 groups, 5 groups, 6 groups, etc., and the number is not limited.

[0100] Continue to refer to Figures 1 to 3 The lifting device 130 includes a mounting base 131 and a cover plate 132. The mounting base 131 is connected to the first moving block 117. An elastic component 170 is disposed in the mounting base 131, such that four spring coiling groups 172 are arranged vertically. The cover plate 132 is mounted to the mounting base 131 to cover the elastic component 170. A robotic arm can be mounted on the cover plate 132 or the mounting base 131. A fixing part 124 is provided on the upper part of the column 110, and the protruding end of the metal sheet of the constant force spring 171 is connected to the fixing part 124 to always provide an upward elastic force to the lifting device 130.

[0101] By rewinding and arranging the constant force springs 171 in parallel, multiple constant force springs 171 can be accommodated in a small space, thereby obtaining a large elastic force. Thus, the counterweight 140, when used in conjunction with the constant force springs 171, achieves a balance between appropriate weight, moderate force fluctuation, and elastic hysteresis, while avoiding the disadvantages of high weight and high force fluctuation.

[0102] The constant force spring 171 exhibits force fluctuation and elastic hysteresis. Force fluctuation manifests as the output elastic force of the constant force spring 171 differing at different extension lengths; for example, the tension of most constant force springs 171 based on the extension amount deviates from the rated elastic force by approximately ±15%. Elastic hysteresis manifests as the difference between the elastic force at a certain extension amount during the extension or stretching process and the elastic force at the same extension amount during the contraction process. For example, the elastic force of most constant force springs 171 during the stretching process is greater than that during the contraction process.

[0103] However, since the elastic force of the constant force spring 171 changes essentially linearly with the increase of its extension, the elastic force of the constant force spring 171 is basically stable and measurable. Therefore, in order for the drive device 150 to compensate for the operating resistance caused by the force fluctuation and elastic hysteresis of the constant force spring 171, it is preferable to set up a rotation direction detection device to detect the rotation direction of the roller, thereby determining whether the constant force spring 171 is in the extension or contraction process. It is also preferable to set up a position detection device to detect the height of the lifting device 130, thereby determining the extension amount of the constant force spring 171.

[0104] The rotation direction detection device is disposed in the drive device 150 to detect the rotation direction of the drive shaft 151 of the drive device 150. Preferably, refer to Figure 4The rotation direction detection device is constructed as a rotary encoder 190. The rotary encoder 190 includes a fixed base 192 and a rotating part 191. The fixed base 192 is disposed on the side of the drive device 150 and has an encoder stationary part 194 therein. The rotating part 191 is located within the fixed base 192 and connected to the drive shaft 151, enabling it to rotate synchronously with the drive shaft 151. The rotating part 191 is provided with an encoder moving part 193, and the encoder moving part 193 corresponds to the encoder stationary part 194, so that when the drive shaft 151 rotates, the encoder moving part 193 and the encoder stationary part 194 can interact with each other, thereby detecting whether the first roller 113 rotates forward or backward. In embodiments, the encoder can be an incremental magnetic encoder or an absolute magnetic encoder, the encoder stationary part is an encoder PCB, and the encoder moving part is an encoder magnet or an encoder magnetic ring. In some embodiments, the encoder can also be a grating encoder.

[0105] A position detection device is at least partially disposed in the lifting device 130. Its preferred configuration is a pull-cord encoder 180. The pull-cord encoder 180 is located on the first side 111 of the column 110, and between the lifting device 130 and the second roller 114. The main body of the pull-cord encoder 180 is connected to the column 110 via a connecting seat 121, and the rope end 181 of the pull-cord encoder 180 is connected to the lifting device 130, thereby enabling the detection of the height or position of the lifting device 130. Thus, a certain extension amount of the constant force spring 171 can be correlated with the height of the lifting device 130. Optionally, the position detection device can also be, for example, a multi-turn absolute encoder, a linear encoder, a laser sensor, etc.

[0106] Furthermore, the control device of the medical system is signal-connected to both the drawstring encoder 180 and the rotary encoder 190. The control device pre-stores a mapping relationship between the height of the lifting device 130 and the extension length of the constant force spring 171, so as to determine the extension length of the constant force spring 171 based on the height of the lifting device 130 detected by the position detection device and the mapping relationship. The control device also pre-stores average characteristic curve data of the constant force spring 171 based on its extension length, contraction characteristic curve data of the constant force spring 171 during its shortening process based on its extension length, and elongation characteristic curve data of the constant force spring 171 during its elongation process based on its extension length.

[0107] When the operator manipulates the robotic arm to prepare for lifting and triggers the braking device 160 to release the brake, the control device, based on the height of the lifting device 130 detected by the pull-cord encoder 180 and the mapping relationship between the height of the lifting device 130 and the extension length of the constant force spring 171, calculates the current extension length of the constant force spring 171. Then, by combining the average characteristic curve data of the constant force spring 171 based on its extension length, the elastic force of the constant force spring 171 at its current extension is calculated, thereby determining the force value that needs to be compensated. Subsequently, the control device controls the drive device 150 to operate to provide the corresponding torque to overcome the elastic force changes caused by fluctuations in the force value of the constant force spring 171, ensuring that the force on the lifting device 130 from the medical auxiliary equipment can be balanced vertically.

[0108] When the operator manipulates the robotic arm to begin lifting and lowering, causing a slight movement in the first roller 113, the control device can determine whether the lifting device 130 is in a rising or falling state based on the rotation direction of the drive shaft 151 detected by the rotation direction detection device. For example, when the first roller 113 rotates forward with a slight movement, the control device determines that the lifting device 130 is in a falling state or has a falling trend; when the first roller 113 rotates in reverse with a slight movement, the control device determines that the lifting device 130 is in a rising state or has an rising trend.

[0109] When the lifting device 130 is in the rising state, the control device controls the drive device 150 to operate according to the contraction characteristic curve data to provide torque, so that the force from the medical auxiliary equipment on the lifting device 130 can be balanced vertically.

[0110] Specifically, the control device calculates the real-time extension length of the constant force spring 171 based on the real-time height of the lifting device 130 detected by the pull-cord encoder 180 and the mapping relationship between the height of the lifting device 130 and the extension length of the constant force spring 171. Then, by combining the contraction characteristic curve data of the constant force spring 171 during its shortening process based on the extension length, the real-time change in the elastic force during the contraction process is calculated, thereby determining the force value that needs to be compensated. Furthermore, the control device controls the drive device 150 to operate to provide the corresponding torque to overcome the elastic force change caused by the elastic hysteresis during the contraction process of the constant force spring 171, ensuring that the force on the lifting device 130 from the medical auxiliary equipment is balanced vertically.

[0111] When the lifting device 130 is in the lowering state, the control device controls the drive device 150 to operate according to the elongation characteristic curve data to provide torque, so that the force from the medical auxiliary equipment on the lifting device 130 can be balanced vertically.

[0112] Specifically, the control device calculates the real-time extension length of the constant force spring 171 based on the real-time height of the lifting device 130 detected by the rope encoder 180 and the mapping relationship between the height of the lifting device 130 and the extension length of the constant force spring 171. Then, by combining the elongation characteristic curve data of the constant force spring 171 during its extension process, the real-time change in the elastic force of the constant force spring 171 during its extension is calculated, thereby determining the force value that needs to be compensated. Furthermore, the control device controls the drive device 150 to operate to provide the corresponding torque to overcome the change in elastic force caused by the elastic hysteresis during the extension process of the constant force spring 171, ensuring that the force on the lifting device 130 from the medical auxiliary equipment is balanced vertically.

[0113] Furthermore, when the pull-cord encoder 180 detects a change in the height of the lifting device 130, but the rotary encoder 190 does not detect the rotation of the drive shaft 151, a slippage of the first cable 119 occurs. The control device then issues a warning.

[0114] In summary, this invention uses a rotary encoder 190 at the drive device 150 to detect the motion trend of the robotic arm during lifting and lowering, activating the drive device 150 for force compensation. Simultaneously, a pull-rope encoder 180 is used to acquire the position and speed of the robotic arm, working in conjunction with the drive device 150 for active driving, forming a closed-loop control. Through preliminary testing and debugging, the force fluctuation and elastic hysteresis characteristics of the constant force spring 171 are determined, clarifying the magnitude of the elastic force at different positions and during the movement process. A corresponding elastic force characteristic curve for the constant force spring 171 is then plotted. In actual use, the pull-rope encoder 180 obtains position and speed information, and the drive device 150 can adjust the magnitude and direction of its output torque to compensate for the force fluctuation of the constant force spring 171, enabling the lifting mechanism 100 to achieve optimal balance.

[0115] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0116] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. The present invention is not limited to the above embodiments. Many variations and modifications can be made according to the teachings of the present invention, and all such variations and modifications fall within the scope of protection claimed by the present invention.

Claims

1. A medical system, characterized in that, Includes medical assistive devices, said medical assistive devices include: The lifting mechanism includes: A column, wherein a first roller is provided at the top of the column and a second roller is provided at the bottom of the column, and the column has a first side and a second side that are opposite to each other; A lifting device is disposed on the first side and is configured to move up and down along the column. The lifting device includes at least one constant force spring, the end of which is connected to the column to provide an upward elastic force to the lifting device. A counterweight is disposed on the second side and is configured to move up and down along the column; A first cable is arranged around the first roller, and both ends of the first cable are respectively connected to the counterweight and the lifting device; The second cable is arranged around the second roller and its two ends are respectively connected to the counterweight and the lifting device; A drive device is disposed on the first roller and / or the second roller, and the drive device is configured to transmit torque to the first roller and / or the second roller so that the force from the medical auxiliary device on the lifting device is balanced vertically. A robotic arm, which is mounted on the lifting device; A control device, which is signal-connected to the drive device; Braking device, the control device being signal-connected to the braking device; and A position detection device, wherein the position detection device is used to sense the height of the lifting device; The control device is configured to: control the drive device to provide positive or reverse torque so that the force from the medical auxiliary equipment on the lifting device can be balanced vertically; when the braking device is released, control the drive device to operate to provide torque so that the force from the medical auxiliary equipment on the lifting device can be balanced vertically; when the braking device is applied, control the drive device to lock to cooperate with the braking, so that the lifting device can be stationary; the control device is signal-connected to the position detection device, the control device pre-stores the average characteristic curve data of the constant force spring based on the extension length, and pre-stores the mapping relationship between the height of the lifting device and the extension length of the constant force spring; when the braking device is released, based on the height of the lifting device detected by the position detection device and combined with the mapping relationship, determine the extension length of the constant force spring, and control the drive device to operate to provide torque based on the average characteristic curve data so that the force from the medical auxiliary equipment on the lifting device can be balanced vertically.

2. The medical system according to claim 1, characterized in that, The drive unit is equipped with a rotation direction detection device, which is used to detect the rotation direction of the drive shaft. The control device is signal-connected to the rotation direction detection device; The control device is configured to determine whether the lifting device is in an ascending or descending state based on the rotation direction of the drive shaft detected by the rotation direction detection device.

3. The medical system according to claim 2, characterized in that, The control device pre-stores elongation characteristic curve data based on the extension length during the constant force spring's elongation process, and also pre-stores contraction characteristic curve data based on the extension length during the constant force spring's shortening process. The control device is also configured to: When the lifting device is in the rising state, the drive device is controlled to operate according to the contraction characteristic curve data to provide torque, so that the force from the medical auxiliary equipment on the lifting device can be balanced vertically. When the lifting device is in the lowering state, the drive device is controlled to operate according to the elongation characteristic curve data to provide torque, so that the force from the medical auxiliary equipment on the lifting device can be balanced vertically.

4. The medical system according to claim 2, characterized in that, The control device is further configured to: when the position detection device detects a change in the height of the lifting device, but the rotation direction detection device does not detect the rotation of the drive shaft, determine that slippage has occurred and issue a warning.

5. The medical system according to claim 1, characterized in that, in, The sum of the weight of the counterweight and the rated elastic force of at least one of the constant force springs is equal to the total weight of the lifting device and the load on the lifting device.

6. The medical system according to claim 5, characterized in that, At least two of the constant force springs overlap and rewind to form a spring rewinding group.

7. The medical system according to claim 6, characterized in that, The ends of the constant force springs in at least two of the spring rewinding groups overlap.

8. The medical system according to any one of claims 1 to 7, characterized in that, The braking device is disposed on the first roller and / or the second roller to brake the first roller and / or the second roller.

9. The medical system according to any one of claims 1 to 7, characterized in that, The position detection device is at least partially located in the lifting device.

10. The medical system according to claim 9, characterized in that, The position detection device is constructed as a pull-rope encoder. The pull-rope encoder is located on the first side of the column and between the lifting device and the second roller. The main body of the pull-rope encoder is connected to the column through a connecting seat, and the rope end of the pull-rope encoder is connected to the lifting device.

11. The medical system according to any one of claims 1 to 7, characterized in that, The medical auxiliary device further includes a rotation direction detection device, which is disposed on the drive device for detecting the rotation direction of the drive shaft of the drive device, wherein the drive shaft is connected to the first roller and / or the second roller.

12. The medical system according to claim 11, characterized in that, The rotation direction detection device is configured as a rotary encoder, which includes: A fixed base is disposed on the driving device, and the fixed base is provided with an encoder positioning part; A rotating part is located within the fixed base and connected to the drive shaft so as to rotate synchronously with the drive shaft. The rotating part is provided with an encoder moving part, wherein the encoder moving part and the encoder stationary part can interact with each other.

13. The medical system according to any one of claims 1-7, characterized in that, The bottom of the lifting device is provided with a receiving part, and a compression spring is provided inside the receiving part. The end of the second cable passes through the receiving part and is connected to the top of the compression spring so that the second cable can be tensioned.

14. The medical system according to any one of claims 1-7, characterized in that, The first side is provided with a first guide rail and a first movable block. The first guide rail is arranged vertically, and the first movable block is arranged on the first guide rail and is configured to be able to move up and down along the first guide rail. The lifting device is arranged on the first movable block. The second side is provided with a second guide rail and a second movable block. The second guide rail is arranged vertically, and the second movable block is arranged on the second guide rail and is configured to be able to move up and down along the second guide rail. The counterweight is arranged on the second movable block.

15. The medical system according to claim 14, characterized in that, Limiting devices are provided at the upper and lower parts of the first guide rail to limit the lifting range of the first moving block, and anti-collision blocks are provided at the ends of the limiting devices facing the lifting device.

Images