An auxiliary support device for a medical instrument

Abstract

The application provides an auxiliary support device for a medical instrument, comprising a seat body, a support assembly, a locking assembly and an operation handle, the support assembly is arranged on the seat body and is used for mounting a treatment instrument and performing a coarse adjustment operation, the support assembly comprises a rotary joint used for performing a rotating and / or pitching and / or lifting action; the locking assembly is arranged on the support assembly and can lock the rotary joint; the operation handle is arranged on the support assembly and is used for controlling the support assembly to perform the coarse adjustment operation, and the operation handle is provided with an unlocking assembly used for controlling the locking assembly to be unlocked. The auxiliary support device of the application supports the medical instrument, can flexibly operate the medical instrument to complete a large stroke action, makes the medical instrument accurately reach a diseased part, and then is locked to completely support, so that the operator can slightly assist in pushing in use, and the working strength of the operator is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an auxiliary support device for medical instruments. Background Technology

[0002] Existing technologies include many automated or semi-automated robotic arms capable of performing repetitive industrial production tasks. While the medical equipment field also requires intelligent robotic arms, the significant differences between patients and treatment tasks mean that simple intelligent robotic arms are generally insufficient for most tasks. Human intervention is essential. Simply relying on a human to hold medical instruments to treat lesions requires overcoming the weight of the instrument and the arm's own gravity. Maintaining one posture for extended periods leads to fatigue, making it difficult to determine whether the instrument is delivering the appropriate dosage and intensity to the lesion, thus compromising treatment effectiveness. Furthermore, the workload for medical personnel operating these instruments is high; hand numbness reduces dexterity, making prolonged work difficult and tiring.

[0003] Therefore, there is a need for a device that can provide auxiliary support for medical instruments, overcome the weight of the instruments, and also help operators to operate the instruments flexibly, reducing the operator's workload. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the object of the present invention is to provide an auxiliary support device for medical instruments, the key feature of which is that it includes:

[0005] seat body;

[0006] A support assembly disposed on the base body, the support assembly being used to mount a medical instrument and perform coarse adjustment operations, the support assembly including a rotary joint for performing rotational and / or pitching and / or lifting movements;

[0007] A locking assembly, which is disposed on the support assembly and is capable of locking the rotary joint;

[0008] An operating handle is disposed on the support assembly and used to control the support assembly to perform coarse adjustment operations. The operating handle is provided with an unlocking component for controlling the unlocking of the locking component.

[0009] Preferably, the support component further includes:

[0010] A rotating seat is rotatably mounted on the seat body and serves as the first rotating joint for performing rotation.

[0011] The pitch support arm is rotatably connected to the rotary seat, and this connection serves as a second rotary joint for performing pitch.

[0012] The lifting support arm is rotatably connected to the pitch support arm, and this connection part serves as the third rotary joint for performing the lifting action;

[0013] A connecting arm is rotatably connected to the lifting support arm;

[0014] The mounting bracket is rotatably connected to the connecting arm and is used to mount the operating handle and medical instrument. This connection part serves as a fourth rotary joint for performing rotation.

[0015] Preferably, a mounting base is rotatably connected to the mounting frame, and this connection serves as a fifth rotary joint for performing pitching motion. The medical instrument is detachably mounted on the mounting base.

[0016] Preferably, the mounting bracket includes a transverse section and a longitudinal section. The transverse section is rotatably connected to the connecting arm via the fourth rotary joint, and the longitudinal section is rotatably connected to the mounting base via the fifth rotary joint. The axis of rotation of the fourth rotary joint is perpendicular to the axis of rotation of the fifth rotary joint.

[0017] Preferably, the mounting base is provided with a two-dimensional motion mechanism for adjusting longitudinal and / or lateral displacement, and the medical instrument is mounted on the two-dimensional motion mechanism and moves synchronously with the two-dimensional motion mechanism.

[0018] Preferably, the two-dimensional motion mechanism includes a cross module and a cantilever for mounting medical instruments. The cantilever is provided with a floating seat that slides along the length direction of the cantilever and a stop block for limiting the floating seat. An elastic element is connected between the stop block and the floating seat.

[0019] Preferably, the locking components provided at the second and third rotating joints are a first locking hydraulic strut and a second locking hydraulic strut, respectively. The two ends of the first locking hydraulic strut are connected to the rotating seat and the pitch support arm, respectively, and the two ends of the second locking hydraulic strut are connected to the pitch support arm and the lifting support arm, respectively.

[0020] Preferably, the locking assembly provided at the first rotating joint, the fourth rotating joint, and the fifth rotating joint is a manual clutch. The manual clutch includes a housing, a lever, and two coaxial friction blocks that can rotate relative to each other within the housing. Locking and unlocking are accomplished by adjusting the distance between the two friction blocks through the lever.

[0021] Preferably, the unlocking component includes a brake lever and a cable disposed on the operating handle, wherein the brake lever is connected to the manual clutch and the locking hydraulic strut respectively via the cable.

[0022] Preferably, both the pitch support arm and the lifting support arm are parallelogram structures formed by two parallel connecting arms.

[0023] As described above, the auxiliary support device for medical instruments of the present invention has the following beneficial effects: Under normal circumstances, the locking component locks the rotating joint of the support component. When it is necessary to move the medical instrument to the affected area, the operator holds the operating handle and releases the locking component from the support component via the unlocking component. The support component then provides auxiliary support for the medical instrument, allowing it to complete large-stroke movements such as rotation, pitch, and elevation, pushing the medical instrument to the affected area. The locking component then locks the rotating joint of the support component, providing full support for the medical instrument. The medical instrument can then be used for the next step. During this process, the device provides auxiliary support for the medical instrument and allows for flexible operation to complete large-stroke movements, ensuring the medical instrument accurately reaches the affected area. Afterward, it locks for full support. During use, the operator only needs to provide slight assistance, reducing the operator's workload. Attached Figure Description

[0024] Figure 1 This is a schematic diagram illustrating the structure of an auxiliary support device for a medical instrument, as shown in an exemplary embodiment of this application.

[0025] Figure 2 yes Figure 1 Assembly diagram of the central support component, locking component, operating handle, and unlocking component;

[0026] Figure 3 yes Figure 1 Schematic diagram of the assembly of the mounting base and the two-dimensional motion mechanism;

[0027] Figure 4 yes Figure 1 A schematic diagram of the structure of a two-dimensional motion mechanism;

[0028] Figure 5 yes Figure 1 A schematic diagram of the structure of a manual clutch.

[0029] 1-Seat body; 2-Support assembly; 21-Rotating seat; 22-Pitch support arm; 23-Lifting support arm; 24-Connecting arm; 25-Mounting bracket; 3-Locking assembly; 31-Housing; 32-Actuating lever; 33-Friction block; 4-Operating handle; 5-Medical instrument; 61-First rotary joint; 62-Second rotary joint; 63-Third rotary joint; 64-Fourth rotary joint; 65-Fifth rotary joint; 7-Mounting seat; 81-Brake lever; 82-Cable; 9-Two-dimensional motion mechanism; 91-Cross module; 92-Cantilever; 10-Floating seat; 11-Stop block; 12-Elastic element. Detailed Implementation

[0030] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0031] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0032] It should be noted that the medical instruments used in the auxiliary support device of the present invention can be therapeutic instruments used for direct treatment, or imaging instruments such as ultrasound probes and endoscopes used for imaging.

[0033] Figure 1 This is a schematic diagram illustrating the structure of an auxiliary support device for a medical instrument, as shown in an exemplary embodiment of the present invention. Please refer to the appendix. Figure 1 As shown, an auxiliary support device for a medical instrument includes a base 1, a support assembly 2, a locking assembly 3, and an operating handle 4. The base 1 may be a movable base. The support assembly 2 is disposed on the base 1 and is used to mount the medical instrument 5 and perform coarse adjustments. The support assembly 2 includes a rotary joint for performing rotation and / or pitch and / or lifting movements.

[0034] Please see the appendix Figure 2As shown, the support assembly 2 includes a rotating base 21, a pitch support arm 22, a lifting support arm 23, a connecting arm 24, and a mounting frame 25 connected end-to-end. The rotating base 21 serves as a first rotational joint 61 and is used to perform lateral rotation. The pitch support arm 22 is rotatably connected to the rotating base 21, and this connection serves as a second rotational joint 62 and is used to perform longitudinal pitch. The lifting support arm 23 is rotatably connected to the pitch support arm 22, and this connection serves as a third rotational joint 63 and is used to perform longitudinal lifting. The connecting arm 24 is rotatably connected to the lifting support arm 23, and the connecting arm 24 is not limited or locked, always remaining vertical. The mounting frame 25 is rotatably connected to the connecting arm 24, and this connection serves as a fourth rotational joint 64 and is used to perform lateral rotation. Because the connecting arm 24 always remains vertical, the mounting frame 25 can maintain rotation on a horizontal plane. Therefore, the support component 2 can flexibly control the mounting bracket 25 located at the free end of the support component 2 to perform large-stroke actions such as rotation, pitch, and lifting.

[0035] Please see the appendix Figure 1 As shown, a mounting base 7 is rotatably connected to the mounting frame 25. This connection serves as the fifth rotary joint 65 for performing pitch movements. The mounting frame 25 includes a transverse section and a longitudinal section, which form an inverted L-shaped frame to allow space directly below the connecting arm 24 for connecting the mounting base 7. The transverse section is rotatably connected to the connecting arm 24 via the fourth rotary joint 64, and the longitudinal section is rotatably connected to the mounting base 7 via the fifth rotary joint 65. The axis of rotation of the fourth rotary joint 64 is perpendicular to the axis of rotation of the fifth rotary joint 65.

[0036] Please see the appendix Figure 2 As shown, the locking component 3 is disposed on the support component 2 and can lock the rotating joints, including locking the first rotating joint 61, the second rotating joint 62, the third rotating joint 63, the fourth rotating joint 64, and the fifth rotating joint 65. The locking component 3 can control the rotating joints to be in a fully locked or partially locked state. In a fully locked state, the rotating joint cannot rotate at all, while in a partially locked state, it can rotate but with greater resistance. Thus, the locking component 3 can provide further auxiliary support to the support component 2. Simultaneously, by adjusting the locking state of the rotating joints, a slight resistance can be added to the movements performed by the corresponding rotating joints, preventing excessive movement from causing injury to the patient. If all rotating joints are fully locked simultaneously, the medical instrument 5 can be fully supported without requiring any manual force from the operator.

[0037] In actual implementation, the locking component 3 can be a master switch that controls the locking state of all rotating joints simultaneously, without needing to control each rotating joint independently, or it can be multiple switches that control the locking state of each rotating joint separately.

[0038] Please see the appendix Figure 2 As shown, the operating handle 4 is mounted on the mounting bracket 25 of the support assembly 2 and is used to control the support assembly 2 to perform coarse adjustment operations. The operating handle 4 is provided with an unlocking component for controlling the unlocking of the locking assembly 3. The unlocking component includes a brake lever 81 and a cable 82 mounted on the operating handle 4. The brake lever 81 is connected to the locking assembly 3 via the cable 82.

[0039] In addition, please refer to the attached document. Figure 1 And see appendix Figure 3 and 4 As shown, the mounting base 7 is also equipped with a two-dimensional motion mechanism 9 for adjusting longitudinal and / or lateral displacement. The medical instrument 5 can be mounted on the two-dimensional motion mechanism 9 and move synchronously with it. The two-dimensional motion mechanism 9 includes a cross module 91 and a cantilever 92 for mounting the medical instrument 5. The cross module 91 can be automatically controlled by an automatic control system to set the trajectory of the medical instrument 5 and automatically treat the lesion. To prevent excessive pressure on the lesion during the treatment process, a floating seat 10 that slides along the length of the cantilever 92 and a stop block 11 for limiting the floating seat 10 are provided on the cantilever 92. An elastic element 12 connects the stop block 11 and the floating seat 10. The elastic element 12 provides elastic buffering for the floating seat 10, so that the medical instrument 5 and the floating seat 10 move together on the cantilever 92 with a certain back-and-forth buffering effect, thereby preventing damage to the lesion due to excessive pressure.

[0040] Please see the appendix Figure 2As shown, to better achieve the auxiliary support effect of the second rotary joint 62 and the third rotary joint 63 in the incompletely locked state, the locking components 3 provided at the second rotary joint 62 and the third rotary joint 63 respectively adopt a first locking hydraulic strut and a second locking hydraulic strut. The two ends of the first locking hydraulic strut are connected to the rotary seat 21 and the pitch support arm 22, respectively, and the two ends of the second locking hydraulic strut are connected to the pitch support arm 22 and the lifting support arm 23, respectively. The locking hydraulic strut is connected to the brake lever 81 through the cable 82. The tightening and loosening of the brake lever 81 can change the locking state of the hydraulic strut. In addition, the locking hydraulic strut can provide auxiliary support for the pitch support arm 22 and the lifting support arm 23. Even when the locking hydraulic strut is not locked, it can still help the operator provide auxiliary support through its own support effect, without affecting the large stroke movement of the support component 2.

[0041] Please see the appendix Figure 2 and 5 As shown, to better control the rotational movements of the first rotating joint 61, the fourth rotating joint 64, and the fifth rotating joint 65, the locking assembly 3 at these joints is a manual clutch. The manual clutch includes a housing 31, a lever 32, and two coaxial friction blocks 33 that can rotate relative to each other within the housing 31. Locking and unlocking are achieved by adjusting the distance between the two friction blocks 33 using the lever 32. The lever 32 connects to one of the friction blocks 33, which is locked by a spring. Between the locked and unlocked states, the manual clutch can also be in a semi-locked state. This is achieved by adjusting the pressure between the friction blocks 33 using the lever 32, changing the friction between them, and thus adjusting the rotational resistance of the corresponding rotating joint, achieving a semi-locked state where the rotational resistance is high but the clutch is not fully locked.

[0042] Working Principle: The auxiliary support device is generally divided into an assistive support section, a treatment simulation section, and a seat 1. The assistive support section includes a support component 2, a locking component 3, an unlocking component, and an operating handle 4. The treatment simulation section includes a mounting base 7, a two-dimensional motion mechanism 9, and a medical instrument 5. The seat 1 is equipped with casters, which mainly enable the movement of the entire auxiliary support device, allowing manual dragging of the device to the appropriate position, followed by locking the casters to prevent further slippage. The assistive support section primarily enables the large-stroke movement of the medical instrument 5, moving it from its initial position to the lesion area and locking it in place. The treatment simulation section, controlled by the two-dimensional motion mechanism 9, drives the medical instrument 5 to move, automatically completing the treatment according to a pre-programmed treatment trajectory.

[0043] The auxiliary support section is a gravity-balanced five-degree-of-freedom auxiliary support structure, in which each rotating joint can be locked. The first rotating joint 61 is locked using a manual clutch; the second and third rotating joints 62 and 63 are assisted and locked using locking hydraulic struts; and the fourth and fifth rotating joints 65 are also locked using a manual clutch. The hydraulic strut locks and the manual clutch lever 32 are controlled by cables 82 centrally connected to the brake lever 81 on the operating handle 4, allowing for simultaneous locking and unlocking of all five rotating joints.

[0044] The parallelogram structure of the pitch support arm 22 and the lifting support arm 23, along with the locking hydraulic struts, achieves gravity balance. Specifically, the four fulcrums of the parallelogram structure serve as hinge points, allowing for the movable change of the parallelogram's interior angles. The locking hydraulic struts, connected and supported at opposite corners of the parallelogram or between two long parallel arms, provide a force supporting the diagonal hinge points. The projection of this force in the vertical direction balances the effect of gravity.

[0045] The locking hydraulic struts and manual clutch are all normally locked. Under normal conditions, all rotating joints are locked. Pressing the brake lever 81 unlocks all rotating joints. The auxiliary support device achieves gravity balance under the action of the two locking hydraulic struts. A slight external force can move the medical instrument 5 to the designated position. Releasing the brake lever 81 on the operating handle 4 causes the auxiliary support device to enter self-locking hover.

[0046] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. An auxiliary support device for medical instruments, characterized in that, include: seat body; A support assembly is disposed on the base body and is used to mount medical instruments and perform coarse adjustment operations. The support assembly includes a rotary joint for performing rotation, pitch and height movements. A locking component is disposed on the support component and capable of locking the rotating joint; an operating handle is disposed on the support component and used to control the support component to perform coarse adjustment operations, and the operating handle is provided with an unlocking component for controlling the locking component to unlock. The support assembly further includes: a rotating base, rotatably mounted on the base body and serving as a first rotary joint for rotation; a pitch support arm, rotatably connected to the rotating base, the connection point of the pitch support arm and the rotating base serving as a second rotary joint for pitching; a lifting support arm, rotatably connected to the pitch support arm, the connection point of the lifting support arm and the pitch support arm serving as a third rotary joint for lifting; a connecting arm, rotatably connected to the lifting support arm; and a mounting bracket, rotatably connected to the connecting arm and used to mount the operating handle and the medical instrument, the connection point of the mounting bracket and the connecting arm serving as a fourth rotary joint for rotation. A mounting base is rotatably connected to the mounting frame, and the connection between the mounting frame and the mounting base serves as a fifth rotation joint for performing pitching motion. The medical instrument is detachably mounted on the mounting base. The locking components provided at the second and third rotating joints are a first locking hydraulic strut and a second locking hydraulic strut, respectively. The two ends of the first locking hydraulic strut are connected to the rotating seat and the pitch support arm, respectively, and the two ends of the second locking hydraulic strut are connected to the pitch support arm and the lifting support arm, respectively. The locking components provided at the first, fourth, and fifth rotary joints are manual clutches. The manual clutch includes a housing, a lever, and two coaxial friction blocks that can rotate relative to each other, which are located inside the housing. The distance between the two friction blocks is adjusted by the lever to complete locking and unlocking. The unlocking assembly includes a brake lever and a cable mounted on the operating handle. The brake lever is connected to the manual clutch and the locking hydraulic strut via the cable.

2. The auxiliary support device for medical instruments according to claim 1, characterized in that: The mounting bracket includes a horizontal section and a vertical section. The horizontal section is rotatably connected to the connecting arm via the fourth rotating joint, and the vertical section is rotatably connected to the mounting base via the fifth rotating joint. The axis of rotation of the fourth rotating joint is perpendicular to the axis of rotation of the fifth rotating joint.

3. The auxiliary support device for medical instruments according to claim 2, characterized in that: The mounting base is provided with a two-dimensional motion mechanism for adjusting longitudinal and / or lateral displacement, and the medical instrument is mounted on the two-dimensional motion mechanism and moves synchronously with the two-dimensional motion mechanism.

4. The auxiliary support device for medical instruments according to claim 3, characterized in that: The two-dimensional motion mechanism includes a cross module and a cantilever for mounting medical instruments. The cantilever is provided with a floating seat that slides along the length direction of the cantilever and a stop block for limiting the floating seat. An elastic element is connected between the stop block and the floating seat.

5. The auxiliary support device for medical instruments according to claim 1, characterized in that: Both the pitch support arm and the lifting support arm are parallelogram structures formed by two parallel connecting arms.

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