A system for positioning medical equipment

Abstract

The present invention discloses a system for positioning medical devices, which includes a trolley, a first joint, a first rotating assembly, a second joint, a sliding assembly, a third joint and a second rotating assembly, wherein the first joint is arranged on the trolley; the first rotating assembly is hinged with the first joint, and the first rotating assembly rotates in a horizontal direction; the second joint is arranged on the first rotating assembly; a horizontally rotatable support seat is provided on the second joint; the sliding assembly is slidably arranged on the support seat, and the sliding assembly slides in a vertical direction; the third joint is arranged on the sliding assembly; the second rotating assembly is hinged with the third joint, and the second rotating assembly rotates in a vertical direction for carrying and adjusting medical devices; electromagnetic brakes are arranged on the first joint, the second joint and the third joint. The present application positions the medical device in a three-dimensional space by setting a plurality of passive joints, thereby reducing the resistance during operation and improving the convenience of device control.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a system for positioning medical equipment. Background Art

[0002] With the continuous development of modern medical technology and the continuous improvement of robotics, the surgical model reform in the medical field has been promoted. From the original open surgery to the current minimally invasive surgery, the form of surgery is constantly changing. Minimally invasive technology can be performed through the natural orifices of the biological anatomical structure or through one or more surgical incisions. Through these natural orifices or incisions, the operator can insert minimally invasive medical devices such as surgical instruments, diagnostic instruments, therapeutic instruments or biopsy instruments into the target tissue location. When preparing for surgery, the medical device is controlled by the operator, and often requires the use of a positioning system that can rotate with multiple degrees of freedom to complete multiple actions such as insertion, retraction, lifting, and steering. During minimally invasive surgery, the positioning system cannot move, that is, the robotic arm needs to be fixed to stabilize the medical device.

[0003] However, the existing positioning system for controlling the position of medical devices is generally driven actively by a motor, and the motion path needs to be calculated in advance by a computer program, which is complicated to operate; in addition, the positioning system can also be driven by an operator, but the passive moving positioning system is difficult to stabilize and has great operating resistance. It can be seen that the existing positioning system for controlling the position of medical devices has the defect of insufficient operational convenience.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a system for positioning a medical device, aiming to solve the problem of insufficient operational convenience of the existing positioning systems for medical devices.

[0006] The technical solution of the present invention is as follows:

[0007] A system for positioning medical equipment, which includes a trolley, a first joint, a first rotating component, a second joint, a sliding component, a third joint and a second rotating component, wherein the first joint is arranged on the trolley; the first rotating component is hinged to the first joint, and the first rotating component rotates in a horizontal direction; the second joint is arranged on the first rotating component; the second joint is provided with a horizontally rotatable support seat; the sliding component is slidably arranged on the support seat, and the sliding component slides in a vertical direction; the third joint is arranged on the sliding component; the second rotating component is hinged to the third joint, and the second rotating component rotates in a vertical direction for carrying and adjusting medical equipment; the first joint, the second joint and the third joint are all provided with electromagnetic brakes.

[0008] The system for positioning medical equipment, wherein the support seat includes a rotating block hinged with the second joint, a slider connected to the rotating block, and a clamping block arranged on the slider; the sliding assembly includes a support plate, a first braking component, a first synchronous wheel, a second synchronous wheel and a first synchronous belt, and a slide rail extending in a vertical direction is arranged on the support plate on a side facing the rotating block; the slide rail is clamped with the slider, and the slider can slide up and down on the slide rail; the first braking component is arranged on the support plate; the first synchronous wheel and the second synchronous wheel are arranged on the support plate at intervals in the axial direction; the first synchronous wheel is transmission-connected with the output end of the first braking component; one end of the first synchronous belt is sleeved on the first synchronous wheel, and the other end is sleeved on the second synchronous wheel; the clamping block is arranged on the side of the support plate away from the rotating block, for clamping the first synchronous belt.

[0009] The system for positioning medical equipment, wherein the sliding assembly includes a fixed seat and a constant force spring, the fixed seat is arranged at the bottom end of the support plate; one end of the constant force spring is fixedly arranged on the fixed seat; the other end is coiled on the fixed seat and extends vertically upward to be connected to the slider, and the constant force spring is used to balance the downward trend of the support plate.

[0010] The system for positioning medical equipment, wherein the rolling tread of the first synchronous wheel is provided with a first tooth pattern, and the rolling tread of the second synchronous wheel is provided with a second tooth pattern; the inner surface of the first synchronous belt is provided with a third tooth pattern; wherein the third tooth pattern is meshed with both the first tooth pattern and the second tooth pattern.

[0011] In the system for positioning a medical device, the first braking component comprises an electromagnetic brake.

[0012] In the system for positioning medical equipment, the first rotating assembly includes at least two horizontal rotating rods and a rotating joint hinged to two adjacent horizontal rotating rods, and an electromagnetic brake is provided on the rotating joint.

[0013] The system for positioning medical equipment, wherein the second rotating assembly includes a rotating plate and a sliding component, the middle position of the rotating plate is connected to the third joint; a first guide rail extending in an axial direction is provided on the side of the rotating plate away from the third joint; the sliding component can be slidably arranged on the first guide rail, and the medical equipment is fixedly arranged on the sliding component.

[0014] The system for positioning medical equipment, wherein the second rotating assembly includes a second braking component, a third synchronous wheel, a fourth synchronous wheel and a second synchronous belt, the second braking component is arranged on the rotating plate; the third synchronous wheel and the fourth synchronous wheel are arranged on the rotating plate at intervals along the axial direction; the third synchronous wheel is transmission-connected to the output end of the second braking component; one end of the second synchronous belt is sleeved on the third synchronous wheel, and the other end is sleeved on the fourth synchronous wheel; the sliding component extends to the side of the rotating plate facing the third joint, and is connected to the second synchronous belt.

[0015] The system for positioning medical equipment, wherein the second rotating assembly includes a counterweight block, which is fixedly mounted on the second synchronous belt; the spacing between the counterweight block and the sliding component on the second synchronous belt is half of the length of the second synchronous belt.

[0016] In the system for positioning medical equipment, a second guide rail extending in an axial direction is provided on a side of the rotating plate facing the third joint, and the counterweight block is slidably disposed on the second guide rail.

[0017] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0018] The system for positioning medical devices disclosed in the present invention sets a trolley as a supporting structure, and sets a first rotating assembly that rotates horizontally, a sliding assembly that slides up and down, and a second rotating assembly that rotates vertically on the trolley to coordinately control the position of the medical device in three-dimensional space, so as to flexibly move the medical device to a designated position and facilitate surgery. Specifically, by setting the first joint, the second joint, and the third joint as the rotation axis, on the one hand, the rotation of the first rotating assembly, the support seat, and the second rotating assembly can be supported; on the other hand, an electromagnetic brake is set on each joint, and the operator can directly push the first rotating assembly, the sliding assembly, or the second rotating assembly without actively driving the joint to rotate, and the operation process has little resistance and is easy to control. Moreover, after the medical device is rotated to the designated position, it can be locked by the electromagnetic brake, and the entire system can be locked at any position, thereby maintaining the stability of the medical device.

[0019] In summary, the system for positioning medical devices disclosed in the present invention improves the convenience of system operation by flexibly controlling the rotation and locking of passive joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a schematic structural diagram of a system for positioning a medical device in the present invention;

[0022] Figure 2 It is a structural schematic diagram of the system for positioning medical devices in the present invention from another angle;

[0023] Figure 3 It is a structural exploded diagram of the system for positioning medical devices in the present invention;

[0024] Figure 4 It is a structural schematic diagram of the support base in the present invention;

[0025] Figure 5 It is a structural schematic diagram of the sliding assembly in the present invention;

[0026] Figure 6 It is a structural schematic diagram of the sliding assembly in the present invention from another angle;

[0027] Figure 7 is a schematic structural diagram of the second rotating assembly in the present invention;

[0028] Figure 8It is a schematic structural diagram of the second rotating assembly in the present invention from another angle.

[0029] Among them, 10, trolley; 20, first joint; 30, first rotating component; 31, horizontal rotating rod; 32, rotating joint; 40, second joint; 50, support seat; 51, rotating block; 52, slider; 53, clamping block; 60, sliding component; 61, support plate; 611, slide rail; 62, first braking component; 63, first synchronous wheel; 631, first tooth pattern; 64, second synchronous wheel; 641, second tooth pattern; 65, first synchronous belt; 651, third tooth pattern; 66, fixed seat; 67, constant force spring; 70, third joint; 80, second rotating component; 81, rotating plate; 811, first guide rail; 812, second guide rail; 82, second braking component; 83, third synchronous wheel; 84, fourth synchronous wheel; 85, second synchronous belt; 86, sliding component; 87, counterweight; 90, medical device. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1 and Figure 3 In one embodiment of the present invention application, a system for positioning a medical device 90 is disclosed, which includes a trolley 10, a first joint 20, a first rotating component 30, a second joint 40, a sliding component 60, a third joint 70 and a second rotating component 80, wherein the first joint 20 is arranged on the trolley 10; the first rotating component 30 is hinged to the first joint 20, and the first rotating component 30 rotates in a horizontal direction; the second joint 40 is arranged on the first rotating component 30; a horizontally rotatable support seat 50 is provided on the second joint 40; the sliding component 60 is slidably arranged on the support seat 50, and the sliding component 60 slides in a vertical direction; the third joint 70 is arranged on the sliding component 60; the second rotating component 80 is hinged to the third joint 70, and the second rotating component 80 rotates in a vertical direction for carrying and adjusting the medical device 90; the first joint 20, the second joint 40 and the third joint 70 are all provided with electromagnetic brakes.

[0032] The system for positioning a medical device 90 disclosed in this embodiment uses a trolley 10 as a supporting structure, and a first rotating component 30 that rotates horizontally, a sliding component 60 that slides up and down, and a second rotating component 80 that rotates vertically are arranged on the trolley 10 to coordinately control the position of the medical device 90 in three-dimensional space, so as to flexibly move the medical device 90 to a designated position and facilitate surgery.

[0033] Specifically, by setting the first joint 20, the second joint 40 and the third joint 70 as the rotation axis, on the one hand, the rotation of the first rotating assembly 30, the support seat 50 and the second rotating assembly 80 can be supported; on the other hand, an electromagnetic brake is set on each joint, and the operator can directly push the first rotating assembly 30, the sliding assembly 60 or the second rotating assembly 80 without actively driving the joint to rotate, and the operation process has low resistance and is easy to control. Moreover, after the medical device 90 is rotated to the specified position, the electromagnetic brake is locked, and the entire system can be locked at any position, thereby maintaining the stability of the medical device 90.

[0034] In summary, the system for positioning the medical device 90 disclosed in this embodiment improves the convenience of system operation by flexibly controlling the rotation and locking of the passive joints, and does not require an active drive structure, which is conducive to controlling manufacturing costs.

[0035] like Figure 2 and Figure 3 As shown, as an implementation of this embodiment, the first rotating assembly 30 is disclosed to include at least two horizontal rotating rods 31, and a rotating joint 32 hinged to two adjacent horizontal rotating rods 31, and an electromagnetic brake is provided on the rotating joint 32. The first rotating assembly 30 disclosed in this embodiment is used to adjust the horizontal position of the medical device 90, and multiple horizontal rotating rods 31 are provided to be hingedly connected in sequence, which can increase the coverage of the robot arm.

[0036] In the actual production process, the number of horizontal rotating rods 31 is designed according to the use needs and manufacturing costs. A rotating joint 32 is provided between two adjacent horizontal rotating rods 31, which are connected in a hinged manner to maintain the flexibility of each horizontal rotating rod 31. In addition, an electromagnetic brake is provided on the rotating joint 32. When adjusted in place, the electromagnetic brake can lock the angle and position of each horizontal rotating rod 31, so that the posture of the first rotating assembly 30 is fixed, which is conducive to improving the stability of the medical device 90 during operation.

[0037] like Figure 4As shown, as another implementation of this embodiment, the support seat 50 is disclosed to include a rotating block 51 hinged to the second joint 40, a slider 52 connected to the rotating block 51, and a clamping block 53 arranged on the slider 52. In this embodiment, the rotating block 51 is hinged to the second joint 40, and is used to support the slider 52 and the clamping block 53. The rotating block 51 can rotate horizontally, and is used to drive the slider 52, the clamping block 53 and the sliding assembly 60 to rotate in the horizontal direction. The slider 52 and the clamping block 53 are connected to the sliding assembly 60, and the sliding assembly 60 is connected to the second rotating assembly 80. The medical device 90 is carried on the second rotating assembly 80. Therefore, by rotating the support seat 50, the position of the medical device 90 on the horizontal plane can be adjusted.

[0038] like Figure 5 and Figure 6 As shown, the sliding assembly 60 in this embodiment includes a support plate 61, a first braking component 62, a first synchronous wheel 63, a second synchronous wheel 64 and a first synchronous belt 65. A slide rail 611 extending in a vertical direction is provided on the support plate 61 on the side facing the rotating block 51; the slide rail 611 is engaged with the slider 52, and the slider 52 can slide up and down on the slide rail 611; in fact, when the slide rail 611 and the slider 52 slide relative to each other, the slider 52 is fixed on the rotating block 51 to keep the height unchanged, while the slide rail 611 moves up and down. The first braking component 62 is arranged on the support plate 61; the first synchronous wheel 63 and the second synchronous wheel 64 are arranged on the support plate 61 at intervals along the axial direction; the first synchronous wheel 63 is transmission-connected with the output end of the first braking component 62; one end of the first synchronous belt 65 is sleeved on the first synchronous wheel 63, and the other end is sleeved on the second synchronous wheel 64; the clamping block 53 is arranged on the side of the support plate 61 away from the rotating block 51, and is used to clamp the first synchronous belt 65.

[0039] In this embodiment, the height of the sliding assembly 60 is adjusted by moving the support plate 61 up and down, thereby adjusting the height of the third joint 70 connected to the sliding assembly 60, and further adjusting the height of the second rotating assembly 80 and the medical device 90.

[0040] Specifically, the sliding assembly 60 in this embodiment is provided with a first brake component 62 for locking the support plate 61 to keep the medical device 90 stable during operation. The specific fixing process is as follows: the first brake component 62 is closed, so that the first synchronous wheel 63 is locked and cannot rotate; the first synchronous belt 65 sleeved on the first synchronous wheel 63 is therefore kept stationary; the clamping block 53 clamping the first synchronous belt 65 is thus unable to move up and down, and remains relatively stationary with the support plate 61; finally, since the clamping block 53 is fixed together with the slider 52, the slider 52 and the support plate 61 remain relatively stationary. In other words, the sliding assembly 60 can be locked by closing the first brake component 62, so that the sliding assembly 60 can stop at any height, which is convenient for the height positioning of the medical device 90.

[0041] like Figure 2 and Figure 5 As shown, as another implementation of this embodiment, it is disclosed that the sliding assembly 60 includes a fixed seat 66 and a constant force spring 67, and the fixed seat 66 is arranged at the bottom end of the support plate 61; one end of the constant force spring 67 is fixedly arranged on the fixed seat 66; the other end is coiled on the fixed seat 66 and extends vertically upward to be connected to the slider 52, and the constant force spring 67 is used to balance the downward trend of the support plate 61.

[0042] The constant force spring 67 disclosed in this embodiment is similar to a tape measure coiled on the fixed seat 66 and connected to the slider 52. The support plate 61 has a tendency to move vertically downward under the influence of gravity. After the constant force spring 67 is set, the downward movement trend on the fixed seat 66 will generate a pulling force on the constant force spring 67, resulting in an increase in the contraction force of the constant force spring 67 itself, that is, the constant force spring 67 generates a vertical upward pulling force acting on the fixed seat 66 to balance the gravity of the fixed seat 66 and the support plate 61.

[0043] Overall, the slider 52 is connected to a constant force spring 67 to increase support for the support plate 61 and balance the gravity of the support plate 61, making it very convenient for the operator to adjust the height of the medical device 90 up and down without being affected by the device's own gravity, reducing resistance during operation and further increasing the operational convenience of the system for positioning the medical device 90.

[0044] To sum up, the rotation or sliding of each component of the system for positioning the medical device 90 disclosed in this embodiment can achieve passive movement without resistance, which has advantages in operational convenience, and can facilitate the operator to quickly complete the positioning of the medical device 90, improve efficiency, and reduce operator fatigue.

[0045] For example Figure 5As shown, as another implementation of this embodiment, a first tooth pattern 631 is provided on the rolling tread of the first synchronous wheel 63, a second tooth pattern 641 is provided on the rolling tread of the second synchronous wheel 64; a third tooth pattern 651 is provided on the inner surface of the first synchronous belt 65; wherein the third tooth pattern 651 is meshed with both the first tooth pattern 631 and the second tooth pattern 641. The first tooth pattern 631, the second tooth pattern 641 and the third tooth pattern 651 are provided to increase the roughness of the contact surface, so that the contact area between the first synchronous wheel 63, the second synchronous wheel 64 and the first synchronous belt 65 is larger, the friction resistance is larger, and the first synchronous belt 65 is prevented from slipping during the lifting process. From the perspective of adjustment, it is beneficial to improve the stability of the sliding assembly 60 when it is locked and improve the accuracy of system positioning.

[0046] Specifically, as another implementation of this embodiment, the first brake component 62 includes an electromagnetic brake. The electromagnetic brake has high braking efficiency and high precision. Applied in this embodiment, the electromagnetic brake is also provided on the first joint 20, the second joint and the third joint 70 as a braking device. The number of types of braking devices of the entire system is small, which is convenient for procurement and reduces costs.

[0047] like Figure 7 and Figure 8 As shown, as another implementation of this embodiment, the second rotating assembly 80 is disclosed to include a rotating plate 81 and a sliding component 86, the middle position of the rotating plate 81 is connected to the third joint 70; the side of the rotating plate 81 away from the third joint 70 is provided with a first guide rail 811 extending in the axial direction, the sliding component 86 can be slidably arranged on the first guide rail 811, and the medical device 90 is fixedly arranged on the sliding component 86. In this embodiment, the middle position of the rotating plate 81 is connected to the third joint 70, which is conducive to maintaining balance. The first guide rail 811 is arranged on the side of the rotating plate 81 away from the third joint 70, and the sliding component 86 is arranged on the first guide rail 811 to carry the medical device 90, so that the medical device 90 slides on the side away from the third joint 70 to avoid collision. In addition, the sliding component 86 slides on the first guide rail 811, so that the medical device 90 can move forward and backward, and can complete the "retracting" action during the operation, further improving the flexibility of the surgical instrument.

[0048] For example Figure 7As shown, as another implementation of this embodiment, the second rotating assembly 80 is disclosed to include a second braking component 82, a third synchronous wheel 83, a fourth synchronous wheel 84 and a second synchronous belt 85, the second braking component 82 is arranged on the rotating plate 81; the third synchronous wheel 83 and the fourth synchronous wheel 84 are arranged on the rotating plate 81 at intervals along the axial direction; the third synchronous wheel 83 is transmission-connected with the output end of the second braking component 82; one end of the second synchronous belt 85 is sleeved on the third synchronous wheel 83, and the other end is sleeved on the fourth synchronous wheel 84; the sliding component 86 extends to the side of the rotating plate 81 facing the third joint 70, and is connected to the second synchronous belt 85.

[0049] In this embodiment, a second braking component 82 is provided to control the locking and free rotation states of the third synchronous wheel 83, and a sliding component 86 is connected to the second synchronous belt 85, so that when the second synchronous belt 85 is locked, the sliding component 86 is locked, and then the medical device 90 is locked, thereby increasing the stability of the medical device 90 during use.

[0050] Specifically, the second brake component 82 can be set as an electromagnetic brake. When the medical device 90 is positioned at the working position, the electromagnetic brake is opened, locking the third synchronous wheel 83, thereby locking the second synchronous belt 85 and the fourth synchronous wheel 84, and the sliding component 86 connected to the second synchronous belt 85 also remains stationary, thereby achieving the effect of fixing the position of the medical device 90. Furthermore, in this embodiment, the third synchronous wheel 83 and the fourth synchronous wheel 84 can be provided with teeth, and the second synchronous belt 85 can also be provided with teeth. Through the meshing of the third synchronous wheel 83, the fourth synchronous wheel 84 and the second synchronous belt 85, the friction between the three is further increased, and the braking effect of the electromagnetic brake is further increased.

[0051] For example Figure 7As shown, as another implementation of this embodiment, the second rotating assembly 80 is disclosed to include a counterweight 87, which is fixedly arranged on the second synchronous belt 85; the spacing between the counterweight 87 and the sliding component 86 on the second synchronous belt 85 is half of the length of the second synchronous belt 85. The counterweight 87 is arranged on the second synchronous belt 85 to balance the weight of the medical device 90. In this embodiment, the middle position of the rotating plate 81 is connected to the third joint 70, which is the rotating shaft position, and the spacing between the counterweight 87 and the sliding component 86 is half of the second synchronous belt 85. Therefore, when the sliding component 86 and the medical device 90 are located in the middle position of the rotating plate 81, the counterweight 87 is also located in the middle position of the rotating plate 81, and the center of gravity of the rotating plate 81 is located in the middle position; as the sliding component 86 and the medical device 90 move toward one end of the rotating plate 81, the counterweight 87 is synchronously driven to move toward the other end of the rotating plate 81, that is, the forces at both ends of the rotating plate 81 are balanced, so the center of gravity of the rotating plate 81 is still in the middle position.

[0052] In other words, in this embodiment, the counterweight block 87 is provided to balance the weight of the sliding component 86 and the medical device 90, so that the center of gravity of the rotating plate 81 is always in the middle position during use, that is, it is located on the axis of the rotating shaft. Therefore, during use, there will be no accidental rotation due to the gravity interference of the device, which further ensures the stability of the medical device 90 during operation.

[0053] Specifically, as another implementation of this embodiment, a second guide rail 812 extending in the axial direction is provided on one side of the rotating plate 81 facing the third joint 70, and the counterweight block 87 is slidably arranged on the second guide rail 812. The second guide rail 812 is provided to constrain the moving path of the counterweight block 87, so that the counterweight block 87 moves in the axial direction of the rotating plate 81, thereby only playing the role of balancing gravity, which is conducive to the smooth telescopic action of the medical device 90.

[0054] In summary, the present application discloses a system for positioning a medical device 90, which includes a trolley 10, a first joint 20, a first rotating component 30, a second joint 40, a sliding component 60, a third joint 70 and a second rotating component 80, wherein the first joint 20 is arranged on the trolley 10; the first rotating component 30 is hinged to the first joint 20, and the first rotating component 30 rotates in a horizontal direction; the second joint 40 is arranged on the first rotating component 30; a horizontally rotatable support seat 50 is provided on the second joint 40; the sliding component 60 is slidably arranged on the support seat 50, and the sliding component 60 slides in a vertical direction; the third joint 70 is arranged on the sliding component 60; the second rotating component 80 is hinged to the third joint 70, and the second rotating component 80 rotates in a vertical direction for carrying and adjusting the medical device 90; the first joint 20, the second joint 40 and the third joint 70 are all provided with electromagnetic brakes. The system for positioning the medical device 90 disclosed in this embodiment sets a trolley 10 as a supporting structure, and sets a horizontally rotating first rotating component 30, a sliding component 60 that slides up and down, and a vertically rotating second rotating component 80 on the trolley 10 to coordinately regulate the position of the medical device 90 in three-dimensional space, so as to flexibly move the medical device 90 to a designated position and facilitate surgery. Specifically, by setting the first joint 20, the second joint 40 and the third joint 70 as the rotation axis, on the one hand, the rotation of the first rotating component 30, the support seat 50 and the second rotating component 80 can be supported; on the other hand, an electromagnetic brake is set on each joint, and the operator can directly push the first rotating component 30, the sliding component 60 or the second rotating component 80 without actively driving the joint to rotate, and the operation process has little resistance and is easy to control. Moreover, after the medical device 90 is rotated to the designated position, it can be locked by the electromagnetic brake, and the entire system can be locked at any position, thereby maintaining the stability of the medical device 90. In summary, the system for positioning the medical device 90 disclosed in this embodiment improves the convenience of system operation by flexibly controlling the rotation and locking of the passive joints, and does not require an active drive structure, which is conducive to controlling manufacturing costs.

[0055] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0056] It should be noted that the present invention takes a system for positioning medical devices as an example to introduce the specific structure and working principle of the present invention, but the application of the present invention is not limited to a system for positioning medical devices, and can also be applied to the production and use of other similar workpieces.

[0057] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A system for positioning a medical device, characterized in that: include: Trolley; A first joint, arranged on the trolley; A first rotating component is hinged to the first joint, and the first rotating component rotates in a horizontal direction; A second joint is arranged on the first rotating assembly; a support seat capable of horizontal rotation is arranged on the second joint; A sliding assembly, slidably disposed on the support seat, wherein the sliding assembly slides in a vertical direction; A third joint is arranged on the sliding assembly; A second rotating assembly is hinged to the third joint, and the second rotating assembly rotates in a vertical direction to carry and adjust the medical device; Wherein, the first joint, the second joint and the third joint are all provided with electromagnetic brakes; The support seat includes a rotating block hinged to the second joint, a sliding block connected to the rotating block, and a clamping block arranged on the sliding block; the sliding assembly includes: A support plate, wherein a slide rail extending in a vertical direction is arranged on one side of the support plate facing the rotating block; the slide rail is engaged with the slider, and the slider can slide up and down on the slide rail; A first braking component, disposed on the support plate and used to lock the support plate; A first synchronous wheel and a second synchronous wheel are arranged on the support plate at intervals along the axial direction; the first synchronous wheel is drivingly connected to the output end of the first braking component; A first synchronous belt, one end of which is sleeved on the first synchronous wheel, and the other end of which is sleeved on the second synchronous wheel; A fixing seat, arranged at the bottom end of the supporting plate; A constant force spring, one end of which is fixedly arranged on the fixing seat; the other end is coiled on the fixing seat and vertically extends upward and is connected to the slider, and the constant force spring is used to balance the downward trend of the support plate; Wherein, the clamping block is arranged on a side of the support plate away from the rotating block, and is used for clamping the first synchronous belt.

2. The system for positioning a medical device according to claim 1, characterized in that: The rolling tread of the first synchronous wheel is provided with a first tooth pattern, and the rolling tread of the second synchronous wheel is provided with a second tooth pattern; the inner surface of the first synchronous belt is provided with a third tooth pattern; wherein the third tooth pattern is meshed with both the first tooth pattern and the second tooth pattern.

3. The system for positioning a medical device according to claim 1, characterized in that: The first braking component includes an electromagnetic brake.

4. The system for positioning a medical device according to claim 1, characterized in that: The first rotating assembly includes at least two horizontal rotating rods and a rotating joint hinged to two adjacent horizontal rotating rods, and an electromagnetic brake is arranged on the rotating joint.

5. The system for positioning a medical device according to claim 1, characterized in that: The second rotating assembly comprises: A rotating plate, wherein the middle position of the rotating plate is connected to the third joint; a first guide rail extending in the axial direction is provided on a side of the rotating plate away from the third joint; The sliding component is slidably arranged on the first guide rail, and the medical device is fixedly arranged on the sliding component.

6. The system for positioning a medical device according to claim 5, characterized in that: The second rotating assembly comprises: A second braking component is arranged on the rotating plate; The third synchronous wheel and the fourth synchronous wheel are arranged on the rotating plate at intervals along the axial direction; the third synchronous wheel is drivingly connected to the output end of the second braking component; The second synchronous belt has one end sleeved on the third synchronous wheel and the other end sleeved on the fourth synchronous wheel; the sliding component extends to the side of the rotating plate facing the third joint and is connected to the second synchronous belt.

7. The system for positioning a medical device according to claim 6, characterized in that: The second rotating assembly includes a counterweight block, and the counterweight block is fixedly arranged on the second synchronous belt; Wherein, the distance between the counterweight block and the sliding component on the second synchronous belt is half of the length of the second synchronous belt.

8. The system for positioning a medical device according to claim 7, characterized in that: A second guide rail extending in an axial direction is provided on one side of the rotating plate facing the third joint, and the counterweight block can be slidably arranged on the second guide rail.

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