Polar coordinate ram type reciprocating cross arm for operating microscope

Abstract

The invention provides a polar coordinate ram type reciprocating motion cross arm for an operating microscope in the technical field of operating microscopes. The polar coordinate ram type reciprocating motion cross arm comprises a base; the electric lifting platform is arranged at the top end of the base; the stand column is connected with the lifting end of the electric lifting table; the bottom end of the decelerating rotating module is rotationally connected with the top end of the stand column; the bottom end of the manual sliding block is connected with the top end of the deceleration rotating module; the cross arm is in sliding connection with the manual sliding block; the decelerating rotating module comprises a rotating shaft decelerating motor sleeve which is provided with a decelerating motor cabin at the upper part and a damping rotating shaft at the lower part; the damping rotating shaft is rotationally connected with the stand column; the stepping motor is arranged in the gear motor bin; the speed reducer is connected with the output end of the stepping motor; the rotary crossed roller bearing is arranged at the top end of the rotating shaft gear motor sleeve; and the middle part of the transverse arm polar coordinate origin turntable is connected with the speed reducer. The operating microscope has the advantages that the controllability, the flexibility, the stability and the accuracy in use of the operating microscope are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of surgical microscopes, in particular to a polar coordinate sliding ram type reciprocating cross arm for surgical microscopes. Background Art

[0002] The surgical microscope is a commonly used medical surgical microscopic device. For example, the ophthalmic surgical microscope is widely used in ophthalmic surgery. In order to align the surgical microscope with the surgical target, a manual robotic arm is needed to adjust the optical position of the surgical microscope. For example, for cataract phacoemulsification and intraocular lens implantation, the manual robotic arm first aligns the surgical microscope with one eye, and after the surgery on this eye is completed, the manual robotic arm moves the surgical microscope to the other eye.

[0003] Since the surgical microscope needs a high position accuracy requirement during movement, the existing technologies are mostly manual. If the robotic arm is set as an electric mechanism and equipped with a reduction motor, it will be unable to intervene manually due to the reverse self-locking of the reduction motor. If manual intervention is performed accidentally or forcibly, the long robotic arm will damage the electric mechanism; therefore, the existing robotic arms all adopt a manual structure.

[0004] In the prior art, a manual structured robotic arm such as Figure 5 As shown, it is mainly composed of a pillar, a main cross arm, a secondary cross arm and a chassis. One end of the main cross arm is rotatably connected to the pillar, and the other end is rotatably connected to one end of the secondary cross arm. The other end of the secondary cross arm is linked to the surgical microscope for displacement. However, the mechanical arm of this structure has the following disadvantages:

[0005] 1. The surgical microscope can only move in an arc through the main cross arm and the auxiliary cross arm. When it needs to be moved to a specified position, it is often necessary to adjust the main cross arm and the auxiliary cross arm at the same time, and there is a blind spot in the position, that is, the surgical microscope cannot reach the position by rotating the main cross arm and the auxiliary cross arm, which seriously limits the flexibility of the use of the surgical microscope; 2. The entire robotic arm is a single-arm suspension, and its weight is completely biased to one end of the main cross arm. In order to avoid tipping, the chassis needs to be made heavier, and there are many problems in transportation, installation, and use.

[0006] Therefore, how to provide a polar coordinate sliding ram type reciprocating cross arm for a surgical microscope to improve the maneuverability, flexibility, stability and accuracy of the surgical microscope has become a technical problem that needs to be solved urgently. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a polar coordinate sliding ram type reciprocating cross arm for a surgical microscope, so as to improve the maneuverability, flexibility, stability and accuracy of the surgical microscope.

[0008] The present invention is implemented as follows: a polar coordinate ram-type reciprocating cross arm for a surgical microscope, comprising:

[0009] A base;

[0010] An electric lifting platform is arranged on the top of the base;

[0011] A column vertically connected to the lifting end of the electric lifting platform;

[0012] a deceleration rotation module, the bottom end of which is rotationally connected to the top end of the column;

[0013] A manual slider, the bottom end of which is connected to the top end of the deceleration rotation module;

[0014] A cross arm, slidably connected to the manual slider;

[0015] The deceleration rotation module comprises:

[0016] A shaft reduction motor sleeve, with a reduction motor compartment provided on the upper part and a damping shaft provided on the lower part; the shaft reduction motor sleeve is rotatably connected to the column through the damping shaft;

[0017] A stepper motor is arranged in the reduction motor compartment;

[0018] A reducer is arranged in the reduction motor compartment, the input end of which is connected to the output end of the stepper motor, and the output end of which is vertically upward and extends out of the reduction motor compartment;

[0019] A slewing cross roller bearing is arranged at the top end of the shaft reduction motor sleeve;

[0020] A cross arm polar coordinate origin turntable is arranged at the top end of the rotary cross roller bearing, meshed with the rotary cross roller bearing, and the middle part is connected with the output end of the reducer.

[0021] Furthermore, four rollers are provided at the bottom end of the base.

[0022] Furthermore, the roller is a universal wheel and is provided with a self-locking member.

[0023] Furthermore, the cross arm comprises:

[0024] a cross arm housing;

[0025] A pair of linear slide rails are arranged in parallel at the top end of the interior of the cross arm housing; the manual slide block is slidably connected to the two linear slide rails;

[0026] A servo motor is disposed in the cross arm housing;

[0027] A screw rod is horizontally arranged inside the cross arm housing and located between the two linear slide rails, one end of which is rotatably connected to the end surface of the linear slide rail, and the other end of which is connected to the power output end of the servo motor;

[0028] An electric slider is slidably connected with the two linear slide rails, connected with the transmission end of the lead screw, and located at an end away from the servo motor.

[0029] The advantages of the present invention are:

[0030] 1. By setting a column, a deceleration rotation module, a manual slider and a cross arm, the top of the manual slider is slidably connected to the linear slide rail of the cross arm, so that the manual push-pull cross arm can be made to move back and forth like a ram, and the bottom end is connected to the deceleration rotation module, and the deceleration rotation module is rotatably connected to the column; the deceleration rotation module can be rotated by the manual slider linked to the cross arm, and the servo motor of the cross arm is displaced on the linear slide rail through the lead screw, that is, the electric control of the electric slider is realized to perform arc and telescopic movement, and the electric slider is used to install the surgical microscope, so that the surgical microscope can be flexibly moved to the required position; the cross arm is installed on the deceleration rotation module through the manual slider, and an appropriate amount of counterweight is applied to the opposite end of the electric slider where the surgical microscope is installed to reduce the risk of tilting. In specific implementation, a counterweight block can be added to the cross arm as needed to increase the gravity balance, which ultimately greatly improves the operability, flexibility, stability and accuracy of the surgical microscope.

[0031] 2. The cross arm is electrically rotated by arranging a stepper motor and a reducer in the deceleration rotation module, and the deceleration rotation module is rotationally connected to the column through a damping shaft, that is, the cross arm can be rotated both electrically and manually; the manual slider and the electric slider are connected by sliding on the linear slide rail of the cross arm, and only the electric slider is connected to the transmission end of the lead screw, that is, the electric slider can be electrically controlled to be extended and retracted by the servo motor, and the position of the cross arm can be adjusted forward and backward by the manual slider to link the electric slider for extension and retraction; that is, the rotation and extension of the electric slider both have electric and manual modes, which can be selected as needed, and if it is accidentally touched during the electric control process, the force can be resolved through the manual rotation and extension structure (damping shaft, manual slider) to avoid damage to the electric structure, which ultimately greatly improves the flexibility and reliability of the use of the surgical microscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0033] Figure 1 The present invention is a schematic structural diagram of a polar coordinate ram-type reciprocating cross arm for a surgical microscope.

[0034] Figure 2 It is a bottom view of the cross arm of the present invention.

[0035] Figure 3 It is an exploded view of the deceleration rotation module of the present invention.

[0036] Figure 4 It is a structural schematic diagram of the deceleration rotation module of the present invention.

[0037] Figure 5 This is a schematic diagram of the structure of a traditional robotic arm.

[0038] Marking Description:

[0039] 100-a polar coordinate sliding ram type reciprocating cross arm for a surgical microscope, 1-base, 2-electric lifting platform, 3-column, 4-reduction rotating module, 5-manual slider, 6-cross arm, 11-roller, 41-rotating shaft reduction motor sleeve, 42-stepping motor, 43-reducer, 44-slewing cross roller bearing, 45-cross arm polar coordinate origin turntable, 411-reduction motor compartment, 412-damping rotating shaft, 61-cross arm housing, 62-linear slide rail, 63-servo motor, 64-screw, 65-electric slider;

[0040] 200- traditional robotic arm, 201- pillar, 202- main cross arm, 203- secondary cross arm, 204- chassis. DETAILED DESCRIPTION

[0041] The embodiment of the present invention provides a polar coordinate sliding ram type reciprocating movable cross arm 100 for a surgical microscope, thereby solving the problem in the prior art that a mechanical arm can only link a surgical microscope to perform arc motion through a main cross arm and a secondary cross arm, and when it needs to be moved to a specified position, it is often necessary to adjust the main cross arm and the secondary cross arm at the same time, and there is a position blind spot, which seriously limits the flexibility of using the surgical microscope; the weight of the entire mechanical arm is borne on one end of the main cross arm, and in order to avoid tilting, the chassis needs to be made heavier, thereby achieving a technical effect of greatly improving the maneuverability, flexibility, stability and accuracy of the surgical microscope.

[0042] The technical solution in the embodiment of the present invention is to solve the above-mentioned problem, and the overall idea is as follows: the deceleration rotation module 4 rotates through the manual slider 5 to link the cross arm 6, and the servo motor 63 of the cross arm 6 is linked to the electric slider 65 through the screw rod 64 to move on the linear slide rail 62, that is, the electric control of the electric slider 65 to rotate and extend; the cross arm 6 is installed on the deceleration rotation module 4 through the manual slider 5, and there is a certain counterweight at the opposite end of the electric slider 65 where the surgical microscope is installed, so as to reduce the risk of tilting and improve the maneuverability, flexibility, stability and accuracy of the surgical microscope.

[0043] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0044] Please refer to Figures 1 to 5 As shown, a preferred embodiment of a polar coordinate ram type reciprocating cross arm 100 for a surgical microscope of the present invention comprises:

[0045] A base 1, used for carrying the polar coordinate sliding ram cross arm 100 of the surgical microscope;

[0046] An electric lifting platform 2, disposed at the top of the base 1, for driving the cross arm 6 to move up and down, and linking the electric slider 65 to move up and down;

[0047] A column 3 is vertically connected to the lifting end of the electric lifting platform 2, and is used to link the cross arm 6 to lift and lower, and to link the electric slider 65 to lift and lower;

[0048] A deceleration rotation module 4, the bottom end of which is rotatably connected to the top end of the column 3, and is used to drive the cross arm 6 to rotate, so that the electric slider 65 moves in an arc shape accordingly;

[0049] A manual slider 5, the bottom end of which is connected to the top end of the deceleration rotation module 4, and is used to manually adjust the cross arm 6 to move forward and backward, so that the electric slider 65 moves forward and backward accordingly;

[0050] A cross arm 6 is slidably connected with the manual slider 5 to form a ram-type reciprocating movement for the reciprocating movement of the electric slider 65;

[0051] The deceleration rotation module 4 comprises:

[0052] A shaft reduction motor sleeve 41, with a reduction motor compartment 411 at the upper part and a damping shaft 412 at the lower part; the shaft reduction motor sleeve 41 is rotatably connected to the column 3 through the damping shaft 412 for manual rotation;

[0053] A stepper motor 42, disposed in the reduction motor compartment 411, for providing power for the rotation of the electric slider 65;

[0054] A reducer 43 is disposed in the reduction motor compartment 411, with an input end connected to the output end of the stepper motor 42, and an output end vertically facing upward and extending out of the reduction motor compartment 411, for reducing the speed of the stepper motor 42;

[0055] A slewing cross roller bearing 44 is provided at the top of the shaft reduction motor sleeve 41 to improve the rotation stability of the cross arm polar coordinate origin turntable 45;

[0056] A cross-arm polar coordinate origin turntable 45 is disposed at the top of the rotary cross roller bearing 44, meshed with the rotary cross roller bearing 44, and connected to the output end of the reducer 43 in the middle, for linking the electric slider 65 to move in an arc shape.

[0057] Four rollers 11 are provided at the bottom end of the base 1 to facilitate the movement of the polar coordinate sliding ram type cross arm 100 of the surgical microscope.

[0058] The roller 11 is a universal wheel and is provided with a self-locking member.

[0059] The cross arm 6 comprises:

[0060] A cross arm housing 61, used to provide dustproof and protection for the cross arm 6, and has the advantages of being beautiful and easy to disinfect;

[0061] A pair of linear slide rails 62 are arranged parallel to the top of the interior of the cross arm housing 61; the manual slider 5 is slidably connected to the two linear slide rails 62;

[0062] A servo motor 63, disposed in the cross arm housing 61, for driving the electric slider 65 to move;

[0063] A screw rod 64 is horizontally arranged inside the cross arm housing 61 and located between the two linear guide rails 62, one end of which is rotatably connected to the end surface of the linear guide rail 62, and the other end of which is connected to the power output end of the servo motor 63;

[0064] An electric slider 65 is slidably connected to the two linear slide rails 62, connected to the transmission end of the lead screw 64, and located at an end away from the servo motor 63, for installing a surgical microscope (not shown).

[0065] Working principle of the present invention:

[0066] The surgical microscope is installed at the bottom end of the electric slider 65. After the electric slider 65 is adjusted to a suitable height by the electric lifting platform 2, the electric slider 65 is controlled to move in an arc shape and reciprocate and extend and retract by the deceleration rotation module 4 and the cross arm 6, so as to adjust the optical movement of the surgical microscope to the surgical target; if the rotation direction of the cross arm 6 is accidentally touched suddenly during the operation, the external force is resolved by the damping shaft 412; if the extension direction of the cross arm 6 is accidentally touched suddenly during the operation, the external force is resolved by the manual slider 5.

[0067] In summary, the advantages of the present invention are:

[0068] 1. By setting a column, a deceleration rotation module, a manual slider and a cross arm, the top of the manual slider is slidably connected to the linear slide rail of the cross arm, so that the manual push-pull cross arm can be made to move back and forth like a ram, and the bottom end is connected to the deceleration rotation module, and the deceleration rotation module is rotatably connected to the column; the deceleration rotation module can be rotated by the manual slider linked to the cross arm, and the servo motor of the cross arm is displaced on the linear slide rail through the lead screw, that is, the electric control of the electric slider is realized to perform arc and telescopic movement, and the electric slider is used to install the surgical microscope, so that the surgical microscope can be flexibly moved to the required position; the cross arm is installed on the deceleration rotation module through the manual slider, and an appropriate amount of counterweight is applied to the opposite end of the electric slider where the surgical microscope is installed to reduce the risk of tilting. In specific implementation, a counterweight block can be added to the cross arm as needed to increase the gravity balance, which ultimately greatly improves the operability, flexibility, stability and accuracy of the surgical microscope.

[0069] 2. The cross arm is electrically rotated by arranging a stepper motor and a reducer in the deceleration rotation module, and the deceleration rotation module is rotationally connected to the column through a damping shaft, that is, the cross arm can be rotated both electrically and manually; the manual slider and the electric slider are connected by sliding on the linear slide rail of the cross arm, and only the electric slider is connected to the transmission end of the lead screw, that is, the electric slider can be electrically controlled to be extended and retracted by the servo motor, and the position of the cross arm can be adjusted forward and backward by the manual slider to link the electric slider for extension and retraction; that is, the rotation and extension of the electric slider both have electric and manual modes, which can be selected as needed, and if it is accidentally touched during the electric control process, the force can be resolved through the manual rotation and extension structure (damping shaft, manual slider) to avoid damage to the electric structure, which ultimately greatly improves the flexibility and reliability of the use of the surgical microscope.

[0070] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A polar coordinate ram-type reciprocating cross arm for a surgical microscope, characterized in that: include: A base; An electric lifting platform is arranged on the top of the base; A column vertically connected to the lifting end of the electric lifting platform; a deceleration rotation module, the bottom end of which is rotationally connected to the top end of the column; A manual slider, the bottom end of which is connected to the top end of the deceleration rotation module; A cross arm, slidably connected to the manual slider; The deceleration rotation module comprises: A shaft reduction motor sleeve, with a reduction motor compartment provided on the upper part and a damping shaft provided on the lower part; the shaft reduction motor sleeve is rotatably connected to the column through the damping shaft; A stepper motor is arranged in the reduction motor compartment; A reducer is arranged in the reduction motor compartment, the input end of which is connected to the output end of the stepper motor, and the output end of which is vertically upward and extends out of the reduction motor compartment; A slewing cross roller bearing is arranged at the top end of the shaft reduction motor sleeve; A cross arm polar coordinate origin turntable is arranged at the top end of the rotary cross roller bearing, meshed with the rotary cross roller bearing, and the middle part is connected with the output end of the reducer.

2. A polar coordinate ram type reciprocating cross arm for a surgical microscope as claimed in claim 1, characterized in that: Four rollers are arranged at the bottom end of the base.

3. A polar coordinate ram type reciprocating cross arm for a surgical microscope as claimed in claim 2, characterized in that: The roller is a universal wheel and is provided with a self-locking part.

4. The polar coordinate ram type reciprocating cross arm for a surgical microscope according to claim 1, characterized in that: The cross arm comprises: a cross arm housing; A pair of linear slide rails are arranged in parallel at the top end of the interior of the cross arm housing; the manual slide block is slidably connected to the two linear slide rails; A servo motor is disposed in the cross arm housing; A screw rod is horizontally arranged inside the cross arm housing and located between the two linear slide rails, one end of which is rotatably connected to the end surface of the linear slide rail, and the other end of which is connected to the power output end of the servo motor; An electric slider is slidably connected with the two linear slide rails, connected with the transmission end of the lead screw, and located at an end away from the servo motor.

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