Adjustable supporting device of interventional operation robot

Abstract

The invention discloses an interventional operation robot adjustable supporting device which comprises a base plate, a plurality of inclined frame rods are arranged on the edge of the top of the base plate at equal intervals, the tops of the inclined frame rods are jointly connected with a supporting ring, the top of the supporting ring is connected with a plurality of damping structures, the tops of the damping structures are connected with a first guide ring, and the top of the first guide ring is connected with a second guide ring. A second guide ring is arranged at the top of the first guide ring, a bearing disc is arranged in the middle of the inner side of the supporting ring, a plurality of connecting rods are arranged on the outer wall of the bearing disc at equal intervals, the outer sides of the connecting rods are connected with the inner wall of the first guide ring, a linkage shaft is arranged at the top of the bearing disc, and the linkage shaft is rotationally connected with the bearing disc. A casting disc is connected to the top of the linkage shaft, a first hydraulic cylinder is arranged at the top of the casting disc, and the output end of the first hydraulic cylinder is connected with a direction adjusting arm assembly. The angle of the intervention structure can be rapidly and flexibly adjusted conveniently, convenience is achieved, and practicability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an adjustable supporting device for an interventional surgery robot. Background Art

[0002] Interventional surgical robots are advanced medical devices used to assist doctors in performing precise surgical operations. These robots are usually operated by doctors and can provide more delicate operations, less trauma, and faster recovery time. Interventional surgical robots are usually used in cardiac surgery, neurosurgery, urology surgery and other fields. Vascular minimally invasive interventional therapy is the main treatment for vascular diseases. It can reduce the trauma and pain caused by traditional open surgery to patients, shorten the postoperative recovery time, and effectively improve the utilization rate of medical resources. However, in traditional vascular interventional surgery, doctors manually insert catheters, guide wires, stents and other instruments into the patient's body. On the one hand, during the operation, due to the influence of radiation, the doctor's physical strength decreases rapidly, and his attention and stability decrease accordingly, resulting in a decrease in operating accuracy. Accidents such as vascular endothelial damage and vascular perforation and rupture caused by improper pushing force are prone to occur, leading to life-threatening accidents for patients. On the other hand, the cumulative damage of long-term ionizing radiation will greatly increase the risk of leukemia, cancer and acute cataracts in the operator, seriously threatening the professional life safety of doctors.

[0003] The existing support device of the interventional surgical robot is not convenient for flexible adjustment of the angle position and is inconvenient to use as a whole. Therefore, it is necessary to design corresponding technical solutions to solve the existing technical problems. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present invention provides an adjustable support device for an interventional surgical robot, which solves the problem that the support device of the existing interventional surgical robot is not convenient for flexible adjustment of the angle position and is relatively inconvenient to use overall.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: an adjustable support device for an interventional surgical robot, comprising a base plate, a plurality of diagonal rods are equidistantly arranged on the top edge of the base plate, the tops of the plurality of diagonal rods are commonly connected to a support ring, the top of the support ring is connected to a plurality of shock-absorbing structures, the top of the shock-absorbing structure is connected to a guide ring 1, the top of the guide ring 1 is provided with a guide ring 2, a load-bearing plate is arranged in the middle of the inner side of the support ring, a plurality of connecting rods are equidistantly arranged on the outer wall of the load-bearing plate, and the outer sides of the plurality of connecting rods are connected to the inner wall of the guide ring 1, a linkage shaft is arranged on the top of the load-bearing plate, the linkage shaft is rotatably connected to the load-bearing plate, a casting plate is connected to the top of the linkage shaft, a hydraulic cylinder 1 is arranged on the top of the casting plate, and a steering arm assembly is connected to the output end of the hydraulic cylinder 1.

[0008] As a further preferred embodiment of the present invention, a plurality of wedge blocks are equidistantly arranged on the top of the guide ring 2, a buckle plate is arranged on the top of the wedge block, a hydraulic cylinder 2 is arranged on the top of the buckle plate, an arc-shaped clamping plate is connected to the output end of the hydraulic cylinder 2, and an arc-shaped groove corresponding to the clamping plate is opened on the outer wall of the casting plate.

[0009] As a further preferred embodiment of the present invention, the steering arm assembly includes an inverted L-mounted connecting pipe, the outer end of the connecting pipe is connected to a rectangular ingot, a slot is provided on the top of the ingot, a motor 1 is arranged on the side wall of the ingot, the output end of the motor 1 is connected to a shaft rod, an arc-shaped curved arm is connected to the shaft rod, and the outer end of the curved arm is connected to a steering plate structure.

[0010] As a further preferred embodiment of the present invention, the direction adjustment plate structure includes a linking plate, which is detachably connected to the end of the curved arm, and a horizontal plate is connected to the bottom of the linking plate, and an electromagnetic slide rail is arranged on the outer wall of the horizontal plate, and a guide block is arranged on the electromagnetic slide rail, and the outer end of the guide block is connected to motor 2, and the output end of motor 2 is connected to a rotating disk, and a support rod is connected to the outer side of the rotating disk, and a fan-shaped mounting plate is connected to the outer side of the support rod, and an interventional treatment structure is connected to the outer side of the mounting plate.

[0011] As a further preferred embodiment of the present invention, the interventional treatment structure includes a mounting bar, a mounting slot is provided on the mounting plate, the mounting bar is snapped into the mounting slot and is detachably connected to the mounting bar, a storage tank is connected to the outer end of the mounting bar, a guide column is provided on the outer wall of the storage tank, and the outer end of the guide column is connected to the output end column block.

[0012] As a further preferred embodiment of the present invention, the shock absorbing structure includes a cylinder, a piston plate is arranged inside the cylinder, a guide rod is arranged at the top of the cylinder, the interior of the cylinder is filled with damping oil, and a sealing plate is arranged at the outer end of the cylinder.

[0013] As a further preferred embodiment of the present invention, a plurality of moving wheels are provided at the bottom of the base plate, and a brake rod is provided on the moving wheels.

[0014] (III) Beneficial effects

[0015] The present invention provides an adjustable support device for an interventional surgery robot. It has the following beneficial effects:

[0016] (1) The interventional surgical robot of the present invention has an adjustable support device, and a plurality of diagonal rods are equidistantly arranged on the top edge of the base plate, and the tops of the diagonal rods are commonly connected to a support ring, and a guide ring 1 and a guide ring 2 are arranged on the top of the support ring, and a load-bearing plate is arranged in the middle of the inner side of the support ring, and a hydraulic cylinder 1 on the linkage shaft on the top can adjust the upper and lower heights of the steering arm assembly as a whole, and the linkage shaft is rotatably connected to the load-bearing plate, and the angle of the steering arm assembly can be changed by rotation, and a plurality of wedge blocks are equidistantly arranged on the top of the guide ring 2, and the hydraulic cylinder 2 on the top of the wedge block drives the clamping plate to buckle it onto the casting plate, thereby reinforcing the entire steering arm assembly and improving the accuracy of operation.

[0017] (2) The outer end of the connecting pipe of the steering arm assembly of the present invention is connected to a rectangular ingot, a notch is provided on the top of the ingot, and a motor is provided on the side wall of the ingot to drive the shaft rod and the crank arm to adjust the tilt angle. The outer wall of the horizontal plate on the steering plate structure at the outer end of the crank arm is provided with an electromagnetic slide rail, and a guide block is provided on the electromagnetic slide rail to adjust the left and right positions, and the outer end of the guide block is connected to a motor. By using the motor and the rotating disk to fine-tune the angle of the external interventional treatment structure, it is easy to adjust a variety of different angles as a whole, with a large operating range and strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0019] Figure 2 It is a schematic structural diagram of the side view of the present invention;

[0020] Figure 3 It is a schematic diagram of the structure of the present invention from a top view;

[0021] Figure 4 It is a structural schematic diagram of the steering arm assembly of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the shock absorbing structure of the present invention.

[0023] In the figure: 1. base plate; 2. inclined frame rod; 3. support ring; 4. guide ring 1; 5. guide ring 2; 6. load-bearing plate; 7. connecting rod; 8. linkage shaft; 9. casting plate; 10. hydraulic cylinder 1; 11. wedge block; 12. buckle plate; 13. hydraulic cylinder 2; 14. clamping plate; 15. connecting pipe; 16. casting block; 17. motor 1; 18. crank arm; 19. link plate; 20. cross plate; 21. electromagnetic slide rail; 22. guide block; 23. motor 2; 24. rotating plate; 25. support rod; 26. mounting plate; 27. mounting strip; 28. storage tank; 29. ​​guide column; 30. output end column block; 31. cylinder; 32. piston plate; 33. guide rod; 34. sealing plate; 35. moving wheel; 36. brake rod. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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.

[0025] See also Figure 1-5 , the embodiment of the present invention provides a technical solution:

[0026] An adjustable support device for an interventional surgical robot includes a base plate 1, a plurality of diagonal frame rods 2 are equidistantly arranged on the top edge of the base plate 1, the tops of the plurality of diagonal frame rods 2 are commonly connected to a support ring 3, the top of the support ring 3 is connected to a plurality of shock absorbing structures, the top of the shock absorbing structures is connected to a guide ring 1 4, a guide ring 2 5 is arranged on the top of the guide ring 1 4, a load-bearing plate 6 is arranged in the middle of the inner side of the support ring 3, a plurality of connecting rods 7 are equidistantly arranged on the outer wall of the load-bearing plate, and the outer sides of the plurality of connecting rods 7 are connected to the inner wall of the guide ring 1 4, a linkage shaft 8 is arranged on the top of the load-bearing plate 6, the linkage shaft 8 is rotatably connected to the load-bearing plate 6, a casting plate 9 is connected to the top of the linkage shaft 8, a hydraulic cylinder 10 is arranged on the top of the casting plate 9, and a steering arm assembly is connected to the output end of the hydraulic cylinder 10.

[0027] A number of wedge blocks 11 are equidistantly arranged on the top of the guide ring 5, a buckle plate 12 is arranged on the top of the wedge block 11, a hydraulic cylinder 13 is arranged on the top of the buckle plate 12, an arc-shaped clamping plate 14 is connected to the output end of the hydraulic cylinder 13, and an arc-shaped groove corresponding to the clamping plate 14 is opened on the outer wall of the casting disc 9. The clamping plate 14 is driven by the hydraulic cylinder 13 and buckled into the casting disc 9, thereby limiting the entire casting disc, and the equipment is locked and fixed after it is rotated to a fixed position.

[0028] The steering arm assembly includes an inverted L-mounted connecting pipe 15, the outer end of the connecting pipe 15 is connected to a rectangular ingot 16, a notch is provided on the top of the ingot 16, a motor 17 is arranged on the side wall of the ingot 16, the output end of the motor 17 is connected to a shaft, an arc-shaped curved arm 18 is connected to the shaft, the outer end of the curved arm 18 is connected to a steering plate structure, and the motor 17 on the ingot 16 is used to drive the curved arm 18 and the outer steering plate structure to rotate and adjust the angle.

[0029] The steering plate structure includes a link plate 19, which is detachably connected to the end of the crank arm 18, and a horizontal plate 20 is connected to the bottom of the link plate 19. An electromagnetic slide rail 21 is provided on the outer wall of the horizontal plate 20, and a guide block 22 is provided on the electromagnetic slide rail 21. The outer end of the guide block 22 is connected to a motor 23, and the output end of the motor 23 is connected to a rotating disk 24. A support rod 25 is connected to the outer side of the rotating disk 24, and a fan-shaped mounting plate 26 is connected to the outer side of the support rod 25. The outer side of the mounting plate 26 is connected to an interventional treatment structure. The electromagnetic slide rail 21 on the horizontal plate 20 is used to drive the entire mounting plate 26 and the interventional treatment structure on the outer side to move laterally and adjust the position.

[0030] The interventional treatment structure includes a mounting bar 27, a mounting plate 26 having a mounting slot, the mounting bar 27 being snapped into the mounting slot and being detachably connected to the mounting bar 27, a storage tank 28 being connected to the outer end of the mounting bar 27, a guide column 29 being arranged on the outer wall of the storage tank 28, the outer end of the guide column 29 being connected to an output terminal column block 30, and interventional surgical treatment is performed using the mounting bar 27, the outer storage tank 28 and the output terminal column block 30 of the interventional device.

[0031] The shock absorbing structure includes a cylinder 31, a piston plate 32 is arranged inside the cylinder 31, and a guide rod 33 is arranged at the top of the cylinder 31. The interior of the cylinder 31 is filled with damping oil, and a sealing plate 34 is arranged at the outer end of the cylinder 31. By using the piston plate 32 inside the cylinder 31 to cooperate with the guide rod 33, the damping oil inside is buffered, thereby reducing the overall vibration effect of the equipment and improving stability.

[0032] A plurality of moving wheels 35 are provided at the bottom of the base plate 1 , and a brake rod 36 is provided on the moving wheel 35 . The moving wheels 35 are used to adjust the entire device for movement.

[0033] Working principle: When in use, a plurality of diagonal frame rods 2 are equidistantly arranged on the top edge of the base plate 1, and a support ring 3 is connected to the top of the diagonal frame rods 2. A guide ring 1 4 and a guide ring 2 5 are arranged on the top of the support ring 3. A load-bearing plate 6 is arranged in the middle of the inner side of the support ring 3. The hydraulic cylinder 10 on the linkage shaft 8 on the top can adjust the upper and lower heights of the steering arm assembly as a whole. The linkage shaft 8 is rotatably connected to the load-bearing plate 6, and the angle of the steering arm assembly can be changed by rotation. A plurality of wedge blocks 11 are equidistantly arranged on the top of the guide ring 2 5. The hydraulic cylinder 2 13 on the top of the wedge block 11 drives the clamping plate 14 to buckle it onto the casting plate 9, thereby adjusting the entire steering arm assembly. The outer end of the connecting tube 15 of the steering arm assembly is connected to a rectangular ingot 16, a notch is provided on the top of the ingot 16, and a motor 17 is provided on the side wall of the ingot 16 to drive the shaft and the crank arm 18 to adjust the tilt angle. The outer wall of the horizontal plate 20 on the steering plate structure at the outer end of the crank arm 18 is provided with an electromagnetic slide rail 21, and a guide block 22 is provided on the electromagnetic slide rail 21 to adjust the left and right positions, and a motor 23 is connected to the outer end of the guide block 22. The angle of the external interventional treatment structure is fine-tuned by using the motor 23 and the rotating disk 24, which is convenient for adjusting a variety of different angles as a whole, with a large operating range and strong practicality.

[0034] The present invention comprises: 1, base plate; 2, inclined frame rod; 3, support ring; 4, guide ring 1; 5, guide ring 2; 6, load-bearing plate; 7, connecting rod; 8, linkage shaft; 9, casting plate; 10, hydraulic cylinder 1; 11, wedge block; 12, buckle plate; 13, hydraulic cylinder 2; 14, card plate; 15, connecting pipe; 16, casting block; 17, motor 1; 18, crank arm; 19, link plate; 20, cross plate; 21, electromagnetic slide rail; 22, guide block; 23, motor 2; 24, rotating plate; 25, support rod; 26, mounting plate; 27, mounting strip; 28, storage tank; 29, guide Column; 30, output end column block; 31, cylinder; 32, piston plate; 33, guide rod; 34, sealing plate; 35, moving wheel; 36, brake rod, all components are universal standard parts or components known to the technicians in this field, and their structures and principles can be known by the technicians in this field through technical manuals or through conventional experimental methods. The problem solved by the present invention is that the support device of the existing interventional surgical robot is not convenient for flexible adjustment of the angle position, and the overall use is relatively inconvenient. The present invention combines the above components to make the interventional surgical robot adjustable. A supporting device is provided, and a plurality of diagonal frame rods are equidistantly arranged on the top edge of the base plate, and a supporting ring is connected to the top of the diagonal frame rods, and a guide ring 1 and a guide ring 2 are arranged on the top of the supporting ring, and a load-bearing plate is arranged in the middle of the inner side of the supporting ring, and a hydraulic cylinder 1 on the linkage shaft on the top thereof can adjust the up and down height of the steering arm assembly as a whole, and the linkage shaft is rotatably connected with the load-bearing plate, and the angle of the steering arm assembly can be changed by rotation, and a plurality of wedge blocks are equidistantly arranged on the top of the guide ring 2, and the hydraulic cylinder 2 on the top of the wedge block drives the clamping plate to buckle it onto the casting plate, thereby adjusting the entire steering arm assembly Reinforcement, improves operation accuracy, the outer end of the connecting pipe of the steering arm assembly of the present invention is connected with a rectangular ingot, a slot is opened on the top of the ingot, and a motor is arranged on the side wall of the ingot to drive the shaft rod and the crank arm to adjust the tilt angle, and an electromagnetic slide rail is arranged on the outer wall of the horizontal plate on the steering plate structure at the outer end of the crank arm, and a guide block is arranged on the electromagnetic slide rail to adjust the left and right positions, and a motor is connected to the outer end of the guide block. By using the motor and the rotating disk to fine-tune the angle of the external interventional treatment structure, it is convenient to adjust a variety of different angles as a whole, with a large operating range and strong practicality.

[0035] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0036] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An adjustable support device for an interventional surgery robot, comprising a base plate (1), characterized in that: A plurality of inclined brackets (2) are equidistantly arranged on the top edge of the base plate (1), and the tops of the plurality of inclined brackets (2) are commonly connected to a support ring (3), and the top of the support ring (3) is connected to a plurality of shock absorbing structures, and the top of the shock absorbing structure is connected to a guide ring 1 (4), and a guide ring 2 (5) is arranged on the top of the guide ring 1 (4). A load-bearing plate (6) is arranged in the middle of the inner side of the support ring (3), and a plurality of connecting rods (7) are equidistantly arranged on the outer wall of the load-bearing plate, and the outer sides of the plurality of connecting rods (7) are connected to the inner wall of the guide ring 1 (4). A linkage shaft (8) is arranged on the top of the load-bearing plate (6), and the linkage shaft (8) is rotatably connected to the load-bearing plate (6). A casting plate (9) is connected to the top of the linkage shaft (8), and a hydraulic cylinder 1 (10) is arranged on the top of the casting plate (9), and the output end of the hydraulic cylinder 1 (10) is connected to a steering arm assembly.

2. The adjustable support device for an interventional surgery robot according to claim 1, characterized in that: A plurality of wedge blocks (11) are equidistantly arranged on the top of the guide ring (5), a pinch plate (12) is arranged on the top of the wedge block (11), a hydraulic cylinder (13) is arranged on the top of the pinch plate (12), an arc-shaped clamping plate (14) is connected to the output end of the hydraulic cylinder (13), and an arc-shaped groove corresponding to the clamping plate (14) is opened on the outer wall of the casting plate (9).

3. The adjustable support device for an interventional surgery robot according to claim 2, characterized in that: The steering arm assembly comprises an inverted L-mounted connecting pipe (15), the outer end of the connecting pipe (15) is connected to a rectangular ingot (16), a notch is provided on the top of the ingot (16), a motor (17) is arranged on the side wall of the ingot (16), the output end of the motor (17) is connected to a shaft, the shaft is connected to an arc-shaped curved arm (18), and the outer end of the curved arm (18) is connected to a steering plate structure.

4. The adjustable support device for an interventional surgery robot according to claim 3, characterized in that: The steering plate structure comprises a link plate (19), the link plate (19) is detachably connected to the end of the crank arm (18), a transverse plate (20) is connected to the bottom of the link plate (19), an electromagnetic slide rail (21) is arranged on the outer wall of the transverse plate (20), a guide block (22) is arranged on the electromagnetic slide rail (21), the outer end of the guide block (22) is connected to a second motor (23), the output end of the second motor (23) is connected to a rotating disk (24), the outer side of the rotating disk (24) is connected to a support rod (25), the outer side of the support rod (25) is connected to a fan-shaped mounting plate (26), and the outer side of the mounting plate (26) is connected to an interventional treatment structure.

5. The adjustable support device for an interventional surgery robot according to claim 4, characterized in that The interventional treatment structure comprises a mounting strip (27), a mounting notch is provided on the mounting plate (26), the mounting strip (27) is buckled into the mounting notch and is detachably connected to the mounting strip (27), a storage tank (28) is connected to the outer end of the mounting strip (27), a guide column (29) is provided on the outer wall of the storage tank (28), and the outer end of the guide column (29) is connected to an output terminal column block (30).

6. The adjustable support device for an interventional surgery robot according to claim 5, characterized in that: The shock absorbing structure comprises a cylinder (31), a piston plate (32) is arranged inside the cylinder (31), a guide rod (33) is arranged at the top end of the cylinder (31), the interior of the cylinder (31) is filled with damping oil, and a sealing plate (34) is arranged at the outer end of the cylinder (31).

7. The adjustable support device for an interventional surgery robot according to claim 1, characterized in that: A plurality of moving wheels (35) are arranged at the bottom of the base plate (1), and a brake rod (36) is arranged on the moving wheel (35).

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