Rotary supporting mechanism

Abstract

The invention provides a rotary supporting mechanism, and belongs to the field of medical instruments, and the rotary supporting mechanism comprises a supporting cross arm, a height adjusting arm, a head adjusting assembly and a visual unit which are connected in sequence; the height adjusting arm is arranged between the supporting cross arm and the head adjusting assembly, and the visual unit is installed on the head adjusting assembly; the supporting cross arm is horizontally installed around one end of the supporting cross arm in a rotation control mode and used for large-range rotation and hovering of the whole mechanism. The height adjusting arm is used for adjusting the heights of the head adjusting assembly and the visual unit and hovering of the visual unit at any height; the head adjusting assembly is used for small-range rotation and pitching adjustment of the visual unit; the visual unit is used for visual acquisition and surgical navigation positioning of a target position. According to the scheme, large-range rotation and height adjustment can be achieved, small-range rotation and pitching adjustment can be achieved after the position near the target position, convenience and stability of visual collection and navigation in the operation process are guaranteed, and application and popularization in the field of medical instruments are facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular relates to a rotating support mechanism. Background Art

[0002] As a system that can complete surgical channel positioning and surgical instrument path navigation under minimally invasive conditions, orthopedic surgical robots are widely used in minimally invasive spine and trauma surgeries. At the same time, in order to reduce the number of C-arm (imaging equipment) fluoroscopy during surgery, and thus reduce the radiation damage of fluoroscopy to medical staff and patients, orthopedic surgical robots introduce visual navigation technology. Visual navigation technology can improve the safety and accuracy of surgery, and has the advantages of continuous visualization, relieving medical pressure, shortening the doctor's learning curve, and extending the doctor's work life cycle.

[0003] One of the key components in visual navigation technology is the binocular camera. The connector and tracker in the product are equipped with specially coated tracer balls that can be recognized by the binocular camera. The connector is installed at the end of the robotic arm and the tracker is installed near the patient's surgical area. Both need to be within the camera's field of view (such as Figure 1 As shown in the figure, the camera can observe the position information of the robot arm and the patient in the orthopedic surgical robot system in real time, detect the patient's movement information, and feed it back to the host computer system to make reasonable and accurate calculations and judgments, thereby sending instructions to complete the follow-up of the robot arm and compensate for the positioning error.

[0004] The position adjustment of the binocular camera during the operation has become an important part, which is directly related to the smoothness of the operation process. At present, in the field of orthopedic surgical robots, some camera cantilevers are relatively short and have a small adjustment range. The extreme position requires a trolley to find a good field of view; some camera cantilevers are not stable when hovering at any position, resulting in the camera position moving on its own during the operation, causing loss of field of view; some cameras need to manually lock the knobs or screws to fix the position after finding the right position. If the camera needs to be moved again during the operation, the knobs or screws need to be manually loosened, and the process and operation are complicated; some cameras cannot be rotated and pitched in a small range, which makes it difficult to find the best position.

[0005] Therefore, the current technical problems are: if the support cantilever of the binocular camera is too short, the adjustment range of the camera will be relatively small. In addition, due to the excessive number of other equipment in the operating room, some positions are easily blocked. If the camera wants to obtain a better field of view, the trolley will be moved during the operation. If the camera's hovering position is not secure, the camera is likely to move during the operation, resulting in loss of field of view, and the operator needs to move the camera again. If the camera cannot be rotated and pitched within a small range, it will be difficult to adjust the optimal surgical position after the camera moves to the approximate position, increasing the adjustment time. The above problems will lead to the interruption of the surgical process, prompting the operator to further adjust the position of the camera or trolley, thereby wasting time during the operation and reducing efficiency.

[0006] Therefore, there is an urgent need for a rotating support mechanism that can achieve large-range rotation, height adjustment, pitch adjustment, and can hover at any position. Summary of the invention

[0007] The object of the present invention is to provide a rotating support mechanism which can solve the above problems. The design scheme of the present invention is as follows.

[0008] A rotating support mechanism comprises a supporting cross arm, a height adjustment arm, a head adjustment component and a visual unit connected in sequence; the height adjustment arm is arranged between the supporting cross arm and the head adjustment component, and the visual unit is installed to the head adjustment component; the supporting cross arm is installed horizontally with rotation control around one end thereof, and is used for large-range rotation and hovering of the entire mechanism; the height adjustment arm is used for adjusting the height of the head adjustment component and the visual unit and for hovering the visual unit at any height; the head adjustment component is used for small-range rotation and pitch adjustment of the visual unit; the visual unit is used for visual acquisition of the target position and surgical navigation positioning.

[0009] Preferably, the supporting cross arm includes a cross arm, and cross arm mounting parts are vertically arranged at both ends of the cross arm, one of the cross arm mounting parts is connected to the external supporting vertical rod to form a rotating pivot, and the other cross arm mounting part is used to connect the height adjustment arm.

[0010] Preferably, the cross arm mounting portion includes a rotation mounting hole and a cross arm limiter, and the cross arm limiter is used to limit the rotation angle of the cross arm.

[0011] Preferably, the height adjustment arm includes a cross arm mounting shaft, a cross arm limiting groove, a parallelogram pressure rod mechanism, a head rotation shaft, a head limiting groove and a head bearing groove; the cross arm mounting shaft is inserted into a cross arm mounting portion of the supporting cross arm; the cross arm limiting groove is fixedly connected to the cross arm mounting shaft, and cooperates with the cross arm limiting piece supporting the cross arm to limit the position; the parallelogram pressure rod mechanism is arranged inside the height adjustment arm, and is used to keep the head rotation shaft parallel to the cross arm mounting shaft and vertically downward at any time when adjusting the height; the head rotation shaft is sleeved to the head adjustment assembly; the head limiting groove and the head bearing groove are arranged at the end of the supporting head rotation shaft, and are used to limit and support the head rotation shaft.

[0012] Preferably, the head adjustment assembly includes a head transfer pin, an transfer sleeve, a tightening nut, a damping hinge, a connecting plate and a handle; the head transfer pin, the transfer sleeve and the tightening nut are used to connect the entire head adjustment assembly to the supporting head rotation shaft so that it can be rotatably adjusted, wherein the upper section of the head transfer pin is inserted into the interior of the head rotation shaft, the outer periphery of the lower section of the head transfer pin is sleeved on the transfer sleeve, and the tightening nut is threaded to the bottom end of the head transfer pin to achieve tightening and fixation; one end of the damping hinge is connected to the front end surface of the transfer sleeve, the other end of the damping hinge is connected to one end of the connecting plate, and the handle is installed on the other end of the connecting plate.

[0013] Preferably, the head adapter pin includes at least an upper hollow pin body and a nail head extending from the top of the pin body to the periphery, the pin body is a multi-section stepped shaft, the pin body includes an upper shaft sleeve section, a lower sleeve sleeve section and an end screw section, an O-ring installation groove is provided on the sleeve sleeve section, a head thread is provided on the screw section, and a notch is provided on the nail head to form a tail end limit groove; wherein an O-ring is sleeved in the O-ring installation groove; the head thread is used for threaded connection with a tightening nut to realize pressing the parts at the head adapter pin to the end of the head rotating shaft; the tail end limit groove cooperates with the head rotating shaft limit end face provided on the head rotating shaft to limit.

[0014] Preferably, the head adjustment assembly also includes a head limit sleeve, a first bowl set bearing and a second bowl set bearing; the head limit sleeve is arranged on the outer periphery of the end of the head rotating shaft and the outer periphery of the top end of the adapter sleeve, and is limited in cooperation with the head limit groove of the height adjustment arm; the first bowl set bearing is arranged at the junction of the upper end of the adapter sleeve and the lower end of the head rotating shaft, and the second bowl set bearing is arranged at the junction of the lower end of the adapter sleeve and the tightening nut, and the two bearings are used for rotation support.

[0015] Preferably, the head adjustment assembly further comprises a first clamping plate and a second clamping plate, wherein the first clamping plate fastens one end of the damping hinge to the front end surface of the adapter sleeve, and the second clamping plate connects the connecting plate to the other end of the damping hinge.

[0016] Preferably, the head adjustment assembly further includes a first head limit block and a second head limit block, the first head limit block is arranged at the bottom of the adapter sleeve, and the second head limit block is installed on the upper end surface of the second clamping plate.

[0017] Preferably, the head adjustment assembly further includes a damping member, which is disposed at the damping hinge, and is used to balance the gravity during pitch adjustment of the visual unit, and the resistance of the damping hinge is used to maintain the visual unit hovering at any position during pitch adjustment.

[0018] Compared with the existing technology, the present application has the following beneficial effects: the scheme of the present application can realize a large range of rotation and height adjustment, and after running near the target position, it can realize a small range of rotation and pitch adjustment, and at the same time, the camera can be hovered at any height and angle position, ensuring the convenience and stability of the binocular camera position adjustment during the operation, ensuring the smooth progress of the operation, and facilitating promotion and application in the field of medical devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of a navigation and positioning system used in orthopedic surgical robots in the prior art; Figure 2 It is a schematic diagram of the whole machine of the rotary support mechanism of the present invention; Figure 3 is a schematic diagram of the supporting cross arm; Figure 4 is a schematic diagram of a height adjustment arm; Figure 5 for Figure 4 A partial enlarged view of the middle A; Figure 6 A schematic diagram of the head adjustment assembly; Figure 7 for Figure 6 A partial enlarged view of point B in the middle; Figure 8 for Figure 6 A partial enlarged view of point C in the middle; Fig. 9 It is a partial cross-sectional schematic diagram of the head adjustment assembly; Fig.10 It is a schematic diagram of the head transfer pin; Fig.11 is a schematic diagram of a head limiting sleeve; Fig.12 is a schematic diagram of a second pressing plate; Fig.13 is a schematic diagram of a first pressing plate; Fig.14 Schematic diagram of the damping element.

[0020] In the figure: 1. Tracker; 2. Robotic arm; 3. Host computer; 4. Binocular camera; 5. Connector; 6. C-arm; 101, supporting cross arm; 1011, cross arm; 1012, first rotating shaft mounting hole; 1013, first limiting groove; 1014, second rotating shaft mounting hole; 1015, second limiting groove; 1016, friction ring; 1017, fastening top screw; 102, height adjustment arm; 1021, cross arm mounting shaft; 1022, cross arm limiting groove; 1023, parallelogram pressure rod mechanism; 1024, head rotation axis; 1024-1, head rotation axis limiting end surface; 1025, head limiting groove; 1026, head bearing groove; 103, head adjustment assembly; 1031, head adapter pin; 1031-1, O-ring installation groove; 1031-2, head thread; 1031-3, tail end limit groove; 1032, head limit sleeve; 1032-1, limit boss; 1032-2, limit avoidance groove; 1033, first headset bearing; 1034, second headset bearing; 1035, adapter sleeve; 1035-1, sleeve limit groove; 1036, O-ring; 1037, tightening nut; 1038, first head limit block ; 1039, second head limit block; 10310, damping member; 10310-1, torsion spring center hole; 10310-2, first spring support foot; 10310-3, second spring support foot; 10311, damping hinge; 10312, connecting plate; 10313, first clamping plate; 10313-1, first clamping plate groove; 10314, second clamping plate; 10314-1, second clamping plate groove; 10314-2, pin shaft mounting hole; 10315, pin shaft; 10316, handle; 104. Visual unit. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 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.

[0022] A rotating support mechanism, see Figure 2-Figure 14The rotating support mechanism includes a supporting cross arm 101, a height adjustment arm 102, a head adjustment component 103 and a visual unit 104 connected in sequence. This mechanism can meet the requirements of a large range of rotation and height adjustment, and can meet the requirements of hovering at any position, so that the field of view of the visual acquisition component can be quickly adjusted to the vicinity of the target position. After reaching the vicinity of the target position, the visual unit 104 can be rotated left and right and pitched in a small range, and at the same time meet the requirements of hovering at any position, and quickly and accurately lock the target position.

[0023] Among them, the height adjustment arm 102 is arranged between the supporting cross arm 101 and the head adjustment component 103, and the visual unit 104 is installed to the head adjustment component 103; the supporting cross arm 101 is horizontally installed with rotation control around one end of itself, and is used for large-range rotation and hovering of the entire mechanism; the height adjustment arm 102 is used to adjust the height of the head adjustment component 103 and the visual unit 104 and the hovering of the visual unit 104 at any height; the head adjustment component 103 is used for small-range rotation and pitch adjustment of the visual unit 104; the visual unit 104 is used for visual acquisition of the target position and surgical navigation positioning.

[0024] Among them, see Figure 3 The supporting cross arm 101 includes a cross arm 1011 , and cross arm mounting parts are vertically arranged at both ends of the cross arm 1011 , one of the cross arm mounting parts is connected to the external supporting vertical rod to form a rotating pivot, and the other cross arm mounting part is used to connect the height adjustment arm 102 .

[0025] The cross arm mounting portion includes a rotation mounting hole and a cross arm limiter, and the cross arm limiter is used to limit the rotation angle of the cross arm 1011. In a specific example, it is used to prevent the cross arm 1011 from rotating 360°.

[0026] Furthermore, the support cross arm 101 further includes a friction ring 1016 and a fastening screw 1017 disposed at the cross arm mounting portion; the friction ring 1016 is used to reduce the hard friction loss of the support cross arm 101, and the fastening screw 1017 is used to adjust the rotation force of the support cross arm 101. In a specific example, the friction ring 1016 is made of copper such as bronze.

[0027] In a specific example, the cross arm mounting portion includes a fixed cross arm mounting portion and a transfer cross arm mounting portion, and the transfer cross arm mounting portion includes a first rotation axis mounting hole 1012 and a first limiting groove 1013 as a cross arm limiting member, which is used to connect the height adjustment arm 102. The fixed cross arm mounting portion includes a second rotation axis mounting hole 1014 and a second limiting groove 1015 as a cross arm limiting member, which is used to pass through the rotation axis of the external support pole.

[0028] See also Figure 3The supporting cross arm 101 is in an "ʃ" shape as a whole, that is, the cross arm mounting parts at both ends of the cross arm 1011 extend outward perpendicularly to the axis of the cross arm. When in use, the cross arm 1011 is placed horizontally, and the fixed cross arm mounting part provided with the second rotating shaft mounting hole 1014 and the second limiting groove 1015 is the rotation center, and the second rotating shaft mounting hole 1014 is vertically extended downward; the transfer cross arm mounting part provided with the first rotating shaft mounting hole 1012 and the first limiting groove 1013 is the rotating outer end of the transfer, and the first rotating shaft mounting hole 1012 is vertically extended upward.

[0029] Specifically, the first limiting groove 1013 and the second limiting groove 1015 are fixed on the upper and lower end surfaces of the cross arm 1011, and the friction ring 1016 is respectively installed in the first rotating shaft mounting hole 1012 and the second rotating shaft mounting hole 1014 at both ends of the cross arm. The fastening top screw 1017 is screwed in from the side of the cross arm 1011 and pushed against the friction ring 1016 in the first rotating shaft mounting hole 1012 and the second rotating shaft mounting hole 1014. The second rotating shaft mounting hole 1014 penetrates into the rotating shaft of the supporting upright pole, and there is a limiting device on the rotating shaft, which can cooperate with the second limiting groove 1015 to prevent the supporting cross arm 101 from rotating 360 degrees. By adjusting the tightness of the fastening top screw 1017 here, the force adjustment of the rotation of the supporting cross arm 101 can be achieved, and the rotation can be smooth while achieving reliable hovering at any position, and the phenomenon of rotation due to accidental contact will not occur. In this way, the force adjustment of a large range of rotation and the guarantee of hovering at any position can be achieved.

[0030] Among them, see Figure 4 , Figure 5 and Figure 8 As shown, the height adjustment arm 102 includes a cross arm mounting shaft 1021, a cross arm limiting groove 1022, a parallelogram pressure rod mechanism 1023, a head rotation shaft 1024, a head limiting groove 1025 and a head bearing groove 1026. The head rotation shaft 1024 is provided with a head rotation shaft limiting end surface 1024-1.

[0031] Specifically, the cross arm mounting shaft 1021 is inserted into a cross arm mounting portion of the supporting cross arm 101. Specifically, the cross arm mounting shaft 1021 is inserted into the first rotating shaft mounting hole 1012 of the supporting cross arm 101; the cross arm limiting groove 1022 is fixedly connected to the cross arm mounting shaft 1021, and cooperates with the cross arm limiting piece of the supporting cross arm 101, that is, the first limiting groove 1013 to prevent the height adjustment arm 102 from rotating 360°.

[0032] The parallelogram pressure rod mechanism 1023 is arranged inside the height adjustment arm 102, and is used to keep the head rotation axis 1024 parallel to the cross arm mounting axis 1021 and vertically downward at any time when adjusting the height. The parallelogram pressure rod mechanism 1023 can adopt a conventional parallelogram mechanism, and a reset spring is arranged between the upper and lower pressure rods to form a height adjustment spring arm. The magnitude of its elastic force has been calculated and tested, and it can ensure that the head adjustment component 103 is suspended at any position and is secure, and the cantilever will not fall due to gravity during use. This further expands the rotation range, while ensuring that the visual unit 104 can adjust a wide range of height viewing angles and hover at any height.

[0033] The head rotating shaft 1024 is sleeved to the head adjusting assembly 103 ; the head limiting groove 1025 and the head bearing groove 1026 are arranged at the end of the supporting head rotating shaft 1024 , and are used for limiting and supporting the head rotating shaft 1024 .

[0034] At this point, the visual unit 104 can quickly adjust the image acquisition field of view to the vicinity of the target position by the support cross arm 101 and the height adjustment arm 102. The support cross arm 101 and the height adjustment arm 102 are relatively long, which effectively increases the adjustment range of the visual unit 104 and can meet the adjustment of the extreme position during surgery.

[0035] Among them, see Figure 6-Figure 14 The head adjustment assembly 103 includes a head adapter pin 1031, an adapter sleeve 1035 with a sleeve limiting groove 1035-1 at the upper end, a tightening nut 1037, a damping hinge 10311, a connecting plate 10312 and a handle 10316.

[0036] The head adapter pin 1031, the adapter sleeve 1035 and the tightening nut 1037 are used to connect the entire head adjustment assembly 103 to the supporting head rotation shaft 1024 in a rotatable and adjustable manner, wherein the upper section of the head adapter pin 1031 is inserted into the head rotation shaft 1024, the outer periphery of the lower section of the head adapter pin 1031 is sleeved with the adapter sleeve 1035, and the tightening nut 1037 is screwed to the bottom end of the head adapter pin 1031 to achieve tightening and fixation.

[0037] See also Fig.10The head adapter pin 1031 includes a hollow pin body at least in the upper section and a nail head extending from the top of the pin body to the periphery, the pin body is a multi-section stepped shaft, the pin body includes a shaft sleeve section in the upper section, a sleeve sleeve section in the lower section and a screw section at the end, an O-ring installation groove 1031-1 is provided on the sleeve sleeve section, a head thread 1031-2 is provided on the screw section, and a notch is provided on the nail head to form a tail end limit groove 1031-3; wherein, an O-ring 1036 is sleeved in the O-ring installation groove 1031-1; the head thread 1031-2 is used for threaded connection with the tightening nut 1037, so as to realize pressing the parts at the head adapter pin 1031 to the end of the head rotating shaft 1024; the tail end limit groove 1031-3 cooperates with the head rotating shaft limit end face 1024-1 provided on the head rotating shaft 1024 to limit.

[0038] One end of the damping hinge 10311 is connected to the front end surface of the adapter sleeve 1035 , the other end of the damping hinge 10311 is connected to one end of the connecting plate 10312 , and the handle 10316 is installed on the other end of the connecting plate 10312 .

[0039] Furthermore, the head adjustment component 103 also includes a head limit sleeve 1032, a first bowl set bearing 1033 and a second bowl set bearing 1034; the head limit sleeve 1032 is sleeved on the outer periphery of the end of the head rotating shaft 1024 and the outer periphery of the top of the adapter sleeve 1035, and is limited in the head limit groove 1025 of the height adjustment arm 102; the first bowl set bearing 1033 is arranged at the junction of the upper end of the adapter sleeve 1035 and the lower end of the head rotating shaft 1024, and the second bowl set bearing 1034 is arranged at the junction of the lower end of the adapter sleeve 1035 and the tightening nut 1037, and the two bearings are used for rotation support.

[0040] See also Fig.11 The head limiting sleeve 1032 is an integrally stepped ring sleeve, which extends outward on the outer ring end face to form a limiting boss 1032-1, and a limiting avoidance groove 1032-2 is opened on the inner ring end face; the limiting boss 1032-1 on the outer ring of the head limiting sleeve 1032 cooperates with the sleeve limiting groove 1035-1 at the upper end of the adapter sleeve 1035, and the limiting avoidance groove 1032-2 cooperates with the head limiting groove 1025 of the height adjustment arm 102, so as to realize the small range rotation limit of the head adjustment component 103.

[0041] Furthermore, the head adjustment assembly 103 also includes a first clamping plate 10313 and a second clamping plate 10314, wherein the first clamping plate 10313 fastens one end of the damping hinge 10311 to the front end surface of the adapter sleeve 1035, and the second clamping plate 10314 connects the connecting plate 10312 to the other end of the damping hinge 10311.

[0042] See also Fig.13 The first pressing plate 10313 is provided with a pressing hole and a first pressing plate groove 10313 - 1 .

[0043] See also Fig.14 The second pressing plate 10314 is provided with a pressing hole, a second pressing plate groove 10314-1 and a pin shaft mounting hole 10314-2.

[0044] Furthermore, the head adjustment assembly 103 also includes a first head limit block 1038 and a second head limit block 1039 . The first head limit block 1038 is arranged at the bottom of the adapter sleeve 1035 , and the second head limit block 1039 is installed on the upper end surface of the second clamping plate 10314 .

[0045] Furthermore, the head adjustment component 103 also includes a damping member 10310, which is arranged at the damping hinge 10311. The damping member 10310 is used to balance the gravity when the visual unit 104 is pitch adjusted, and the resistance of the damping hinge 10311 is used to keep the visual unit 104 hovering at any position when the pitch is adjusted.

[0046] For a specific example, see Figure 7 , Fig. 9 and Fig.14 The damping member 10310 is in the form of a torsion spring, which includes a torsion spring center hole 10310-1, a first spring leg 10310-2 and a second spring leg 10310-3.

[0047] When in use, the center hole 10310-1 of the torsion spring is placed at the pin shaft mounting hole 10314-2 of the second clamping plate 10314, and the second spring leg 10310-3 is inserted into the second clamping plate groove 10314-1 of the second clamping plate 10314, and the pin 10315 is inserted from the pin shaft mounting hole 10314-2 on one side of the second clamping plate 10314, so that the torsion spring, the second clamping plate 10314 and the connecting plate 10312 are formed into a whole. One end face of the damping hinge 10311 is installed on the lower end face of the connecting plate 10312, and the other end face of the damping hinge 10311 is installed on the front end face of the adapter sleeve 1035, and at the same time, the first groove 10313-1 of the first clamping plate 10313 is inserted into the first spring leg 10310-2 of the torsion spring.

[0048] Furthermore, a handle 10316 is installed on the lower end surface of the connecting plate 10312 for operating the head adjustment assembly 103 .

[0049] During assembly, the O-ring 1036 is inserted into the O-ring installation groove 1031-1 on the head adapter pin 1031. Then the head limit sleeve 1032 is inserted into the head rotation shaft 1024, and its limit avoidance groove 1032-2 matches with the head limit groove 1025. Then the first bowl set bearing 1033 is installed, so that the inner ring of the bearing matches with the head bearing groove 1026, the outer ring of the bearing matches with the adapter sleeve 1035, and the sleeve limit groove 1035-1 on the adapter sleeve 1035 matches with the limit boss 1032-1, completing the extension of the head limit groove 1025, so that the head adjustment component 103 rotates in a small range to complete the limit. The lower end of the adapter sleeve 1035 is provided with a second headset bearing 1034, and a tightening nut 1037 is provided to form a threaded fit with the head thread 1031-2 to compress the above components. At this time, the outer ring of the second headset bearing 1034 is matched with the adapter sleeve 1035, and the inner ring is matched with the tightening nut 1037 to complete the rotation design of the adapter sleeve 1035. The number of O-rings 1036 installed can be adjusted by the effect of the rotation of the head adjustment component 103 after the overall assembly, so as to achieve the purpose of smooth rotation and hovering at any position.

[0050] A second clamping plate 10314 is installed on the upper end surface of the connecting plate 10312. A pin mounting hole 10314-2 is designed on the head of the second clamping plate 10314. The center hole 10310-1 of the torsion spring is placed coaxially with the pin mounting hole 10314-2 of the second clamping plate 10314, and the second spring leg 10310-3 of the torsion spring is inserted into the second clamping plate groove 10314-1 of the second clamping plate 10314, and the pin 10315 is inserted into the pin mounting hole 10314-2 on one side of the second clamping plate 10314, so that the torsion spring, the second clamping plate 10314 and the connecting plate 10312 form a whole. One end face of the damping hinge 10311 is installed on the lower end face of the connecting plate 10312, and the other end face of the damping hinge 10311 is installed on the front end face of the adapter sleeve 1035. At the same time, the first pressure plate groove 10313-1 of the first clamping plate 10313 is inserted into the first spring leg 10310-2 of the torsion spring, and then fastened to the damping hinge 10311 and the front end face of the adapter sleeve 1035. The second head limit block 1039 is installed on the upper end face of the second clamping plate 10314, and the handle 10316 is installed on the lower end face of the connecting plate 10312. The assembly of the pitch part of the head assembly is completed. The torsion of the torsion spring is used to balance the gravity when the visual unit 104 is pitched, and the resistance of the damping hinge 10311 is used for the visual unit 104. Taking the binocular camera as an example, the pitch adjustment can achieve hovering at any position and maintain stability.

[0051] The design of the head adjustment component 103 of the present application realizes the adjustment of the rotational posture of the visual unit 104 in a small range, as well as the pitch adjustment at a small angle, which can locate the target more accurately and quickly near the target position, and place the target in the best position of vision. At the same time, it is provided with a pitch limit device to limit the optimal angle range of the visual unit adjustment, making the adjustment more efficient. The head adjustment component 103 includes a rotation mechanism and a pitch adjustment mechanism, and its design has been precisely calculated and extensively tested to meet the smoothness of rotation and pitch adjustment and can hover at any position, and the hovering is reliable.

[0052] The visual unit 104 uses a monocular camera, a binocular camera or other multi-camera, an imaging laser or the like, or a combination thereof. The form is not limited here. Figure 6 and Fig. 9 , in the form of a binocular camera, which is installed at the end of the connecting plate 10312 and / or the upstream section of the handle 10316. The binocular camera shown in the figure is fastened to the front end surface of the end of the connecting plate 10312.

[0053] The above-mentioned rotation support structure can meet the requirements of a large range of rotation and height adjustment, and can meet the requirements of hovering at any position, so that the camera's field of view can be quickly adjusted to the vicinity of the target position. After reaching the vicinity of the target position, the camera can be rotated left and right and pitched in a small range, and at the same time meet the requirements of hovering at any position, and quickly and accurately lock the target position. The main innovations of this application are as follows.

[0054] 1) Large range of rotation and height adjustment, quickly locate near the target; 2) Small-range rotation and pitch adjustment to accurately and efficiently locate the target to the best position in the field of view; 3) Wide range of rotation damping adjustable, can hover at any position. Wide range of height adjustment, can hover at any position; 4) Small range rotation damping is adjustable, and it can hover at any position. Small range pitch adjustment, after precise calculation and testing, a torsion spring is set to balance the camera gravity, so that the pitch adjustment feels the same. At the same time, after precise calculation and testing, a damping hinge is set to achieve smooth pitch adjustment and hover at any position.

[0055] The rotating support mechanism of the present application has hovering mechanisms in various places that are naturally suspended and firm, without the need for additional knobs and screws, and is easy to use. In the specific example, it is applied to the navigation and positioning scene of orthopedic surgery, which can make the adjustment of the binocular camera more accurate and faster, help the entire surgical process to proceed more smoothly, and improve the human-computer interaction of the equipment. Of course, as an extension, the rotating support mechanism can also be applied to other scenes or fields that require arbitrary hovering of large and small ranges.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rotary support mechanism, characterized in that: The rotating support mechanism comprises a supporting cross arm (101), a height adjustment arm (102), a head adjustment component (103) and a visual unit (104) which are connected in sequence; The height adjustment arm (102) is arranged between the support cross arm (101) and the head adjustment component (103), and the visual unit (104) is mounted on the head adjustment component (103); the support cross arm (101) is mounted horizontally with rotation control around one end thereof, and is used for large-range rotation and hovering of the entire mechanism; the height adjustment arm (102) is used for adjusting the height of the head adjustment component (103) and the visual unit (104) and for hovering the visual unit (104) at any height; the head adjustment component (103) is used for small-range rotation and pitch adjustment of the visual unit (104); and the visual unit (104) is used for visual acquisition of a target position and surgical navigation positioning.

2. The rotary support mechanism according to claim 1, characterized in that: The supporting cross arm (101) comprises a cross arm (1011), and cross arm mounting parts are vertically arranged at both ends of the cross arm (1011), one of the cross arm mounting parts is connected to an external supporting vertical rod to form a rotating pivot, and the other cross arm mounting part is used to connect the height adjustment arm (102).

3. The rotary support mechanism according to claim 2, characterized in that: The cross arm mounting portion comprises a rotation mounting hole and a cross arm limiting piece, and the cross arm limiting piece is used to limit the rotation angle of the cross arm (1011).

4. The rotary support mechanism according to claim 3 is characterized in that: The height adjustment arm (102) comprises a cross arm mounting shaft (1021), a cross arm limiting groove (1022), a parallelogram pressure rod mechanism (1023), a head rotation shaft (1024), a head limiting groove (1025) and a head bearing groove (1026); the cross arm mounting shaft (1021) is inserted into a cross arm mounting portion of the supporting cross arm (101); the cross arm limiting groove (1022) is fixedly connected to the cross arm mounting shaft (1021) and is matched with a cross arm limiting piece of the supporting cross arm (101). The parallelogram pressure rod mechanism (1023) is arranged inside the height adjustment arm (102) and is used to keep the head rotation axis (1024) parallel to the cross arm mounting axis (1021) and vertically downward at any time when adjusting the height; the head rotation axis (1024) is sleeved to the head adjustment component (103); the head limit groove (1025) and the head bearing groove (1026) are arranged at the end of the head rotation axis (1024) and are used to limit and support the head rotation axis (1024).

5. The rotary support mechanism according to claim 4 is characterized in that: The head adjustment assembly (103) comprises a head transfer pin (1031), a transfer sleeve (1035), a tightening nut (1037), a damping hinge (10311), a connecting plate (10312) and a handle (10316); The head transfer pin (1031), the transfer sleeve (1035) and the tightening nut (1037) are used to connect the entire head adjustment assembly (103) to the supporting head rotation shaft (1024) in a rotatable and adjustable manner, wherein the upper section of the head transfer pin (1031) is inserted into the head rotation shaft (1024), the outer periphery of the lower section of the head transfer pin (1031) is sleeved with the transfer sleeve (1035), and the tightening nut (1037) is screwed to the bottom end of the head transfer pin (1031) to achieve tightening and fixing; One end of the damping hinge (10311) is connected to the front end surface of the adapter sleeve (1035), the other end of the damping hinge (10311) is connected to one end of the connecting plate (10312), and the handle (10316) is installed on the other end of the connecting plate (10312).

6. The rotary support mechanism according to claim 5, characterized in that: The head transfer pin (1031) comprises at least an upper hollow pin body and a pin head extending from the top of the pin body to the outer periphery. The pin body is a multi-section stepped shaft. The pin body comprises an upper rotating shaft sleeve section, a lower sleeve sleeve section and a terminal screw section. An O-ring installation groove (1031-1) is provided on the sleeve sleeve section, a head thread (1031-2) is provided on the screw section, and a notch is provided on the pin head to form a tail end limit groove (1031 -3); wherein an O-ring (1036) is sleeved in the O-ring installation groove (1031-1); the head thread (1031-2) is used for threaded connection with the tightening nut (1037) to achieve pressing the parts at the head transfer pin (1031) to the end of the head rotating shaft (1024); the tail end limiting groove (1031-3) cooperates with the head rotating shaft limiting end face (1024-1) provided on the head rotating shaft (1024) to limit.

7. The rotary support mechanism according to claim 5, characterized in that: The head adjustment component (103) further comprises a head limiting sleeve (1032), a first bowl set bearing (1033) and a second bowl set bearing (1034); the head limiting sleeve (1032) is sleeved on the outer periphery of the end of the head rotating shaft (1024) and the outer periphery of the top of the adapter sleeve (1035), and is limited in the head limiting groove (1025) of the height adjustment arm (102); the first bowl set bearing (1033) is arranged at the junction of the upper end of the adapter sleeve (1035) and the lower end of the head rotating shaft (1024), and the second bowl set bearing (1034) is arranged at the junction of the lower end of the adapter sleeve (1035) and the tightening nut (1037), and the two bearings are used for rotation support.

8. The rotary support mechanism according to claim 7, characterized in that: The head adjustment assembly (103) further comprises a first clamping plate (10313) and a second clamping plate (10314), wherein the first clamping plate (10313) fastens one end of the damping hinge (10311) to the front end surface of the adapter sleeve (1035), and the second clamping plate (10314) connects the connecting plate (10312) to the other end of the damping hinge (10311).

9. The rotary support mechanism according to claim 8, characterized in that: The head adjustment assembly (103) further comprises a first head limit block (1038) and a second head limit block (1039), wherein the first head limit block (1038) is arranged at the bottom of the adapter sleeve (1035), and the second head limit block (1039) is installed on the upper end surface of the second clamping plate (10314).

10. The rotary support mechanism according to claim 9, characterized in that: The head adjustment component (103) further comprises a damping member (10310), wherein the damping member (10310) is arranged at the damping hinge (10311), and the damping member (10310) is used to balance the gravity when the visual unit (104) is adjusted in pitch, and the resistance of the damping hinge (10311) is used to keep the visual unit (104) hovering at any position when the pitch is adjusted.

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