Adjusting device for medical instrument

Abstract

The invention provides an adjusting device for a medical instrument, and relates to the technical field of medical robots. The adjusting device for the medical instrument comprises an adjusting unit arranged in at least one of a first preset direction, a second preset direction and a third preset direction, and the adjusting unit is used for adjusting the position of the medical instrument in the corresponding preset direction; the first preset direction, the second preset direction and the third preset direction are mutually orthogonal; wherein the adjusting unit comprises a lead screw module; the motor assembly is used for driving the lead screw module to move; the guide direction of the guide rail assembly is parallel to the movement direction of the lead screw module; and the sliding block is connected with the lead screw module and the guide rail assembly, and the sliding block is configured to move on the guide rail assembly under the driving action of the lead screw module so as to adjust the position of the target object.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical robots, and more particularly, to an adjustment device for medical instruments. Background Art

[0002] The snake-like arm is a flexible robotic arm composed of multiple joints, each of which can independently control its bending angle and direction, thereby achieving multi-degree-of-freedom movement. However, when the snake-like arm is locked, a slight posture error will occur, resulting in a deviation between the end position of the clamped instrument and the ideal position. Especially in the case of a small surgical space, this locking displacement will have a significant negative impact on the use of the device, requiring doctors to manually adjust the instrument multiple times to fix it in the ideal position. Summary of the invention

[0003] In view of this, the present disclosure provides an adjustment device for a medical instrument.

[0004] The present disclosure provides an adjustment device for a medical device, comprising: an adjustment unit, arranged in at least one of a first preset direction, a second preset direction, and a third preset direction, the adjustment unit being used to adjust the position of the medical device in the corresponding preset direction; the first preset direction, the second preset direction, and the third preset direction are orthogonal to each other; wherein the adjustment unit comprises: a screw module; a motor assembly, used to drive the screw module to move; a guide rail assembly, the guide direction of the guide rail assembly being parallel to the direction of movement of the screw module; and a slider, connected to the screw module and the guide rail assembly, the slider is driven by the screw module to move on the guide rail assembly to adjust the position of the medical device.

[0005] According to an embodiment of the present disclosure, the adjusting device further includes: a main body unit, which is arranged on a slider on the adjusting unit and is used to clamp the medical device and adjust the position of the medical device driven by the slider.

[0006] According to an embodiment of the present disclosure, the adjustment device also includes: a control unit, used to: determine the first movement information of the target object according to the received control signal; determine the first mapping relationship between the first posture information and the second posture information according to the control signal; based on the first movement information and the first mapping relationship, determine the second movement information corresponding to at least one slider; wherein the first movement information and the second movement information include a movement direction and a movement displacement, and the control signal is a signal for controlling the movement of the target object; the first posture information is the posture information of the slider, and the second posture information is the posture information of the target object.

[0007] According to an embodiment of the present disclosure, the adjustment device further includes: an inertial measurement unit, which is arranged at one end of the main unit close to the medical device and is used to detect the third posture information of the main unit.

[0008] According to an embodiment of the present disclosure, determining the first mapping relationship between the first posture information and the second posture information according to a control signal includes: determining the second mapping relationship between the first posture information and the third posture information according to the control signal; determining the third mapping relationship between the first posture information and the third posture information according to the second posture information and the third posture information; determining the first mapping relationship between the first posture information and the second posture information according to the second mapping relationship and the third mapping relationship.

[0009] According to an embodiment of the present disclosure, before determining the first mapping relationship between the first posture information and the second posture information according to the control signal, it also includes: initializing the first posture information, the second posture information and the third posture information.

[0010] According to an embodiment of the present disclosure, the inertial measurement unit includes: a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer.

[0011] According to an embodiment of the present disclosure, when the adjustment unit is arranged in at least two directions among the first preset direction, the second preset direction and the third preset direction, one adjustment unit of two adjacent adjustment units is stacked on a slider in the other adjustment unit.

[0012] According to an embodiment of the present disclosure, the adjustment unit further includes: a photoelectric sensor for detecting the position of the slider on the guide rail assembly.

[0013] The adjustment device for medical equipment provided according to the embodiments of the present disclosure has at least the following beneficial effects:

[0014] The rotation of the motor will drive the lead screw module to start rotating, and the lead screw module will convert the rotational motion into linear motion, thereby pushing the slider to slide smoothly along the guide rail assembly to reach the target position. The displacement of the slider can be accurately adjusted by the rotation of the motor, achieving high-precision position adjustment. In addition, the guide rail assembly ensures that the slider moves smoothly in the predetermined direction, avoiding unnecessary deviation or vibration, and improving the stability and reliability of the system.

[0015] By setting the adjustment unit in at least one of the first preset direction, the second preset direction and the third preset direction, the adjustment unit in the required direction can be flexibly set according to the actual application needs. At the same time, the medical device can be adjusted in all directions in three-dimensional space to meet complex surgical needs.

[0016] By converting the movement requirements of the target object in its own coordinate system into specific movement instructions in the coordinate system of the adjustment unit, high position resolution can be achieved, ensuring that each movement can accurately reach the predetermined position. High-precision position adjustment of medical devices in three-dimensional space is achieved, greatly improving surgical efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0018] Figure 1 A schematic diagram of a serpentine arm locked in one embodiment is shown schematically;

[0019] Figure 2 A schematic diagram of a patient according to an embodiment is schematically shown;

[0020] Figure 3 A schematic diagram of a doctor according to an embodiment is schematically shown;

[0021] Figure 4 A schematic diagram of an adjustment device according to an embodiment of the present disclosure is schematically shown;

[0022] Figure 5 A schematic diagram schematically shows an adjustment unit in an adjustment device according to Embodiment 1 of the present disclosure;

[0023] Figure 6 A schematic diagram schematically shows an adjustment unit in an adjustment device according to a second embodiment of the present disclosure;

[0024] Figure 7 A schematic diagram schematically shows an adjustment unit in an adjustment device according to a third embodiment of the present disclosure;

[0025] Figure 8 The main unit assembly diagram according to the embodiment of the present disclosure is schematically shown;

[0026] Fig. 9 The schematic diagram of the structure of the main unit according to the embodiment of the present disclosure is shown;

[0027] Fig.10 The flowchart of the control unit according to the embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0028] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known systems and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0029] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0030] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0031] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0032] Figure 1 A schematic diagram of a serpentine arm locked in one embodiment is shown schematically.

[0033] Figure 2 A schematic diagram of a patient according to an embodiment is schematically shown.

[0034] Figure 3 A schematic diagram of a doctor according to an embodiment is schematically shown.

[0035] Taking the example of medical devices such as endoscopes, Figure 1 , Figure 2 and Figure 3 shown.

[0036] At present, snake arms are often used to adjust the position of medical devices. Their free and locked states can be switched with one-touch operation. They are easy to adjust and are not affected by external interference, thus replacing traditional manual support methods.

[0037] However, in actual applications, when the snake arm is in the unlocked state, the doctor can place the instrument in the ideal position. But once the snake arm is locked, there will be inevitable posture errors at the end, resulting in a slight deviation x between the end position of the clamped instrument and the ideal position, such as Figure 1 As shown in the figure, the solid line is the ideal position and the dotted line is the actual locking position. Especially when the surgical space is small, this locking displacement will have a significant negative impact on the use effect of the device. To solve this problem, doctors need to make multiple adjustments based on their own experience to fix the instrument in the ideal position. This process is not only time-consuming, but also reduces the use efficiency.

[0038] Based on this, the present disclosure provides an adjustment unit to adjust the position so that the target object is in the center of the field of view, thereby solving the problem of locking displacement after the serpentine arm is locked in minimally invasive surgery.

[0039] Figure 4 A schematic diagram of an adjustment device according to an embodiment of the present disclosure is schematically shown.

[0040] The present disclosure provides an adjustment device for a medical device, comprising: an adjustment unit.

[0041] The adjustment unit is arranged in at least one of the first preset direction, the second preset direction and the third preset direction. The adjustment unit is used to adjust the position of the medical device in the corresponding preset direction; the first preset direction, the second preset direction and the third preset direction are orthogonal to each other.

[0042] The adjustment unit includes: a screw module; a motor assembly for driving the screw module to move; a guide rail assembly, the guide direction of the guide rail assembly is parallel to the direction of movement of the screw module; and a slider connected to the screw module and the guide rail assembly, and the slider is driven by the screw module to move on the guide rail assembly to adjust the position of the medical device.

[0043] In the embodiments of the present disclosure, according to actual needs, it is possible to flexibly choose to set adjustment units in one or more directions of the X-axis, Y-axis, and Z-axis to achieve position adjustment in different dimensions. For example, in some application scenarios, it may only be necessary to adjust the X-axis and Y-axis. At the same time, when comprehensive adjustment in three directions is required, the full range and high-precision position adjustment of medical devices in three-dimensional space can also be met. Each adjustment unit uses a lead screw module to convert the rotational motion of the motor assembly into the linear motion of the slider, ensuring extremely high position resolution and repeatability.

[0044] At the same time, each adjustment unit is independent of each other and can handle movement in a certain direction alone without affecting the adjustment in other directions. And through this adjustment device, the time for doctors to manually adjust the position of the instrument is reduced, which improves the efficiency of surgery.

[0045] Figure 5 The diagram schematically shows a schematic diagram of an adjustment unit in an adjustment device according to the first embodiment of the present disclosure.

[0046] like Figure 5 As shown, the adjustment unit includes: a screw module 2114, including a screw and a screw nut, which is fixed on the base 2111 of the adjustment unit through a screw fixing seat arranged at one end of the screw module.

[0047] The motor assembly 2113 is connected to the other end of the screw module 2114 and is used to drive the screw module 2114 to move.

[0048] The guide rail assembly 2112 has a guiding direction parallel to the movement direction of the lead screw module 2114, wherein the guide rail assembly includes two guide rails.

[0049] and slider 2115 (see Figure 4 ), connected to the lead screw module 2114 and the guide rail assembly 2112. The slider 2115 is configured to move on the guide rail assembly 2112 under the driving action of the lead screw module 2114 to adjust the position of the target object.

[0050] The motor assembly 2113 may be a stepper motor. The lead screw module 2114 may be a trapezoidal lead screw module, which can prevent the load from sliding in the opposite direction along the lead screw without an external driving force.

[0051] The target object may be an endoscope or other surgical instruments, but is not limited thereto.

[0052] In an embodiment of the present disclosure, a high position resolution can be achieved by converting the rotational motion of the motor assembly into the linear motion of the slider through a lead screw module. Specifically, as the motor rotates, the lead screw module also starts to rotate. Due to the threaded meshing action between the lead screw and the nut, the nut is forced to move along the axial direction of the lead screw, thereby driving the slider connected to the nut. Therefore, as the lead screw rotates, the nut pushes the slider to slide smoothly along the guide rail assembly. At the same time, connecting devices are configured on both sides of the slider and embedded in the guide rail assembly to ensure that the slider moves in a preset direction without offset or other unnecessary movements. The adjustment unit of the above embodiment can be set in any direction, so that the target object slides a preset displacement along a preset direction, which has a high degree of flexibility.

[0053] like Figure 4 As shown, for example, the adjustment device includes a first preset direction adjustment unit 2110, a second preset direction adjustment unit 2120 and a third preset direction adjustment unit 2130. That is, setting adjustment units in the X-axis, Y-axis and Z-axis directions can meet the full-range position adjustment of the medical device in three-dimensional space.

[0054] For example, Figure 5 As shown, the adjustment device may include a first preset direction adjustment unit 2110, that is, the adjustment unit is arranged in the X-axis direction. The direction guided by the lead screw module 2114 and the guide rail assembly 2112 is the X-axis direction.

[0055] Figure 6 The schematic diagram schematically shows an adjustment unit in the adjustment device according to the second embodiment of the present disclosure.

[0056] Figure 7 The schematic diagram schematically shows an adjustment unit in the adjustment device according to the third embodiment of the present disclosure.

[0057] like Figure 6 As shown, the above-mentioned adjustment device may include a second preset direction adjustment unit 2120, that is, the adjustment unit is arranged in the Y-axis direction.

[0058] The guide direction of the lead screw module 2124 and the guide rail assembly 2122 is the Y-axis direction.

[0059] The adjustment unit includes: a screw module 2124, including a screw and a screw nut, which is fixed to the base 2121 of the adjustment unit through a screw fixing seat arranged at one end of the screw module. A motor assembly 2123 is connected to the other end of the screw module 2124, and is used to drive the screw module 2124 to move. A guide rail assembly 2122, the guide direction of the guide rail assembly is parallel to the direction of movement of the screw module 2124, wherein the guide rail assembly includes two guide rails. And a slider ( Figure 6 The slider is driven by the lead screw module 2124 to move on the guide rail assembly 2122 to adjust the position of the target object.

[0060] like Figure 7 As shown, the above-mentioned adjustment device may include a third preset direction adjustment unit 2130, that is, the adjustment unit is arranged in the Z-axis direction.

[0061] Among them, the guiding direction of the screw module 2134 and the guide rail assembly 2132 is the Z-axis direction.

[0062] The adjustment unit includes: a screw module 2134, including a screw and a screw nut, which is fixed to the base 2131 of the adjustment unit through a screw fixing seat set at one end of the screw module. A motor assembly 2133 is connected to the other end of the screw module 2134, and is used to drive the screw module 2134 to move. A guide rail assembly 2132, the guide direction of the guide rail assembly is parallel to the direction of movement of the screw module 2134, wherein the guide rail assembly includes two guide rails. And a slider ( Figure 7 The slider is driven by the lead screw module 2134 to move on the guide rail assembly 2132 to adjust the position of the target object.

[0063] On the basis of the above embodiment, when the adjustment unit is arranged in at least two directions among the first preset direction, the second preset direction and the third preset direction, one of the two adjacent adjustment units is stacked on the slider in the other adjustment unit.

[0064] For example, the adjustment unit can be arranged in the first preset direction and the second preset direction, and the adjustment unit in the second preset direction can be arranged on the slider in the first preset direction. In the working state, the movement of the slider in the first preset direction will drive the adjustment unit in the second preset direction to move along the first preset direction by a preset displacement, and when the slider in the second preset direction moves, the adjustment unit in the first preset direction does not move.

[0065] The adjustment unit can be set in the first preset direction and the third preset direction, and the adjustment unit can be set in the second preset direction and the third preset direction. The movement principle is the same as the above adjustment unit is set in the first preset direction and the second preset direction, which will not be repeated here.

[0066] like Figure 4 As shown, the adjustment unit can be set in the first preset direction 2110, the second preset direction 2120 and the third preset direction 2130, then the adjustment unit 2120 of the second preset direction can be set on the slider 2115 of the first preset direction, and the adjustment unit 2130 of the third preset direction can be set on the slider of the second preset direction. In the working state, the movement of the slider 2115 of the first preset direction will drive the adjustment unit 2120 of the second preset direction set above to move the preset displacement along the first preset direction. When the slider of the second preset direction moves the preset displacement, the adjustment unit 2110 of the first preset direction does not move, but the adjustment unit 2130 of the third preset direction will move the preset displacement along the second preset direction, thereby realizing the movement of the device in three-dimensional space.

[0067] In an embodiment of the present disclosure, the adjustment unit 2120 of the second preset direction is arranged on the slider 2115 of the first preset direction, and the adjustment unit of the third preset direction is arranged on the slider of the second preset direction. A compact hierarchical structure is formed, which not only improves the integration of the overall device, but also can dynamically adjust the preset displacement of the preset direction. At the same time, each adjustment unit is relatively independent and can be flexibly configured and expanded according to actual needs. For example, in some application scenarios, it may only be necessary to adjust on the X-axis and Y-axis, while in other cases, comprehensive adjustment in three directions is required.

[0068] Figure 8 The figure schematically shows an assembly diagram of a main unit according to an embodiment of the present disclosure.

[0069] Fig. 9 The schematic diagram of the structure of the main unit according to the embodiment of the present disclosure is shown schematically.

[0070] like Figure 8As shown, according to an embodiment of the present disclosure, the adjusting device 2100 further includes: a main body unit 2200, which is disposed on a slider on the adjusting unit and is used to clamp the medical device and adjust the position of the medical device driven by the slider.

[0071] When adjustment units are provided in the first preset direction, the second preset direction and the third preset direction, the main body unit is fixed on the slider of the adjustment unit in the third preset direction to drive the main body unit to move in three-dimensional space.

[0072] Among them, Fig. 9 As shown, the main unit includes: a host 2210, a serpentine arm 2220 and an instrument chuck 2230.

[0073] The main machine includes a stepper motor, a reducer, a trapezoidal lead screw, a printed circuit board and related structural parts. The related structural parts may include bearings, couplings, etc.

[0074] The serpentine arm consists of a friction ball, a steel wire rope and related fixings.

[0075] The host is used to provide power to drive the movement of the snake arm.

[0076] Instrument chucks are used to clamp medical instruments.

[0077] The serpentine arm also includes a photoelectric sensor for detecting the displacement of the serpentine arm to avoid exceeding the set upper and lower position limits.

[0078] Force sensor, used to detect the tension of the wire rope in the serpentine arm transmission mechanism.

[0079] In the embodiment of the present disclosure, since there is a displacement error when the serpentine arm adjusts the medical device, after the main unit completes the rough adjustment of the displacement of the medical device, the adjustment unit provided in this embodiment performs fine adjustment of the error displacement to place the medical device at the target position.

[0080] Fig.10 The flowchart of the control unit according to the embodiment of the present disclosure is schematically shown.

[0081] like Fig.10 As shown, according to an embodiment of the present disclosure, the regulating device further includes: a control unit. The control unit is used to include step S101, step S102 and step S103.

[0082] Step S101: determining first movement information of a target object according to a received control signal.

[0083] Step S102: Determine a first mapping relationship between the first pose information and the second pose information according to the control signal.

[0084] Step S103: based on the first movement information and the first mapping relationship, determining the second movement information corresponding to at least one slider.

[0085] The first movement information and the second movement information include a movement direction and a movement displacement, and the control signal is a signal for controlling the movement of the target object; the first posture information is the posture information of the slider, and the second posture information is the posture information of the target object.

[0086] For example, the torque of the target object's coordinate system in the adjustment unit's coordinate system is R.

[0087] If the target object needs to move n along the z direction of the target object coordinate system, the z-axis direction vector can be expressed as , which is converted into the adjustment unit coordinate system:

[0088]

[0089] Therefore, if the target object needs to be moved by n along the z direction of the target object coordinate system, the adjustment unit needs to be moved along the x direction of the adjustment unit coordinate system. , move in the y direction , z direction movement .

[0090] Similarly, if the target object needs to be moved m along the x direction of the target object coordinate system, the adjustment unit needs to be moved along the x direction of the adjustment unit coordinate system. , move in the y direction , z direction movement .

[0091] Similarly, if the target object needs to be moved by l along the y direction of the target object coordinate system, the adjustment unit needs to be moved along the x direction of the adjustment unit coordinate system. , move in the y direction , z direction movement .

[0092] In an embodiment of the present disclosure, a control unit is used to receive a control signal, and analyze the control signal, and then determine the moving direction and displacement of the target object, i.e., the medical device. And according to the mapping relationship between the posture information of the slider in the adjustment unit and the posture information of the target object, the moving direction and displacement of the slider in the adjustment unit are calculated. By setting the control unit, the position adjustment and error compensation of the target object can be accurately performed, and the adjustment process can be quickly completed through control instructions. By converting the movement requirements of the target object in its own coordinate system into specific movement instructions in the coordinate system of the adjustment unit, a high position resolution can be achieved, ensuring that each movement can accurately reach the predetermined position. In this embodiment, through the above steps, high-precision position adjustment of medical devices in three-dimensional space is achieved, which greatly improves the efficiency and safety of the operation.

[0093] Based on the above embodiment, the adjustment device further includes: an inertial measurement unit.

[0094] The inertial measurement unit is arranged at one end of the main unit close to the medical device, and is used to detect the third posture information of the main unit.

[0095] In an embodiment of the present disclosure, the inertial measurement unit is arranged at one end of the main unit close to the medical device, that is, at one end of the serpentine arm close to the clamping device, for detecting the position information of the end of the serpentine arm.

[0096] On the basis of the above embodiment, determining the first mapping relationship between the first posture information and the second posture information according to the control signal includes:

[0097] According to the control signal, a second mapping relationship between the first posture information and the third posture information is determined.

[0098] A third mapping relationship between the first pose information and the third pose information is determined according to the second pose information and the third pose information.

[0099] According to the second mapping relationship and the third mapping relationship, a first mapping relationship between the first posture information and the second posture information is determined.

[0100] By setting three coordinate systems, namely the target object coordinate system, the adjustment unit coordinate system and the inertial measurement unit coordinate system. Among them, the mapping relationship between the adjustment unit coordinate system and the inertial measurement unit coordinate system is preset. When the main unit adjusts the target object to the vicinity of the target position, the position and posture information at this time can be determined by the inertial measurement unit, and the coordinate system of the inertial measurement unit and the coordinate system of the target object can be determined by a preset constraint relationship. Based on this, the position and posture relationship between the target object and the slider in the adjustment unit can be quickly calculated.

[0101] For example, when receiving the control signal, the control unit determines the second mapping relationship and the third mapping relationship, and then determines the first mapping relationship between the first posture information and the second posture information in combination with the second mapping relationship and the third mapping relationship. Then, the second movement information is determined according to the first mapping relationship and the first movement information. At this time, the control unit drives the motor assembly of the adjustment unit according to the calculated second movement information, converts the rotational motion into linear motion through the trapezoidal screw module, and drives the slider and the equipment carried thereon to accurately reach the target position.

[0102] In the embodiments of the present disclosure, by pre-calculating and storing the control signal and posture information, the system can quickly determine the corresponding mapping relationship when receiving the instruction, thereby speeding up the response speed and quickly adjusting the instrument position during the operation.

[0103] On the basis of the above embodiment, before determining the first mapping relationship between the first posture information and the second posture information according to the control signal, it also includes: initializing the first posture information, the second posture information and the third posture information.

[0104] In the embodiments of the present disclosure, by initializing the posture information, the corresponding mapping relationship can be obtained quickly and accurately.

[0105] Based on the above embodiment, the inertial measurement unit includes: a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer.

[0106] Based on the above embodiment, the adjustment unit further includes: a photoelectric sensor 2115 for detecting the position of the slider on the guide rail assembly. During the entire movement of the slider, the photoelectric sensor continuously detects the actual position of the slider for real-time feedback to ensure that the displacement of the slider does not exceed the upper and lower limits of the guide rail, so as to facilitate instant adjustment.

[0107] In some possible embodiments, the inertial measurement unit communicates with the control board of the adjustment unit via RS485, and the control board of the adjustment unit communicates with the control board of the main unit via RS232.

[0108] According to an embodiment of the present disclosure, the regulating device further comprises: a power adapter for converting AC 220V into DC 24V and then connecting to the hardware circuit board of the regulating device. The 24V power supply of the main unit is converted and output by the control unit of the regulating unit.

[0109] The control handle and the control handle interface board can be independent printed circuit boards, which are connected to the adjustment unit and the main unit through cables. The control handle includes a serpentine arm locking and releasing button, a 3-axis fine-adjustment drive mechanism posture calibration button, a rocker unlocking button and a thumb rocker. Among them, the control signal sent by the serpentine arm locking and releasing button is sent to the control board of the main unit. The control signals sent by the 3-axis fine-adjustment drive mechanism posture calibration button, the rocker unlocking button and the thumb rocker are sent to the control board of the adjustment unit.

[0110] The control board of the main unit is based on the chip, which cooperates with the external circuit to realize the control of each handle and signal acquisition. The main frequency of this chip can reach up to 168MHz and has rich peripheral interfaces. The onboard 16MB nor flash chip is used to store system configuration information and real-time data of the device, such as the number of uses, real-time force value, and real-time current value. At the same time, this chip outputs a pulse width modulation (PWM) signal through a high-speed timer to control the H-bridge circuit to drive the forward and reverse rotation of the DC brushed motor. At the same time, an on-chip analog-to-digital converter (ADC) is used to read the value of the force sensor and the motor current value in real time, and cooperates with the photoelectric sensor to play a role in accurate control and system protection.

[0111] The control board of the regulating unit is based on the chip, and it has three 1 / 256 subdivision micro-stepping motor driver chips on board to drive three groups of stepper motors respectively.

[0112] In some possible embodiments, the regulating unit control board includes: a motor driving module 1, an electrode driving module 2 and a motor driving module 3, which are respectively used to drive motors set in a first preset direction, a second preset direction and a third preset direction.

[0113] The handle control panel has 8 buttons, corresponding to the fine-tuning drive mechanism posture calibration button, the joystick unlock button and the thumb joystick, where the thumb joystick includes up, down, left, right, front and back.

[0114] The status indicator light is used to display the current working status of the adjustment device.

[0115] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0116] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. An adjusting device for medical equipment, characterized in that: include: An adjustment unit, arranged in at least one direction among a first preset direction, a second preset direction, and a third preset direction, and the adjustment unit is used to adjust the position of the medical device in the corresponding preset direction; The first preset direction, the second preset direction and the third preset direction are orthogonal to each other; Wherein, the adjustment unit comprises: Lead screw module; A motor assembly, used for driving the screw module to move; A guide rail assembly, wherein the guiding direction of the guide rail assembly is parallel to the direction in which the lead screw module moves; and The slider is connected to the lead screw module and the guide rail assembly, and the lead screw module drives the slider to move on the guide rail assembly to adjust the position of the medical device.

2. The adjusting device according to claim 1, characterized in that: Also includes: The main body unit is arranged on the slider on the adjusting unit, and is used for clamping the medical device and adjusting the position of the medical device driven by the slider.

3. The adjusting device according to claim 2, characterized in that: Also includes: Control unit for: determining first movement information of the target object according to the received control signal; Determine a first mapping relationship between the first posture information and the second posture information according to the control signal; Determine second movement information corresponding to at least one slider based on the first movement information and the first mapping relationship; Among them, the first movement information and the second movement information include movement direction and movement displacement, the control signal is a signal for controlling the movement of the target object; the first posture information is the posture information of the slider, and the second posture information is the posture information of the target object.

4. The adjusting device according to claim 3, characterized in that: Also includes: An inertial measurement unit is arranged on one end of the main unit close to the medical device and is used to detect third posture information of the main unit.

5. The adjusting device according to claim 4, characterized in that: Determining, according to the control signal, a first mapping relationship between the first posture information and the second posture information comprises: Determine, according to the control signal, a second mapping relationship between the first posture information and the third posture information; Determine a third mapping relationship between the first posture information and the third posture information according to the second posture information and the third posture information, The first mapping relationship between the first posture information and the second posture information is determined according to the second mapping relationship and the third mapping relationship.

6. The adjusting device according to claim 4, characterized in that: Before determining the first mapping relationship between the first posture information and the second posture information according to the control signal, the method further includes: Initialize the first posture information, the second posture information, and the third posture information.

7. The adjusting device according to claim 7, characterized in that: The inertial measurement unit includes: a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer.

8. The adjusting device according to claim 1, characterized in that: In the case where the adjusting unit is arranged in at least two directions among the first preset direction, the second preset direction and the third preset direction, one adjusting unit of two adjacent adjusting units is stacked on a slider in the other adjusting unit.

9. The adjusting device according to claim 1, characterized in that: Also includes: A photoelectric sensor is used to detect the position of the slider on the guide rail assembly.

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