Module for tilting around telecentric point

Abstract

The invention belongs to the technical field of minimally invasive surgery, and particularly relates to a telecentric-point-bypassing tilting motion module which comprises a fixing frame and a tilting unit, the tilting unit is in a hollow frame shape, the upper surface of the tilting unit is arranged to be in an arc shape, the tilting unit is fixedly connected to the top end of the fixing frame, and the tilting unit is fixedly connected to the top end of the fixing frame. The circle center of a circle where the arc shape of the upper surface of the tilting unit is located is a telecentric point which is located on the fixing frame. Compared with the prior art, the telecentric point tilting module has the advantages that higher operation flexibility and adjustment precision are provided, the operation time can be effectively shortened, the risk of a patient is reduced, and the telecentric point tilting module is particularly superior in an operation needing high-precision angle adjustment. Meanwhile, fixation of the telecentric point completely depends on mechanical structure control, and compared with traditional RCM control equipment, servo motor control is not needed, cost is lower, and precision is higher.

Description

Technical Field

[0001] The invention relates to the technical field of minimally invasive surgery, in particular to a tilting motion module around a distal point. Background Art

[0002] Minimally invasive surgery, as the name implies, is a small wound or trauma. It is a feature of modern medical surgical treatment. It is a technical term, which means that only small trauma is caused to the patient during the surgical treatment and only small wounds are left after the operation. It is a scientific and technological achievement relative to traditional surgery. Therefore, minimally invasive is a term specifically connected with surgery and operation, such as minimally invasive surgery, minimally invasive surgery, etc. Minimally invasive, there is no accurate definition. However, many surgeons believe that minimally invasive should be relative to traditional surgery, and it mainly has four characteristics: small incision, small trauma, fast recovery, and less pain. Minimally invasive surgery is a medical revolution brought about by high technology.

[0003] In minimally invasive surgery, especially when it involves precise implantation such as electrodes or other implants, how to accurately control the angle of the implant is the key to improving the success rate and safety of the surgery. Existing technologies usually rely on complex mechanical structures or manual adjustments, which have problems such as complex operation, limited adjustment range, insufficient accuracy or high dependence. Summary of the invention

[0004] The object of the present invention is to provide a tilting motion module around a telecentric point to solve the problems that the prior art proposed in the above background technology usually relies on complex mechanical structures or manual adjustments, and these methods have the problems of complex operation, limited adjustment range, insufficient accuracy or high dependence.

[0005] To achieve the above object, the present invention provides the following technical solution: a tilt motion module around a telecentric point, comprising:

[0006] Fixed frame, tilting unit;

[0007] Among them, the tilting unit is in the shape of a hollow frame, the upper surface of the tilting unit is set to an arc shape, the tilting unit is fixedly connected to the top of the fixing frame, the center of the circle where the arc on the upper surface of the tilting unit is located is the telecenter, and the telecenter is located on the fixing frame.

[0008] Preferably, a rotating knob is provided in the middle of the upper surface of the tilting unit.

[0009] Preferably, a rotating shaft is provided at the distal point of the fixing frame, the axis of the rotating shaft intersects with the distal point, an axle seat is rotatably connected to the outer wall of the rotating shaft, and the axle seat is used to support the rotating shaft, the fixing frame and the tilting unit.

[0010] Preferably, support rods are connected to the left and right sides of the axle seat, an outer frame is set outside the support rods, the outer frame is in an N shape, the upper side of the outer frame is located on the upper side of the tilting unit, the bottom of the outer frame is set on the rotating support mechanism, and a tilting drive mechanism for driving the tilting unit is installed on the outer frame.

[0011] Preferably, the tilting drive mechanism includes a driving motor 1 installed in the middle of the top end of the outer frame, a driving gear 1 is connected to the output shaft of the driving motor 1, and a driving tooth pattern 1 meshing with the driving gear 1 is formed on the upper surface of the tilting unit.

[0012] Preferably, the rotating support mechanism includes a base plate, the upper surface of the base plate is rotatably connected to a carrying plate, a rotating drive mechanism is provided on one side of the upper surface of the base plate, the rotating drive mechanism is used to drive the carrying plate to rotate, and a control component is provided on the other side of the upper surface of the base plate, the control component includes a power supply and a PLC controller, the control component is electrically connected to the tilting drive mechanism and the rotating drive mechanism, the base plate and the carrying plate are both provided with through slots, the lower end of the fixing frame passes through the through slot and extends downward.

[0013] Preferably, a circular support rail is disposed on the upper surface of the base plate, a circular slide groove matching the circular support rail is opened on the lower surface of the bearing plate, and the axes of the circular support rail, the circular slide groove, the bearing plate, and the groove coincide with each other.

[0014] Preferably, the rotating drive mechanism includes a mounting bracket, the bottom of the mounting bracket is connected to the upper surface of the base plate, a driving motor 2 is arranged on the upper part of the mounting bracket, a driving gear 2 is connected to the output shaft of the driving motor 2, and a driving tooth pattern 2 meshing with the driving gear 2 is provided on the outer wall of the supporting plate.

[0015] Preferably, an angle sensor 2 is arranged on the upper side of the outer wall of the drive motor 2, and the shaft of the angle sensor 2 is coaxially connected to the output shaft of the drive motor 2. An angle sensor 1 is arranged on the outer wall of the drive motor 1, and the shaft of the angle sensor 1 is coaxially connected to the output shaft of the drive motor 1. The signal output ends of the angle sensor 1 and the angle sensor 2 are electrically connected to the control component.

[0016] Preferably, a return spring is connected between the outer frame and the tilting unit.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] Compared with the prior art, the distal point tilt module of the present invention provides higher operational flexibility and adjustment accuracy, can effectively reduce operation time, and reduce patient risks, and performs particularly well in operations requiring high-precision angle adjustment.

[0019] Meanwhile, the fixation of the telecentric point completely relies on the mechanical structure control. Compared with the traditional RCM control equipment, the present invention does not require servo motor control, has lower cost and higher precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention based on the rotation of the rotary knob;

[0021] Figure 2 This is a schematic diagram of the structure of the present invention driven by an electric mechanism for rotation;

[0022] Figure 3 It is a structural schematic diagram of the tilting drive mechanism of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the bearing plate and the bottom plate of the present invention;

[0024] Figure 5 It is a schematic diagram of the structure of the separate bearing plate and bottom plate of the present invention;

[0025] Figure 6 It is a structural schematic diagram of the rotary drive mechanism of the present invention.

[0026] In the figure: 1. fixed frame; 2. tilting unit; 3. rotating shaft; 4. shaft seat; 5. rotating knob; 6. supporting rod; 7. outer frame; 8. reset spring; 9. tilting drive mechanism; 91. driving motor 1; 92. driving gear 1; 93. angle sensor 1; 10. bearing plate; 11. bottom plate; 12. through groove; 13. circular support rail; 14. control component; 15. rotating drive mechanism; 151. mounting bracket; 152. driving motor 2; 153. angle sensor 1; 154. driving gear 2. DETAILED DESCRIPTION

[0027] 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.

[0028] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] Embodiment 1:

[0030] See also Figure 1-Figure 6 ,The present invention provides a technical solution: a tilting motion module around a telecentric point, comprising: a fixing frame 1, a tilting unit 2;

[0031] Among them, the tilting unit 2 is in the shape of a hollow frame, the upper surface of the tilting unit 2 is set to an arc shape, the tilting unit 2 is fixedly connected to the top of the fixed frame 1, the center of the circle where the arc on the upper surface of the tilting unit 2 is located is the telecenter, and the telecenter is located on the fixed frame 1.

[0032] Analysis of the above content: When in use, the surgical tools or corresponding components that need to be installed are installed at the bottom end of the fixed frame 1. Based on the rotation of the tilt unit 2, the fixed frame 1 rotates around the distal point, so that the surgical tools or corresponding components on the fixed frame are rotated and adjusted.

[0033] Embodiment 2:

[0034] See also Figure 1-Figure 6 The present invention provides a technical solution based on the first embodiment: a rotating knob 5 is provided in the middle of the upper surface of the tilting unit 2.

[0035] Analysis of the above content: The control based on the rotating knob 5 is the first control method. The rotating knob 5 is installed at the top of the tilt unit 2. When the tilt unit 2 needs to be rotated, the tilt unit 2 is swung based on the rotating knob 5, so that the tilt unit 2 and the fixed frame 1 rotate around the distal point, thereby realizing the adjustment of the surgical tools or corresponding components.

[0036] Embodiment three:

[0037] See also Figure 1-Figure 6 The present invention provides a technical solution based on the first embodiment: a rotating shaft 3 is arranged at the distal point of the fixed frame 1, the axis of the rotating shaft 3 intersects with the distal point, and a shaft seat 4 is rotatably connected to the outer wall of the rotating shaft 3, and the shaft seat 4 is used to support the rotating shaft 3, the fixed frame 1, and the tilt unit 2. The left and right sides of the shaft seat 4 are connected to support rods 6, and the outer side of the support rods 6 is set with an outer frame 7, and the outer frame 7 is in an n shape. The upper side of the outer frame 7 is located on the upper side of the tilt unit 2, and the bottom of the outer frame 7 is arranged on the rotating support mechanism. The outer frame 7 is installed with a tilt driving mechanism 9 for driving the tilt unit 2.

[0038] Analysis of the above content: The second control method is based on the regulation of the tilt drive mechanism 9 and the rotating support mechanism. The tilt drive mechanism 9 and the rotating support mechanism can perform multi-angle adjustments on the fixed frame 1 and the tilt unit 2 as a whole, so that after the adjustment of the fixed frame 1 and the tilt unit 2, the adjustment of the surgical tools or corresponding components does not require manual control based on the regulation of the tilt drive mechanism 9 and the rotating support mechanism, so that the angle after adjustment is more precise.

[0039] Embodiment 4:

[0040] See also Figure 1-Figure 6 The present invention provides a technical solution based on the second embodiment: the tilting driving mechanism 9 includes a driving motor 91 installed in the middle of the top end of the outer frame 7, and a driving gear 92 is connected to the output shaft of the driving motor 91. The upper surface of the tilting unit 2 is provided with a driving tooth pattern 1 meshing with the driving gear 92.

[0041] Analyzing the above contents: the driving motor 1 91 drives the driving tooth pattern 1 on the tilting unit 2 based on the driving gear 1 92 , so that the tilting unit 2 swings and rotates left and right.

[0042] Embodiment five:

[0043] See also Figure 1-Figure 6 The present invention provides a technical solution based on the third embodiment: the rotating support mechanism includes a base plate 11, the upper surface of the base plate 11 is rotatably connected to the carrier plate 10, a rotating drive mechanism 15 is arranged on one side of the upper surface of the base plate 11, the rotating drive mechanism 15 is used to drive the carrier plate 10 to rotate, and a control component 14 is arranged on the other side of the upper surface of the base plate 11, the control component 14 includes a power supply and a PLC controller, the control component 14 is electrically connected to the tilting drive mechanism 9 and the rotating drive mechanism 15, the base plate 11 and the carrier plate 10 are both provided with a through slot 12, and the lower end of the fixing frame 1 passes through the through slot 12 and extends downward.

[0044] Analysis of the above content: The rotating drive mechanism 15 can rotate the supporting plate 10 on the base plate 11. Based on the rotation of the supporting plate 10, the structures such as the rotating shaft 3, the fixed frame 1, and the tilting unit 2 thereon can be swung synchronously, so that the rotating shaft 3, the fixed frame 1, and the tilting unit 2 rotate by a certain angle. At this time, the driving motor 91 drives the driving tooth pattern 1 on the tilting unit 2 based on the driving gear 92, so that the tilting unit 2 can swing and rotate at other angles, thereby expanding the range of the angular swing.

[0045] Embodiment six:

[0046] See also Figure 1-Figure 6The present invention provides a technical solution based on the fourth embodiment: a circular support rail 13 is arranged on the upper surface of the base plate 11, a circular slide groove matching the circular support rail 13 is opened on the lower surface of the carrier plate 10, and the axes of the circular support rail 13, the circular slide groove, the carrier plate 10, and the groove 12 coincide with each other.

[0047] Analysis of the above content: Based on the cooperation between the circular support rail 13 and the circular slide groove, the carrying plate 10 can stably rotate on the bottom plate 11 and is not easy to fall off.

[0048] Embodiment seven:

[0049] See also Figure 1-Figure 6 The present invention provides a technical solution based on the fourth embodiment: the rotating drive mechanism 15 includes a mounting bracket 151, the bottom of the mounting bracket 151 is connected to the upper surface of the base plate 11, and a driving motor 152 is arranged on the upper part of the mounting bracket 151. A driving gear 154 is connected to the output shaft of the driving motor 152, and a driving tooth pattern 154 meshing with the driving gear 154 is provided on the outer wall of the supporting plate 10.

[0050] Analysis of the above content: In a similar manner, the second driving motor 152 drives the second driving tooth pattern based on the second driving gear 154, so that the supporting plate 10 rotates.

[0051] Embodiment eight:

[0052] See also Figure 1-Figure 6 The present invention provides a technical solution based on Example 6: an angle sensor 153 is arranged on the upper side of the outer wall of the driving motor 152, and the shaft of the angle sensor 153 is coaxially connected to the output shaft of the driving motor 152; an angle sensor 93 is arranged on the outer wall of the driving motor 1 91, and the shaft of the angle sensor 93 is coaxially connected to the output shaft of the driving motor 1 91; the signal output ends of the angle sensor 1 93 and the angle sensor 153 are electrically connected to the control component 14.

[0053] Analysis of the above content: Based on the angle sensor 1 93 and the angle sensor 2 153 detecting the rotation angle of the output shaft of the drive motor 1 91 and the drive motor 2 152, a monitoring function is played, which is used to determine whether the driving rotation angle of the drive motor 1 91 and the drive motor 2 152 is accurate.

[0054] Embodiment nine:

[0055] See also Figure 1-Figure 6 The present invention provides a technical solution based on the third embodiment: a return spring 8 is connected between the outer frame 7 and the tilting unit 2 .

[0056] Analysis of the above content: Through the arrangement of the return spring 8, a role of elastic support is played between the outer frame 7 and the tilting unit 2, so that there is a gap between the outer frame 7 and the tilting unit 2.

[0057] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious 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 limited by the attached claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention, and any figure marks in the claims should not be regarded as limiting the claims involved.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tilting motion module around a telecentric point, characterized in that: include: A fixed frame (1), a tilting unit (2); The tilting unit (2) is in the shape of a hollow frame, the upper surface of the tilting unit (2) is arranged in an arc shape, the tilting unit (2) is fixedly connected to the top of the fixing frame (1), the center of the circle where the arc of the upper surface of the tilting unit (2) is located is the telecenter, and the telecenter is located on the fixing frame (1).

2. The tilting motion module about the telecentric point according to claim 1, characterized in that: A rotating knob (5) is provided in the middle of the upper surface of the tilting unit (2).

3. The tilting motion module about the telecentric point according to claim 1, characterized in that: A rotating shaft (3) is arranged at the distal point of the fixed frame (1), the axis of the rotating shaft (3) intersects with the distal point, and a shaft seat (4) is rotatably connected to the outer wall of the rotating shaft (3), and the shaft seat (4) is used to support the rotating shaft (3), the fixed frame (1), and the tilting unit (2).

4. The tilting motion module about the telecentric point according to claim 3, characterized in that: The left and right sides of the shaft seat (4) are connected to support rods (6), and an outer frame (7) is set outside the support rod (6). The outer frame (7) is in an N shape, and the upper side of the outer frame (7) is located on the upper side of the tilting unit (2). The bottom of the outer frame (7) is set on a rotating support mechanism, and a tilting drive mechanism (9) for driving the tilting unit (2) is installed on the outer frame (7).

5. The tilting motion module about the telecentric point according to claim 4, characterized in that: The tilting drive mechanism (9) comprises a driving motor (91) mounted in the middle of the top end of the outer frame (7); a driving gear (92) is connected to the output shaft of the driving motor (91); and a driving tooth pattern (92) meshing with the driving gear (92) is provided on the upper surface of the tilting unit (2).

6. The tilting motion module about the telecentric point according to claim 5, characterized in that: The rotation support mechanism comprises a base plate (11), the upper surface of the base plate (11) is rotatably connected to a carrier plate (10), a rotation drive mechanism (15) is arranged on one side of the upper surface of the base plate (11), the rotation drive mechanism (15) is used to drive the carrier plate (10) to rotate, a control component (14) is arranged on the other side of the upper surface of the base plate (11), the control component (14) comprises a power supply and a PLC controller, the control component (14) is electrically connected to the tilting drive mechanism (9) and the rotation drive mechanism (15), the base plate (11) and the carrier plate (10) are both provided with a through slot (12), and the lower end of the fixed frame (1) passes through the through slot (12) and extends downward.

7. The tilting motion module about the telecentric point according to claim 6, characterized in that: The upper surface of the base plate (11) is provided with a circular support rail (13), and the lower surface of the carrier plate (10) is provided with a circular slide groove matching the circular support rail (13), and the axes of the circular support rail (13), the circular slide groove, the carrier plate (10), and the through groove (12) coincide with each other.

8. The tilting motion module about the telecentric point according to claim 6, characterized in that: The rotary drive mechanism (15) comprises a mounting bracket (151), the bottom of the mounting bracket (151) is connected to the upper surface of the bottom plate (11), a second drive motor (152) is arranged on the upper part of the mounting bracket (151), a second drive gear (154) is connected to the output shaft of the second drive motor (152), and a second drive tooth pattern meshing with the second drive gear (154) is provided on the outer wall of the carrier plate (10).

9. The tilting motion module about the telecentric point according to claim 8, characterized in that: An angle sensor 2 (153) is arranged on the upper side of the outer wall of the second drive motor (152), and the shaft of the angle sensor 2 (153) is coaxially connected to the output shaft of the second drive motor (152). An angle sensor 1 (93) is arranged on the outer wall of the first drive motor (91), and the shaft of the angle sensor 1 (93) is coaxially connected to the output shaft of the first drive motor (91). The signal output ends of the angle sensor 1 (93) and the angle sensor 2 (153) are electrically connected to the control component (14).

10. The tilt motion module about the telecentric point according to claim 4, characterized in that: A return spring (8) is connected between the outer frame (7) and the tilting unit (2).

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