Telescopic positioning minimally invasive surgery auxiliary arm and method thereof

Abstract

The invention discloses a telescopic positioning minimally invasive surgery auxiliary arm and a method thereof. The telescopic positioning minimally invasive surgery auxiliary arm comprises a base arranged on the ground; the supporting table is mounted at the top of the base, and a plurality of telescopic arms are further mounted on the supporting table; a mounting plate is further mounted at the tail end of the supporting table; the bearing table is mounted at the top position of the mounting plate; a bearing mechanism is arranged at the top of the bearing table; according to the surgical instrument replacement device, the replacement efficiency of surgical instruments is effectively improved through the additionally-arranged pre-stored type bearing mechanism, specifically, the rotating assembly can pre-store sterile instruments, when old instruments are pulled away, new instruments are installed in a horizontal sliding mode, the single replacement time is shortened to 3-5 seconds, and the efficiency is improved by 6 times or above; in addition, the reliability problem of an electric scheme is avoided, instrument storage and the mechanical arm body are integrated, the occupied space of peripheral equipment of an operating table is reduced, meanwhile, an existing mounting mode is changed, a plug-in mode is changed into a side edge push-in mode for mounting, and the mounting efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of minimally invasive surgical assistant arms, and particularly relates to a telescopic positioning minimally invasive surgical assistant arm and a method thereof. Background Art

[0002] A minimally invasive surgical assistant arm is a medical device designed to assist doctors in performing minimally invasive surgical operations. Through a control system with a flexible robotic arm structure, corresponding surgical actions can be achieved, thereby improving the accuracy and efficiency of the surgery, and at the same time reducing the impact of doctor fatigue and hand tremors during operation on the surgical quality.

[0003] Currently, there are significant defects in the end effector replacement process of minimally invasive surgical assistant arm devices. During the operation, nurses need to manually remove the fixing screws or press the snap fasteners to remove the old end effector, and then transfer the new end effector and reinstall it. This process takes up to 25 - 30 seconds, frequently interrupting the surgical rhythm. In addition, the existing end interfaces of robotic arms adopt a one-way locking design. When replacing, it is necessary to accurately align the threads or slots of the end effector base and the interface, with a low operation error tolerance, and it is easy to cause installation failure due to angle deviation. More seriously, the storage location of the end effector is usually far from the robotic arm body, and nurses need to repeatedly move and transfer it, which not only occupies the operating room space but also may interfere with other devices due to collisions. Although some improvement solutions attempt to introduce an electric quick-change module, it relies on circuit control and sensor positioning, with a complex structure and potential electromagnetic interference hazards, making it difficult to meet the strict requirements of the operating room for reliability and aseptic environment. Summary of the Invention

[0004] The purpose of the present invention is to provide a telescopic positioning minimally invasive surgical assistant arm and a method thereof to solve the problems of inconvenient operation and long time consumption in the replacement of the end effector of the existing minimally invasive surgical assistant arm as mentioned in the above background art.

[0005] To achieve the above object, the present invention provides the following technical solution: A retractable positioning minimally invasive surgical assistant arm, including a base placed on the ground; a support platform installed on the top of the base, and a plurality of telescopic arms are also installed on the support platform. During minimally invasive surgery, the positioning and puncture work at different positions of the patient's body is realized through the folding and telescoping of the telescopic arms. The telescopic arms are controlled by an external operating device. Since this technology is existing, no further elaboration will be made here; an installation plate is also installed at the end of the support platform; a bearing platform is installed at the top position of the installation plate; a supporting mechanism is provided on the top of the bearing platform, and the supporting mechanism includes: a function board with a probe placed on the top; one end of the function board extends to the outside of the bearing platform; a rotating component is arranged at the edge position of one end of the function board, and another probe is installed on the rotating component. The probe on the rotating component is placed temporarily. After the old probe is taken out, the temporarily stored probe can be horizontally pushed into the installation position; a pressing component is also provided on the top surface of the bearing platform, and the pressing component is located at the top of the probe that is horizontally pushed in; a connecting component for the horizontal insertion of the end of the probe is provided on the installation plate.

[0006] As a preferred technical solution in the present invention, the function board includes a board body and an extension board integrally provided with the board body. The extension board extends out of the bearing platform, and a slot for accommodating the rotating component is also opened on the surface of the extension board. The area of the board body is the installation position of the probe in use, and the area of the extension board is the placement position of the probe to be used.

[0007] As a preferred technical solution in the present invention, the rotating component includes a connecting plate built in the slot. A slot is opened on the surface of the connecting plate, and a magnetic plate is adhered inside the slot. The magnetic plate is flush with the top surface of the connecting plate. Two connecting rails are also fixed on the surface of the connecting plate. Two sliding rails are provided on the surfaces of both the board body and the extension board. The widths of the sliding rails and the connecting rails are equal, and the connecting end faces of the two are completely coincident at a specific angle. The sliding rails and the connecting rails are both slidably connected to the bottom of the probe. When installing the probe, first slide it in through the end face of the sliding rail in the direction of the extension board until it slides to the end of the sliding rail. Then insert the probe to be used through the same steps and make the probe to be used be on the rotating component. Subsequently, rotate the probe to be used counterclockwise by 180° to avoid affecting the normal operation of the probe in the area of the board body.

[0008] As a preferred technical solution in the present invention, a connecting column is fixedly provided at the bottom end surface of the connecting plate. The connecting column penetrates to the bottom of the extension plate. A snap ring for limiting, not marked in the figure, is also provided on the connecting column. The snap ring is used to limit the connection between the connecting column and the bottom of the extension plate, and at the same time, it can ensure the normal rotation of the connecting plate. A disc spring is also arranged between the connecting plate and the slot hole. The disc spring is sleeved on the connecting column. The disc spring can press the connecting plate tightly, so as to ensure that the connecting plate can be limited when it rotates to any angle, and the rotation angle remains unchanged.

[0009] As a preferred technical solution in the present invention, a sliding block is fixed at the bottom of the probe, and through holes are formed on the surfaces at both ends of the connecting rail; the sliding block has a horizontal part and a vertical part. The horizontal part is slidably inserted into the sliding rail and the connecting rail. The cross-sections of the sliding block, the sliding rail, and the connecting rail are all in a certain shape. Through the setting of this structure, the sliding connection between the probe and the supporting mechanism can be realized, and the phenomenon of longitudinal separation will not occur. A ball hole is formed inside the horizontal part of the sliding block, and a limiting ball two partially protruding outside the sliding block is placed inside the ball hole. A spring two is also arranged between the limiting ball two and the ball hole. Through the setting of the spring two, the limiting ball two can be pushed out towards the outside of the sliding block. The limiting ball two is snap-fitted with the top of the through hole. When the sliding block moves to the position of the through hole, the protruding part of the limiting ball two will be snapped in. At this time, the horizontal push of the probe will be significantly blocked, indicating that the probe is connected to the rotating assembly. If a standby probe is installed at this time, stop pushing, otherwise continue to push. After continuing to push, the limiting ball two will compress the spring two and move into the ball hole. The bottom of the probe is a metal material component, and the probe is magnetically connected to the magnetic plate to further improve the installation stability. When the standby probe is installed in place, the angle of the probe can be changed directly by rotating the probe.

[0010] As a preferred technical solution in the present invention, a baffle is further fixedly provided on the surface of the extension plate. One end of the baffle extends into the interior of the connection plate. The baffle is respectively lapped with the inner sides of the slide rail and the connection rail at the lower position, so that the rotation assembly can be prevented from rotating clockwise towards the interior of the slide rail. When flipping the standby probe, it can only rotate counterclockwise, realizing the misaligned placement of the two probes; the slide rail has two disconnection points, both of which are in the area of the extension plate, and the width of the disconnection point is equal to the width of the sliding block; when it is necessary to disassemble the used probe, directly push the probe horizontally to the disconnection position, and then pull up or press down to separate the probe. It should be noted that, in order to avoid the collision of the two probes, when the used probe moves to the disconnection position of the slide rail, the two probes do not contact each other. The surface of the extension plate is also provided with holes and elastic structures with the same structure as the ball holes and spring two. A limiting ball one is placed in the hole on the surface of the extension plate, and the limiting ball one is attached to the side of the probe in the separated state. When separating the used probe, once the probe slides horizontally and is pressed tightly by the limiting ball one, it indicates that the sliding block is aligned with the disconnection point of the slide rail, and at this time, disassembly can be realized. During the previous pushing and installation, the limiting ball one is also compressed by squeezing the elastic structure. At this time, the medical staff can feel the resistance, but since they do not stop moving here, they only need to continue to push to realize normal installation.

[0011] As a preferred technical solution in the present invention, the pressing component includes an end plate fixedly provided on the bearing platform and a pressing block movably arranged directly below the end plate. The middle position of the top of the pressing block is concave. A spring one is arranged in the concave part of the pressing block. The two ends of the spring one are respectively spot-welded and fixed to the end plate and the pressing block. The bottom end of the pressing block abuts against the top end of the installed probe, so as to realize the pressing of the probe. Limiting columns are also arranged on both sides of the bottom of the pressing block, and the limiting columns are used to limit the degree of downward pressing of the pressing block when it is pressed tightly, avoiding the phenomenon that the pressing block protrudes too much and causes too much pressing force. At the same time, when the used probe moves to the position where it fits with the limiting ball one, the pressing block no longer presses the probe.

[0012] As a preferred technical solution in the present invention, the functional plate further includes a side wrapping plate. The bottom of the side wrapping plate bends inward and semi-wraps the bottom of the probe. A horizontal bend is formed on the inner side of the top of the side wrapping plate, and the horizontal bend is clamped into the side of the probe, so as to realize the limiting of the probe and prevent the probe from falling vertically.

[0013] As a preferred technical solution in the present invention, the connection component includes a fixed sleeve fixedly arranged at the bottom of the mounting plate. The side of the fixed sleeve is rotationally connected with a movable sleeve through a shaft. The fixed sleeve and the movable sleeve form a hollow cylindrical structure, and annular protrusions in a concentric circle shape are formed on both end faces thereof. The bottom end of the probe forms a long execution end, and the long execution end penetrates through the inside of the cylindrical structure. The execution end includes a needle rod, a chuck, etc. A resisting post is fixedly arranged on the end face of the fixed sleeve, and a limiting ring is arranged outside the resisting post. A ring groove sleeved on the resisting post is formed on the surface of the limiting ring. The limiting ring is rotationally wrapped around the annular protrusion at the end of the movable sleeve around its own axis, thereby realizing the limitation of the movable sleeve.

[0014] The present invention also discloses a usage method of a telescopic positioning minimally invasive surgery assisting arm, including the minimally invasive surgery assisting arm, which specifically includes the following steps: Step 1: When installing the probe, first slide it into the end face of the slide rail in the direction of the extension plate. At this time, the second limiting ball will be clamped when the sliding block moves to the position of the through hole. At this time, the horizontal push of the probe will be significantly blocked, indicating that the probe is connected to the rotating component. Since the probe installed at this time is the one to be used, continue to push. On the contrary, when installing the standby probe, stop pushing at this position; after continuing to push, the second limiting ball will compress the second spring and move into the ball hole until it slides to the end of the slide rail. Then, insert the standby probe through the same steps and make the standby probe on the rotating component. Step 2: Rotate the standby probe counterclockwise by 180° to avoid affecting the normal operation of the probe in the plate body area. Among them, the baffle is used to prevent the rotating component from rotating clockwise towards the inside of the slide rail. When flipping the standby probe, it can only be rotated counterclockwise to realize the misaligned placement of the two probes. After rotating in place, the connecting plate can be tightly pressed by the disc spring to ensure that the connecting plate can be limited at any rotated angle and the rotation angle remains unchanged. Step 3: Stretch the telescopic arm to realize the telescopic positioning of the bearing platform, the probe, and the mounting plate, so as to achieve the puncture operation at the specified position of the patient. Step 4: When it is necessary to disassemble the used probe, directly push the probe horizontally to the disconnection position. Once the probe slides horizontally and is tightly pressed by the first limiting ball, it indicates that the sliding block is aligned with the disconnection point of the slide rail. Then, pull up or press down to separate the probe.

[0015] Compared with the prior art, the beneficial effects of the present invention are: In the present invention, the pre-stored supporting mechanism is added to effectively improve the replacement efficiency of surgical instruments. Specifically, the rotating assembly can pre-store sterile instruments. When the old instrument is withdrawn, the new instrument is installed by horizontal sliding, and the single replacement time is shortened to 3-5 seconds, and the efficiency is increased by more than 6 times. In addition, the present invention avoids the reliability problem of the electric scheme, integrates the instrument storage with the manipulator body, reduces the space occupied by the equipment around the operating table. At the same time, the present invention changes the existing installation method, changes the insertion type to the side-pushing type for installation, improves the installation efficiency, and provides a new technical paradigm for the field of minimally invasive surgical robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. is a schematic diagram of the overall structure of a telescopic positioning minimally invasive surgical assisting arm; Figure 2 FIG. is a schematic diagram of the structure of a functional board; Figure 3 is Figure 2 an enlarged schematic diagram of area A in Figure 4 FIG. is a schematic diagram of the structure of a pressing component; Figure 5 FIG. is an exploded schematic diagram of a rotating assembly; Figure 6 FIG. is a rear view of a probe; Figure 7 FIG. is a cross-sectional view of a sliding block; Figure 8 FIG. is a schematic diagram of the structure of a mounting plate; Figure 9 is Figure 8 an enlarged schematic diagram of area B in

[0017] In the figure: 100, base; 101, support platform; 102, telescopic arm; 200, bearing platform; 201, functional board; 201a, board body; 201b, extension board; 201c, slide rail; 201d, side wrapping board; 202, rotating assembly; 202a, connecting plate; 202b, magnetic plate; 202c, connecting rail; 202c-1, through hole; 203, pressing component; 203a, end plate; 203b, spring 1; 203c, pressing block; 203d, limiting column; 204, baffle; 205, limiting ball 1; 206, connecting column; 207, slot hole; 208, disc spring; 300, probe; 301, sliding block; 302, limiting ball 2; 303, ball hole; 304, spring 2; 400. Mounting plate; 401. Fixed sleeve; 402. Movable sleeve; 403. Limit ring; 403a. Ring groove; 404. Bracing post. Detailed implementation manner

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figures 1 to 9 , the present invention provides a technical solution: a telescopic positioning minimally invasive surgical assist arm, including Base 100, placed on the ground; Support platform 101, installed on the top of the base 100. A plurality of telescopic arms 102 are also installed on the support platform 101. During minimally invasive surgery, the positioning and puncture work at different positions of the patient's body is realized through the folding and telescoping of the telescopic arms 102. Among them, the telescopic arms 102 are controlled by an external operating device. Since this technology is existing, no further elaboration will be made here; an installation plate 400 is also installed at the end of the support platform 101; Carrier platform 200, installed at the top position of the mounting plate 400; A supporting mechanism is provided on the top of the carrier platform 200. The supporting mechanism includes: Function board 201, with a probe 300 placed on the top; one end of the function board 201 extends to the outside of the carrier platform 200; Rotating assembly 202, arranged at the edge position of one end of the function board 201. Another probe 300 is also installed on the rotating assembly 202. The probe 300 on the rotating assembly 202 is placed temporarily. After the old probe 300 is taken out, the temporarily stored probe 300 can be horizontally pushed into the installation position; A pressing component 203 is also provided on the top surface of the carrier platform 200. The pressing component 203 is located at the top of the horizontally pushed probe 300; A connecting component for the horizontal insertion of the end of the probe 300 is provided on the mounting plate 400.

[0020] In this embodiment, the function board 201 includes a board body 201a and an extension board 201b integrally provided with the board body 201a. The extension board 201b extends out of the carrier platform 200. A slot hole 207 for accommodating the rotating assembly 202 is also opened on the surface of the extension board 201b. Among them, the area of the board body 201a is the installation position of the probe 300 during use, and the area of the extension board 201b is the placement position of the probe 300 to be used.

[0021] In this embodiment, the rotating assembly 202 includes a connecting plate 202a built in the slot 207. A slot is formed on the surface of the connecting plate 202a, and a magnetic plate 202b is bonded inside the slot. The magnetic plate 202b is flush with the top surface of the connecting plate 202a. Two connecting rails 202c are fixedly arranged on the surface of the connecting plate 202a. Two sliding rails 201c are arranged on the surfaces of the plate body 201a and the extension plate 201b. The sliding rails 201c and the connecting rails 202c have the same width, and their connecting end faces completely coincide at a specific angle. The sliding rails 201c and the connecting rails 202c are both slidably connected to the bottom of the probe 300. When installing the probe 300, first slide it in through the end face of the sliding rail 201c in the direction of the extension plate 201b until it slides to the end of the sliding rail 201c. Then insert the standby probe 300 through the same steps and make the standby probe 300 located on the rotating assembly 202. Subsequently, rotate the standby probe 300 counterclockwise by 180° to avoid affecting the normal operation of the probe 300 in the area of the plate body 201a.

[0022] In this embodiment, a connecting column 206 is fixedly arranged at the bottom end face of the connecting plate 202a. The connecting column 206 penetrates to the bottom of the extension plate 201b. A snap spring for limiting is also arranged on the connecting column 206 (not marked in the figure). The snap spring is used to limit the connecting column 206 and the bottom of the extension plate 201b, and at the same time can ensure the normal rotation of the connecting plate 202a. A disc spring 208 is also arranged between the connecting plate 202a and the slot 207. The disc spring 208 is sleeved on the connecting column 206. The disc spring 208 can press the connecting plate 202a tightly, so as to ensure that the connecting plate 202a can be limited when rotated to any angle, and ensure that the rotation angle remains unchanged.

[0023] In this embodiment, a sliding block 301 is fixed to the bottom of the probe 300, and through holes 202c-1 are formed on the surfaces at both ends of the connecting rail 202c; the sliding block 301 has a horizontal portion and a vertical portion, wherein the horizontal portion is slidably inserted into the sliding rail 201c and the connecting rail 202c. The cross-sections of the sliding block 301, the sliding rail 201c, and the connecting rail 202c are all L-shaped. Through this structural arrangement, the sliding connection between the probe 300 and the supporting mechanism can be achieved, and the phenomenon of longitudinal separation will not occur. A ball hole 303 is formed inside the horizontal portion of the sliding block 301, and a second limiting ball 302 partially protruding outside the sliding block 301 is placed inside the ball hole 303. A second spring 304 is further arranged between the second limiting ball 302 and the ball hole 303. Through the arrangement of the second spring 304, the second limiting ball 302 can be pushed out towards the outside of the sliding block 301. The second limiting ball 302 is snap-fitted with the top of the through hole 202c-1. The second limiting ball 302 in the pushed-out part will be snapped into place when the sliding block 301 moves to the position of the through hole 202c-1. At this time, the horizontal push of the probe 300 will be significantly blocked, indicating that the probe 300 is connected to the rotating assembly 202. If the installed probe 300 is a standby probe at this time, stop pushing; otherwise, continue to push. After continuing to push, the second limiting ball 302 will move into the ball hole 303 by compressing the second spring 304. The bottom of the probe 300 is a metal component, and the probe 300 is magnetically connected to the magnetic plate 202b, thereby further improving the installation stability. After the standby probe 300 is installed in place, the angle of the probe 300 can be directly changed by rotating the probe 300.

[0024] In this embodiment, a baffle 204 is also fixedly arranged on the surface of the extension plate 201b. One end of the baffle 204 extends into the inside of the connecting plate 202a. The baffle 204 is respectively lapped with the inner sides of the slide rail 201c and the connecting rail 202c at the lower position, so that the rotation assembly 202 can be prevented from rotating clockwise towards the inside of the slide rail 201c. When flipping the standby probe 300, it can only rotate in the counterclockwise direction, so as to realize the staggered placement of the two probes 300. The slide rail 201c has two disconnection points, both of which are in the area of the extension plate 201b, and the width of the disconnection point is equal to the width of the sliding block 301. When it is necessary to disassemble the used probe 300, the probe 300 is directly pushed horizontally to the disconnection position, and then pulled up or pressed down to separate the probe 300. It should be noted that in order to avoid the collision of the two probes 300, when the used probe 300 moves to the disconnection position of the slide rail 201c, the two probes 300 do not contact each other. The surface of the extension plate 201b is also provided with holes and elastic structures with the same structure as the ball holes 303 and the second springs 304. A first limiting ball 205 is placed in the hole on the surface of the extension plate 201b, and the first limiting ball 205 is attached to the side of the probe 300 in the separated state. When separating the used probe 300, once the probe 300 slides horizontally and is pressed tightly by the first limiting ball 205, it means that the sliding block 301 is aligned with the disconnection point of the slide rail 201c, and at this time, disassembly can be realized. During the previous pushing and installation, the first limiting ball 205 is also compressed by squeezing the elastic structure. At this time, the medical staff can feel the resistance, but since they do not stop moving here, only continuous pushing is required to realize normal installation.

[0025] In this embodiment, the pressing component 203 includes an end plate 203a fixedly arranged on the bearing platform 200, and a pressing block 203c movably arranged directly below the end plate 203a. The middle position at the top of the pressing block 203c is concave. A first spring 203b is arranged in the concave part of the pressing block 203c. The two ends of the first spring 203b are respectively spot-welded and fixed to the end plate 203a and the pressing block 203c. The bottom end of the pressing block 203c abuts against the top end of the installed probe 300, so as to realize the pressing of the probe 300. Limiting columns 203d are also arranged on both sides of the bottom of the pressing block 203c. The limiting columns 203d are used to limit the degree of downward pressing of the pressing block 203c, so as to avoid the phenomenon that the pressing block 203c protrudes too much and causes too large a pressing force. At the same time, when the used probe 300 moves to the position where it fits with the first limiting ball 205, the pressing block 203c no longer presses the probe 300.

[0026] In this embodiment, the functional board 201 further includes a side wrapping board 201d. The bottom of the side wrapping board 201d bends inward and semi-wraps the bottom of the probe 300. A horizontal bend is formed on the inner side of the top of the side wrapping board 201d, and the horizontal bend is snapped into the side of the probe 300, thereby realizing the limit of the probe 300 and preventing the probe 300 from falling in the vertical direction.

[0027] In this embodiment, the connection component includes a fixed sleeve 401 fixed to the bottom of the mounting board 400. A movable sleeve 402 is rotatably connected to the side of the fixed sleeve 401 through a shaft. The fixed sleeve 401 and the movable sleeve 402 form a hollow cylindrical structure, and concentric annular protrusions are formed on both end faces. A long execution end is formed at the bottom end of the probe 300, and the long execution end penetrates through the inside of the cylindrical structure. The execution end includes a needle rod, a chuck, etc. A resisting column 404 is fixedly provided on the end face of the fixed sleeve 401, and a limiting ring 403 is provided outside the resisting column 404. A ring groove 403a sleeved on the resisting column 404 is formed on the surface of the limiting ring 403. The limiting ring 403 is wrapped around the annular protrusion at the end of the movable sleeve 402 by rotating around its own axis, thereby realizing the limit of the movable sleeve 402.

[0028] The present invention also discloses a usage method of a telescopic positioning minimally invasive surgical assistance arm, including the minimally invasive surgical assistance arm, specifically including the following steps: Step 1: When installing the probe 300, first slide it in through the end face of the slide rail 201c in the direction of the extension board 201b. At this time, the second limiting ball 302 will be snapped into place when the slider 301 moves to the position of the through hole 202c-1. At this time, the horizontal push of the probe 300 will be significantly blocked, indicating that the probe 300 is connected to the rotating component 202. Since the probe 300 installed at this time is the one to be used, continue to push. On the contrary, when installing the standby probe 300, stop pushing at this position; after continuing to push, the second limiting ball 302 will compress the second spring 304 and move into the ball hole 303 until it slides to the end of the slide rail 201c. Then, insert the standby probe 300 through the same steps and make the standby probe 300 be on the rotating component 202. Step 2: Rotate the standby probe 300 counterclockwise by 180° to avoid affecting the normal operation of the probe 300 in the area of the board body 201a. Among them, the rotating component 202 is prevented from rotating clockwise towards the inside of the slide rail 201c by the baffle 204. When flipping the standby probe 300, it can only be rotated counterclockwise to realize the staggered placement of the two probes 300. After rotating in place, the connecting plate 202a can be tightly pressed by the disc spring 208 to ensure that the connecting plate 202a can be limited at any rotation angle and the rotation angle remains unchanged. Step 3: Through the extension of the telescopic arm 102, the telescopic positioning of the bearing platform 200, the probe 300, and the mounting plate 400 is realized, so as to achieve the puncture operation at the specified position of the patient; Step 4: When it is necessary to disassemble the used probe 300, directly push the probe 300 horizontally to the disconnection position. Once the probe 300 slides horizontally and is tightened by the limiting ball 205, it indicates that the sliding block 301 is aligned with the disconnection point of the slide rail 201c. Subsequently, pull up or press down to separate the probe 300.

[0029] Although the embodiments of the present invention have been shown and described (see the above detailed description), those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A retractable positioning minimally invasive surgery auxiliary arm, comprising A base, placed on the ground; A support platform is installed on the top of the base, and a plurality of telescopic arms are installed on the support platform; a mounting plate is also installed at the end of the support platform; The bearing platform is installed at the top of the mounting plate; it is characterized by: A supporting mechanism is provided on the top of the bearing platform, and the supporting mechanism includes: A functional board with a probe placed on the top; one end of the functional board extends to the outside of the carrier platform; A rotating assembly is arranged at an edge of one end of the functional board, and another probe is mounted on the rotating assembly; The top surface of the carrier is also provided with a tightening assembly, which is located at the top end position of the probe that is pushed in horizontally; The mounting plate is provided with a connecting assembly for the probe end to be pushed in horizontally.

2. The telescopic positioning minimally invasive surgery auxiliary arm according to claim 1, characterized in that: The functional board includes a board body and an extension board integrally arranged with the board body. The extension board extends to the outside of the bearing platform, and a slot hole for accommodating the rotating assembly is provided on the surface of the extension board.

3. The telescopic positioning minimally invasive surgery auxiliary arm according to claim 2, characterized in that: The rotating assembly includes a connecting plate built into a slot hole, a slot is opened on the surface of the connecting plate, a magnetic plate is bonded inside the slot, two connecting rails are fixedly provided on the surface of the connecting plate, and two sliding rails are provided on the surfaces of the plate body and the extension plate. The widths of the sliding rails and the connecting rails are equal, and the connecting end faces of the two completely overlap at a specific angle. The sliding rails and the connecting rails are both slidably connected to the bottom of the probe.

4. The telescopic positioning minimally invasive surgery auxiliary arm according to claim 3, characterized in that: A connecting column is fixedly provided on the bottom end surface of the connecting plate, and the connecting column passes through the bottom of the extension plate. A retaining spring for limiting is also provided on the connecting column. A disc spring is also provided between the connecting plate and the slot, and the disc spring is sleeved on the connecting column.

5. The telescopic positioning minimally invasive surgery auxiliary arm according to claim 3, characterized in that: A sliding block is fixed to the bottom of the probe, and through holes are provided on the two end surfaces of the connecting rail; the sliding block has a horizontal part and a vertical part, wherein the horizontal part is slidably inserted into the sliding rail and the connecting rail, and a ball hole is provided on the inner side of the horizontal part of the sliding block, and a second limiting ball partially protruding to the outside of the sliding block is placed inside the ball hole, and a second spring is also provided between the second limiting ball and the ball hole, and the second limiting ball is snap-connected with the top of the through hole, and the bottom of the probe is a metal component, and the probe is magnetically connected to the magnetic plate.

6. The telescopic positioning minimally invasive surgery auxiliary arm according to claim 5, characterized in that: A baffle is also fixedly provided on the surface of the extension plate, one end of which extends to the interior of the connecting plate, and the baffle is overlapped with the inner sides of the slide rail and the connecting rail at the lower position respectively, and the slide rail has two disconnections, both of which are located in the area of ​​the extension plate, and the width of the disconnection is equal to the width of the sliding block; the surface of the extension plate is also provided with holes and elastic structures with the same structure as the ball hole and the spring, and a limiting ball is placed in the hole on the surface of the extension plate, and the limiting ball is fitted with the side of the probe in the separated state.

7. The telescopic positioning minimally invasive surgery auxiliary arm according to claim 1, characterized in that: The clamping assembly includes an end plate fixed on the supporting platform, and a clamping block movably arranged directly below the end plate. The top middle position of the clamping block is concave, and a spring is arranged at the concave part of the clamping block. The two ends of the spring are spot-welded to the end plate and the clamping block respectively. The bottom end of the clamping block is abutted against the top end of the installed probe, thereby achieving clamping of the probe. Limiting columns are also arranged on both sides of the bottom of the clamping block.

8. The telescopic positioning minimally invasive surgery auxiliary arm according to claim 1, characterized in that: The functional plate also includes a side wrapping plate, the bottom of which is bent inward and half-wrapped around the bottom of the probe, and a horizontal bend is formed on the inner side of the top of the side wrapping plate, and the horizontal bend is snapped into the side of the probe.

9. The telescopic positioning minimally invasive surgery auxiliary arm according to claim 1, characterized in that: The connecting assembly includes a fixed sleeve fixedly mounted on the bottom of the mounting plate, a movable sleeve being connected to the side of the fixed sleeve by shaft rotation, the fixed sleeve and the movable sleeve forming a hollow cylindrical structure, and concentric annular protrusions are formed on the end faces of both, a long execution end is formed at the bottom end of the probe, the long execution end passes through the interior of the cylindrical structure, a stop column is fixedly mounted on the end face of the fixed sleeve, and a limiting ring is provided on the outside of the stop column, a ring groove is formed on the surface of the limiting ring which is sleeved on the stop column, and the limiting ring is wrapped around the annular protrusion at the end of the movable sleeve by rotating around its own axis.

10. A method for using a retractable positioning minimally invasive surgery assisting arm, comprising the minimally invasive surgery assisting arm according to any one of claims 1 to 9, characterized in that: The specific steps include: Step 1: When installing the probe, first slide and insert it through the end face of the slide rail in the direction of the extension plate. At this time, the limit ball 2 will be inserted into the position of the through hole when the sliding block moves to the position. At this time, the horizontal push of the probe will be obviously hindered, indicating that the probe is connected to the rotating component. Since the probe installed at this time is ready to be used, continue to push. On the contrary, when installing the probe to be used, stop pushing at this position; after continuing to push, the limit ball 2 will compress the spring 2 and move it into the ball hole until it slides to the end of the slide rail. Then, the probe to be used is inserted through the same steps, and the probe to be used is placed on the rotating component; Step 2: Rotate the probe to be used 180° counterclockwise to avoid affecting the normal operation of the probe in the plate area. The baffle is used to prevent the rotating assembly from rotating clockwise toward the inside of the slide rail. When the probe to be used is turned over, it can only be rotated in the counterclockwise direction to achieve the misalignment of the two probes. After rotating into place, the connecting plate can be tightened by the disc spring to ensure that the connecting plate can be limited when it is rotated to any angle, ensuring that the rotation angle remains unchanged; Step 3: The telescopic arm is extended to realize the telescopic positioning of the carrier, the probe, and the mounting plate, so as to achieve the puncture operation at the designated position of the patient; Step 4: When you need to disassemble the used probe, push the probe horizontally to the disconnected position. Once the probe slides horizontally and is pressed by the limit ball, it means that the sliding block is aligned with the disconnection point of the slide rail. Then pull up or press down to separate the probe.

Images