A multi-arm lead suit wearing system and a control method thereof

Abstract

The application discloses a multi-arm lead clothes wearing system and a control method thereof, and relates to the technical field of lead clothes wearing equipment. The multi-arm lead clothes wearing system comprises a support frame, a wearing arm, a connecting mechanism and a driving mechanism. The support frame is vertically arranged. The wearing arm is arranged on the support frame and comprises at least two horizontal hanging arms. The arrangement positions of the different hanging arms have a height difference. The connecting mechanism comprises a hanging rope arranged on the hanging arm and used for hanging the lead clothes. The driving mechanism comprises an arm driving module and a rope driving module. The arm driving module is used for driving the wearing arm to make lifting movement along the support frame. The rope driving module is used for driving the hanging rope to make lifting movement along the hanging arm. The control mechanism comprises a controller and a force sensor. The force sensor is arranged on the hanging rope. The controller is connected with the arm driving module, the rope driving module and the force sensor respectively. The application can realize real-time and subtle adjustment of the lead clothes load following the action of a user, and meets the demand of simultaneously wearing lead clothes by multiple people.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lead clothing wearing equipment, and in particular to a multi-arm lead clothing wearing system and a control method thereof. BACKGROUND

[0002] In the process of interventional surgery, in order to prevent medical staff from being exposed to X-rays, medical staff usually need to wear lead clothing for surgery. The common protective equipment is lead products, which weigh about 20 kg on average. When medical staff wear heavy lead products, it is difficult for them to continuously perform surgical treatment, and the forward tilting action also puts pressure on their spines, which still harms the health of medical staff.

[0003] Patent document CN215298879U discloses a gravity-free lead clothing structure, which senses the position of the shoulder through a height sensor to realize the lifting or lowering of the lead clothing through a remote control.

[0004] The above-mentioned prior art has the following defects: 1. The height sensor detects the top of the head. Due to individual differences, the distance from the top of the head to the shoulder of different users is indefinite, and the hair will interfere with the sensor, so this detection method cannot be accurate and will interfere with the use. If the detection position is changed to the shoulder, the device will not act within 1-5 cm, and if the user makes a similar action such as bending over, the system cannot follow in real time, which will greatly reduce the use experience; 2. The remote control can only control the lifting or lowering of the lead clothing in a large range, and cannot follow the actions of medical staff in real time; 3. In addition to the main surgeon, the interventional surgery also needs a surgical assistant, so the prior art cannot meet the needs of multiple people wearing lead clothing at the same time.

[0005] Therefore, a multi-arm lead clothing wearing system and a control method thereof are developed to solve the above-mentioned problems. SUMMARY

[0006] The present application proposes a multi-arm lead clothing wearing system and a control method thereof to solve the problem that the prior art cannot adjust the load in real time and accurately and cannot simultaneously meet the needs of multiple people wearing lead clothing.

[0007] The present application achieves the above-mentioned purposes through the following technical solutions:

[0008] The present application is a multi-arm lead clothing wearing system, which comprises:

[0009] A support frame is vertically arranged;

[0010] A wearing arm is arranged on the support frame, and the wearing arm comprises at least two lifting arms arranged horizontally, and the arrangement positions of different lifting arms have a height difference.

[0011] A connecting mechanism, the connecting mechanism including a suspension rope, the suspension rope being disposed on the boom, the suspension rope being used to suspend the lead apron;

[0012] The drive mechanism includes an arm drive module and a rope drive module. The arm drive module is used to drive the wearable arm to move up and down along the support frame, and the rope drive module is used to drive the suspension rope to move up and down along the boom.

[0013] The control mechanism includes a controller and a force sensor. The force sensor is mounted on the hoisting rope. The controller is connected to the arm drive module, the rope drive module, and the force sensor, respectively.

[0014] Furthermore, the wearable arm is slidably connected to the support frame via a sliding frame.

[0015] Furthermore, one end of the boom is rotatably connected to the top of the support frame.

[0016] Furthermore, the boom includes a first segment and a second segment, which are rotatably connected, and the personnel load generated by the rotation of the boom is less than a preset load threshold.

[0017] Furthermore, each end of the boom is equipped with a triaxial sensor, which is connected to the controller.

[0018] Furthermore, the wearable arm includes a first boom and a second boom, with a first hoisting rope passing through the interior of the support frame and then mounted on the first boom, and a second hoisting rope passing through the interior of the support frame and then mounted on the second boom.

[0019] Furthermore, the hoisting rope is mounted on the boom via a guide mechanism, which includes guide pulleys located at both ends and the middle of the boom, as well as guide holes located at both ends of the boom.

[0020] Furthermore, the arm drive module is one of a lifting electric cylinder, a lifting air cylinder, or an electric push rod. The output shaft / output rod of the lifting air cylinder / lifting air cylinder / electric push rod is connected to the wearable arm. The rope drive module includes a wire rope electric winch, and each wire rope electric winch is connected to the corresponding hoisting rope.

[0021] The present invention also discloses a control method for the aforementioned multi-arm lead apron wearing system, comprising:

[0022] Real-time acquisition of the tension value from the force sensor on the suspension rope;

[0023] In the initial state, the tensile force value is adjusted to the difference between the weight of the lead apron itself and a preset load threshold, and the current tensile force value is recorded as the initial tensile force value;

[0024] As the tension value increases, the suspension rope is controlled to descend until the tension value returns to the initial tension value.

[0025] When the tension value decreases, the hoisting rope is controlled to rise until the tension value returns to the initial tension value.

[0026] Furthermore, the sensing data of the triaxial sensor is acquired in real time. Under the condition that the personnel load formed by the rotation of the boom is less than the preset load threshold, the system determines whether the boom is rotating based on the sensing data of the triaxial sensor. When the boom is rotating, the change value of the tension value during the rotation is filtered out.

[0027] The beneficial effects of this invention are as follows:

[0028] The present invention proposes a multi-arm lead apron wearing system and its control method, which is not affected by the user's height or hair, and can follow the user's movements to realize real-time and fine adjustment of the lead apron load, greatly improving the user experience. Moreover, it can be used by the chief surgeon and surgical assistant in interventional surgery at the same time, meeting the needs of multiple people wearing lead aprons at the same time. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a multi-arm lead apron wearing system according to an embodiment of this application;

[0030] Figure 2 This is a flowchart of the control method in the embodiments of this application;

[0031] Figure 3 This is a control relationship diagram between the controller and other components in the embodiments of this application.

[0032] In the diagram: 1-Support frame; 2-Sliding frame; 3-First boom; 4-Second boom; 5-Force sensor; 6-First hoisting rope; 7-Second hoisting rope; 8-Boom drive module; 9-Rope drive module; 10-Lead apron connector. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of this invention, it should be understood that the terms "upper," "lower," "inner," "outer," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0038] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, terms such as "set" and "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0040] like Figure 1 The multi-arm lead apron wearing system shown includes:

[0041] Support frame 1, which is vertically arranged;

[0042] Wearable arm, which is mounted on the support frame 1, includes at least two horizontally arranged booms, with a height difference between the different booms.

[0043] A connecting mechanism, the connecting mechanism including a suspension rope, the suspension rope being disposed on the boom, the suspension rope being used to suspend the lead apron;

[0044] The drive mechanism includes an arm drive module 8 and a rope drive module 9. The arm drive module 8 is used to drive the wearable arm to move up and down along the support frame 1, and the rope drive module 9 is used to drive the suspension rope to move up and down along the boom.

[0045] The control mechanism includes a controller and a force sensor 5. The force sensor 5 is mounted on the hoisting rope. The controller is connected to the arm drive module 8, the rope drive module 9, and the force sensor 5, respectively.

[0046] In one embodiment, the wearable arm is slidably connected to the support frame 1 via a sliding frame 2.

[0047] In one embodiment, one end of the boom is rotatably connected to the top of the support frame 1.

[0048] In one embodiment, the boom includes a first segment and a second segment, which are rotatably connected, and the personnel load generated by the rotation of the boom is less than a preset load threshold.

[0049] In one embodiment, a triaxial sensor is provided at the other end of each boom, and the triaxial sensor is connected to the controller.

[0050] In one embodiment, the wearable arm includes a first lifting arm 3 and a second lifting arm 4. A first lifting rope 6 passes through the interior of the support frame 1 and is mounted on the first lifting arm 3, and a second lifting rope 7 passes through the interior of the support frame 1 and is mounted on the second lifting arm 4.

[0051] In one embodiment, the hoisting rope is mounted on the boom via a guide mechanism, the guide mechanism including guide pulleys located at both ends and the middle of the boom, and guide holes located at both ends of the boom.

[0052] In one embodiment, the arm drive module 8 is one of a lifting electric cylinder, a lifting air cylinder, or an electric push rod. The output shaft / output rod of the lifting air cylinder / lifting air cylinder / electric push rod is connected to the wearable arm. The rope drive module 9 includes a wire rope electric winch, and each wire rope electric winch is connected to the corresponding hoisting rope.

[0053] like Figure 2 As shown, in one embodiment, the control method of the present invention for the multi-arm lead apron wearing system includes:

[0054] S1: Real-time acquisition of the tension value of the force sensor 5 on the suspension rope;

[0055] S2: In the initial state, adjust the tensile force value to the difference between the weight of the lead apron itself and the preset load threshold, and record the current tensile force value as the initial tensile force value;

[0056] S3: When the tension value increases, control the rope to descend until the tension value returns to the initial tension value;

[0057] S4: When the tension value decreases, control the hoisting rope to rise until the tension value returns to the initial tension value.

[0058] The initial tension value is set in the controller, which then controls the rope drive module 9 to control the raising and lowering of the suspension rope. The controller can also control the arm drive module 8 to adjust the height of the wearable arm, thus adapting to operating rooms of various heights. In the case of two arms, it is particularly suitable for use by the surgeon and assistant. When using this method, the surgeon should ideally use the higher and longer arm.

[0059] In one embodiment, the sensing data of the triaxial sensor is acquired in real time. Under the condition that the personnel load formed by the rotation of the boom is less than a preset load threshold, the boom is determined to be rotating based on the sensing data of the triaxial sensor. When the boom is rotating, the change value of the tension value during the rotation is filtered out.

[0060] In one embodiment, the end of the suspension rope is connected to the lead apron via a lead apron connector 10. The lead apron connector 10 includes a mounting structure and a magnetic attraction structure. The mounting structure includes a mounting body and an electromagnetic connector. The lower end of the mounting body is connected to the electromagnetic connector, which is externally connected to a power source. The magnetic attraction structure includes a magnetic connector and a mounting structure. When energized, the electromagnetic connector is magnetically attracted to the magnetic connector. The magnetic connector is connected to the mounting structure, which is used to mount the magnetic connector onto the lead apron. The mounting structure is connected to the suspension rope, and the power source is connected to the controller.

[0061] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multi-arm lead apron wearing system, characterized in that, include: The support frame is vertically arranged; A wearable arm is mounted on the support frame. The wearable arm includes at least two horizontally arranged booms with a height difference between their positions. Each boom includes a first boom and a second boom. A first suspension rope passes through the interior of the support frame and is mounted on the first boom. A second suspension rope passes through the interior of the support frame and is mounted on the second boom. The first boom is higher than the second boom and is longer than the second boom. The first boom is used by the surgeon, and the second boom is used by the assistant. A connecting mechanism, the connecting mechanism including a suspension rope, the suspension rope including a first suspension rope and a second suspension rope, the suspension rope being used to suspend the lead apron; The drive mechanism includes an arm drive module and a rope drive module. The arm drive module is used to drive the wearable arm to move up and down along the support frame, and the rope drive module is used to drive the suspension rope to move up and down along the boom. The control mechanism includes a controller and a force sensor. The force sensor is mounted on the hoisting rope. The controller is connected to the arm drive module, the rope drive module, and the force sensor, respectively. The end of the suspension rope is connected to the lead apron via a lead apron connector. This connector includes a mounting structure and a magnetic attraction structure. The mounting structure comprises a mounting body and an electromagnetic connector. The lower end of the mounting body is connected to the electromagnetic connector, which is externally connected to a power source. The magnetic attraction structure includes a magnetic connector and a mounting structure. When energized, the electromagnetic connector is magnetically attracted to the magnetic connector. The magnetic connector is connected to the mounting structure, which is used to mount the magnetic connector onto the lead apron. The mounting structure is connected to the suspension rope, and the power source is connected to the controller. One end of the boom is rotatably connected to the top of the support frame, and the other end of the boom is equipped with a triaxial sensor. The triaxial sensor is connected to the controller to acquire the sensing data of the triaxial sensor in real time. Under the condition that the personnel load formed by the rotation of the boom is less than the preset load threshold, the controller determines whether the boom is rotating based on the sensing data of the triaxial sensor. When the boom is rotating, the change value of the tension value during the rotation is filtered out.

2. The multi-arm lead apron wearing system according to claim 1, characterized in that, The wearable arm is slidably connected to the support frame via a sliding frame.

3. The multi-arm lead apron wearing system according to claim 1, characterized in that, The boom includes a first segment and a second segment, which are rotatably connected. The personnel load generated by the rotation of the boom is less than a preset load threshold.

4. The multi-arm lead apron wearing system according to claim 1, characterized in that, The hoisting rope is mounted on the boom via a guide mechanism, which includes guide pulleys located at both ends and the middle of the boom, as well as guide holes located at both ends of the boom.

5. A multi-arm lead apron wearing system according to claim 1 or 2, characterized in that, The arm drive module is one of the following: lifting electric cylinder, lifting air cylinder, or electric push rod.

6. A control method for a multi-arm lead apron wearing system according to any one of claims 1-5, characterized in that, include: Real-time acquisition of the tension value from the force sensor on the suspension rope; In the initial state, the tensile force value is adjusted to the difference between the weight of the lead apron itself and a preset load threshold, and the current tensile force value is recorded as the initial tensile force value; As the tension value increases, the suspension rope is controlled to descend until the tension value returns to the initial tension value. When the tension value decreases, the hoisting rope is controlled to rise until the tension value returns to the initial tension value. The end of the suspension rope is connected to the lead apron via a lead apron connector. This connector includes a mounting structure and a magnetic attraction structure. The mounting structure comprises a mounting body and an electromagnetic connector. The lower end of the mounting body is connected to the electromagnetic connector, which is externally connected to a power source. The magnetic attraction structure includes a magnetic connector and a mounting structure. When energized, the electromagnetic connector is magnetically attracted to the magnetic connector. The magnetic connector is connected to the mounting structure, which is used to mount the magnetic connector onto the lead apron. The mounting structure is connected to the suspension rope, and the power source is connected to a controller. One end of the boom is rotatably connected to the top of the support frame, and the other end of the boom is equipped with a triaxial sensor. The triaxial sensor is connected to the controller to acquire the sensing data of the triaxial sensor in real time. Under the condition that the personnel load formed by the rotation of the boom is less than the preset load threshold, the controller determines whether the boom is rotating based on the sensing data of the triaxial sensor. When the boom is rotating, the change value of the tension value during the rotation is filtered out. The boom includes a first boom and a second boom. A first hoisting rope passes through the interior of the support frame and is mounted on the first boom. A second hoisting rope passes through the interior of the support frame and is mounted on the second boom. The height of the first boom is greater than that of the second boom, and the length of the first boom is greater than that of the second boom. The first boom is used by the surgeon, and the second boom is used by the assistant.

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