Multi-degree-of-freedom lifting mechanism and lifting frame for arthroscope perfusate

Abstract

The invention discloses a multi-degree-of-freedom lifting mechanism and a lifting frame for arthroscope perfusate. The invention relates to the technical field of medical instruments. The device is composed of a vehicle body, a lifting mechanism, a clamping assembly and a space angle adjusting mechanism. The trolley body is designed to be movable and can be conveniently and flexibly positioned in an operating room. The lifting mechanism is connected with the clamping and fixing assembly through a vertically-arranged ball screw assembly, and accurate lifting control over the clamping and fixing assembly is achieved. The clamping and fixing assembly is used for clamping and fixing the perfusate bag to ensure stable supply of perfusate in the operation process; according to the technology, free adjustment of pitching, yawing and rolling angles of the perfusion pipe in a three-dimensional space is achieved through the spherical gear mechanism, and the flexibility of the perfusion system is improved. A doctor can quickly and accurately adjust the angle of the infusion tube according to the specific anatomical structure of a surgical site, it is ensured that liquid can be accurately flushed, a blind area is effectively avoided, and the definition of the surgical field is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, specifically to medical devices for arthroscopic surgery, and particularly to a multi-degree-of-freedom lifting mechanism and a lifting frame for arthroscopic perfusion fluid. Background Art

[0002] A large amount of perfusion fluid is required during arthroscopic rotator cuff repair to keep the water flow smooth and fully expand the joint capsule, which is a necessary condition for the successful completion of the surgery. Research shows that the difference between the perfusion pressure under the acromion and the systolic blood pressure should be controlled at 50 mmHg to effectively reduce the bleeding volume of capillaries. Therefore, the irrigation fluid should be poured at a height of 1 meter above the heart level to ensure a pressure of 60 mmHg. Currently, the circulating nurse needs to clamp a 3-kg water bag at a height of 1 meter from the heart of the surgical patient to ensure an effective perfusion pressure, and needs to continuously replace the water bag to ensure continuous irrigation to ensure a clear field of view. The current method is to clamp the arthroscopic perfusion fluid of the shoulder joint to a very high bracket, and the circulating nurse needs to climb a ladder to change the perfusion bag. This method of supplying water is not only laborious but also prone to causing damage to the nurse's shoulders, necks, and waists, and even prone to the risk of slipping from the ladder. Therefore, the management of perfusion fluid during surgery is very important.

[0003] Among existing medical devices, there are various devices for spatial adjustment, such as CN218762387U (publication date: March 28, 2023), CN219655726U (publication date: September 8, 2023), and CN219755817U (publication date: September 26, 2023) all disclose a lifting support mechanism for medical devices, which changes the height along a single axis through a single linear mechanism (such as an electric push rod, a screw lift); CN220286926U (publication date: January 2, 2024), CN221196834U (publication date: June 21, 2024), and CN221958576U (publication date: November 5, 2024) all disclose other multi-degree-of-freedom lifting support mechanisms for medical devices, which are equivalent to tilting the entire bracket on the basis of the previous prior art or realizing angle adjustment by additionally installing a rotating joint.

[0004] However, the above-mentioned prior arts are all based on single-linear lifting adjustment, which will cause some problems: (1) Traditional single-linear mechanisms (such as electric push rods, screw lifts) can only change the height along a single axis. If such medical spatial adjustment devices are directly applied to the perfusion direction, it may lead to a fixed perfusion angle during the operation, and the entire bracket needs to be manually tilted or a rotating joint needs to be additionally installed during the operation, resulting in difficulty in quickly matching the optimal perfusion angle at the surgical site (such as the posterior recess of the knee joint, the glenoid labrum of the shoulder joint), and the mechanism is relatively redundant.

[0005] (2)Uncontrollable liquid flow state: If such medical space adjustment devices are directly applied to the perfusion direction, the fixed angle is likely to cause uneven perfusion fluid flow rate (such as the liquid column impacting the field of view or forming turbulence), affecting the clarity of the field of view.

[0006] (3)Height-pressure non-linearity: Traditional mechanisms only adjust the pressure by raising and lowering the height, but the range where the height change and the pressure are linearly related (P ∝ h) is limited; if such medical space adjustment devices are directly applied to the perfusion direction, the container needs to be replaced when there are ultra-high or ultra-low requirements, and the pressure range cannot be extended through tilt angle compensation.

[0007] Therefore, the present invention proposes a multi-degree-of-freedom lifting mechanism and a lifting rack for arthroscopic perfusion fluid. Summary of the Invention

[0008] In view of this, embodiments of the present invention hope to provide a multi-degree-of-freedom lifting mechanism and a lifting rack for arthroscopic perfusion fluid to solve or alleviate the technical problems existing in the prior art, that is, how to design a support mechanism that can be adjusted in all directions and in height. This mechanism is not limited to changing the height along a single axis, but can be based on the mode of universal adjustment, quickly match the best adjustment angle, be able to more accurately match the perfusion angle, improve the clarity of the field of view, and extend the pressure range through tilt angle compensation; the technical solution of the present invention is realized as follows: In the first aspect, a multi-degree-of-freedom lifting mechanism includes: It is composed of a vehicle body, a lifting mechanism, a clamping component, and a spatial angle adjustment mechanism. The vehicle body is designed to be movable, facilitating flexible positioning in the operating room. The lifting mechanism is connected to the clamping component through a vertically arranged ball screw assembly to achieve precise lifting control of the clamping component.

[0009] The spatial angle adjustment mechanism is one of the core innovations of this technology. It includes a spherical gear carrying the lifting mechanism on the upper part, and at least two control gears meshing with it. The rotation axes of these control gears are in a crossed state, enabling the spherical gear to rotate freely in multiple directions. When the control gears of the relay adjustment mechanism rotate self or revolve, the spherical gear will perform universal angle rotation along a specified trajectory, thereby driving the lifting mechanism and the clamping component to flexibly adjust their positions relative to the patient.

[0010] In one implementation: The specific structure of the lifting mechanism is carefully designed to ensure its stability and accuracy. The lifting mechanism mainly includes a truss fixed on the vehicle body, and a moving platform that slidably cooperates with it vertically. The truss serves as the support structure of the entire lifting mechanism.

[0011] The ball screw assembly is the core driving component of the lifting mechanism. It drives the moving platform to slide vertically on the truss by converting rotational motion into linear motion. The ball screw assembly has the advantages of high precision, high efficiency, and low noise, ensuring a smooth and accurate lifting process of the moving platform.

[0012] In one implementation: The ball screw assembly is designed with a dual ball screw structure to provide higher stability and load-bearing capacity. Specifically, the ball screw assembly includes a first ball screw driven by a first motor and a second ball screw driven by a second motor. These two ball screws are on the same rotation axis, ensuring that they can work synchronously or independently to achieve more flexible lifting control.

[0013] The shoulders of the first ball screw and the second ball screw face each other and are rotationally fitted in a partition block through bearings. The partition block is fixed in the truss, providing stable support and positioning for the ball screws. This design not only improves the rigidity and stability of the ball screws but also ensures their coaxiality and parallelism during operation.

[0014] Each ball screw drives a moving platform, and each moving platform is equipped with a clamping component. In this way, by controlling the rotation direction and speed of the first motor and the second motor, the heights of the two moving platforms can be adjusted independently or synchronously.

[0015] In one implementation: The core of the relay adjustment mechanism is to achieve the self-rotation and revolution of the control gear, thereby precisely adjusting the spatial angle of the lifting mechanism (and the clamping component it carries).

[0016] The third motor is directly connected to and drives the control gear to perform self-rotation. The realization of self-rotation enables the control gear to rotate around its own axis when meshing with the spherical gear, thereby adjusting a specific angle of the lifting mechanism. The parallel connection component is an innovation of the relay adjustment mechanism. It connects the third motor and drives the third motor and the control gear to perform revolution. The parallel connection component consists of a fixed frame, a swaying frame, at least three servo cylinders, and a universal joint coupling.

[0017] The fixed frame is fixed on the vehicle body, serving as a stable base for the parallel connection component. The swaying frame carries the third motor. Driven by the third motor, the swaying frame can drive the control gear to perform revolution. The servo cylinders are mounted in an annular array between the fixed frame and the swaying frame. The cylinder body and piston rod of each servo cylinder are universally hinged to the fixed frame and the swaying frame through a universal joint coupling. The precise control of the servo cylinders enables the swaying frame to achieve universal adjustment, that is, not limited to rotation in a single plane but can be adjusted at any angle in three-dimensional space. The universal joint coupling provides a universal connection between the cylinder body and the piston rod, ensuring that the swaying frame can flexibly adjust its angle and position when the servo cylinder expands and contracts.

[0018] In one embodiment: The shape of the spherical gear is characterized in that: based on the involute profile of the spherical surface, a continuous conjugate surface is formed by the pure rolling expansion of the base circle on the spherical surface, realizing multi-directional meshing and transmission stability; due to the above shape characteristics, the continuous conjugate surface will necessarily have four gradually changing spiral tooth regions, and the control gear meshes in the gradually changing spiral tooth regions.

[0019] In one embodiment: A receiving platform is mounted on the spherical gear, and the truss of the lifting mechanism is mounted on the receiving platform. A semi-circular tray is provided below the spherical gear, the semi-circular tray contains lubricating grease, and the lower surface of the spherical gear is immersed in the lubricating grease. Thus, the spherical gear also obtains a spatial support at the bottom and can achieve the effect of lubrication.

[0020] The rigid structure of gear meshing transmission reduces the pressure fluctuation caused by external collision or mechanical vibration, while the thread clearance of the traditional lead screw lift is prone to cause pressure jump. The spherical gear mechanism integrates height adjustment and angle adjustment into a single compact module, avoiding the multi-component stacking of the lifting column + rotary joint in the traditional system, and facilitating the layout in a narrow operating room.

[0021] Second aspect, the lift for arthroscopic irrigation fluid: The lift for arthroscopic irrigation fluid adopts the multi-degree-of-freedom lifting mechanism as described above, wherein the clamping component is used to clamp and fix the irrigation fluid bag to ensure the stable supply of the irrigation fluid during the operation.

[0022] Among them, the clamping component is mounted on the moving platform described above, which is used to clamp and fix the irrigation fluid bag. By controlling the rotation direction and speed of the ball screw component, the lifting height of the moving platform can be accurately controlled, so as to meet the different requirements for the height of the irrigation fluid during the operation.

[0023] Among them, each ball screw drives a moving platform, and the clamping component is mounted on each moving platform. In this way, by controlling the rotation direction and speed of the first motor and the second motor, the heights of the two moving platforms can be adjusted independently or synchronously, so as to achieve the precise control of the two irrigation fluid bags.

[0024] Among them, the electric claw is divided into an upper part and a lower part. The upper electric claw is mainly used to fix the irrigation fluid bag to ensure its stability during the operation. The lower electric claw is designed to be more flexible and is used to adjust the laying arc of the irrigation fluid diversion tube. This design allows the diversion tube to maintain an appropriate curvature during the irrigation process to adapt to the different requirements and angles of the surgical site. The ranging sensor is integrated in the clamping component and is used to detect the angle difference and height difference between the clamping component and the patient in real time.

[0025] In the above embodiments, the mechanism for the present solution to solve the technical problem is as follows: Precise matching of the anatomical angle: The spherical gear allows the perfusion tube to freely adjust the pitch, yaw, and roll angles (more than ±30°) in three-dimensional space. Doctors can quickly match the optimal perfusion angle according to the surgical site (such as the posterior recess of the knee joint, the glenoid labrum of the shoulder joint), ensuring that the liquid precisely flushes the surgical field and avoiding blind spots. When the lens position needs to be frequently adjusted during the operation, the spherical gear mechanism can fine-tune the perfusion angle in real time without interrupting the operation (traditional mechanisms require manual repositioning). By adjusting the height and tilt angle of the perfusion liquid container, the pressure is precisely controlled using the hydrostatic pressure formula P = ρgh. The multi-directional adjustment of the spherical gear can independently adjust the height (h) and the container tilt angle (affecting the effective liquid column height), achieving linear pressure control over a wider range (such as 30 - 150 mmHg).

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: I. Universal adjustment ability: The technology of the present invention realizes the free adjustment of the pitch, yaw, and roll angles of the perfusion tube in three-dimensional space through the spherical gear mechanism, improving the flexibility of the perfusion system. Doctors can quickly and accurately adjust the angle of the perfusion tube according to the specific anatomical structure of the surgical site, ensuring that the liquid can precisely flush the surgical field, effectively avoiding blind spots, and improving the clarity of the surgical field.

[0027] II. Precise pressure control: By adjusting the height and tilt angle of the perfusion liquid container and combining with the hydrostatic pressure formula, the present invention can achieve precise control of the perfusion pressure. The pressure control method of the present invention not only has a wider range (30 - 150 mmHg) but also is more linear, avoiding pressure jumps caused by screw thread clearances and the like in traditional mechanisms, and improving the safety and stability of the operation.

[0028] III. Compact and integrated design: The spherical gear mechanism of the present invention integrates height adjustment and angle adjustment into a single compact module, greatly reducing the volume and complexity of the system. This design makes the perfusion lifting device more convenient to layout and place in a narrow operating room, improving the utilization efficiency of the operating room.

[0029] IV. Improving surgical efficiency: Since the angle and pressure of the perfusion tube can be quickly and accurately adjusted, doctors can focus more on the operation itself during the operation without spending too much time adjusting the perfusion system. This not only indirectly improves the surgical efficiency but also indirectly reduces the workload of doctors, making the operation process smoother and more successful. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 Isometric view of one perspective of the present invention; Figure 2 Another perspective view of the present invention; Figure 3 Isometric view of the lifting mechanism of the present invention; Figure 4 Isometric view of one perspective of the spatial angle adjustment mechanism of the present invention; Figure 5 Another perspective isometric view of the spatial angle adjustment mechanism of the present invention; Figure 6 Isometric view of the relay adjustment mechanism of the present invention; Figure 7 Schematic diagram of the gradient spiral tooth area of the present invention; Figure 8 Schematic diagram of the spherical gear structure feature display (half-section, no section lines) of the present invention; Reference numerals: 1, vehicle body; 2, control panel; 3, lifting mechanism; 301, truss; 302, first motor; 303, first ball screw; 304, second ball screw; 305, partition block; 306, moving table; 307, first motor; 4, clamping component; 401, electric jaw; 402, distance measuring sensor; 5, support component; 501, spherical coupling; 502, support arm; 503, slider; 6, spatial angle adjustment mechanism; 601, relay adjustment mechanism; 6011, fixed frame; 6012, swaying frame; 6013, servo cylinder; 6014, universal joint coupling; 6015, third motor; 602, control gear; 603, spherical gear; 6031, gradient spiral tooth area; 604, receiving table; 605, semi-circular tray. Detailed implementation manners

[0032] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will give a detailed description of the specific implementation manners of the present invention in conjunction with the accompanying drawings. Many specific details are set forth in the following description to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below; Examples: Most of the existing perfusion devices use single linear mechanisms (such as electric push rods, screw jacks) for height adjustment. These mechanisms can only change the height along a single axis, resulting in a fixed perfusion angle. A perfusion device with a fixed angle is likely to cause uneven flow rate of the perfusion fluid, such as the liquid column directly impacting the surgical field or forming turbulence. Traditional mechanisms only adjust the perfusion pressure by raising and lowering the height, but the range of the linear relationship between height change and pressure is limited. When extremely high or low pressure is required, containers with different capacities may need to be replaced to meet the pressure requirements.

[0033] During the operation, it is necessary to manually tilt the entire bracket or additionally install a rotary joint to match the optimal perfusion angle. This not only increases the complexity of the operation but also may make it difficult to quickly achieve the optimal perfusion effect at the surgical site (such as the posterior recess of the knee joint, the glenoid labrum of the shoulder joint). In addition, the additional rotary joint or manual tilting operation may also increase the unstable factors during the operation. Uneven flow rate will affect the clarity of the surgical field, increasing the difficulty and risk of the operation. The doctor may need to spend more time adjusting the perfusion angle and flow rate to ensure the clarity of the surgical field. The non-linear relationship between height and pressure limits the flexibility of the perfusion device. During the operation, if it is necessary to quickly adjust the perfusion pressure, it may be necessary to interrupt the operation to replace the container, which increases the risk and complexity of the operation. At the same time, the inability to expand the pressure range through tilt compensation also limits the application scenarios of the perfusion device.

[0034] Therefore, please refer to Figure 1-8 , this embodiment provides a technical solution that uses a multi-degree-of-freedom lifting mechanism as a lifting frame for arthroscopic perfusion fluid. The specific mechanical composition of this multi-degree-of-freedom lifting mechanism and its method of being used as a lifting frame for arthroscopic perfusion fluid include: A vehicle body 1 for movement, and the lifting mechanism 3 mounted thereon controls the lifting of the clamping component 4 through a vertically arranged ball screw assembly. The clamping component 4 is used to clamp a container (such as an infusion bottle) carrying the perfusion fluid; The spatial angle adjustment mechanism 6 includes a spherical gear 603 with a lifting mechanism 3 mounted on its upper part, and at least two control gears 602 meshing with it. The rotation axes of any two control gears 602 are in a crossed state; when the relay adjustment mechanism 601 controls the control gears 602 to rotate self, or / and revolve relative to the spherical gear 603, the spherical gear 603 performs a universal angle rotation along a specified trajectory, thereby controlling the perfusion position of the lifting mechanism 3 relative to the patient.

[0035] During use, place this device near the patient's hospital bed. First, the medical staff fix the perfusion fluid with the clamping assembly 4, and then adjust the control panel 2 to control the lifting mechanism 3 to perform the lifting task on the clamping assembly 4. After reaching the predetermined height, the spatial angle adjustment mechanism 6 performs a universal angle adjustment on the lifting mechanism 3 based on the angle difference and height difference between the current clamping assembly 4 and the patient, so that the infusion of the perfusion fluid reaches an optimal balanced pressure point.

[0036] Specifically: The design principle of the multi-degree-of-freedom lifting mechanism and the arthroscopic perfusion fluid lifting frame is based on mechanical kinematics and spatial geometry. The lifting mechanism 3 converts rotational motion into linear motion through a ball screw assembly to achieve precise lifting control of the clamping assembly 4. This transmission method has the advantages of high efficiency and high precision, and can meet the requirements for precise control of the height of the perfusion fluid during the operation.

[0037] The working principle of the spatial angle adjustment mechanism 6 is based on the kinematic characteristics of gear transmission and spatial rotation mechanism. The meshing of the spherical gear 603 and the control gear 602 enables the spherical gear 603 to rotate freely in multiple directions, while the relay adjustment mechanism 601 achieves precise control of the spherical gear 603 by controlling the rotation and revolution of the control gear 602. This design enables the lifting mechanism 3 and the clamping assembly 4 to be flexibly adjusted in three-dimensional space to quickly match the optimal perfusion angle.

[0038] It can be understood that in the above embodiment: it can ensure that the perfusion fluid bag maintains a stable height and position during the operation. Through the design of the spatial angle adjustment mechanism 6, the perfusion fluid bag can be adjusted in all directions relative to the patient to quickly match the optimal perfusion angle, effectively improving the clarity of the surgical field and the perfusion effect.

[0039] In the technical solution provided in this embodiment, please refer to Figure 2-4 : The lifting mechanism 3 includes a truss 301 fixed on the vehicle body 1 and a moving platform 306 that is vertically slidably engaged with it. The ball screw assembly is used to drive the lifting of the moving platform 306; the clamping assembly 4 is mounted on the moving platform 306.

[0040] Specifically: The ball screw assembly consists of a screw and a nut. The screw is engraved with a helical groove, and the nut is equipped with balls that match the helical groove. When the screw rotates, the balls roll in the helical groove, pushing the nut to move along the axis of the screw. In this technology, the screw is fixed on the truss 301, and the nut is connected to the moving platform 306. Therefore, when the screw rotates, the moving platform 306 will slide vertically on the truss 301 to achieve the lifting function.

[0041] In addition, the lifting mechanism 3 also adopts the design principle of sliding fit. The moving platform 306 and the truss 301 realize vertical sliding fit through components such as sliding rails or sliders, ensuring the stability and smoothness of the moving platform 306 during the lifting process. This design not only improves the accuracy and reliability of the lifting mechanism 3, but also extends its service life.

[0042] It is understandable that in the above embodiment: a precise lifting control function is provided to ensure that the perfusion bag maintains a stable height and position during surgery. By controlling the rotation direction and speed of the ball screw assembly, medical staff can easily adjust the height of the perfusion bag to meet the needs of different surgical sites and angles.

[0043] In addition, the lifting mechanism 3 has the advantages of compact structure, easy operation, high stability, etc. The fixed design of the truss 301 makes the entire lifting mechanism 3 more stable and reliable, and can withstand a large load. The mounting design of the moving platform 306 and the clamping assembly 4 makes the clamping and fixing of the perfusion liquid bag more convenient and quick.

[0044] In the technical solution provided in this embodiment, please refer to Figure 1~2 : Since the height of the truss 301 is relatively high, it may shake after being adjusted in a universal angle by the spatial angle adjustment mechanism 6; therefore, a support assembly 5 is also provided to prevent the truss 301 from shaking. The support assembly 5 includes a slider 503 that vertically slides and fits the truss 301, and one end and the other end of a support arm 502 are universally hinged to the slider 503 and the vehicle body 1 through a ball coupling 501. When the universal angle of the truss 301 changes, the slider 503 offsets the freedom of the universal angle adjustment through the ball coupling 501 during the following movement, and abuts against the truss 301 to achieve support and prevent shaking.

[0045] In the technical solution provided in this embodiment, please refer to Figure 3 The ball screw assembly includes a first ball screw 303 driven by a first motor 302, and a second ball screw 304 driven by a first motor 307. The two ball screws are on the same rotating axis, and the shoulders of the two ball screws facing each other are rotatably matched in a partition block 305 through bearings. The partition block 305 is fixed in the truss 301. The movable platform 306 driven by the first ball screw 303 and the second ball screw 304 respectively is equipped with a clamping assembly 4 .

[0046] Specifically: The design principle of the double ball screw assembly is based on the screw drive and bearing support principles in mechanical transmission. The first motor 302 and the first motor 307 drive the first ball screw 303 and the second ball screw 304 to rotate respectively. Through the rolling motion of the balls in the spiral grooves, the rotational motion is converted into a linear motion, driving the moving table 306 to slide vertically on the truss 301.

[0047] The design of the spacer block 305 is based on the support and positioning principles in mechanical structures. It rotatably mates the shoulders of the two ball screws through bearings, ensuring the coaxiality and parallelism of the ball screws, and improving the stability and accuracy of the entire lifting mechanism 3. At the same time, the spacer block 305 also bears the radial and axial loads of the ball screws, ensuring the reliability and durability of the ball screws during operation.

[0048] It can be understood that in the above embodiments: The double ball screw assembly plays an important role in the multi-degree-of-freedom lifting mechanism and the lifting frame for arthroscopic irrigation fluid. It provides a dual lifting control function, capable of adjusting the heights of the two irrigation fluid bags simultaneously or independently, meeting different requirements for the positions of the irrigation fluid bags during the operation. This design not only improves the flexibility and efficiency of the operation, but also reduces the operation difficulty and labor intensity of medical staff. In addition, the double ball screw assembly also has advantages such as strong load-bearing capacity, high stability, and high precision. By adopting the double ball screw structure, the rigidity and stability of the lifting mechanism 3 are improved, ensuring the smoothness and accuracy of the irrigation fluid bag during lifting. At the same time, the design of the spacer block 305 further enhances the reliability and durability of the lifting mechanism 3, providing a reliable lifting control function for the multi-degree-of-freedom lifting mechanism and the lifting frame for arthroscopic irrigation fluid.

[0049] In the technical solution provided in this embodiment, please refer to Figure 3 : The clamping assembly 4 includes an electric jaw 401 and a ranging sensor 402 for detecting the angular difference and height difference of the current clamping assembly 4 relative to the patient; The electric jaw 401 located at the upper part is used to fix the irrigation fluid, and the electric jaw 401 located at the lower part is used to adjust the layout curvature of the diversion tube of the irrigation fluid.

[0050] Based on the implementation steps in the previous text, "the spatial angle adjustment mechanism 6 performs universal angle adjustment on the lifting mechanism 3 based on the angle difference and height difference between the current clamping component 4 and the patient, so that the infusion of the perfusion liquid reaches a most balanced pressure point". At this time, although the infusion of the perfusion liquid reaches a most balanced pressure point, the change in angle will also slightly cause a change in height, and will also lead the guide tube to produce a certain curvature, which will have an adverse effect on medical care. Therefore, at this time, based on the detection value of the self-distance sensor 402 fed back by the control panel 2, the lifting mechanism 3 should be manually or automatically slightly lowered or raised to a certain height, and the height difference caused by the above-mentioned tilt should be eliminated (based on the information guidance provided by the distance sensor 402). Then, the lower electric clamp claw 401 is raised and lowered to adjust the layout curvature of the perfusion liquid guide tube. The jaws of the lower electric clamp claw 401 are enlarged, so it does not actually "clamp" or "clamp" the guide tube, but leaves a certain space.

[0051] Specifically: Based on the implementation steps described above, when the spatial angle adjustment mechanism 6 performs universal angle adjustment on the lifting mechanism 3 according to the initial data provided by the distance sensor 402, so that the infusion of the perfusion liquid reaches a most balanced pressure point, the change in angle may slightly affect the height and cause the guide tube to generate a certain arc. In order to eliminate these adverse effects, the operation process is optimized as follows: After the spatial angle adjustment mechanism 6 completes the angle adjustment, the control panel 2 will feedback the latest detection value of the distance sensor 402. According to these values, the medical staff can manually or automatically fine-tune the clamping assembly 4 through the lifting mechanism 3 to raise or lower a certain height to eliminate the height difference caused by the tilt.

[0052] After the height is finely adjusted, the curvature of the drainage tube for the perfusion liquid is adjusted by the lifting function of the lower electric clamp claw 401. The jaws of the lower electric clamp claw 401 are enlarged, and do not directly "clamp" or "clamp" the drainage tube, but leave a certain space to allow the drainage tube to flexibly adjust its curvature in the clamp claw.

[0053] It can be understood that in the above embodiments: Such refined embodiments and optimized operation processes provide higher precision and flexibility for the multi-degree-of-freedom lifting mechanism and the lifting frame for arthroscopic perfusion fluid: Through the real-time monitoring and feedback of the ranging sensor 402, as well as the precise control of the lifting mechanism 3 and the electric jaw 401, it is ensured that the perfusion fluid is instilled at the optimal pressure point, while maintaining an appropriate arc of the diversion tube. The design of the lower electric jaw 401 allows the diversion tube to flexibly adjust the arc during the operation, meeting the requirements of different surgical sites and angles. Both the height fine-tuning and the diversion tube arc adjustment can be completed manually or automatically through the control panel 2, reducing the operation burden on medical staff. The refined embodiments and optimized operation processes provide higher precision, flexibility, and operational simplicity for the application of the multi-degree-of-freedom lifting mechanism and the lifting frame for arthroscopic perfusion fluid during the operation, further improving the success rate of the operation and the comfort of the patient.

[0054] Preferably, the ranging sensor 402 is a CCD industrial vision camera or a laser rangefinder. The medical staff place a marker at the designated position of the patient, and then let the CCD industrial vision camera or the laser rangefinder detect the position data.

[0055] In the technical solution provided in this embodiment, please refer to Figure 4~6 : The relay adjustment mechanism 601 includes: A third motor 6015, connected to and driving the control gear 602 to perform self-rotation; A parallel assembly, connected to the third motor 6015 and driving the third motor 6015 and the control gear 602 to perform revolution.

[0056] Among them, the parallel assembly includes a fixed frame 6011 fixed on the vehicle body 1 and a swaying frame 6012. At least three servo cylinders 6013 are mounted between the fixed frame 6011 and the swaying frame 6012 in a circular array. The cylinder body and the piston rod of the servo cylinder 6013 are both universally hinged to the fixed frame 6011 and the swaying frame 6012 through a universal joint coupling 6014; the third motor 6015 is mounted on the swaying frame 6012.

[0057] During use, each servo cylinder 6013 executes different and preset feed amounts, which can control the universal adjustment angle and its movement trajectory of the swaying frame 6012, and thus equivalently control the meshing angle of the control gear 602 relative to the spherical gear 603. Specifically, when each servo cylinder 6013 executes different and preset feed amounts, the swaying frame 6012 will be subjected to thrust and pulling forces in different directions, thereby achieving universal adjustment. The universal adjustment angle of the swaying frame 6012 and its movement trajectory are precisely controlled by the feed amount of the servo cylinder 6013. By adjusting the angle of the swaying frame 6012, it is equivalent to controlling the meshing angle of the control gear 602 relative to the spherical gear 603, and thus the spatial angle adjustment of the lifting mechanism 3 is achieved.

[0058] It can be understood that in the above embodiment: The design of the parallel assembly enables the relay adjustment mechanism 601 to perform arbitrary angle adjustments in three-dimensional space, meeting the high flexibility requirements for the position of the perfusion fluid bag during the surgical process. The precise control of the servo cylinder 6013 ensures the accuracy of the universal adjustment angle of the swaying frame 6012 and the control gear 602 and their movement trajectories, thereby achieving precise control of the position of the perfusion fluid bag. The design of this relay adjustment mechanism 601 is not only applicable to arthroscopic perfusion fluid lifting frames but can also be widely applied to other medical devices or mechanical devices that require precise spatial angle adjustment.

[0059] In the technical solution provided in this embodiment, please refer to Figure 6~8 : The shape of the spherical gear 603 is characterized in that: based on the involute profile of the spherical surface, a continuous conjugate surface is formed by the pure rolling expansion of the base circle on the spherical surface, and its cross-sectional form is as Figure 8 shown, which can achieve multi-directional meshing and transmission stability; due to the above shape characteristics, this continuous conjugate surface will inevitably have four gradually changing spiral tooth regions 6031, and the control gear 602 meshes in the gradually changing spiral tooth region 6031.

[0060] It should be noted that the formation of the four gradually changing spiral tooth regions 6031 on the continuous conjugate surface of the spherical gear 603 is essentially an inevitable result of the geometric symmetry and motion constraints during the generation of the spherical involute profile; because when the base circle performs pure rolling on the spherical surface, its trajectory naturally presents a two-way symmetric expansion in the spherical coordinate system such as meridians and latitudes, resulting in the tooth profile gradually extending like a spiral towards the two poles along the spherical spiral path and converging at four points; the two-way spiral distribution can not only meet the continuity of the tooth surface conjugate meshing to avoid interference but also compensate for the degree-of-freedom limitation of the spherical transmission through the alternating contact of the symmetric tooth regions, thus ensuring the stability of multi-directional transmission and torque uniformity.

[0061] The working principle of the spherical gear 603 lies in: (1) Prerequisite: When the base circle of the spherical gear 603 rolls purely on the spherical surface, its trajectory forms a spherical involute tooth profile. This tooth profile unfolds bidirectionally in the latitude and longitude of the spherical coordinate system, generating two sections of four symmetric spiral tooth areas that extend towards the two poles of the sphere respectively. The tooth surface contact line is distributed along a spiral path, and the tooth surfaces can maintain continuous conjugate contact at any meshing position, avoiding meshing interruption caused by angular inclination.

[0062] (1.2)The two spiral tooth areas participate in meshing alternately. When the gear is tilted, one side of the tooth area gradually exits the contact, and the other side of the tooth area synchronously enters the meshing, realizing seamless power transmission. The spiral-distributed tooth surfaces disperse the load to a larger contact area, reducing local wear and stress concentration.

[0063] (2)Process: Torque is transmitted from the two-end control gear 602 to the spherical gear 603, driving it to rotate around its own axis, such as the equatorial axis, to realize the transmission function of traditional gears. The direction of the self-rotation axis is determined by the installation position of the control gear 602; The spherical gear 603 is pushed by the relay adjustment mechanism 601 to rotate around any spatial axis, such as the polar axis or the inclined axis, to change its spatial attitude. The revolution motion breaks through the limitation of the single-axis rotation of traditional gears, enabling the spherical gear 603 to adjust angles in pitch, yaw, and roll around multiple axes.

[0064] The self-rotation and revolution of the control gear 602 are coupled, that is, the self-rotation provides the basic power output, and the revolution adjusts the output direction. The two cooperate through the geometric constraint of tooth surface contact.

[0065] Exemplarily, when the spherical gear 603 revolves and tilts, the meshing point of the control gear 602 slides along the spiral tooth area, but still maintains meshing continuity; the speed ratio of the self-rotation and revolution determines the final motion trajectory of the output shaft, such as a spiral motion or a space curve.

[0066] The conjugate characteristic of the spherical involute tooth profile ensures that at any inclination angle, the contact point always satisfies the meshing condition with a constant pressure angle, avoiding impact or vibration caused by angle change.

[0067] In the technical solution provided in this embodiment, please refer to Figure 4 : A receiving platform 604 is mounted on the spherical gear 603, and a truss 301 of the lifting mechanism 3 is mounted on the receiving platform 604. A semi-circular tray 605 is provided below the spherical gear 603. The semi-circular tray 605 contains lubricating grease, and the lower half of the spherical gear 603 is immersed in the lubricating grease. Thus, the spherical gear 603 also obtains a spatial support at the bottom and can achieve a lubricating effect.

[0068] Summarizing, in view of the related problems in the traditional technology, based on the multi-degree-of-freedom lifting mechanism and the lifting frame for arthroscopic irrigation fluid provided above, the following technical means or features are adopted to achieve the solution: (1) Universal adjustment to match the optimal irrigation angle: The spherical gear 603 allows the irrigation tube to be adjusted in terms of pitch, yaw, and roll angles in three-dimensional space. The multi-degree-of-freedom adjustment ability is achieved based on the special structural design of the spherical gear 603, which enables the irrigation tube to rotate freely in all directions like the surface of a sphere. The doctor can quickly adjust the angle of the irrigation tube through the spherical gear 603 mechanism according to the specific requirements of the surgical site, such as the posterior recess of the knee joint, the glenoid labrum of the shoulder joint, etc., to ensure that the liquid can accurately flush the surgical field and avoid blind spots. During the operation, when it is necessary to frequently adjust the position of the lens, the spherical gear 603 mechanism can fine-tune the irrigation angle in real time without interrupting the operation, improving the efficiency and smoothness of the operation.

[0069] (2) Inclination compensation to expand the pressure range: In this embodiment, by adjusting the height (h) and inclination angle of the irrigation fluid container (affecting the effective liquid column height), the hydrostatic pressure formula P = ρgh is used to accurately control the irrigation pressure. This is based on the hydrostatic principle of physics, that is, the liquid pressure is proportional to the liquid density, gravitational acceleration, and liquid column height. The multi-directional adjustment function of the spherical gear 603 enables the adjustment of the height and container inclination angle to be carried out independently. By changing the height and inclination angle of the container, the effective liquid column height can be effectively changed, thereby achieving a wider range of pressure control. Due to the rigid structure and precise adjustment ability of the spherical gear 603, the pressure control is more linear, avoiding pressure jumps caused by thread clearances and the like in traditional mechanisms.

[0070] It should be further pointed out that compared with the traditional universal adjustment mode, the spatial angle adjustment mechanism 6 of this embodiment, the spherical gear 603 can theoretically achieve almost hemispherical range of dead-angle-free angle adjustment, while the traditional universal adjustment mode, such as parallel robots, is easily restricted by the length of the branch chain and joints, and the working space is usually small (for example, the Delta robot can only cover a conical area).

[0071] At the same time, the spatial angle adjustment mechanism 6 provided in this embodiment only requires two sets of drives (rotation + revolution) to achieve multi-degree-of-freedom movement, without the complex multi-branch chains (usually 3 - 6) and redundant actuators of parallel robots, reducing the mechanical complexity and volume. The power is directly transmitted through gear meshing, with high rigidity and small backlash, suitable for high-torque scenarios; parallel robots rely on the force-closure structure of the branch chain, and the stiffness of a single chain is limited and is easily affected by dynamic loads.

[0072] Moreover, the kinematic model of the spatial angle adjustment mechanism 6 in this embodiment is based on the spherical coordinate system, and the trajectory planning is relatively simple; parallel robots require complex inverse kinematic calculations and real-time coordinated control, and are prone to singular configurations (such as out-of-control caused by the collinearity of the branches).

[0073] In this solution, all the electrical components of the entire device are powered by the mains electricity; specifically, the electrical components of the entire device are conventionally electrically connected to the mains electricity output port through devices such as relays, transformers, and button panels to meet the power supply requirements of all the electrical components of this device.

[0074] Specifically, an external controller is also provided for this device. This controller is used to connect and control all the electrical components of the entire device to be driven according to the preset program as preset values and drive modes; it should be noted that the above drive modes correspond to the start-stop time intervals, rotation speeds, powers, and other output parameters corresponding between the relevant electrical components in the above text, that is, it meets the requirements for the relevant electrical components to drive the relevant mechanical devices to operate according to the described functions.

[0075] Furthermore, for the multi-degree-of-freedom lifting mechanism and the arthroscopic irrigation fluid lifting rack disclosed in this specific embodiment, all the electrical components as described above, and the mechanisms composed of them can execute the conventional PID controller algorithm (Proportion Integral Differential) through the controller to achieve the control of the output parameters such as the start-stop time intervals, rotation speeds, powers, etc., that is, to achieve the operation mode in which the (mechanism) executes the predetermined or preset actions according to a certain function or motion trajectory.

[0076] Preferably, the controller is a PLC controller, and the above control requirements are completed through conventional PLC control modes such as ladder diagrams, sequential function charts, function block diagrams, instruction lists, or structured texts; it should be noted that the start-stop time intervals, rotation speeds, powers, and other output parameters of the electrical components or other power components driven by its programming are not limited; specifically, the relevant drive control is adjusted according to the actual use requirements.

[0077] The above-described embodiments only represent the implementation modes of the relevant practical applications of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. Multi-degree-of-freedom lifting mechanism, characterized in that: including, The lifting mechanism (3) performs lifting control on the clamping component (4) through a vertically arranged ball screw assembly; The spatial angle adjustment mechanism (6) includes a spherical gear (603) with the lifting mechanism (3) mounted thereon, and at least two control gears (602) meshing therewith. The rotation axes of any two of the control gears (602) are in a crossed state. When the relay adjustment mechanism (601) controls the control gears (602) to rotate self - axially, or / and to revolve relative to the spherical gear (603), the spherical gear (603) performs universal angle rotation along a specified trajectory, thereby controlling the lifting mechanism (3) relative to the patient's perfusion position.

2. The lifting mechanism according to claim 1, wherein: The lifting mechanism (3) includes a truss (301) and a moving platform (306) that is vertically slidably engaged therewith. The ball screw assembly is used to drive the lifting of the moving platform (306); The clamping component (4) is mounted on the moving platform (306).

3. The lifting mechanism according to claim 2, characterized in that: The ball screw assembly includes a first ball screw (303) driven by a first motor (302), and a second ball screw (304) driven by a second motor (307); The clamping component (4) is mounted on each of the moving platforms (306) driven by the first ball screw (303) and the second ball screw (304) respectively.

4. The lifting mechanism according to claim 3, characterized in that: The clamping component (4) includes an electric claw (401) and a distance measuring sensor (402) for detecting the angle difference and height difference of the current clamping component (4) relative to the patient.

5. The lifting mechanism according to claim 2, wherein: Therefore, it also includes a support component (5) for preventing the truss (301) from shaking. The support component (5) includes a slider (503) that is vertically slidably engaged with the truss (301). One end and the other end of the support arm (502) are universally hinged to the slider (503) and the vehicle body (1) through spherical couplings (501).

6. The lifting mechanism according to claim 1, wherein: The relay adjustment mechanism (601) includes, A third motor (6015), connected to and driving the control gear (602) to perform the self - rotation; A parallel component, connected to the third motor (6015), and driving the third motor (6015) and the control gear (602) to perform the revolution.

7. The lifting mechanism according to claim 6, characterized in that: The parallel component includes a fixed frame (6011) and a swaying frame (6012). At least three servo cylinders (6013) are mounted between the fixed frame (6011) and the swaying frame (6012) in a circular array. The cylinder body and the piston rod of the servo cylinder (6013) are universally hinged to the fixed frame (6011) and the swaying frame (6012); The third motor (6015) is mounted on the swaying frame (6012).

8. The lifting mechanism according to claim 6, wherein: The shape of the spherical gear (603) is characterized in that: based on the involute tooth profile of the spherical surface, a continuous conjugate surface is formed by the pure rolling expansion of the base circle on the spherical surface; this continuous conjugate surface has four gradually changing spiral tooth regions (6031), and the control gear (602) meshes in the gradually changing spiral tooth region (6031).

9. Arthroscopic irrigation fluid lifting frame, characterized in that: The lifting frame for arthroscopic irrigation fluid adopts the multi-degree-of-freedom lifting mechanism as described in any one of claims 1 to 8, and the clamping assembly (4) is used for clamping the irrigation fluid.

10. The lifting frame for arthroscopic irrigation fluid according to claim 9, characterized in that: In the clamping assembly (4), the electric jaw (401) located in the upper part is used for fixing the irrigation fluid, and the electric jaw (401) located in the lower part is used for adjusting the layout curvature of the diversion tube of the irrigation fluid.

Images