Anti-shake microsurgery mechanical arm for restitution surgery

Abstract

The invention relates to the technical field of surgical mechanical arms, and particularly discloses an anti-shake microsurgery mechanical arm for restitution surgery, which comprises an operating bed and a mounting frame, a guide rail is mounted on the side wall of the operating bed, a mechanical arm body is mounted on the end surface of the mounting frame, and four mounting racks I are distributed on the bottom surface of the mounting frame in a rectangular shape; a first rectangular frame is installed on the bottom face of the first installation frame in an embedded mode, an adsorption part is arranged in an inner cavity of the first rectangular frame, a pneumatic assembly is arranged on the outer side wall of the first installation frame, a transmission assembly is arranged between the pneumatic assembly and the adsorption part, the adsorption part is provided with a detection assembly, a lifting part is installed on the adsorption part in a matched mode, and a second flow guide pipe is installed on the lifting part in a matched mode. Through mutual cooperation of the structures, a brand new positioning mode is provided, the device has the advantages of being high in response speed and good in positioning effect, meanwhile, positioning of the device is not limited by a guide rail, and then the effect that the device can conduct positioning at any position is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of surgical robotic arms, and in particular relates to an anti-shake microsurgery robotic arm for reconstructive surgery. Background Art

[0002] Plastic surgery, as a delicate and complex surgical operation, places extremely high demands on the precision and stability of surgical instruments. This is especially true at the microsurgery level, where doctors need to perform precise operations within a tiny field of view, such as vascular anastomosis, nerve repair, and reconstruction of tiny tissues. However, traditional surgical methods mainly rely on doctors holding surgical instruments, which are inevitably affected by the physiological characteristics of the human body. Among them, slight hand tremors are a difficult problem to overcome.

[0003] In the patent with publication number CN118000919B, a surgical robot arm is mentioned, comprising a guide rail fixedly mounted on the edge of an operating bed, a mounting seat is arranged on one side of the guide rail, and an adjustment mechanism is arranged on the mounting seat, the mounting seat comprises a base, a screw, the screw is rotatably mounted below the base, a screw sleeve screwed on the screw, four groups of connecting rods, one end of the four groups of connecting rods are hinged on the screw sleeve, four groups of support rods, the other ends of the four groups of connecting rods are respectively hinged to the four groups of support rods, rollers rotatably mounted at the lower ends of the support rods, and the upper ends of the support rods are hinged to the base, the setting of the rollers makes it more convenient for staff to carry the device, and secondly, the position of the guide sleeve can be flexibly adjusted, so that the staff can quickly realize the engagement of the guide sleeve and the guide rail, making it more convenient and labor-saving for staff to install and disassemble the robotic arm, and secondly, the guide sleeve can slide along the guide rail, so that the device can flexibly move along the edge of the operating bed, thereby facilitating the staff to adjust the position of the device;

[0004] However, in the prior art, after the device body is moved to the designated position, the bed is squeezed by bolts to achieve the positioning of the device body. The use of bolts for positioning requires manual tightening of the bolts one by one, which is a relatively cumbersome and time-consuming process. In particular, when the position of the device body needs to be frequently adjusted, the operator needs to repeatedly tighten and loosen the bolts, which increases the labor intensity. In addition, this positioning structure design requires the device to be used in conjunction with a guide rail, which results in a problem of limited use of the device.

[0005] Therefore, the present invention provides an anti-shake microsurgery robot arm for plastic surgery to solve the above problems. Summary of the Invention

[0006] The purpose of the present invention is to provide an anti-shake microsurgery robot arm for reconstructive surgery to solve the problem that the position of the bolt positioning device used in the prior art requires the device to be used in conjunction with a guide rail, resulting in limitations in the use of the device and inconvenience in adjustment.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solution: an anti-shake microsurgery robot arm for reconstructive surgery, comprising an operating table and a mounting frame, wherein guide rails are mounted on the side walls of the operating table, a robot arm body is mounted on the end surface of the mounting frame, the bottom surface of the mounting frame is rectangularly distributed with four mounting brackets 1, a rectangular frame 1 is embedded and mounted on the bottom surface of the mounting bracket 1, an adsorption member is disposed in the inner cavity of the rectangular frame 1, a pneumatic assembly is disposed on the outer side wall of the mounting bracket 1, a transmission assembly is disposed between the pneumatic assembly and the adsorption member, the adsorption member is provided with a detection assembly, a lifting member is mounted on the adsorption member, and a guide tube 2 is mounted on the lifting member;

[0008] The pneumatic assembly includes a vacuum pump, a vacuum pump is installed on the side wall of the second guide tube, the suction end of the vacuum pump is connected to the second connecting pipe, a connecting frame is installed on one side of the outer wall of the first mounting frame, the side of the connecting frame close to the first mounting frame is open, two C-shaped frames are installed on the side wall of the inner cavity of the connecting frame, a moving block is slidably installed between the two C-shaped frames, a C-shaped frame second is installed on the side wall of the moving block, the C-shaped frame second is located between the two C-shaped frames, and a closing plate is installed on the side of the moving block close to the first mounting frame;

[0009] The moving block is provided with a first communicating groove, the closing plate is provided with a second communicating groove, and the second communicating groove is connected to the first communicating groove;

[0010] The adsorption member includes a fixed frame, the inner cavity of the rectangular frame is installed with the fixed frame, the bottom surface of the inner cavity of the fixed frame is installed with a suction cup, the suction cup and the inner cavity of the fixed frame are connected to each other, and the inner cavity of the rectangular frame is installed with two positioning frames from top to bottom, and the fixed frame slides between the two positioning frames;

[0011] A flow guide pipe 2 is installed between the rectangular frame 1 and the mounting frame 1. One end of the flow guide pipe 2 is in contact with the closing plate, and the other end of the flow guide pipe 2 is located inside the rectangular frame 1.

[0012] Preferably, the transmission assembly includes a rack and a gear, a connecting cavity 2 is formed on the side wall of the mounting frame 1, a connecting cavity 1 is formed on the side wall of the rectangular frame 1, and the guide pipe 2 is connected to the connecting cavity 1;

[0013] A gear is rotatably arranged between the side walls of the inner cavity of the connecting chamber 1, a rack 1 is installed on the outer wall of the fixed frame close to the connecting chamber 1, and a rack 2 is installed on the outer wall of the moving block close to the connecting chamber 2, and both rack 2 and rack 1 are engaged with the gear.

[0014] Preferably, a sliding frame is installed on the outer wall of the fixed frame, the sliding frame slides in the inner cavity of the rectangular frame 1, and the sliding frame is located between the two positioning frames;

[0015] Above the side wall of the connection box, a first connecting pipe is installed. The first connecting pipe connects the connection box with the outside, and a second solenoid valve is arranged on the outer wall of the first connecting pipe. A first solenoid valve is arranged on the second connecting pipe.

[0016] Preferably: The lifting member includes a connecting sleeve and a second annular frame. Above the inner cavity of the fixed frame, an annular sleeve is installed. Inside the annular sleeve, two second annular frames are installed from top to bottom. Between the two second annular frames, a first diversion pipe is slidably installed. Below the outer wall of the first diversion pipe, a first annular frame is installed. The first annular frame is slidably arranged in the annular sleeve and is located between the two second annular frames.

[0017] Above the outer wall of the first diversion pipe, a connecting sleeve is slidably arranged. Above the inner cavity of the connecting sleeve, it is connected to the outer wall of the second diversion pipe.

[0018] Preferably: The detection component includes an annular frame. Inside the inner cavity of the fixed frame, an annular frame is installed. Inside the annular frame, arc magnets are symmetrically installed. The magnetic poles of the two arc magnets are opposite. Above the inner cavity of the annular frame, a second mounting frame is installed. On the second mounting frame, a connecting shaft is rotatably installed. On the connecting shaft, two electric drive frames are inserted and fixed. At both ends of the electric drive frame, a commutator is installed respectively. Below the inner cavity of the annular frame, electric brushes are symmetrically installed. The electric brushes are in contact with the annular frame. Below the outer wall of the connecting shaft, a fan is installed. The blade elevation angle of the fan is set between 5 degrees and 15 degrees to avoid stall at large angle of attack or insufficient power at small angle of attack.

[0019] Preferably: Wires are respectively connected to the two electric brushes. The side of the wire away from the electric brush sequentially penetrates through the fixed frame, the first rectangular frame and the first mounting frame, and extends to the outside of the first mounting frame. On the outer side wall of the first mounting frame, a lamp holder is installed. On the lamp holder, an indicator light is installed. Wires are respectively connected to both ends of the lamp holder.

[0020] Preferably: The wire is fixedly connected to the first rectangular frame and the first mounting frame and is airtight to each other. The wire is fixedly connected to the fixed frame and is airtight to each other. The length of the wire reserved between the first rectangular frame and the fixed frame is greater than the distance between the two U-shaped frames.

[0021] Preferably: It further includes a moving member. Below the outer side wall of the first rectangular frame, a mounting seat is installed. On the bottom surface of the mounting seat, four connecting rods are distributed in a rectangular shape. Rolling beads are installed in the connecting rods.

[0022] Preferably: The guide rail is in a "U" shape, the mounting frame is in a "square" shape. Inside the inner cavity of the guide rail, the mounting frame is slidably installed. On the bottom surface of the inner cavity of the mounting frame, a PLC controller is installed.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. The present invention provides a new positioning method by arranging a pneumatic component, a guide tube 2, a transmission component and an adsorption component in an anti-shake microsurgery robot arm for reconstructive surgery. When the device is used, the above structures cooperate with each other to provide a new positioning method, which has the advantages of fast response speed and good positioning effect. At the same time, the positioning of the device is not restricted by the guide rail, thereby achieving the effect of the device being able to be positioned at any position.

[0025] 2. The present invention sets a pneumatic component and a detection component in an anti-shake microsurgery robot arm for reconstructive surgery. When the device is in use, the structures in the above components cooperate with each other, so that when the suction cup ages and cannot be tightly adhered to the bottom surface for adsorption, the external airflow will enter the fixed frame from bottom to top under the action of the vacuum pump, and drive the fan, connecting shaft and electric drive frame to rotate, thereby cutting the magnetic induction lines between the two arc magnets and generating current, so that the indicator light will light up under the action of the current, so that the problem of the suction cup being unable to adsorb due to aging can be quickly detected. This intuitive light prompt can enable the surgeon to quickly perceive the abnormality of the device body, stop the surgical operation in time, check and adjust the device, avoid the surgical risks caused by unstable adsorption of the device body, and effectively improve the safety and reliability of the operation.

[0026] 3. The present invention provides a moving part in an anti-shake microsurgery robot arm for reconstructive surgery. During the use of the device, the above structures cooperate with each other to achieve the effect that the device can be moved at any angle, thereby improving the convenience of using the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is an axial view of the present invention;

[0028] Figure 2 is a cross-sectional view of a mounting bracket 1 of the present invention;

[0029] Figure 3 It is a cross-sectional view of a rectangular frame of the present invention;

[0030] Figure 4 This is a diagram showing the installation structure of the detection assembly of the present invention;

[0031] Figure 5 This is an enlarged structural diagram of point A in the figure of the present invention;

[0032] Figure 6 This is a structural diagram of the detection component of the present invention;

[0033] Figure 7 This is a schematic diagram of the fan installation structure of the present invention;

[0034] Figure 8 This is an exploded cross-sectional view of the lifting member of the present invention;

[0035] Figure 9 Schematic diagram of the installation structure of the U-shaped frame of the present invention.

[0036] In the figure: 1. operating table; 2. mounting frame; 3. robot body; 4. PLC controller; 5. mounting frame 1; 6. guide rail; 7. pneumatic assembly; 701. vacuum pump; 702. connecting frame; 703. connecting pipe 1; 704. connecting pipe 2; 705. solenoid valve 1; 706. solenoid valve 2; 707. moving block; 708. closing plate; 709. connecting groove 1; 710. connecting groove 2; 711. U-shaped frame 1; 712. U-shaped frame 2; 8. moving part; 801. mounting seat; 802. connecting rod; 803. rolling ball; 9. rectangular frame 1; 10. adsorption part; 101. fixing frame; 102. suction cup; 1 03. Sliding frame; 104. Positioning frame; 11. Detection component; 111. Ring frame; 112. Wire; 113. Lamp holder; 114. Indicator light; 115. Arc magnet; 116. Connecting shaft; 117. Fan; 118. Brush; 119. Electric drive frame; 1110. Mounting frame 2; 1111. Commutator; 12. Transmission component; 121. Rack 1; 122. Gear; 123. Rack 2; 13. Lifting piece; 131. Connecting sleeve; 132. Ring sleeve; 133. Guide pipe 1; 134. Ring frame 1; 135. Ring frame 2; 14. Connecting chamber 1; 15. Guide pipe 2; 16. Connecting chamber 2. DETAILED DESCRIPTION

[0037] The following will be combined with the Figure 1 To the attached Figure 9 The technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort shall fall within the scope of protection of the present invention.

[0038] It should be noted that if there are any directions involved in the embodiments of the present invention, they shall be based on the directions shown in the drawings, such as front and back. Figure 1 The specific Figure 1 The left side is the front, Figure 1 The right side is the back; at the same time Figure 2 As shown in the figure, the left-right direction is roughly the horizontal direction, and the up-down direction shown in the figure is the vertical direction. If a specific posture changes, the directional indication will also change accordingly.

[0039] Reference Figure 1 - Figure 9As shown, the present invention provides an anti-shake microsurgery robot arm for reconstructive surgery, comprising an operating table 1 and a mounting frame 2. Guide rails 6 are mounted on the side walls of the operating table 1. A robot arm body 3 is mounted on the end face of the mounting frame 2. The bottom face of the mounting frame 2 is rectangularly distributed with four mounting brackets 5. A rectangular frame 9 is mounted on the bottom face of the mounting bracket 5. A suction member 10 is disposed in the inner cavity of the rectangular frame 9. A pneumatic assembly 7 is disposed on the outer wall of the mounting bracket 5. A transmission assembly 12 is disposed between the pneumatic assembly 7 and the suction member 10. The suction member 10 is provided with a detection assembly 11. A lifting member 13 is mounted on the suction member 10. A guide tube 2 15 is mounted on the lifting member 13.

[0040] Among them, the robot body 3 adopts the corresponding mechanism in a surgical collaborative robot arm published in CN116269814B, which will not be described in detail here;

[0041] The pneumatic assembly 7 includes a vacuum pump 701. The vacuum pump 701 is mounted on the side wall of the second guide tube 15. The suction end of the vacuum pump 701 is connected to the second connecting tube 704. A connecting frame 702 is mounted on one side of the outer wall of the mounting frame 5. The side of the connecting frame 702 close to the mounting frame 5 is open. Two C-shaped frames 711 are mounted on the inner side wall of the connecting frame 702. A moving block 707 is slidably mounted between the two C-shaped frames 711. A C-shaped frame 712 is mounted on the side wall of the moving block 707. The C-shaped frame 712 is located between the two C-shaped frames 711. A closing plate 708 is mounted on the side of the moving block 707 close to the mounting frame 5.

[0042] A communication groove 1 709 is formed in the moving block 707, and a communication groove 2 710 is formed on the closing plate 708, and the communication groove 2 710 and the communication groove 1 709 are interconnected;

[0043] The adsorption member 10 includes a fixed frame 101. The fixed frame 101 is installed in the inner cavity of the rectangular frame 9. A suction cup 102 is installed on the bottom surface of the inner cavity of the fixed frame 101. The suction cup 102 is connected to the inner cavity of the fixed frame 101. Two positioning frames 104 are installed from top to bottom in the inner cavity of the rectangular frame 9. The fixed frame 101 slides between the two positioning frames 104.

[0044] The two positioning frames 104 cooperate with the sliding frame 103 to limit the distance that the fixed frame 101 can move up and down, thereby preventing the rack 121 from moving excessively and causing the rack 121 to disengage from the gear 122.

[0045] A second flow guide tube 15 is installed between the rectangular frame 1 9 and the mounting frame 1 5 . One end of the second flow guide tube 15 contacts the closing plate 708 , and the other end of the second flow guide tube 15 is located inside the rectangular frame 1 9 .

[0046] In a further embodiment, referring to Figure 1 - Figure 4The transmission assembly 12 includes a rack 121 and a gear 122. The side wall of the mounting frame 5 is provided with a connecting cavity 2 16. The side wall of the rectangular frame 9 is provided with a connecting cavity 14. The guide pipe 2 15 is connected to the connecting cavity 14.

[0047] A gear 122 is rotatably provided between the side walls of the inner cavity of the connecting chamber 14. A rack 121 is installed on the outer wall of the fixed frame 101 near the connecting chamber 14. A rack 2 123 is installed on the outer wall of the movable block 707 near the connecting chamber 2 16. Both the rack 2 123 and the rack 1 121 are engaged with the gear 122.

[0048] In this embodiment, the solenoid valve 1 705 is controlled to open by the PLC controller 4, and the vacuum pump 701 is controlled to start at the same time. Then, the vacuum pump 701 extracts the gas in the connecting frame 702, so that the moving block 707 and the closing plate 708 move upward under the action of atmospheric pressure. As the moving block 707 rises, the moving block 707 drives the rack 2 123 to move upward synchronously. Then, under the action of the gear 122 and the rack 1 121, the fixed frame 101 connected to the rack 121 will move downward, so that the suction cup 102 on the bottom surface of the fixed frame 101 is in close contact with the bottom surface.

[0049] In a further embodiment, referring to Figures 1-4 , a sliding frame 103 is installed on the outer wall of the fixed frame 101, the sliding frame 103 slides in the inner cavity of the rectangular frame 9, and the sliding frame 103 is located between the two positioning frames 104;

[0050] A connecting pipe 1 703 is installed above the side wall of the connecting frame 702. The connecting pipe 1 703 connects the connecting frame 702 with the outside. A solenoid valve 2 706 is provided on the outer wall of the connecting pipe 1 703. A solenoid valve 1 705 is provided on the connecting pipe 2 704.

[0051] In this embodiment, when the vacuum pump 701 is used to bring the suction cup 102 into close contact with the ground, the solenoid valve 1 705 is closed to prevent the internal and external airflows from interacting with each other, thereby improving the adhesion between the suction cup 102 and the ground.

[0052] After the device is used, the solenoid valve 2 706 is opened, and the air inside the connecting frame 702 and the fixed frame 101 will interact with the outside air, and then the adsorption between the suction cup 102 and the bottom surface will decrease and disappear. Then, under the action of the gravity of the moving block 707 and the closing plate 708, the moving block 707 and the closing plate 708 will drop and reset, and drive the adsorption part 10 to rise through the transmission component 12 to realize the reset of the device.

[0053] In a further embodiment, referring to Figure 1 - Figure 4The lifting member 13 includes a connecting sleeve 131 and a second annular frame 135. An annular sleeve 132 is installed above the inner cavity of the fixed frame 101. Two second annular frames 135 are installed in the inner cavity of the annular sleeve 132 from top to bottom. A guide tube 133 is slidably installed between the two second annular frames 135. An annular frame 134 is installed below the outer wall of the guide tube 133. The annular frame 134 is slidably set in the annular sleeve 132 and is located between the two second annular frames 135.

[0054] A connecting sleeve 131 is slidably provided above the outer wall of the first guide tube 133, and the upper part of the inner cavity of the connecting sleeve 131 is connected to the outer wall of the second guide tube 15;

[0055] In this embodiment, the first flow guide pipe 133 is always located inside the connecting sleeve 131 , and cooperates with the design of the second annular frame 135 and the annular sleeve 132 to easily adapt to the up and down movement of the fixing frame 101 .

[0056] In a further embodiment, referring to Figure 1 - Figure 8 , the detection component 11 includes an annular frame 111, an annular frame 111 is installed in the inner cavity of the fixed frame 101, and arc magnets 115 are symmetrically installed in the inner cavity of the annular frame 111. The two arc magnets 115 have opposite magnetic poles. A mounting frame 1110 is installed above the inner cavity of the annular frame 111, and a connecting shaft 116 is rotatably installed on the mounting frame 1110. Two electric drive frames 119 are fixed on the connecting shaft 116, and a commutator 1111 is installed at both ends of the electric drive frame 119. Brushes 118 are symmetrically installed below the inner cavity of the annular frame 111, and the brushes 118 are in contact with the annular frame 111. A fan 117 is installed below the outer wall of the connecting shaft 116. The blade pitch angle of the fan 117 is set between 5 degrees and 15 degrees to avoid stalling at a large angle of attack or insufficient power at a small angle of attack;

[0057] The two brushes 118 are connected to wires 112, respectively. The side of the wires 112 away from the brushes 118 sequentially passes through the fixed frame 101, the rectangular frame 9, and the mounting frame 5, and extends to the outside of the mounting frame 5. A lamp holder 113 is mounted on the outer wall of the mounting frame 5. An indicator light 114 is mounted on the lamp holder 113. Both ends of the lamp holder 113 are connected to wires 112.

[0058] The wire 112 is fixedly connected to the rectangular frame 9 and the mounting frame 5, and is directly sealed to each other. The wire 112 is fixedly connected to the fixing frame 101, and is directly sealed to each other. The length of the wire 112 retained between the rectangular frame 9 and the fixing frame 101 is greater than the distance between the two U-shaped frames 711.

[0059] In this embodiment, when the airtightness of the suction cup 102 deteriorates due to aging, under the adsorption of the vacuum pump 701, when the first communication groove 709, the second communication groove 710 and the second diversion pipe 15 are connected, the external air will enter along the suction cup 102 and blow the fan 117, thereby driving the fan 117 to rotate. Subsequently, the fan 117 drives the connecting shaft 116, the electric drive frame 119 and the commutator 1111 to rotate. The current generated by the rotation of the electric drive frame 119 will flow through the commutator 1111, the carbon brush 118 and the wire 112 to the lamp holder 113 and light up the indicator light 114.

[0060] In a further embodiment, referring to Figure 1 Figure 3 , it further includes a moving member 8. Below the outer side wall of the first rectangular frame 9, a mounting seat 801 is installed. Four connecting rods 802 are distributed in a rectangular shape on the bottom surface of the mounting seat 801, and rolling beads 803 are installed in the connecting rods 802 in a rolling manner;

[0061] In this embodiment: The design of the rolling beads 803 facilitates the multi-angle movement of the device, and has better practicability compared with traditional rollers.

[0062] In a further embodiment, referring to Figure 1 , the guide rail 6 is in a "U" shape, the installation frame 2 is in a "square" shape, the installation frame 2 is slidably installed in the inner cavity of the guide rail 6, and a PLC controller 4 is installed on the bottom surface of the inner cavity of the installation frame 2;

[0063] In this embodiment, the PLC controller 4 is electrically connected to all the electrical equipment of the device and controls its operation.

[0064] The working principle of the present invention is as follows: When the device is used, first, the electrical equipment in the device is powered on. When moving the device, the following two methods can be adopted:

[0065] 1. Insert the installation frame 2 and the guide rail 6 into each other to limit the moving direction of the device;

[0066] 2. The installation frame 2 is not inserted into the guide rail 6, and it is directly moved on the ground;

[0067] Regardless of which of the above moving methods is adopted, when the device needs to be positioned after moving to the designated position, the following operations are all adopted:

[0068] The PLC controller 4 controls the solenoid valve 1 705 to open and the vacuum pump 701 to start. The vacuum pump 701 then extracts the gas in the connection frame 702, causing the moving block 707 and the closing plate 708 to move upward under the action of atmospheric pressure. As the moving block 707 rises, the moving block 707 drives the rack 2 123 to move upward synchronously. Subsequently, under the action of the gear 122 and the rack 1 121, the fixed frame 101 connected to the rack 121 moves downward, so that the suction cup 102 on the bottom surface of the fixed frame 101 is in close contact with the bottom surface.

[0069] As the moving block 707 and the closing plate 708 continue to rise, the connecting groove 1 709 and the connecting groove 2 710 will be connected to the guide pipe 2 15. At this time, the air remaining between the suction cup 102 and the bottom surface will be discharged in sequence through the fixed frame 101, the annular sleeve 132, the guide pipe 133, the connecting sleeve 131, the guide pipe 2 15, the connecting groove 2 710, the connecting groove 1 709, the connecting frame 702 and the connecting pipe 2 704, thereby ensuring close contact between the suction cup 102 and the bottom surface and improving the positioning stability.

[0070] Since the suction cup 102 is a wearing part, when the suction cup 102 ages and the air tightness decreases, under the adsorption effect of the vacuum pump 701, when the connecting groove 1 709, the connecting groove 2 710 and the guide pipe 2 15 are connected, the outside air will enter through the suction cup 102 and blow the fan 117, thereby driving the fan 117 to rotate. Then the fan 117 drives the connecting shaft 116, the electric drive frame 119 and the commutator 1111 to rotate. The current generated by the rotation of the electric drive frame 119 will flow through the commutator 1111, the brush 118 and the wire 112 to the lamp holder 113 and light the indicator light 114;

[0071] When outside air is connected to the connecting frame 702 through the fixed frame 101, the lifting member 13, the second guide pipe 15, the connecting groove 1 709 and the connecting groove 2 710, the air pressure in the connecting frame 702 decreases, and the movable block 707 and the sealing plate 708 fall down under the action of gravity. Subsequently, the connecting groove 2 710 and the connecting groove 1 709 are no longer connected to the second guide pipe 15. At this time, the fixed frame 101 stops taking in air, and then the indicator light 114 goes out.

[0072] At this time, the connection frame 702 will be in a sealed state again, and then the above operation will be repeated under the action of the vacuum pump 701, so that the indicator light 114 will flash continuously, thereby alerting medical staff.

[0073] Based on the disclosure and teachings of the above description, those skilled in the art may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although certain specific terms are used in this description, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. An anti-shake microsurgery robot arm for reconstructive surgery, comprising an operating table (1) and a mounting frame (2), characterized in that: The end surface of the installation frame (2) is provided with a robot arm body (3), the bottom surface of the installation frame (2) is rectangularly distributed with four installation frames (5), the bottom surface of the installation frame (5) is fitted with a rectangular frame (9), an adsorption member (10) is provided in the inner cavity of the rectangular frame (9), a pneumatic assembly (7) is provided on the outer wall of the installation frame (5), a transmission assembly (12) is provided between the pneumatic assembly (7) and the adsorption member (10), a detection assembly (11) is provided on the adsorption member (10), a lifting member (13) is installed on the adsorption member (10), and a guide pipe (15) is installed on the lifting member (13); The pneumatic assembly (7) includes a vacuum pump (701), a vacuum pump (701) is installed on the side wall of the second guide tube (15), the suction end of the vacuum pump (701) is connected to the second connecting tube (704), a connecting frame (702) is installed on one side of the outer wall of the first mounting frame (5), the side of the connecting frame (702) close to the first mounting frame (5) is open, two C-shaped frames (711) are installed on the side wall of the inner cavity of the connecting frame (702), a moving block (707) is slidably installed between the two C-shaped frames (711), a C-shaped frame (712) is installed on the side wall of the moving block (707), the C-shaped frame (712) is located between the two C-shaped frames (711), and a closing plate (708) is installed on the side of the moving block (707) close to the first mounting frame (5); The movable block (707) is provided with a first communicating groove (709), the closing plate (708) is provided with a second communicating groove (710), and the second communicating groove (710) and the first communicating groove (709) are in communication with each other; The adsorption component (10) includes a fixed frame (101), the inner cavity of the rectangular frame (9) is installed with the fixed frame (101), the bottom surface of the inner cavity of the fixed frame (101) is installed with a suction cup (102), and the suction cup (102) and the inner cavity of the fixed frame (101) are communicated with each other.

2. The anti-shake microsurgery robot arm for reconstructive surgery according to claim 1, characterized in that: The inner cavity of the rectangular frame (9) is provided with two positioning frames (104) from top to bottom, and the fixed frame (101) slides between the two positioning frames (104); A second flow guide tube (15) is installed between the rectangular frame (9) and the mounting frame (5), one end of the second flow guide tube (15) contacts the closing plate (708), and the other end of the second flow guide tube (15) is located inside the rectangular frame (9); The transmission assembly (12) includes a rack (121) and a gear (122), a connecting cavity (16) is provided on the side wall of the mounting frame (5), a connecting cavity (14) is provided on the side wall of the rectangular frame (9), and a flow guide tube (15) and the connecting cavity (14) are in communication with each other; A gear (122) is rotatably provided between the inner side walls of the connecting chamber 1 (14), a rack 1 (121) is installed on the outer wall of the fixed frame (101) close to the connecting chamber 1 (14), and a rack 2 (123) is installed on the outer wall of the movable block (707) close to the connecting chamber 2 (16), and both the rack 2 (123) and the rack 1 (121) are engaged with the gear (122).

3. The anti-shake microsurgery robot arm for reconstructive surgery according to claim 1, characterized in that: The outer wall of the fixed frame (101) is provided with a sliding frame (103), the sliding frame (103) slides in the inner cavity of the rectangular frame (9), and the sliding frame (103) is located between the two positioning frames (104); A connecting pipe 1 (703) is installed above the side wall of the connecting frame (702), and the connecting pipe 1 (703) connects the connecting frame (702) with the outside. A solenoid valve 2 (706) is provided on the outer wall of the connecting pipe 1 (703), and a solenoid valve 1 (705) is provided on the connecting pipe 2 (704).

4. The anti-shake microsurgery robot arm for reconstructive surgery according to claim 1, characterized in that: The lifting member (13) includes a connecting sleeve (131) and a second annular frame (135). An annular sleeve (132) is installed above the inner cavity of the fixed frame (101). Two second annular frames (135) are installed in the inner cavity of the annular sleeve (132) from top to bottom. A guide pipe (133) is slidably installed between the two second annular frames (135). An annular frame (134) is installed below the outer wall of the guide pipe (133). The annular frame (134) is slidably arranged in the annular sleeve (132), and the annular frame (134) is located between the two second annular frames (135). A connecting sleeve (131) is slidably provided above the outer wall of the first guide tube (133), and the upper part of the inner cavity of the connecting sleeve (131) is connected to the outer wall of the second guide tube (15).

5. The anti-shake microsurgery robot arm for reconstructive surgery according to claim 1, characterized in that: The detection component (11) includes an annular frame (111), an annular frame (111) is installed in the inner cavity of the fixed frame (101), arc magnets (115) are symmetrically installed in the inner cavity of the annular frame (111), and the two arc magnets (115) have opposite magnetic poles. A second mounting frame (1110) is installed above the inner cavity of the annular frame (111), and a connecting shaft (116) is rotatably installed on the second mounting frame (1110), and a fixed shaft (116) is inserted into the connecting shaft (116). There are two electric drive frames (119), and commutators (1111) are respectively installed at both ends of the electric drive frame (119). Brushes (118) are symmetrically installed below the inner cavity of the annular frame (111), and the brushes (118) are in contact with the annular frame (111). A fan (117) is installed below the outer wall of the connecting shaft (116). The blade pitch angle of the fan (117) is set between 5 degrees and 15 degrees to avoid stalling at a large angle of attack or insufficient power at a small angle of attack.

6. The anti-shake microsurgery robot arm for reconstructive surgery according to claim 5, characterized in that: The two brushes (118) are respectively connected to a wire (112), and the side of the wire (112) away from the brush (118) sequentially passes through the fixed frame (101), the rectangular frame (9) and the mounting frame (5), and extends to the outside of the mounting frame (5). A lamp holder (113) is installed on the outer wall of the mounting frame (5), and an indicator light (114) is installed on the lamp holder (113). The two ends of the lamp holder (113) are respectively connected to the wire (112).

7. The anti-shake microsurgery robot arm for reconstructive surgery according to claim 6, characterized in that: The wire (112) is fixedly connected between the first rectangular frame (9) and the first mounting bracket (5), and they are directly airtight with each other. The wire (112) is fixedly connected between the fixed frame (101), and they are airtight with each other. The length of the wire (112) reserved between the first rectangular frame (9) and the fixed frame (101) is greater than the distance between the two first U-shaped brackets (711).

8. The anti-shake microsurgery robot arm for reconstructive surgery according to claim 1, characterized in that: It further includes a moving part (8). A mounting seat (801) is installed below the outer side wall of the first rectangular frame (9). Four connecting rods (802) are distributed in a rectangular shape on the bottom surface of the mounting seat (801), and rolling beads (803) are installed in the connecting rods (802) in a rolling manner.

9. The anti-shake microsurgery robot arm for reconstructive surgery according to claim 1, characterized in that: A guide rail (6) is installed on the side wall of the operating table (1). The guide rail (6) is in a "U" shape. The mounting frame (2) is in a "square" shape. The mounting frame (2) is slidably installed in the inner cavity of the guide rail (6), and a PLC controller (4) is installed on the bottom surface of the inner cavity of the mounting frame (2).

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