Electromagnetic swing arm system for surgical microscopes and method of use

Abstract

This invention relates to the field of medical device technology, and provides an electromagnetic swing arm system for a surgical microscope and its usage method, including a curved arm and a tilting device. The tilting device includes: a housing fixedly connected to the curved arm; a drive shaft rotatably disposed within the housing; a first drive member disposed on the housing for driving the drive shaft to rotate; a load portion disposed at the end of the drive shaft; and a spiral spring disposed within the housing, acting on the drive shaft; a force-applying component disposed on the housing, acting on the spiral spring to store elastic potential energy; and a limiting component disposed within the housing, acting on the drive shaft to limit its deflection angle. This invention enables automatic balancing of the swing arm under different loads, effectively simplifying operation and reducing fatigue of medical personnel.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to an electromagnetic swing arm system for a surgical microscope and its method of use. Background Technology

[0002] The content in this section only provides background information related to this invention and may not constitute prior art.

[0003] A surgical microscope is a high-precision optical instrument that provides a magnified, high-resolution, and three-dimensional surgical field of view through a complex lens system. It is equipped with a strong cold light source to illuminate the surgical area, enabling doctors to see fine structures that are indistinguishable to the naked eye, such as nerves, blood vessels, and lymphatic vessels. It is mainly used for minimally invasive surgeries in departments such as neurosurgery, ophthalmology, pediatrics, and plastic surgery. By providing a clear field of view, it reduces the risk of accidental injury, improves the precision of anastomosis and repair, and thus increases the success rate of surgery.

[0004] The microscope stand is the core support structure of the surgical microscope, allowing doctors to easily move the heavy microscope body with one hand and to keep it stable when released. The combination of the surgical microscope and the microscope stand enables complex and delicate surgeries to be completed efficiently and safely, especially promoting the development of high-difficulty fields such as neurosurgery and replantation surgery.

[0005] In current microsurgical procedures, the support system of surgical microscopes requires frequent adjustments to adapt to different surgical angles. Traditional surgical microscope arms rely on manual adjustment, which has the following drawbacks in actual use: manual balancing of the arms requires repeated adjustments, which is time-consuming and laborious, especially when changing microscope heads of different weights, making the operation particularly cumbersome; the mechanical or pneumatic springs in traditional microscope supports are difficult to dynamically adapt to load changes, resulting in large drag torques, which can easily lead to fatigue of medical staff during long surgical procedures; at the same time, manual operation of the microscope support makes it difficult to achieve precise control of minute displacements, which to some extent affects the safety of the surgery. Summary of the Invention

[0006] In order to solve the above-mentioned technical problems, the purpose of this invention is to provide an electromagnetic swing arm system for surgical microscopes and a method of using it, which can realize automatic balancing of the swing arm under different loads, effectively simplifying operation and reducing the fatigue of medical staff.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] On the one hand, the present invention provides an electromagnetic swing arm system for a surgical microscope.

[0009] An electromagnetic swing arm system for a surgical microscope includes a curved arm and a tilting device. The tilting device includes: a housing fixedly connected to the curved arm; a drive shaft rotatably disposed within the housing; a first drive member disposed on the housing for driving the drive shaft to rotate; a load portion disposed at the end of the drive shaft; and a spiral spring disposed within the housing, the spiral spring acting on the drive shaft; a force-applying component disposed on the housing, the force-applying component acting on the spiral spring to store elastic potential energy; and a limiting component disposed within the housing, the limiting component acting on the drive shaft to limit the tilting angle of the drive shaft.

[0010] In some possible embodiments, the force-applying component includes: a drive sleeve rotatably disposed inside the housing, a drive shaft coaxially rotatably passing through the drive sleeve, a spiral spring disposed inside the drive sleeve, one end of the spiral spring being fixedly connected to the inner wall of the drive sleeve, and the other end being fixedly connected to the drive shaft; and a drive assembly for driving the drive sleeve to rotate.

[0011] In some possible embodiments, the drive assembly includes a second drive member, a worm gear, and a worm; the second drive member is fixedly mounted on the housing, the worm gear is coaxially fixedly sleeved on the drive sleeve, the worm is rotatably mounted on the housing, the output shaft of the second drive member is connected to the worm gear for transmission, and a through-hole is provided on the housing, where the worm and the worm gear mesh with each other.

[0012] In some possible embodiments, multiple spiral springs are provided, and the multiple spiral springs are evenly arranged on the drive shaft along the axial direction of the drive shaft. A spiral spring connecting piece is fixedly provided on the inner wall of the drive sleeve. An installation groove is provided on the drive shaft along the length direction of the drive shaft. One end of the spiral spring is fixedly provided in the installation groove, and the other end is fixedly connected to the spiral spring connecting piece.

[0013] In some possible embodiments, the limiting component includes: a limiting disk, which is coaxially fixedly disposed at the front end of the housing, and the drive shaft coaxially passes through the limiting disk. A first limiting protrusion is fixedly disposed on the inner wall of the limiting disk, and the first limiting protrusion is disposed facing the drive shaft; and a first mounting part, which is coaxially fixedly sleeved on the drive shaft. A second limiting protrusion is fixedly disposed on the outer peripheral wall of the first mounting part, and the sidewall of the second limiting protrusion is used to abut against the sidewall of the first limiting protrusion.

[0014] In some possible embodiments, a limit switch is fixedly disposed on the first mounting part, the limit switch being electrically connected to both the first driving member and the second driving member, and a limit block is disposed on the side wall of the first limiting protrusion, the side wall of the limit block being used to abut against the limit switch.

[0015] In some possible embodiments, an arc-shaped waist hole is provided on the limiting block along the circumference of the limiting plate, and an adjusting bolt is slidably passed through the arc-shaped waist hole. A connecting hole for threaded connection of the adjusting bolt is provided on the side wall of the first limiting protrusion. The threaded rod of the adjusting bolt is slidably passed through the arc-shaped waist hole, and the nut of the adjusting bolt abuts against the side wall of the limiting block away from the first limiting protrusion.

[0016] In some possible embodiments, a wire mounting ring is fixedly provided on the side wall of the limit plate near the limit switch, and a second mounting part is fixedly provided on the wire mounting ring. The second mounting part has a receiving cavity. A first through hole communicating with the receiving cavity is provided along the circumference of the wire mounting ring on the side of the second mounting part near the drive shaft. A second through hole communicating with the receiving cavity is provided along the circumference of the wire mounting ring on the side wall of the second mounting part away from the limit plate.

[0017] In some possible embodiments, multiple oscillation devices may be provided, and the multiple oscillation devices are interconnected. The drive shaft of the oscillation device farthest from the curved arm is connected to a surgical microscope module via a load portion.

[0018] On the other hand, the present invention also provides a method of using an electromagnetic swing arm system for a surgical microscope.

[0019] A method of using an electromagnetic swing arm system for a surgical microscope includes the following steps:

[0020] The second driving component is activated to drive the worm gear to rotate, which in turn drives the worm wheel to rotate. The worm wheel then drives the drive sleeve to rotate, which in turn drives the spiral spring to rotate. The spiral spring stores elastic potential energy.

[0021] The elastic potential energy stored in the spiral spring is transferred to the drive shaft to form a torque. When the load on the load part of the drive shaft changes, the torque on the drive shaft changes.

[0022] The first driving component is activated to drive the drive shaft to rotate, which in turn drives the spiral spring to rotate, causing the spiral spring to generate greater elastic potential energy, which is converted into torque and transmitted to the drive shaft, thus keeping the torque on the drive shaft balanced.

[0023] When the drive shaft rotates to the first set angle position, the limit block abuts against the limit switch, and the limit switch controls the first drive component and the second drive component to open or close.

[0024] When the drive shaft rotates to the second set angle position, the first limit protrusion abuts against the second limit protrusion, and the drive shaft stops rotating.

[0025] In summary, the technical solutions of the embodiments of the present invention have at least the following advantages and beneficial effects:

[0026] 1. In actual use, when the load weight on the load part at the end of the drive shaft changes, the torque on the drive shaft will change accordingly. At this time, the force application component acts on the spiral spring, so that the spiral spring stores elastic potential energy. The stored elastic potential energy acts on the drive shaft, thereby generating a torque that cancels out the torque generated by the load change. This can effectively ensure the torque balance of the drive shaft in actual use, so that the entire swing arm can automatically balance when the load changes, effectively simplifying the operation and eliminating the need for staff to frequently operate the swing device, thereby reducing the fatigue of medical staff.

[0027] 2. When torque balance adjustment of the drive shaft is required, the second drive component is activated to drive the worm gear to rotate, the worm gear drives the worm wheel to rotate, and the worm wheel drives the drive sleeve to rotate. As the drive sleeve rotates, the spiral spring is rotated, causing the spiral spring to generate elastic potential energy. In the above process, the transmission is carried out through the worm gear and worm wheel. On the one hand, the self-locking effect between the worm gear and worm wheel can be used to prevent the drive sleeve from deflecting in the opposite direction. On the other hand, the speed can be effectively reduced through the worm gear and worm wheel to increase the applied torque.

[0028] 3. When adjusting the position of the sway device, as the drive shaft rotates, the first mounting part rotates, and the first mounting part drives the limit switch to move. When the limit switch abuts against the limit block, the first and second drive components can be turned off or on, thereby effectively preventing rigid compression of the device, improving the overall protection effect of the device, and improving the reliability and safety of the device in actual use.

[0029] 4. During the use of the device, placing the wires uniformly inside the housing cavity can provide good protection for the wires. On the one hand, it can organize the internal cables in an orderly manner, avoiding tangling or knotting during the movement of the internal structure. On the other hand, it can also provide further protection for the wires, preventing them from being damaged by external physical forces and ensuring the reliability of the wire connections. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram showing the installation directions of multiple oscillation devices according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the installation structure of the bending arm and sway device according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the force-applying component according to an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the internal structure of the housing according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the internal structure of the drive sleeve according to an embodiment of the present invention;

[0036] Figure 7 This is an exploded structural diagram of the oscillation device according to an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the structure of the limiting component according to an embodiment of the present invention;

[0038] Figure 9 This is an exploded structural diagram of the front cover of the outer shell according to an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the wire mounting ring according to an embodiment of the present invention;

[0040] Figure 11 This is a schematic diagram of the drive shaft according to an embodiment of the present invention.

[0041] Icons: 1. Bent arm; 11. Second connecting part; 12. First driving component; 13. Load part; 14. Surgical microscope module; 2. Swing device; 21. Housing; 22. First connecting part; 23. Spiral spring; 24. Strip hole; 3. Force application component; 31. Drive sleeve; 32. Drive component; 33. Second driving component; 34. Worm gear; 35. Worm; 36. Mounting cover; 37. Spiral spring connecting piece; 38. Mounting groove; 39. Connecting bearing; 310. Bearing spacer; 4. Limiting component; 41. Limiting plate; 42. First mounting part; 43. First limiting protrusion; 44. Second limiting protrusion; 45. Limit switch; 46. Limit block; 47. Arc-shaped waist hole; 48. Adjusting bolt; 49. Connecting hole; 410. Fixing component; 5. Drive shaft; 51. Main shaft; 511. Mounting hole; 512. Fixing hole; 52. Sub-shaft; 53. Insert rod; 54. Slot; 55. First insertion hole; 56. Fixing bolt; 57. Second insertion hole; 6. Wire mounting ring; 61. Second mounting part; 62. Receiving cavity; 63. First through hole; 64. Second through hole; 7. Front cover of outer shell; 71. Perforation. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0043] The following is for reference Figures 1 to 11 The present invention will be described in further detail below.

[0044] On the one hand, the present invention provides an electromagnetic swing arm system for a surgical microscope.

[0045] Reference Figure 1 An electromagnetic swing arm system for a surgical microscope includes a curved arm 1 and a swing device 2.

[0046] Reference Figure 1 , Figure 2 and Figure 7 Multiple tilting devices 2 can be provided, and multiple tilting devices 2 are interconnected. The drive shaft 5 of the tilting device 2 that is farthest from the curved arm 1 is connected to the surgical microscope module 14 through the load part 13.

[0047] Among them, reference Figure 2 As one embodiment of the present invention, two oscillation devices 2 are provided, and the axes of the two oscillation devices 2 are perpendicular to each other. The two oscillation devices 2 cooperate with each other to achieve omnidirectional deflection on the X-axis and Y-axis.

[0048] Additionally, as one embodiment of the present invention, refer to Figure 2 and Figure 7 The load portion 13 mounted on the end of the drive shaft 5 of the yaw device 2, which is not directly connected to the curved arm 1, is configured as a connecting base plate, as shown in the reference. Figure 1 The connecting substrate can be connected to the surgical microscope module 14 to achieve the effect of actual clinical application.

[0049] Additionally, refer to Figure 3 , Figure 4 and Figure 7 As one embodiment of the present invention, the oscillation device 2 includes a housing 21, a force application component 3, and a limiting component 4.

[0050] Reference Figure 3 The outer casing 21 is fixedly connected to the curved arm 1. A first connecting part 22 is provided on the outer casing 21, and a second connecting part 11 is provided at one end of the curved arm 1. The first connecting part 22 and the second connecting part 11 are connected by connecting bolts.

[0051] Reference Figure 4 , Figure 5 and Figure 7 A drive shaft 5 is rotatably mounted inside the housing 21, and a first drive member 12 is mounted on the housing 21. The first drive member 12 is used to drive the drive shaft 5 to rotate, and a load portion 13 is provided at the end of the drive shaft 5 (e.g., ...). Figure 2 (As shown).

[0052] Reference Figure 5 , Figure 6 and Figure 7 A spiral spring 23 is provided inside the outer casing 21, and the spiral spring 23 acts on the drive shaft 5.

[0053] Reference Figure 4 and Figure 5 The force-applying component 3 is disposed on the outer casing 21, and the force-applying component 3 acts on the spiral spring 23 to cause the spiral spring 23 to store elastic potential energy. As one embodiment of the present invention, the force-applying component 3 includes a drive sleeve 31 and a drive component 32.

[0054] In actual use, when the load weight of the load part 13 at the end of the drive shaft 5 changes, the torque on the drive shaft 5 will change accordingly. At this time, the force application component 3 acts on the spiral spring 23, so that the spiral spring 23 stores elastic potential energy. The stored elastic potential energy acts on the drive shaft 5, thereby generating a torque that cancels out the torque generated by the load change. This can effectively ensure the torque balance of the drive shaft 5 in actual use, so that the entire swing arm can automatically balance when the load changes, effectively simplifying the operation and eliminating the need for staff to frequently operate the swing device 2, thereby reducing the fatigue of medical staff.

[0055] As one embodiment of the present invention, refer to Figure 3 , Figure 4 and Figure 5 The first driving component 12 is configured as a drive motor, and the specific model of the first driving component 12 is configured as a J60-10 motor, such as... Figure 7 As shown, the end of the drive shaft 5 away from the load part 13 is connected to the output shaft of the first drive member 12. A high-precision torque sensor is integrated inside the first drive member 12. The torque sensor converts the mechanical torque signal into an electrical signal. After the control system receives the torque feedback signal, it compares and analyzes it with the preset torque value. If a deviation is detected between the torque value and the preset value, the control system will adjust the output power of the second drive member 33 according to the magnitude and direction of the torque deviation, thereby changing the torque output of the second drive member 33 and adjusting the motion state of the entire device in real time.

[0056] As one embodiment of the present invention, the control system can be built into the first drive unit 12 as a microcontroller. As another possible embodiment of the present invention, the control system can also be set as a computer or other device connected via data cable or wirelessly, sensor and control system, based on dual-loop PID mode switching control logic, such as realizing automatic balancing, zero-force drag and precise stepping, and realizing multi-motor cooperative control algorithm through CAN bus.

[0057] Compared to traditional surgical microscope arm systems that rely on doctors to manually adjust mechanical springs or counterweights, this invention can respond to load changes in real time, such as the shift in the center of gravity caused when changing to different microscope models, effectively improving balance efficiency.

[0058] Reference Figure 5 , Figure 6 and Figure 7 The drive sleeve 31 is rotatably disposed inside the housing 21, the drive shaft 5 is coaxially rotatably disposed inside the drive sleeve 31, and the spiral spring 23 is disposed inside the drive sleeve 31. One end of the spiral spring 23 is fixedly connected to the inner wall of the drive sleeve 31, and the other end is fixedly connected to the drive shaft 5.

[0059] Reference Figure 4 and Figure 6 The drive assembly 32 is used to drive the drive sleeve 31 to rotate. As one embodiment of the present invention, the drive assembly 32 includes a second drive member 33, a worm gear 34 and a worm 35.

[0060] Reference Figure 4 , Figure 5 and Figure 6 The second driving component 33 is fixedly mounted on the outer shell 21, the worm wheel 34 is coaxially fixedly sleeved on the driving sleeve 31, and the worm 35 is rotatably mounted on the outer shell 21. The output shaft of the second driving component 33 is connected to the worm 35 for transmission. A through slot 24 is provided on the outer shell 21, and the worm 35 and the worm wheel 34 mesh with each other at the slot 24.

[0061] As one embodiment of the present invention, such as Figure 4 As shown, a mounting cover 36 is bolted to the outer casing 21. The worm gear 35 is rotatably mounted inside the mounting cover 36 in the vertical direction. The second drive component 33 is a drive motor, specifically an M2006 motor. The second drive component 33 is fixedly mounted on the top of the mounting cover 36. The bottom end of the worm gear 35 is rotatably connected to the mounting cover 36 through a bearing, and the top end is drively connected to the output shaft of the second drive component 33. The mounting cover 36 covers the outside of the strip hole 24, and the mounting cover 36 has an opening on the side of the strip hole 24.

[0062] Reference Figure 6 and Figure 7 Multiple spiral springs 23 are provided, and the multiple spiral springs 23 are evenly arranged on the drive shaft 5 along the axial direction of the drive shaft 5. A spiral spring connecting piece 37 is fixedly provided on the inner wall of the drive sleeve 31. An installation groove 38 is opened on the drive shaft 5 along the length direction of the drive shaft 5. One end of the spiral spring 23 is fixedly provided in the installation groove 38, and the other end is fixedly connected to the spiral spring connecting piece 37.

[0063] As one embodiment of the present invention, refer to Figure 6 and Figure 7 Two sets of spiral springs 23 are provided, one on each side of the worm gear 34. Each set of spiral springs 23 has three springs, for a total of six spiral springs 23 arranged sequentially along the axis of the drive shaft 5. Each set of spiral springs 23 corresponds to one spiral spring connecting piece 37, such as... Figure 6 As shown, there are two spiral spring connecting pieces 37.

[0064] Reference Figure 5 and Figure 6 A connecting bearing 39 is fitted on the drive sleeve 31. There are two connecting bearings 39, which are respectively located on both sides of the worm gear 34. The specific model of the connecting bearing 39 is NK60-25 needle roller bearing without inner ring. The inner ring of the connecting bearing 39 is fitted on the drive sleeve 31, and the outer ring is connected to the inner wall of the outer shell 21, so that the drive sleeve 31 can rotate freely within the outer shell 21.

[0065] Additionally, refer to Figure 5 and Figure 6 A bearing spacer 310 is installed between the worm gear 34 and the connecting bearing 39. The bearing spacer 310 is sleeved on the drive sleeve 31. One end of the bearing spacer 310 contacts the side wall of the worm gear 34, and the other end contacts the connecting bearing 39, thus separating the worm gear 34 and the connecting bearing 39.

[0066] When torque balance adjustment of drive shaft 5 is required, the second drive component 33 is activated to drive worm 35 to rotate. Worm 35 drives worm wheel 34 to rotate, and worm wheel 34 drives drive sleeve 31 to rotate. As drive sleeve 31 rotates, it drives spiral spring 23 to twist, causing spiral spring 23 to generate elastic potential energy. In the above process, the transmission is carried out through worm wheel 34 and worm 35. On the one hand, the self-locking effect between worm wheel 34 and worm 35 can be used to prevent reverse deflection of drive sleeve 31. On the other hand, worm wheel 34 and worm 35 can effectively reduce the speed, thereby increasing the applied torque.

[0067] Reference Figure 7 and Figure 8 The limiting component 4 is disposed on the housing 21. The limiting component 4 acts on the drive shaft 5 to limit the deflection angle of the drive shaft 5. As one embodiment of the present invention, the limiting component 4 includes a limiting disk 41 and a first mounting part 42.

[0068] Among them, reference Figure 7 and Figure 8The limiting plate 41 is coaxially fixedly mounted on the front end of the housing 21, and the limiting plate 41 and the front end of the housing 21 are fixedly connected by connecting bolts. The drive shaft 5 is coaxially mounted through the limiting plate 41, and a first limiting protrusion 43 is fixedly mounted on the inner wall of the limiting plate 41, with the first limiting protrusion 43 facing the drive shaft 5.

[0069] Reference Figure 7 and Figure 8 The first mounting part 42 is coaxially fixedly sleeved on the drive shaft 5. A second limiting protrusion 44 is fixedly provided on the outer peripheral wall of the first mounting part 42. The side wall of the second limiting protrusion 44 is used to abut against the side wall of the first limiting protrusion 43. The protrusion direction of the second limiting protrusion 44 is set in a direction away from the drive shaft 5.

[0070] The first limiting protrusion 43 is provided in multiple forms. As one embodiment of the present invention, see reference... Figure 7 and Figure 8 There are two first limiting protrusions 43. The side of the first limiting protrusion 43 closest to the drive shaft 5 is arc-shaped, and the roundness of the arc is the same as that of the limiting disk 41, that is, the center of the arc coincides with the center of the limiting disk 41 in space. The diameter of the circle fitted by the side of the first limiting protrusion 43 closest to the drive shaft 5 is larger than the diameter of the first mounting part 42. The limiting disk 41 and the first mounting part 42 are located on the same plane, and the centers of the limiting disk 41 and the first mounting part 42 coincide in space. Therefore, as the first mounting part 42 rotates, the first mounting part 42 drives the second limiting protrusion 44 to deflect, and the second limiting protrusion 44 will inevitably abut against the side wall of the first limiting protrusion 43.

[0071] Reference Figure 8 A limit switch 45 is fixedly installed on the first mounting part 42.

[0072] Limit switch 45 is electrically connected to both the first drive unit 12 and the second drive unit 33. The specific connection wires are not shown in the diagram. The wire connection is common knowledge to those skilled in the art and will not be described in detail here.

[0073] When adjusting the position of the sway device 2, the rotation of the drive shaft 5 drives the first mounting part 42 to rotate, and the first mounting part 42 drives the limit switch 45 to move. When the limit switch 45 abuts against the limit block 46, the first drive component 12 and the second drive component 33 can be turned off or on, thereby effectively preventing rigid compression of the device, improving the overall protection effect of the device, and improving the reliability and safety of the device in actual use.

[0074] Correspondingly, refer to Figure 8A limit block 46 is provided on the side wall of the first limit protrusion 43. The side wall of the limit block 46 is used to abut against the limit switch 45. As an embodiment of the present invention, since there are two first limit protrusions 43, there are also two limit blocks 46. The limit blocks 46 are provided in a one-to-one correspondence with the first limit protrusions 43.

[0075] Reference Figure 8 An arc-shaped waist hole 47 is provided on the limiting block 46 along the circumference of the limiting plate 41. An adjusting bolt 48 is slidably inserted in the arc-shaped waist hole 47. A connecting hole 49 for threaded connection of the adjusting bolt 48 is provided on the side wall of the first limiting protrusion 43. The threaded rod of the adjusting bolt 48 is slidably inserted in the arc-shaped waist hole 47. The nut of the adjusting bolt 48 abuts against the side wall of the limiting block 46 away from the first limiting protrusion 43.

[0076] Reference Figure 8 Since the limiting block 46 has an arc-shaped waist hole 47, the position of the limiting block 46 on the first limiting protrusion 43 can be adjusted along the opening direction of the arc-shaped waist hole 47, thereby adjusting the limiting range and satisfying the precise control of the overall movement range of the structure under different working conditions.

[0077] Reference Figure 8 A fixing member 410 is provided at the end of the limit switch 45 away from the first mounting part 42. The fixing member 410 is fixedly connected to the limit switch 45 by connecting bolts, and the fixing member 410 is fixedly connected to the first mounting part 42 by connecting bolts, so as to ensure that the limit switch 45 does not shift in position during the use of the device.

[0078] Reference Figure 7 , Figure 9 and Figure 10 A wire mounting ring 6 is fixedly installed on the side wall of the limit plate 41 near the limit switch 45. A second mounting part 61 is fixedly installed on the wire mounting ring 6. A receiving cavity 62 is opened in the second mounting part 61. A first through hole 63 communicating with the receiving cavity 62 is opened along the circumference of the wire mounting ring 6 on the side of the second mounting part 61 near the drive shaft 5. A second through hole 64 communicating with the receiving cavity 62 is opened along the circumference of the wire mounting ring 6 on the side wall of the second mounting part 61 away from the limit plate 41.

[0079] During the use of the device, placing the wires uniformly inside the receiving cavity 62 can provide good protection for the wires. On the one hand, it can organize the internal cables in an orderly manner, preventing the cables from getting tangled or knotted during the movement of the internal structure. On the other hand, it can also provide further protection for the wires, preventing them from being damaged by external physical forces and ensuring the reliability of the wire connections.

[0080] Among them, reference Figure 7 and Figure 9 A front cover of housing 21 is provided outside the wire mounting ring 6. A through hole 71 is provided on the front cover of housing 21 for the end of the drive shaft 5 to extend out. The diameter of the wire mounting ring 6 is the same as that of the limiting plate 41. The wire mounting ring 6 is fixedly connected to the limiting plate 41 by connecting bolts. Similarly, the front cover of housing 21 is also fixedly connected to the wire mounting ring 6 by connecting bolts.

[0081] Reference Figure 5 and Figure 11 In one embodiment of the present invention, the drive shaft 5 consists of a main shaft 51 and a secondary shaft 52. One end of the main shaft 51 is connected to the output shaft of the first drive member 12, and the other end of the main shaft 51 is detachably connected to the secondary shaft 52. Figure 8 As shown, the secondary shaft 52 is fixedly connected to the first mounting part 42 by connecting bolts, and a mounting hole 511 is provided on the first mounting part 42.

[0082] A corresponding fixing hole 512 is provided on the secondary shaft 52. In actual use, the first mounting part 42 and the secondary shaft 52 can be fixedly connected by threading the connecting bolt through the mounting hole 511 and the fixing hole 512, thereby realizing the rotation of the first mounting part 42 with the secondary shaft 52. The bolt connection is common knowledge to those skilled in the art and will not be described in detail here.

[0083] As one embodiment of the present invention, refer to Figure 11 A insertion rod 53 is fixedly provided at one end of the main spindle 51 near the secondary spindle 52, and a slot 54 for inserting the insertion rod 53 is provided at one end of the secondary spindle 52 near the main spindle 51. Additionally, as... Figure 11 As shown, the secondary shaft 52 is hollow, and a first insertion hole 55 communicating with the slot 54 is opened at the bottom of the secondary shaft 52. A fixing bolt 56 is slidably inserted in the first insertion hole 55. A second insertion hole 57 for threaded connection of the fixing bolt 56 is opened at the end of the insertion rod 53. As one embodiment of the present invention, six first insertion holes 55 are opened, and the six first insertion holes 55 are evenly arranged along the circumference of the secondary shaft 52. The corresponding fixing bolts 56 and the second insertion holes 57 are also provided in six ways.

[0084] When assembling the device as a whole, the installation speed and efficiency of the whole device can be effectively improved by disassembling and installing the drive shaft 5 separately.

[0085] On the other hand, the present invention also provides a method of using an electromagnetic swing arm system for a surgical microscope.

[0086] A method of using an electromagnetic swing arm system for a surgical microscope includes the following steps:

[0087] The second driving component 33 is activated to drive the worm 35 to rotate, the worm 35 drives the worm wheel 34 to rotate, the worm wheel 34 drives the drive sleeve 31 to rotate, the drive sleeve 31 drives the spiral spring 23 to rotate, and the spiral spring 23 stores elastic potential energy.

[0088] The elastic potential energy stored in the spiral spring 23 is transferred to the drive shaft 5 to form a torque. When the load on the load part 13 of the drive shaft 5 changes, the torque on the drive shaft 5 changes.

[0089] The first driving component 12 is activated to drive the drive shaft 5 to rotate, and further drive the spiral spring 23 to rotate, so that the spiral spring 23 generates greater elastic potential energy, which is converted into torque and transmitted to the drive shaft 5, so that the torque on the drive shaft 5 is kept in balance.

[0090] When the drive shaft 5 rotates to the first set angle position, the limit block 46 abuts against the limit switch 45, and the limit switch 45 controls the first drive member 12 and the second drive member 33 to open or close.

[0091] When the drive shaft 5 rotates to the second set angle position, the first limiting protrusion 43 abuts against the second limiting protrusion 44, and the drive shaft 5 stops rotating.

[0092] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An electromagnetic swing arm system for a surgical microscope, comprising a curved arm (1) and a tilting device (2), characterized in that: The yaw device (2) includes: The outer casing (21) is fixedly connected to the curved arm (1). A drive shaft (5) is rotatably arranged inside the outer casing (21). A first drive member (12) is arranged on the outer casing (21). The first drive member (12) is used to drive the drive shaft (5) to rotate. A load part (13) is arranged at the end of the drive shaft (5). A spiral spring (23) is arranged inside the outer casing (21). The spiral spring (23) acts on the drive shaft (5). Force application component (3), the force application component (3) is disposed on the outer shell (21), the force application component (3) acts on the spiral spring (23) to make the spiral spring (23) store elastic potential energy; And a limiting component (4), which is disposed inside the housing (21) and acts on the drive shaft (5) to limit the deflection angle of the drive shaft (5); The force-applying component (3) includes: a drive sleeve (31), which is rotatably disposed inside the outer shell (21), a drive shaft (5) being coaxially rotatably disposed inside the drive sleeve (31), a spiral spring (23) being disposed inside the drive sleeve (31), one end of the spiral spring (23) being fixedly connected to the inner wall of the drive sleeve (31), and the other end being fixedly connected to the drive shaft (5); and a drive assembly (32), which is used to drive the drive sleeve (31) to rotate. The drive assembly (32) includes a second drive member (33), a worm wheel (34), and a worm (35); the second drive member (33) is fixedly mounted on the outer shell (21), the worm wheel (34) is coaxially fixedly mounted on the drive sleeve (31), the worm (35) is rotatably mounted on the outer shell (21), the output shaft of the second drive member (33) is connected to the worm (35) for transmission, and a through slot (24) is provided on the outer shell (21), and the worm (35) and the worm wheel (34) mesh with each other at the slot (24); Multiple spiral springs (23) are provided, and multiple spiral springs (23) are evenly arranged on the drive shaft (5) along the axial direction of the drive shaft (5). A spiral spring connecting piece (37) is fixedly provided on the inner wall of the drive sleeve (31). An installation groove (38) is provided on the drive shaft (5) along the length direction of the drive shaft (5). One end of the spiral spring (23) is fixedly provided in the installation groove (38), and the other end is fixedly connected to the spiral spring connecting piece (37). The limiting component (4) includes: a limiting disk (41), which is coaxially fixedly disposed at the front end of the housing (21), and the driving shaft (5) is coaxially disposed through the limiting disk (41). A first limiting protrusion (43) is fixedly disposed on the inner wall of the limiting disk (41), and the first limiting protrusion (43) is disposed facing the driving shaft (5); and a first mounting part (42), which is coaxially fixedly sleeved on the driving shaft (5). A second limiting protrusion (44) is fixedly disposed on the outer peripheral wall of the first mounting part (42), and the side wall of the second limiting protrusion (44) is used to abut against the side wall of the first limiting protrusion (43).

2. The electromagnetic swing arm system for a surgical microscope according to claim 1, characterized in that: A limit switch (45) is fixedly installed on the first mounting part (42). The limit switch (45) is electrically connected to the first driving member (12) and the second driving member (33). A limit block (46) is provided on the side wall of the first limiting protrusion (43). The side wall of the limit block (46) is used to abut against the limit switch (45).

3. The electromagnetic swing arm system for a surgical microscope according to claim 2, characterized in that: An arc-shaped waist hole (47) is provided on the limiting block (46) along the circumference of the limiting plate (41). An adjusting bolt (48) is slidably inserted in the arc-shaped waist hole (47). A connecting hole (49) for threaded connection of the adjusting bolt (48) is provided on the side wall of the first limiting protrusion (43). The threaded rod of the adjusting bolt (48) is slidably inserted in the arc-shaped waist hole (47). The nut of the adjusting bolt (48) abuts against the side wall of the limiting block (46) away from the first limiting protrusion (43).

4. The electromagnetic swing arm system for a surgical microscope according to claim 2, characterized in that: A wire mounting ring (6) is fixedly installed on the side wall of the limit plate (41) near the limit switch (45). A second mounting part (61) is fixedly installed on the wire mounting ring (6). A receiving cavity (62) is opened in the second mounting part (61). A first through hole (63) communicating with the receiving cavity (62) is opened along the circumference of the wire mounting ring (6) on the side of the second mounting part (61) near the drive shaft (5). A second through hole (64) communicating with the receiving cavity (62) is opened along the circumference of the wire mounting ring (6) on the side wall of the second mounting part (61) away from the limit plate (41).

5. A surgical microscope electromagnetic swing arm system according to any one of claims 1-4, characterized in that: Multiple tilting devices (2) can be provided, and multiple tilting devices (2) are connected to each other. The drive shaft (5) of the tilting device (2) farthest from the curved arm (1) is connected to the surgical microscope module (14) through the load part (13).

6. A method of using an electromagnetic swing arm system for a surgical microscope, characterized in that, The surgical microscope electromagnetic swing arm system as described in claim 1 includes the following steps: The second driving component (33) is activated, which drives the worm (35) to rotate. The worm (35) drives the worm wheel (34) to rotate. The worm wheel (34) drives the drive sleeve (31) to rotate. The drive sleeve (31) drives the spiral spring (23) to rotate. The spiral spring (23) stores elastic potential energy. The elastic potential energy stored in the spiral spring (23) is transferred to the drive shaft (5) to form a torque. When the load on the load part (13) of the drive shaft (5) changes, the torque on the drive shaft (5) changes. The first driving component (12) is activated to drive the drive shaft (5) to rotate, and further drive the spiral spring (23) to rotate, so that the spiral spring (23) generates greater elastic potential energy and converts it into torque, which is transmitted to the drive shaft (5) to keep the torque on the drive shaft (5) balanced. When the drive shaft (5) rotates to the first set angle position, the limit block (46) abuts against the limit switch (45), and the limit switch (45) controls the first drive member (12) and the second drive member (33) to open or close. When the drive shaft (5) rotates to the second set angle position, the first limit protrusion (43) abuts against the second limit protrusion (44), and the drive shaft (5) stops rotating.

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