Multi-joint mechanical arm type extracorporeal shock wave lithotripter

Abstract

The invention relates to the technical field of extracorporeal shock wave lithotripsy, and discloses a multi-joint mechanical arm type extracorporeal shock wave lithotripsy machine which comprises a placing table, the top of the placing table is connected with a connecting seat, and the bottom of the connecting seat is connected with a lifting mechanism. According to the multi-joint mechanical arm type extracorporeal shock wave lithotripter, a medical worker can press a one-key unlocking button to be matched with a first power-off electromagnetic brake, a second power-off electromagnetic brake and a third power-off electromagnetic brake, three-joint horizontal mechanical arms can be driven to swing, and the relative included angle between the three-joint horizontal mechanical arms is adjusted; the positions of the electromagnetic shock wave source and the B-ultrasonic positioning mechanism can be horizontally adjusted, the electromagnetic shock wave source and the B-ultrasonic positioning mechanism are made to move along the belly of a patient, then a lithotripsy point is accurately found for lithotripsy treatment, electric driving is not adopted, manual control is matched with a power-off type electromagnetic brake, precision is high, and operation is convenient. And the situation of failure in use due to power failure is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of extracorporeal shock wave lithotripsy, in particular to a multi-joint mechanical arm type extracorporeal shock wave lithotripsy machine. BACKGROUND

[0002] In the clinical treatment of urology, extracorporeal shock wave lithotripsy has become the preferred treatment for urinary stones with a diameter of ≤2cm due to its non-invasive and fewer complications. According to the data of the China Urology Disease Diagnosis and Treatment Guide, the clinical application rate of ESWL is more than 70%, and the single stone crushing success rate can reach 80%-90%. The core principle is that the high-energy shock wave generated outside the body penetrates the human body tissue after focusing, and accurately acts on the stone. The stretching stress and cavitation effect of the shock wave make the stone fragment, and the fragments with a diameter of ≤2mm can be discharged with urine.

[0003] The multi-joint mechanical arm type extracorporeal shock wave lithotripsy machine described above uses electric drive to adjust the position of the joint horizontal mechanical arm when in use, and uses a motor to drive the rotating shaft to adjust. When the power is off, it cannot be used. Moreover, the precision of the electric drive without manual control is not high, and the effect is not good when in use, which needs to be improved. SUMMARY

[0004] The purpose of the present application is to provide a multi-joint mechanical arm type extracorporeal shock wave lithotripsy machine to solve the problems raised in the background.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a multi-joint mechanical arm type extracorporeal shock wave lithotripsy machine, comprising a placing table, the top of the placing table is connected with a connecting seat, the bottom of the connecting seat is connected with a lifting mechanism, the top of the connecting seat is provided with a connecting piece, the top of the connecting piece is hinged with a three-joint horizontal mechanical arm, the top back of the three-joint horizontal mechanical arm is provided with a first power-off electromagnetic brake, the top left side of the three-joint horizontal mechanical arm is provided with a second power-off electromagnetic brake, the top right side of the three-joint horizontal mechanical arm is provided with a third power-off electromagnetic brake, and the bottom back of the three-joint horizontal mechanical arm is connected with a connecting piece.

[0006] Preferably, the first power-off electromagnetic brake, the second power-off electromagnetic brake and the third power-off electromagnetic brake are hinged inside the rotating shaft, and the three-joint horizontal mechanical arm is hinged with the first power-off electromagnetic brake, the second power-off electromagnetic brake and the third power-off electromagnetic brake through the rotating shaft respectively.

[0007] Preferably, the front surface of the connecting sheet is fixedly connected with a bearing piece, the inner ring of the bearing piece is fixedly connected with a worm gear, the bottom of the worm gear is engaged with a worm, the back surface of the worm is fixedly connected with a rotating shaft, the side surface of the worm gear is fixedly connected with a connecting disc, and the side surface of the connecting disc close to the front surface is fixedly connected with a handle.

[0008] Preferably, the surface of the rotating shaft is connected with a B-ultrasonic positioning mechanism, and the surface of the B-ultrasonic positioning mechanism is connected with an electromagnetic shock wave source.

[0009] Preferably, the top of the placing table is provided with a placing groove, the area of the placing groove is matched with the bottom area of the connecting seat, and the placing groove is arranged for placing the connecting seat and the lithotripsy assembly on the top.

[0010] Preferably, the right bottom of the three-joint horizontal mechanical arm is provided with a one-key unlocking button, medical staff can press the one-key unlocking button, cooperate with the first loss-of-field electromagnetic brake, the second loss-of-field electromagnetic brake and the third loss-of-field electromagnetic brake, drive the three-joint horizontal mechanical arm to swing, adjust the relative included angle between the three-joint horizontal mechanical arms, thereby adjust the position of the B-ultrasonic positioning mechanism, horizontally adjust the position of the electromagnetic shock wave source and the B-ultrasonic positioning mechanism, move the electromagnetic shock wave source and the B-ultrasonic positioning mechanism along the belly of the patient, and then accurately find the lithotripsy point for lithotripsy treatment.

[0011] Preferably, the worm gear, the worm, the connecting disc, the handle, the rotating shaft and the connecting sheet constitute a self-locking worm gear angle adjusting mechanism, and the self-locking worm gear angle adjusting mechanism is arranged at the right bottom of the three-joint horizontal mechanical arm.

[0012] Preferably, the front surface of the placing table is provided with a medical bed, and the front surface of the medical bed is fixedly connected with a pulling handle.

[0013] Compared with the prior art, the beneficial effects of the present application are:

[0014] 1. The multi-joint mechanical arm type extracorporeal shock wave lithotripsy machine, medical staff can press the one-key unlocking button, cooperate with the first loss-of-field electromagnetic brake, the second loss-of-field electromagnetic brake and the third loss-of-field electromagnetic brake, drive the three-joint horizontal mechanical arm to swing, adjust the relative included angle between the three-joint horizontal mechanical arms, thereby adjust the position of the B-ultrasonic positioning mechanism, horizontally adjust the position of the electromagnetic shock wave source and the B-ultrasonic positioning mechanism, move the electromagnetic shock wave source and the B-ultrasonic positioning mechanism along the belly of the patient, and then accurately find the lithotripsy point for lithotripsy treatment, without using electric drive, but manual control cooperates with the loss-of-field electromagnetic brake, high precision, and no power failure occurs, good use effect.

[0015] 2、The multi-joint mechanical arm type extracorporeal shock wave lithotripter, by setting up the lifting mechanism, the height of the electromagnetic shock wave source and the B-ultrasonic positioning mechanism can be adjusted, the height can be adjusted to contact the belly of the patient, and the angle of the B-ultrasonic positioning mechanism can be finely adjusted by using the self-locking worm and gear angle adjusting mechanism; when adjusting, the user can hold the handle and then drive the connecting disc to rotate, drive the left worm to rotate, the worm rotation can drive the worm to rotate, thereby adjusting the angle between the B-ultrasonic positioning mechanism and the three-joint horizontal mechanical arm, adjusting the inclination angle of the B-ultrasonic positioning mechanism, and better adapting to use. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Fig. 1 It is a partial three-dimensional structure schematic diagram of the present application;

[0018] Fig. 2 It is a self-locking worm and gear angle adjusting mechanism structure schematic diagram of the present application;

[0019] Fig. 3 It is a whole three-dimensional structure schematic diagram of the present application.

[0020] In the figure: 1, connecting seat; 2, lifting mechanism; 3, first loss of power type electromagnetic brake; 4, second loss of power type electromagnetic brake; 5, third loss of power type electromagnetic brake; 6, three-joint horizontal mechanical arm; 7, electromagnetic shock wave source; 8, B-ultrasonic positioning mechanism; 9, worm; 10, worm; 11, connecting disc; 12, handle; 13, rotating shaft; 14, connecting piece; 15, placing table; 16, medical bed; 17, one-key unlocking button. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0022] In this application, unless otherwise expressly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0023] Please refer to Figs. 1-3 The application provides the following technical solutions:

[0024] The utility model provides a kind of multi-joint mechanical arm type extracorporeal shock wave lithotriptor, including placing table 15, the top of placing table 15 is connected with connecting seat 1, the top of placing table 15 is opened with placing recess, the area of placing recess is adapted with the bottom area of connecting seat 1, the setting of placing recess is used to place connecting seat 1 and top lithotripsy component, cooperate the height of lifting mechanism 2 below can be adjusted, ensure height can be adjusted to with the belly of patient contact to carry out lithotripsy processing, the front of placing table 15 is provided with medical bed 16, the front of medical bed 16 is fixedly connected with pull handle, the bottom of connecting seat 1 is connected with lifting mechanism 2, the top of connecting seat 1 is provided with connecting piece, the top of connecting piece is hinged with three-joint horizontal mechanical arm 6, the back top of three-joint horizontal mechanical arm 6 is provided with first power-off electromagnetic brake 3, the top left side of three-joint horizontal mechanical arm 6 is provided with second power-off electromagnetic brake 4, the top right side of three-joint horizontal mechanical arm 6 is provided with third power-off electromagnetic brake 5, the inside of first power-off electromagnetic brake 3, second power-off electromagnetic brake 4 and third power-off electromagnetic brake 5 hinged are provided with rotating shaft, three-joint horizontal mechanical arm 6 between respectively through first power-off electromagnetic brake 3, second power-off electromagnetic brake 4 and third power-off electromagnetic brake 5 are hinged through rotating shaft, the bottom back of three-joint horizontal mechanical arm 6 is connected with connecting sheet 14, the front of connecting sheet 14 is fixedly connected with bearing piece, the inner ring of bearing piece is fixedly connected with worm gear 9, the bottom of worm gear 9 is engaged with worm 10, the back of worm 10 is fixedly connected with rotating shaft 13, worm gear 9, worm 10, connecting disc 11, grip lever 12, rotating shaft 13 and connecting sheet 14 constitute self-locking worm gear angle adjusting mechanism, and the bottom right side of three-joint horizontal mechanical arm 6 is provided with self-locking worm gear angle adjusting mechanism, the inside of first power-off electromagnetic brake 3, second power-off electromagnetic brake 4 and third power-off electromagnetic brake 5 hinged are provided with rotating shaft, three-joint horizontal mechanical arm 6 between respectively through rotating shaft and first power-off electromagnetic brake 3, second power-off electromagnetic brake 4 and third power-off electromagnetic brake 5 are hinged, the side of worm gear 9 is fixedly connected with connecting disc 11, the side of connecting disc 11 is fixedly connected with grip lever 12 close to front, the right bottom of three-joint horizontal mechanical arm 6 is provided with one-key unlocking button 17, medical staff can press one-key unlocking button 17, cooperate first power-off electromagnetic brake 3, second power-off electromagnetic brake 4 and third power-off electromagnetic brake 5, can drive three-joint horizontal mechanical arm 6 to swing, adjust the relative angle between three-joint horizontal mechanical arm 6, to adjust the position of B ultrasonic positioning mechanism 8, can horizontally adjust the position of electromagnetic shock wave wave source 7 and B ultrasonic positioning mechanism 8, let electromagnetic shock wave wave source 7 and B ultrasonic positioning mechanism 8 move along the belly of patient, then accurately find lithotripsy point position and carry out lithotripsy processing.

[0025] In use, the patient can lie on the top of the medical bed 16, and then the medical staff can press the one-key unlocking button 17, cooperate with the first loss of power electromagnetic brake 3, the second loss of power electromagnetic brake 4 and the third loss of power electromagnetic brake 5, can drive the three-joint horizontal mechanical arm 6 to swing, adjust the relative angle between the three-joint horizontal mechanical arm 6, thereby adjusting the position of the B-ultrasound positioning mechanism 8, can horizontally adjust the position of the electromagnetic shock wave source 7 and the B-ultrasound positioning mechanism 8, let the electromagnetic shock wave source 7 and the B-ultrasound positioning mechanism 8 move along the patient's belly, then accurately find the lithotripsy point position for lithotripsy treatment, use the lifting mechanism 2 can adjust the height of the electromagnetic shock wave source 7 and the B-ultrasound positioning mechanism 8, ensure that the height can be adjusted to contact with the patient's belly, and use the self-locking worm and gear angle adjusting mechanism can fine tune the angle of the B-ultrasound positioning mechanism 8, when adjusting, the user can hold the handle 12 and then drive the connecting disc 11 to rotate, drive the left worm wheel 9 to rotate, the worm wheel 9 rotates can drive the worm 10 engaged with it to rotate, the worm 10 rotates can drive the rotating shaft 13 to rotate, thereby adjusting the angle between the B-ultrasound positioning mechanism 8 and the three-joint horizontal mechanical arm 6, adjust the inclination angle of the B-ultrasound positioning mechanism 8, can better adapt to use.

[0026] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and variations can be made to the embodiments without departing from the principles and spirit of the present application, the scope of the present application being defined by the appended claims and their equivalents.

Claims

1. A multi-joint robot-type extracorporeal shock wave lithotriptor comprising a placement table (15), characterized in that: The top of the placing table (15) is connected with a connecting seat (1), the bottom of the connecting seat (1) is connected with a lifting mechanism (2), the top of the connecting seat (1) is provided with a connecting piece, the top of the connecting piece is hinged with a three-joint horizontal mechanical arm (6), the top back of the three-joint horizontal mechanical arm (6) is provided with a first power-off electromagnetic brake (3), the top left of the three-joint horizontal mechanical arm (6) is provided with a second power-off electromagnetic brake (4), the top right of the three-joint horizontal mechanical arm (6) is provided with a third power-off electromagnetic brake (5), and the bottom of the three-joint horizontal mechanical arm (6) is connected with a connecting piece (14).

2. The multi-joint robot arm type extracorporeal shock wave lithotripter according to claim 1, characterized in that: The first power-off electromagnetic brake (3), the second power-off electromagnetic brake (4) and the third power-off electromagnetic brake (5) are hinged inside, and each is provided with a rotating shaft, and the three-joint horizontal mechanical arm (6) is hinged with the first power-off electromagnetic brake (3), the second power-off electromagnetic brake (4) and the third power-off electromagnetic brake (5) through the rotating shaft respectively.

3. The multi-articulating robotic arm extracorporeal shock wave lithotripter of claim 2, wherein: The front of the connecting piece (14) is fixedly connected with a bearing piece, the inner ring of the bearing piece is fixedly connected with a worm gear (9), the bottom of the worm gear (9) is engaged with a worm (10), the back of the worm (10) is fixedly connected with a rotating shaft rod (13), the side of the worm gear (9) is fixedly connected with a connecting disc (11), and the side of the connecting disc (11) close to the front is fixedly connected with a handle rod (12).

4. The multi-jointed robotic arm extracorporeal shock wave lithotripter according to claim 3, characterized in that: The surface of the rotating shaft rod (13) is connected with a B-ultrasound positioning mechanism (8), and the surface of the B-ultrasound positioning mechanism (8) is connected with an electromagnetic shock wave source (7).

5. The multi-articulating robotic arm extracorporeal shock wave lithotripter of claim 4, wherein: The top of the placing table (15) is provided with a placing groove, and the area of the placing groove is matched with the bottom area of the connecting seat (1).

6. The multi-articulating robotic arm extracorporeal shock wave lithotripter of claim 5, wherein: The right bottom of the three-joint horizontal mechanical arm (6) is provided with a one-key unlocking button (17).

7. The multi-articulating robotic arm extracorporeal shock wave lithotripter of claim 6, wherein: The worm gear (9), the worm (10), the connecting disc (11), the handle rod (12), the rotating shaft rod (13) and the connecting piece (14) constitute a self-locking worm gear angle adjusting mechanism, and the self-locking worm gear angle adjusting mechanism is arranged at the bottom right of the three-joint horizontal mechanical arm (6).

8. The multi-articulating robotic arm extracorporeal shock wave lithotripter of claim 7, wherein: The front of the placing table (15) is provided with a medical bed (16), and the front of the medical bed (16) is fixedly connected with a pulling handle.

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