Imaging device for molecular imaging operation

Abstract

The invention discloses an imaging device for molecular imaging surgery, and belongs to the technical field of molecular imaging surgery equipment, the imaging device comprises a main body, the main body is connected with an image taking camera module through an adjusting machine arm, the adjusting machine arm is provided with an angle adjusting assembly, and the angle adjusting assembly comprises a positioning base, a spherical support table and a rotating part; a movable groove is formed in the positioning base, an electromagnet is arranged in the movable groove, a rotating ball is rotationally connected to the middle of the spherical supporting table, a middle shaft is arranged in the middle of the rotating ball, and the middle shaft penetrates through the rotating ball and is connected with the magnetic movable seat. The vehicle arm has multi-degree-of-freedom and large-range flexible adjustment capability; after adjustment is completed, the electromagnetic locking mechanism can provide strong rigid fixing force, displacement and shaking caused by external force interference or self fatigue of a traditional flexible machine arm are avoided, and the stability and definition of the surgical imaging view field are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of molecular imaging surgery equipment, and particularly relates to an imaging device for molecular imaging surgery. BACKGROUND

[0002] In the surgery guided by molecular imaging, the real-time imaging technology in surgery is crucial. It presents the boundary between the lesion and normal tissue on the display in real time by injecting specific fluorescent markers into the patient's body, exciting and collecting fluorescent signals with near-infrared light, thereby assisting surgeons in precise resection. The implementation of this technology relies on a complete imaging device, which usually includes a laser that generates excitation light, a specially designed camera module that collects visible light and fluorescent signals, a computing unit that processes and fuses images, and a display that displays images.

[0003] In such a system, the camera module needs to be accurately positioned and stably maintained above the surgical field to obtain clear and undistorted images. However, surgery is a dynamic process, and the pulling of tissues, resection, and operation of instruments will constantly change the anatomical structure of the surgical field. Therefore, it is usually necessary to frequently adjust the angle and position of the camera to ensure that the target area is always in the center of the field of view. Traditional support schemes often use multi-joint mechanical arm structures, which are manually unlocked, adjusted, and then locked by rotating knobs at the joints. This approach has significant drawbacks: the adjustment process is tedious and time-consuming, which can distract surgeons; and the mechanical arm itself has a certain weight, and repeated adjustments increase the operational burden of medical staff.

[0004] To solve the flexibility problem, flexible arms such as snake arms or memory alloy arms have appeared on the market. Such arms can be directly bent and shaped by external force, making adjustment convenient. However, their shortcomings are also prominent: including insufficient mechanical stability, which is prone to drift or jitter due to accidental touching or stress relaxation during surgery, affecting imaging quality, and limited load capacity, long-term suspension of a heavy camera module may cause irreversible plastic deformation or settlement of the arm body, gradually losing precision, especially the multi-segment, multi-fold structure design is extremely easy to leave contaminants such as blood and tissue fluid, making cleaning and disinfection extremely difficult, posing a serious risk of cross-infection, and being difficult to meet the high standard requirements of the operating room for the sterilization of instruments. SUMMARY

[0005] The purpose of the present application is to solve the problem that the support arm system of the imaging device for molecular imaging surgery in the prior art cannot simultaneously consider flexible adjustment, stable locking, and cleaning and disinfection, and to propose an imaging device for molecular imaging surgery.

[0006] To achieve the above purpose, the present application adopts the following technical scheme: An imaging device for molecular imaging surgery, comprising a main body, the top of which is provided with an adjusting arm; the main body is connected with an image taking camera module through the adjusting arm; An angle adjusting assembly is arranged on the adjusting arm, which is used to adjust the position and angle of the image taking camera module. The angle adjusting assembly comprises a positioning base, a spherical support and a rotating part, the inside of the positioning base is provided with a movable slot, and the inside of the movable slot is provided with an electromagnet. A rotating ball is rotatably connected to the middle part of the spherical support, which is used to adjust the position and angle of the arm, the middle part of the rotating ball is provided with a middle shaft, the middle shaft penetrates through the rotating ball and is connected with a magnetic movable seat which magnetically cooperates with the electromagnet through an elastic part, which is used to adjust and fix the position and angle of the arm.

[0007] In some embodiments, the magnetic movable seat is movably connected in the inside of the movable slot, and the power switch of the electromagnet is arranged on the arm; the middle part of the magnetic movable seat is provided with a second rotating slot, the inside of the second rotating slot is rotatably connected with a rotating ball, and one side of the second rotating slot is provided with a slot, which is used to rotatably connect with the elastic part.

[0008] In some embodiments, the elastic part comprises an elastic head fixedly connected with the rotating ball, the middle part of the elastic head is provided with a spring slot, the inside of the spring slot is provided with a spring, one end of the spring is fixedly connected with the middle shaft, which is used to compensate the distance between the middle shaft and the magnetic movable seat.

[0009] In some embodiments, it further comprises a supporting plate, the top of which is provided with a cleaning fence, the cleaning fence is provided with a belt-shaped water pipe, the inside of the belt-shaped water pipe is provided with a port, the belt-shaped water pipe is connected with the output pipeline of an external atomizing machine through an interface, the output pipeline of the atomizing machine is provided with a fan, which is used to deliver the atomized cleaning liquid to the inside of the cleaning fence to clean the device; the top of the cleaning fence is provided with an air suction cover, and the top of the air suction cover is provided with a ventilation pipe.

[0010] In some embodiments, it further comprises a cleaning assembly on the arm, which comprises a horizontal moving part, a scraping part and a lower collecting cover, the horizontal moving part drives the scraping part to clean the arm, and the lower collecting cover is used to collect pollutants.

[0011] In some embodiments, the scraping part comprises a scraping seat, a scraping motor and a gear, the inside of the scraping seat is provided with a ring slot, the inside of the ring slot is rotatably connected with an outer tooth ring plate, and the inside of the outer tooth ring plate is provided with a first scraping layer which is used to scrape and clean the outer wall of the arm.

[0012] In some embodiments, the end of the outer tooth ring plate is provided with an electromagnet, and the top end of the rotating ring is provided with a magnetic block which corresponds to the ring slot, which is used to quickly and repeatedly rotate the scraping motor in forward and reverse directions, and stubborn impurities on the outer wall of the arm are removed through the first scraping layer and the second scraping layer on the inside of the rotating ring.

[0013] In some embodiments, the cleaning assembly further comprises a water tank, a micro water pump and a water supply pipe, the water tank is arranged on the top of the inner threaded sliding block, water is supplied to the main pipe fixed with the extension ring through the micro water pump and the water supply pipe, and a water supplement head is arranged on one side of the main pipe for washing the outer wall of the arm and the first and second scraping layers.

[0014] In some embodiments, the first and second scraping layers are detachable and replaceable.

[0015] In some embodiments, a first pressure sensor is arranged on the arm for starting the cleaning process of the arm, and a second pressure sensor is arranged on one side of the extension ring for judging stubborn impurities on the arm.

[0016] Compared with the prior art, the present application provides an imaging device for molecular imaging surgery, which has the following advantages.

[0017] 1. The present application adopts a universal joint structure based on a spherical support and a rotating ball, and controls the locking and release of the magnetic movable seat by an electromagnet, so that the arm has multiple degrees of freedom and a wide range of flexible adjustment capability. After adjustment, the electromagnetic locking mechanism can provide strong rigid fixing force, effectively avoiding the displacement and shaking of the traditional flexible arm caused by external interference or self fatigue, and ensuring the stability and clarity of the surgical imaging field.

[0018] 2. The present application adopts a closed cleaning fence which can be quickly built, integrates atomization disinfection and negative pressure air drying function, and can perform covering and automatic complete cleaning and drying on complex whole machines (especially multi-joint arms), solving the pain point that traditional equipment, especially flexible arms, are difficult to clean and disinfect due to complex structure, thereby reducing the risk of postoperative cross infection.

[0019] 3. The modular multi-joint arm design of the present application allows flexible increase and decrease of arm joints according to the depth and complexity of different surgeries, and combines with multi-directional adjustment capability, so that a single device can meet the rapid positioning needs of superficial surgery and also meet the requirements of complex angle for deep endoscopic surgery, breaking the limitation of "one machine for one use", improving the utilization rate and economy of the equipment.

[0020] 4. The present application integrates an automatic cleaning assembly in each joint, which can actively scrape and wash the arm surface which is most easily contaminated after each adjustment of the arm or during postoperative centralized cleaning, and can also focus on the treatment of stubborn pollutants, providing an automatic solution for maintaining the cleanliness of the instrument in complex surgery, and further strengthening the infection prevention and control.

[0021] Additional advantages, objects, and features of the application will be set forth in part by the description that follows, and in part will become apparent to those skilled in the art upon examination of same; and the applications will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0023] Figure 2 It is a schematic diagram of the front view structure of the present application.

[0024] Figure 3 It is a schematic diagram of the structure of the adjusting arm of the present application.

[0025] Figure 4 It is a schematic diagram of the angle adjusting assembly of the present application.

[0026] Figure 5 It is a schematic diagram of the structure inside the positioning base of the present application.

[0027] Figure 6 It is a schematic diagram of the structure of the present application Figure 5 in the enlarged A area.

[0028] Figure 7 It is a schematic diagram of the structure of the present application

[0029] Figure 8 It is a schematic diagram of the structure of the present application Figure 7 in the enlarged B area.

[0030] Figure 9 It is a schematic diagram of the structure of the present application in the folded cover unfolding.

[0031] Figure 10 It is a schematic diagram of the structure of the present application Figure 9 in the enlarged C area.

[0032] Figure 11 It is a schematic diagram of the structure of the present application

[0033] Figure 12 It is a schematic diagram of the structure of the present application

[0034] Figure 13 It is a schematic diagram of the structure of the present application Figure 12 in the enlarged D area.

[0035] Figure 14 It is a schematic diagram of the structure of the present application

[0036] Figure 15 It is a schematic diagram of the structure of the present application

[0037] Figure 16 Structure diagram of the cleaning assembly of the present application.

[0038] Figure 17 Structure diagram of the horizontal moving part of the present application.

[0039] Figure 18 Structure diagram of the inside of the scraping seat of the present application.

[0040] Figure 19 Structure diagram of the inside of the scraping seat of the present application. Figure 18 Structure diagram of the enlarged E area of the present application.

[0041] Figure 20 Structure diagram of the enlarged F area of the present application. Figure 18 Structure diagram of the enlarged F area of the present application.

[0042] Figure 21 Structure diagram of the water tank of the present application.

[0043] Figure 22 Structure diagram of the enlarged G area of the present application. Figure 21 Structure diagram of the enlarged G area of the present application.

[0044] Figure 23 Structure diagram of the connection between the fixed ring and the rotating ring of the present application.

[0045] In the figure: 1, main body; 101, main support shaft; 2, adjusting arm; 201, first arm; 202, second arm; 203, third arm; 3, image taking camera module; 4, communication cable; 5, image display; 6, support; 7, angle adjusting assembly; 701, positioning base; 7011, opening; 7012, movable slot; 702, spherical support; 7021, fixed plate; 7022, first rotating slot; 703, rotating part; 7031, rotating ball; 7032, central shaft; 704, magnetic movable seat; 7041, second rotating slot; 70411, slot; 7042, rotating ball; 7051, elastic head; 7052, spring slot; 7053, spring; 8, supporting plate; 9, cleaning fence; 901, folding cover; 9011, belt-shaped water pipe; 9012, port; 902, hook; 903, annular plate; 904, hanging ring; 905, air suction cover; 906, air pipe; 908, support; 9081, rotating cylinder; 9082, rotating slot; 9083, rotating shaft; 9084, support rod; 909, vertical plate; 9091, clamp; 10, horizontal moving part; 1001, moving motor; 1002, fixed ring; 10021, slot; 1003, support plate; 1004, threaded shaft; 1005, internally threaded sliding block; 1006, limiting strip; 11, scraping part; 1101, scraping seat; 1102, scraping motor; 1103, gear; 1104, ring slot; 1105, outer tooth ring plate; 1107, extension ring; 1108, first scraping layer; 12, lower collecting cover; 1201, rotating slot; 1202, rotating ring; 12021, plug plate; 1203, limiting half ring; 1204, second scraping layer; 1205, magnetic block; 13, water tank; 1301, miniature water pump; 1302, water supply pipe; 1303, main pipe; 1304, water replenishing head. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all.

[0047] REFERENCE Figures 1-23 An imaging device for molecular imaging surgery includes a main body 1, the top of the main body 1 is provided with an adjusting arm 2, the main body 1 is connected with an image taking camera module 3 through the adjusting arm 2, one side of the main body 1 is provided with a communication cable 4, the main body 1 is connected with an image display 5 through the communication cable 4, and the image display 5 is arranged on a support 6; the top of the main body 1 is provided with a main support shaft 101, and the main body 1 is connected with the adjusting arm 2 through the main support shaft 101. The adjusting arm 2 includes a first arm 201, a second arm 202, a third arm 203 and an angle adjusting assembly 7.

[0048] In use, first, the fluorescent markers are injected into the patient's body, which automatically bind to the target of certain protein targets or enzyme molecules outside the tumor lesion cells, so that the tumor tissue or specific lesion tissue is "labeled"; then, according to the operation requirements, the position and angle of the image-taking camera module 3 are adjusted by adjusting the mechanical arm 2, at the same time, the power of the device is turned on, the laser generator and other related components are started, and the parameters of the image-taking camera module 3 such as focal length, aperture, etc. are set, so that it can work normally and obtain clear images.

[0049] The front end of the image-taking camera module 3 is provided with a light transmission component and a filter component, which are used to pretreat the light entering the image-taking camera module 3. The laser generator emits light of a specific wavelength, such as near-infrared light, to irradiate the operation area, excite the fluorescent markers to emit fluorescence, and the light passes through the light transmission component, the filter component, etc. The light is separated by a light splitting sheet, and the image-taking camera module 3 includes a color camera and a fluorescence camera; ordinary light is reflected to the color camera, and near-infrared light is transmitted to the fluorescence camera. The image-taking camera module 3 collects color images and fluorescence images respectively, and transmits image information to the computer host or data processing module in the main body 1.

[0050] The data processing module processes the received color images and fluorescence images, such as denoising, adding pseudo-color, etc., and then fuses them, which are displayed in real time on the image display 5. Based on these fused images, the doctor can clearly see the position, size and relationship with the surrounding normal tissue of the lesion tissue.

[0051] Based on this, during the operation, the doctor can accurately position the lesion tissue according to the images displayed on the image display 5, and perform resection and other operations to ensure that the tumor tissue can be completely removed while minimizing damage to the surrounding normal tissue. During the operation, the doctor's operations, such as pulling the tissue, resecting the lesion or stopping bleeding, can cause the position of the anatomical structure of the operation area to change, and the original camera angle may not be able to completely capture the lesion or key anatomical structures, such as blood vessels and nerves. Adjusting the angle can ensure that the field of view always covers the target area and avoid image loss due to tissue displacement, so it is necessary to adjust the position and angle of the image-taking camera module 3 by adjusting the mechanical arm 2.

[0052] The traditional image taking camera module 3 support structure is fixed, which causes the limited range of position and angle adjustment of the image taking camera module 3. The lesion edge may not be clearly imaged due to the problem of viewing angle, which increases the risk of missed diagnosis or misjudgment. In order to improve this problem, the traditional image taking camera module 3 adjusts the position and angle of the image taking camera module 3 through the cooperation between the adjustable multi-joint robot arm. However, the current multi-joint robot arm adjustment relies on the locking of the twist at the joint of the robot arm. The doctor or medical staff needs to frequently adjust the heavy robot arm during the operation. If the position and angle of the image taking camera module 3 need to be adjusted multiple times, a lot of time will be wasted on robot arm adjustment. The long operation time may distract the doctor's attention and affect the doctor's focus on the operation itself.

[0053] Another kind of flexible robot arm currently relies on flexible joint transmission to more flexibly adjust the position and angle. The position and angle of the image taking camera module 3 can be adjusted by external force. However, the stability of this flexible robot arm is poor. For example, during the operation, if it bears slight external force, it is easy to deviate due to deformation, causing the field of view to shake or deviate from the target area, which may blur or shake the weak fluorescent signal and affect imaging. Another important point is that the load capacity of the flexible robot arm is limited when in use. The image taking camera module 3 has a certain weight. After long-term use, the memory type flexible robot arm may slowly settle due to fatigue, causing the positioning accuracy of the flexible robot arm to become worse and worse as the use time increases, and multiple adjustments are needed. On the other hand, the multi-joint nested or folded structure of the flexible robot arm is prone to accumulate residues, including blood or body fluid. It is troublesome and easy to clean incompletely during daily use, so it is difficult to meet the "sterilization" requirement of surgical instruments.

[0054] To this end, the following improvements are made to the above embodiments: The angle adjustment assembly 7 includes a positioning base 701, a spherical support 702, and a rotating part 703. The inside of the positioning base 701 is provided with a movable groove 7012. The movable groove 7012 is provided with an opening 7011 near one side of the spherical support 702. The spherical support 702 is provided with a fixed plate 7021. The spherical support 702 is fixedly connected with the positioning base 701 through the fixed plate 7021. The rotating part 703 is arranged in the inside of the spherical support 702. The middle part of the spherical support 702 is provided with a first rotating groove 7022. The rotating part 703 includes a rotating ball 7031 rotatably connected in the first rotating groove 7022. The middle part of the rotating ball 7031 is provided with a middle shaft 7032 penetrating through the rotating ball 7031. The inside of the first rotating groove 7022 is provided with a wear-resistant layer for improving the friction between the rotating ball 7031 and the first rotating groove 7022, so that the position of the robot arm can be maintained after the rotation of the robot arm.

[0055] The inside of the movable slot 7012 movably connects a magnetic movable seat 704, and the inside of the movable slot 7012 is provided with an electromagnet corresponding to the magnetic movable seat 704; the middle part of the magnetic movable seat 704 is provided with a second rotating slot 7041, and the inside of the second rotating slot 7041 movably connects a rotating ball 7042; one side of the second rotating slot 7041 is provided with a slot 70411; One end of the middle shaft 7032 close to the magnetic movable seat 704 is provided with an elastic member; the middle shaft 7032 is fixedly connected with the rotating ball 7042 through the elastic member; the elastic member comprises an elastic head 7051 fixedly connected with the rotating ball 7042, the middle part of the elastic head 7051 is provided with a spring slot 7052, the inside of the spring slot 7052 is provided with a spring 7053, one end of the spring 7053 is fixedly connected with one end of the middle shaft 7032, and one end of the middle shaft 7032 close to the elastic head 7051 is limitingly and slidingly connected in the inside of the spring slot 7052.

[0056] In the use process, the number of the adjusting arms 2 is not only three sections of the first arm 201, the second arm 202 and the third arm 203, but also more arms can be set according to the use needs to meet the actual use needs, and the angles of the arms are adjusted through the angle adjusting assembly 7, so that the position and the angle of the image taking camera module 3 are flexibly adjusted.

[0057] Specifically, when the angle between the first arm 201 and the second arm 202 is adjusted, the electromagnet inside the movable slot 7012 is first kept off, the first arm 201 is fixed with the main support shaft 101, one hand holds the first arm 201 and the other hand holds the second arm 202, the second arm 202 is rotated around the center point of the spherical support 702 under the rotation cooperation of the first rotation slot 7022 and the rotation ball 7031, and then the angle of the second arm 202 is adjusted. During the rotation of the rotation ball 7031, the magnetic movable seat 704 moves in the opposite direction of the movement direction of the second arm 202 inside the movable slot 7012, and at the same time, the elastic member serves as a compensation member between the middle shaft 7032 and the magnetic movable seat 704. Specifically, when the first arm 201 and the second arm 202 are coaxial, the distance between the middle shaft 7032 and the magnetic movable seat 704 is the shortest, and when the second arm 202 and the middle shaft 7032 rotate, the distance between the middle shaft 7032 and the magnetic movable seat 704 will increase. At the same time that the distance between the middle shaft 7032 and the magnetic movable seat 704 increases, the elastic head 7051 in the elastic member increases in length under the elastic force of the spring 7053 and the limiting action of the second rotation slot 7041 on the rotation ball 7042. When the position angle of the second arm 202 is adjusted, the electromagnet between the first arm 201 and the second arm 202 is powered on, and the magnetic movable seat 704 is fixed by the magnetic attraction of the electromagnet, so that the position of the second arm 202 and the middle shaft 7032 is kept fixed. When the position and angle of the third arm 203 are adjusted, the second arm 202 is fixed with the first arm 201, and the doctor or medical staff holds the third arm 203 and the second arm 202 with both hands, turns off the electromagnet at the connection between the third arm 203 and the second arm 202, rotates the third arm 203 to adjust the position and angle of the third arm 203. In the same way, other arms are also adjusted in the above-mentioned manner, and then the position and angle of the image pickup camera module 3 at the front end of the adjustment arm 2 are adjusted.

[0058] In the above scheme, each arm can be rotated around the spherical support 702 by the angle adjustment assembly 7, especially after the multiple arms are connected in series, more diverse spatial poses can be combined, including folding, stretching and multi-angle bending. Compared with the traditional fixed joint arm that can only rotate in one direction, the present scheme can easily cover different angles of the front, side and oblique upper part of the surgical area, especially suitable for deep lesions, such as abdominal cavity, intracranial or scenes blocked by surrounding tissues. Moreover, the adjustment of the arm relies on the rotation cooperation of the rotation ball 7031 and the first rotation slot 7022, which makes the adjustment of the arm more smooth and reduces the shaking of the image pickup camera module 3 during the adjustment.

[0059] Wherein, different components of the application can also be produced in different specifications according to the needs of use, the number of arms can also be increased or decreased according to the type of surgery, for example, three arms in series can be used for simple superficial surgery, and five or more arms can be used for deep and complex surgery, thereby avoiding the limitation of "one machine for one use" and improving the versatility of the equipment.

[0060] Embodiment two In order to meet the daily cleaning needs of surgical instruments in daily use, the above embodiment is improved as follows: The above embodiment further comprises a supporting plate 8, the top of the supporting plate 8 is provided with a cleaning fence 9, as an embodiment of the cleaning fence 9, the cleaning fence 9 comprises a lower fence, a folding cover 901, a support 908 and a ring plate 903; the middle part of the lower fence is provided with a storage groove, the bottom of the folding cover 901 is fixedly connected with the bottom of the storage groove, the top outer side of the folding cover 901 is provided with a hook 902, and the bottom outer side of the ring plate 903 is provided with a ring 904 corresponding to the hook 902; the folding cover 901 is provided with a belt-shaped water pipe 9011, and the inner side of the belt-shaped water pipe 9011 is provided with a port 9012; the outer side of the belt-shaped water pipe 9011 is provided with an interface, the belt-shaped water pipe 9011 is connected with the output pipeline of an external atomizing machine through the interface, and the output pipeline of the atomizing machine is provided with a fan; The top of the ring plate 903 is provided with a suction hood 905, the top of the suction hood 905 is provided with a breather pipe 906, the support 908 comprises a rotating cylinder 9081 fixedly connected with the supporting plate 8, the rotating cylinder 9081 is rotatably connected with a rotating shaft 9083 in the inside, one side of the rotating cylinder 9081 is provided with a rotating slot 9082, and the middle part of the rotating shaft 9083 is provided with a supporting rod 9084; the top end of the supporting rod 9084 is provided with a supporting disc and an external thread; the supporting disc supports the ring plate 903, and according to the needs of use, a nut can be screwed on the top of the supporting rod 9084 through the external thread.

[0061] The rotating cylinder 9081 is in interference fit with the rotating shaft 9083, and the inner wall of the rotating cylinder 9081 is provided with a rubber pad; one side of the rotating cylinder 9081 is provided with a vertical plate 909, one side of the vertical plate 909 is provided with a clamp 9091 corresponding to the supporting rod 9084; the inner wall of the clamp 9091 is provided with a rubber pad, which is used for interference fit between the clamp 9091 and the supporting rod 9084.

[0062] In use, before the operation, the main body 1 is arranged above the supporting plate 8, after the operation, the multiple arms in the arm 2 are adjusted to reset, so that the multiple arms are located on the inner side of the folding cover 901, and a cleaning area of the device is built in the operating room. Specifically, first, the supporting rod 9084 in the support 908 is turned up, and the supporting rod 9084 is vertical under the limiting action of the rotating slot 9082, and the interference fit between the rotating cylinder 9081 and the rotating shaft 9083 makes the supporting rod 9084 stable; Then the annular plate 903 is placed on the top of the support rod 9084, the annular plate 903 is provided with a through hole corresponding to the support rod 9084, and the annular plate 903 is connected to the support rod 9084 through the through hole. Then the folding cover 901 is unfolded upwards from the storage groove in the middle of the lower enclosure, and then the hooks 902 at the top of the folding cover 901 are hung on the hanging rings 904 below the annular plate 903, so that the folding cover 901 is kept unfolded by the hanging rings 904 and the hooks 902.

[0063] The top of the air suction cover 905 is flexibly connected with the air pipe 906, and when the annular plate 903 is connected to the top of the support rod 9084, the air suction cover 905 can move upwards to provide installation space for the annular plate 903.

[0064] When cleaning, the interface on the outer side of the belt-shaped water pipe 9011 is connected with the output pipeline of the atomizer outside, the atomizer atomizes the cleaning liquid into small water droplets, and then the fan sprays the atomized small water droplets to the inside of the folding cover 901 through the belt-shaped water pipe 9011 and the port 9012. The folding cover 901 forms a closed space with the support plate 8 and the air suction cover 905, and the disinfecting small water droplets cover the outer surface of the device in the closed space, so as to cover the outer surface of the device for disinfection and cleaning.

[0065] When the disinfecting small water droplets are transported to the inside of the folding cover 901 for a preset time, the atomizer and the fan on the output pipeline of the atomizer are turned off. According to the use requirement, the ventilation fan on the air pipe 906 is started after a period of time or directly started. The ventilation fan continuously outputs the gas in the folding cover 901 to the outside. As an embodiment for supplementing the gas in the folding cover 901, when the ventilation fan outputs the gas to the outside, the atomizer is kept off. The air inlet of the atomizer is used as the air inlet of the folding cover 901, and the air inlet enters the folding cover 901 in multiple directions under the action of the negative pressure in the folding cover 901 through the multiple ports 9012 on the inner side of the belt-shaped water pipe 9011. The gas continuously flows through the device, and the small water droplets covering the outer surface of the device are dried by the airflow.

[0066] In addition, the folding cover 901 is sewn with a two-way zipper, and two pulls are respectively located at the upper and lower ends of the folding cover 901, which are used for closing the folding cover 901. The opening formed by the two-way zipper is used as the connection hole of the external communication wire bundle 4 and the main body 1 in the folding cover 901. After the two-way zipper is closed by the pulls, the space in the folding cover 901 is closed.

[0067] The ventilation fan is used for ventilation, and the air pipe 906 is fixedly connected with the ceiling or the frame body, so as to fix the position of the air pipe 906.

[0068] The protective cover is arranged on the image taking camera module 3, and the image taking camera module 3 is protected through the protective cover during the covering disinfection and cleaning. The sealing cover is arranged at both ends of the first rotating groove 7022 and at the opening 7011, and the inner side of the sealing cover is fixedly connected with the middle shaft 7032, for providing protection for the spherical support 702 and the positioning base 701.

[0069] Embodiment three However, in actual use, the robot arm needs to be adjusted multiple times during complex surgery, which will cause contaminants to adhere to the robot arm during adjustment. The cleaning of the contaminants relies on manual cleaning with cleaning liquid, which has low cleaning efficiency and cannot be cleaned in time, causing the contaminants to become a pathogen carrier and causing incision infection through the "instrument-hand-surgery" path. To solve the above problems, the following embodiments are provided: A cleaning assembly is arranged on each robot arm for timely cleaning of the surface of each robot arm. Specifically, the cleaning assembly includes a horizontal moving part 10, a scraping part 11, and a lower collecting cover 12. The horizontal moving part 10 includes a moving motor 1001 arranged on the positioning base 701 and a fixed ring 1002 arranged on the robot arm. The top of the fixed ring 1002 is provided with a support plate 1003, the rotating end of the moving motor 1001 is provided with a threaded shaft 1004, the threaded shaft 1004 is provided with a horizontally moving internal threaded slide 1005, the threaded shaft 1004 penetrates the internal threaded slide 1005 and is rotationally connected with the support plate 1003. The support plate 1003 and the positioning base 701 are provided with a limiting strip 1006, the limiting strip 1006 penetrates the internal threaded slide 1005, and the limiting strip 1006 is used to provide horizontal limiting for the internal threaded slide 1005.

[0070] The scraping part 11 is arranged at the bottom of the internal threaded slide 1005, the internal threaded slide 1005 is provided with a scraping motor 1102, the inside of a scraping seat 1101 is provided with a ring groove 1104, the rotating end of the scraping motor 1102 penetrates one side of the scraping seat 1101 and is provided with a gear 1103, the inside of the ring groove 1104 is rotationally connected with an external tooth ring plate 1105, the inside of the external tooth ring plate 1105 is provided with an extension ring 1107, and the inside of the extension ring 1107 is provided with a first scraping layer 1108. The inner wall of the first scraping layer 1108 is attached to the outer wall of the robot arm. The lower collecting cover 12 is arranged between the positioning base 701 and the fixed ring 1002, and is used to collect water droplets falling from the robot arm.

[0071] As a starting mode of the cleaning assembly for cleaning the robot arm, a first pressure sensor is arranged at the electromagnet switch in each movable groove 7012. The first pressure sensor is used to detect which robot arm is adjusted, and then the cleaning assembly is used to clean the surface of the robot arm.

[0072] In addition, the first pressure sensor is not limited to the electromagnet switch of the robot arm, but can be distributed at multiple positions of the robot arm.

[0073] In use, when the doctor or medical staff presses the electromagnet switch, the connection between the magnetic movable seat 704 and the electromagnet in the movable groove 7012 is disconnected, and the position angle of the robot arm is adjusted. After the medical staff's hand is removed from the robot arm, based on the detection signal of the first pressure sensor, the cleaning of the robot arm is started. Specifically, the threaded shaft 1004 is driven to rotate by the moving motor 1001 on the robot arm, the inner threaded slide block 1005 moves horizontally under the limiting action of the limiting strip 1006, and moves towards the electromagnet switch. In this process, the scraping motor 1102 drives the first scraping layer 1108 to rotate along the outer side of the robot arm through the meshing cooperation of the gear 1103 and the outer side spline of the outer tooth ring plate 1105. During the horizontal movement, the robot arm surface is scraped and cleaned, and the contaminants cleaned are dropped into the lower collecting cover 12 for collection.

[0074] The above cleaning process can also start and clean the robot arm when the atomizing machine atomizes the cleaning liquid into water droplets and sprays them into the folding cover 901 to cover the outer surface of the device for disinfection and cleaning. The robot arm with more operation times is cleaned.

[0075] Further, in order to improve the falling speed of the contaminants on one side of the first scraping layer 1108 and avoid the contaminants adhering to the first scraping layer 1108, the following improvements are made: A water tank 13 is arranged on the top of the inner threaded slide block 1005. A water supply pipe 1302 is arranged on one side of the water tank 13. A main pipe 1303 is arranged at one end of the water supply pipe 1302. The main pipe 1303 is fixedly connected with the extension ring 1107. A water supplement head 1304 is arranged on one side of the main pipe 1303 close to the first scraping layer 1108. A micro water pump 1301 is arranged on the water supply pipe 1302 for supplying water to the main pipe 1303.

[0076] In use, when the horizontal moving part 10 drives the scraping part 11 to move horizontally along the robot arm, the micro water pump 1301 continuously delivers the cleaning liquid in the water tank 13 to the main pipe 1303 through the water supply pipe 1302, and then sprays the cleaning liquid to the first scraping layer 1108 through the water supplement head 1304. When the first scraping layer 1108 cleans the outer wall of the robot arm, the cleaning liquid is continuously supplemented, which improves the smoothness of the horizontal movement of the first scraping layer 1108 along the robot arm, facilitates the carrying of the contaminants on the surface of the robot arm by the cleaning liquid and the rotation of the first scraping layer 1108, accelerates the falling speed into the lower collecting cover 12, and improves the cleaning efficiency.

[0077] Although the outer wall of the robot arm can be cleaned by the first scraping layer 1108 and the cleaning liquid, when the outer wall of the robot arm is attached by stubborn impurities, the cleaning of the first scraping layer 1108 is difficult to effectively remove the stubborn impurities, for this, the following improvements are made: The end of the extension ring 1107 is provided with an electromagnet, the lower collecting cover 12 includes a corrugated area in the middle and two end plates, and the two end plates are respectively used for connecting with the positioning base 701 and the fixed ring 1002. The inner side of the end plate close to the fixed ring 1002 is rotationally connected with a rotating ring 1202, the top end of the rotating ring 1202 is provided with a magnetic block 1205, the magnetic block 1205 is correspondingly matched with the ring groove 1104; the inner side of the rotating ring 1202 is provided with a second scraping layer 1204, the inner side of the second scraping layer 1204 is attached with the outer wall of the robot arm.

[0078] One side of the fixed ring 1002 is provided with a slot 10021, the inner side of the rotating ring 1202 is provided with a plug plate 12021 correspondingly matched with the slot 10021, in the initial state, the plug plate 12021 is inserted in the slot 10021, used for stably supporting the lower collecting cover 12, and the two end plates of the lower collecting cover 12 can be respectively separated from the positioning base 701 and the fixed ring 1002, used for cleaning or replacing the lower collecting cover 12.

[0079] The inner side of the end plate of the lower collecting cover 12 close to the fixed ring 1002 is provided with a rotating groove 1201, and the outer side of the rotating ring 1202 is provided with a limiting half ring 1203 correspondingly matched with the rotating groove 1201.

[0080] The cleaning process of the stubborn impurities can be started regularly or by the observation of the medical staff. As a detection method of the stubborn impurities in the embodiment, a second pressure sensor can be arranged on one side of the extension ring 1107, and a pressure threshold is preset in the second pressure sensor. When the extension ring 1107 and the first scraping layer 1108 move along the arm, when the stubborn impurities are reached, the resistance of the stubborn impurities to the first scraping layer 1108 and the extension ring 1107 makes the pressure value detected by the second pressure sensor reach the preset pressure threshold, at which time the cleaning process of the stubborn impurities is started. Specifically, first, the middle part of the outer tooth ring plate 1105 corresponds to the holding, and then the scraping part 11 is moved to the corresponding position of the magnetic block 1205 under the driving of the horizontal moving part 10. At this time, the electromagnet at the end of the outer tooth ring plate 1105 is powered on, and then the outer tooth ring plate 1105 is driven by the scraping motor 1102 through the gear 1103 to move to the magnetic block 1205 and complete the adsorption and fixation. The magnetic block 1205 corresponds to the ring groove 1104. After the outer tooth ring plate 1105 is magnetically adsorbed and fixed with the magnetic block 1205, when the gear 1103 drives the extension ring 1107, it will also drive the rotating ring 1202 to rotate around the center point of the arm. Then, the horizontal moving part 10 moves along the arm, and when the stubborn impurities are reached, the gear 1103 is driven by the scraping motor 1102 to quickly rotate back and forth in the forward and reverse directions. The first scraping layer 1108 rubs and extrudes the impurities in the stubborn area, so that the volume of the impurities in the stubborn area gradually decreases or is broken until they are removed. When the second pressure sensor detects that the pressure value is lower than the set threshold, it indicates that the stubborn impurities on the arm are removed.

[0081] As a supplement, the above-mentioned cleaning process of the stubborn impurities can be started when the atomizing machine atomizes the cleaning liquid into water droplets and sprays them into the folding cover 901 to cover the outer surface of the device for disinfection and cleaning. At the same time, when the stubborn impurities on the arm are cleaned, the cleaning liquid in the water tank 13 is continuously delivered to the main pipe 1303 through the water supply pipe 1302 by the micro water pump 1301 and is sprayed to the first scraping layer 1108 by the water supplement head 1304. The cleaning liquid on one side of the first scraping layer 1108 can transfer and wet the second scraping layer 1204 when flowing downward. The continuously supplemented cleaning liquid forms a flushing effect on the first scraping layer 1108 and the second scraping layer 1204, and can wet the stubborn impurities. When the first scraping layer 1108 rotates to rub and extrude the stubborn impurities, the efficiency of the separation of the stubborn impurities from the arm is accelerated. The broken debris after separation falls quickly into the collecting cover 12 under the driving of the cleaning liquid.

[0082] The first scraping layer 1108 and the second scraping layer 1204 are both detachable structures. After one operation, the first scraping layer 1108 and the second scraping layer 1204 are replaced in time to improve the cleaning effect of the arm in the subsequent operation.

[0083] The above merely provides the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical scheme and the inventive concept of the present application, can make equivalent replacements or changes within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

[0084] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

Claims

1. An imaging device for molecular image-guided surgery, comprising a main body (1), characterized in that, The top of the main body (1) is provided with an adjusting arm (2); the main body (1) is connected with an image taking camera module (3) through the adjusting arm (2); An angle adjusting assembly (7) is arranged on the adjusting arm (2) and used for adjusting the position and angle of the image taking camera module (3); The angle adjusting assembly (7) comprises a positioning base (701), a spherical support (702) and a rotating part (703), the inside of the positioning base (701) is provided with a movable groove (7012), and the inside of the movable groove (7012) is provided with an electromagnet; The middle part of the spherical support (702) is rotatably connected with a rotating ball (7031) and used for adjusting the position and angle of the arm, the middle part of the rotating ball (7031) is provided with a middle shaft (7032), the middle shaft (7032) penetrates through the rotating ball (7031) and is connected with a magnetic movable seat (704) matched with the electromagnet through an elastic member and used for adjusting and fixing the position and angle of the arm.

2. The imaging device for molecular imaging surgery according to claim 1, wherein, The magnetic movable seat (704) is movably connected in the inside of the movable groove (7012), and the power-on switch of the electromagnet is arranged on the arm; the middle part of the magnetic movable seat (704) is provided with a second rotating groove (7041), the inside of the second rotating groove (7041) is rotatably connected with a rotating ball (7042), and one side of the second rotating groove (7041) is provided with a slot (70411) and used for being rotatably connected with the elastic member.

3. The imaging device for molecular imaging surgery of claim 2, wherein, The elastic member comprises an elastic head (7051) fixedly connected with the rotating ball (7042), the middle part of the elastic head (7051) is provided with a spring groove (7052), the inside of the spring groove (7052) is provided with a spring (7053), one end of the spring (7053) is fixedly connected with the middle shaft (7032) and used for compensating the distance between the middle shaft (7032) and the magnetic movable seat (704).

4. The imaging device for molecular imaging surgery according to claim 3, wherein, Further comprising a supporting plate (8), the top of the supporting plate (8) is provided with a cleaning fence (9), the cleaning fence (9) is provided with a belt-shaped water pipe (9011), the inner side of the belt-shaped water pipe (9011) is provided with a port (9012), the belt-shaped water pipe (9011) is connected with an output pipeline of an external atomizing machine through an interface, the output pipeline of the atomizing machine is provided with a fan and used for conveying the atomized cleaning liquid to the inner side of the cleaning fence (9) to clean the device; the upper side of the cleaning fence (9) is provided with a suction hood (905), and the top of the suction hood (905) is provided with a ventilation pipe (906).

5. The imaging device for molecular image-guided surgery of claim 3 or 4, wherein, Further comprising a cleaning assembly on the arm, the cleaning assembly comprises a horizontal moving part (10), a scraping part (11) and a lower collecting cover (12), the horizontal moving part (10) drives the scraping part (11) to clean the arm, and the lower collecting cover (12) is used for collecting pollutants.

6. The imaging device for molecular imaging surgery according to claim 5, wherein, The scraping part (11) comprises a scraping seat (1101), a scraping motor (1102) and a gear (1103), the inside of the scraping seat (1101) is provided with an annular groove (1104), the inside of the annular groove (1104) is rotatably connected with an outer tooth ring plate (1105), and the inner side of the outer tooth ring plate (1105) is provided with a first scraping layer (1108) and used for scraping and cleaning the outer wall of the arm.

7. The imaging device for molecular imaging surgery according to claim 6, wherein, The end of the outer tooth ring plate (1105) is provided with an electromagnet, and the top end of the rotating ring (1202) is provided with a magnetic block (1205) which is matched with the ring groove (1104) for scraping the stubborn impurities on the outer wall of the robot arm through the first scraping layer (1108) and the second scraping layer (1204) on the inner side of the rotating ring (1202) by rotating the motor (1102) in the forward and reverse directions quickly and back and forth.

8. The imaging device for molecular imaging surgery according to claim 7, wherein, The cleaning assembly further comprises a water tank (13), a micro water pump (1301) and a water supply pipe (1302), the water tank (13) is arranged on the top of the inner threaded sliding block (1005), water is supplied to the main pipe (1303) fixed with the extension ring (1107) through the micro water pump (1301) and the water supply pipe (1302), and the side of the main pipe (1303) is provided with a water replenishing head (1304) for washing the outer wall of the robot arm and the first scraping layer (1108) and the second scraping layer (1204).

9. The imaging device for molecular imaging surgery of claim 8, wherein, The first scraping layer (1108) and the second scraping layer (1204) are both detachable and replaceable structures.

10. The imaging device for molecular imaging surgery according to claim 9, wherein, A first pressure sensor is arranged on the robot arm for starting the cleaning process of the robot arm, and a second pressure sensor is arranged on one side of the extension ring (1107) for judging the stubborn impurities on the robot arm.

Images