Medical device and medical instrument

Abstract

The invention discloses a medical device and medical equipment applying the medical device. The pose adjustment system may include: a bracket; the sliding platform is arranged on the bracket and is controlled to slide relative to the bracket or be fixedly connected with the bracket; a movable platform; the movable connecting rods are respectively connected with the sliding platform and the movable platform through movable parts with controllable degrees of freedom; and the movable platform realizes multiple degrees of freedom through the autonomous movement of the movable connecting rod under the driving of external force and the passive movement of the movable component. The medical device disclosed by the invention can realize large-range multi-degree-of-freedom accurate motion control of the surgical mechanism. The whole device can be miniaturized and compact, and can adapt to different application scenes.

Description

Technical Field

[0001] This application relates to the fields of industrial equipment or medical equipment, and in particular to a medical device and a medical device having the medical device. Background Technology

[0002] With the development of technology, precision motion control equipment has been applied to various industries. Its most widespread applications are in intelligent manufacturing and the medical field. Examples include industrial robots and the control of various scenarios requiring precise control, such as surgical procedures. In surgical settings, to address the difficulties arising from the inability to visually visualize the patient's specific body structure, precise positioning guided by various medical scanning devices has been developed. Consequently, precision motion control equipment suitable for this scenario has seen significant advancements. Summary of the Invention

[0003] This application discloses a posture adjustment system and a medical device having the posture adjustment system. The posture adjustment system can achieve precise posture control under a wide range of movements.

[0004] This application discloses a medical device, which may include: a support; a sliding platform disposed on the support and controlled to slide or be fixedly connected to the support; a movable platform; and a plurality of movable links, the movable links being connected to the sliding platform and the movable platform respectively through movable components; wherein, the movable component includes a moving component and a transmission component, the transmission component connecting the moving component and the movable links, and is configured to transmit external driving force to the movable links to drive the movable links to move, thereby causing the moving component to move passively to realize multiple degrees of freedom of the movable platform.

[0005] According to some embodiments of this application, a first positioning structure is provided at multiple predetermined positions on the bracket, and a second positioning structure is provided on the sliding platform; the second positioning structure is controlled to be detachably fixedly connected to the first positioning structure, so that the sliding platform is fixed at the corresponding predetermined position on the bracket.

[0006] According to some embodiments of this application, the first positioning structure includes a groove, and the second positioning structure includes a rotatable locking block; the locking block is inserted into or disengaged from the groove under the action of an external force, thereby realizing a separable fixed connection between the sliding platform and the bracket.

[0007] According to some embodiments of this application, the shape of the first mounting surface of the sliding platform for setting the movable component is the same as or different from the shape of the second mounting surface of the tooling platform for setting the movable component; the travel strokes of the plurality of movable links are the same and / or different.

[0008] According to some embodiments of this application, the first mounting surface or the second mounting surface is a plane or a stepped surface.

[0009] According to some embodiments of this application, the number of the plurality of movable links is greater than 6.

[0010] According to some embodiments of this application, the external driving force includes a rotational force, the moving component includes a universal joint, and the transmission component includes a plurality of meshing gears, including a first gear for receiving the rotational force and a second gear for connecting the movable link.

[0011] According to some embodiments of this application, the plurality of gears includes two or more spur gears that mesh with each other.

[0012] According to some embodiments of this application, the plurality of gears includes two or more bevel gears that mesh orthogonally.

[0013] This application also provides a medical device, which may include the medical apparatus described above.

[0014] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0015] This application will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0016] Figure 1 This is an exemplary structural diagram of a pose adjustment system according to some embodiments of this application;

[0017] Figure 2 This is an exemplary schematic diagram of the movable link mounting plane according to some embodiments of this application;

[0018] Figure 3 This is another exemplary schematic diagram of the movable link mounting plane shown in some embodiments of this application;

[0019] Figure 4 These are exemplary three-dimensional assembly drawings of movable parts shown in some embodiments of this application;

[0020] Figure 5 These are exemplary schematic diagrams of movable parts shown according to some embodiments of this application;

[0021] Figure 6This is an application schematic diagram of a pose adjustment system according to some embodiments of this application;

[0022] Figure 7 These are exemplary structural diagrams of a medical device according to some embodiments of this application;

[0023] Figure 8 These are exemplary structural diagrams of the bracket shown in some embodiments of this application;

[0024] Figure 9 This is an exemplary installation diagram of the bracket according to some embodiments of this application;

[0025] Figure 10 This is another exemplary installation diagram of the bracket shown according to some embodiments of this application;

[0026] Figure 11 This is an exemplary structural diagram of a sliding platform shown in some embodiments of this application;

[0027] Figure 12 This is another exemplary structural diagram of a medical device shown in some embodiments of this application;

[0028] Figure 13 This is an exemplary structural diagram of a movable link shown according to some embodiments of this application;

[0029] Figure 14 These are exemplary structural diagrams of the connection structures shown in some embodiments of this application;

[0030] Figure 15 This is another exemplary structural diagram of the connection structure shown in some embodiments of this application;

[0031] Figure 16 This is another exemplary structural diagram of the connection structure shown in some embodiments of this application;

[0032] Figure 17 This is another exemplary structural diagram of the movable link shown in some embodiments of this application;

[0033] Figure 18 These are exemplary structural diagrams of the needle assembly shown in some embodiments of this application;

[0034] Figure 19 This is another exemplary structural diagram of the needle assembly shown in some embodiments of this application;

[0035] Figure 20 These are exemplary structural diagrams of force transmission components shown in some embodiments of this application;

[0036] Figure 21This is another exemplary structural diagram of the needle assembly shown in some embodiments of this application;

[0037] Figure 22 This is another exemplary structural diagram of the needle assembly shown in some embodiments of this application;

[0038] Figure 23 This is an exemplary structural diagram of a sliding platform shown in some embodiments of this application;

[0039] Figure 24 yes Figure 23 Exploded view;

[0040] Figure 25 This is another exemplary structural diagram of the sliding platform shown in some embodiments of this application;

[0041] Figure 26 yes Figure 25 Exploded view;

[0042] Figure 27 This is another exemplary structural diagram of the sliding platform shown in some embodiments of this application;

[0043] Figure 28 This is another exemplary structural diagram of the sliding platform shown in some embodiments of this application;

[0044] Figure 29 yes Figure 28 Exploded view;

[0045] Figure 30 This is an exemplary partial schematic diagram of a sliding platform according to some embodiments of this application;

[0046] Figure 31 This is another exemplary structural diagram of the sliding platform shown in some embodiments of this application;

[0047] Figure 32 yes Figure 31 Exploded view;

[0048] Figure 33 This is an exemplary exploded view of the bracket shown according to some embodiments of this application. Detailed Implementation

[0049] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0050] It should be noted that when a component is referred to as being "fixed to" or "mounted to" another component, it can be directly attached to the other component or may be connected to other components in between. When a component is considered to be "connected to" another component, it can be directly connected to the other component or may be connected to other components in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0051] In this application, the term "needle" can refer to a surgical component used in minimally invasive surgery or any surgical step within minimally invasive surgery, such as a puncture component, clamping component, stabilizing component, or light-emitting component. For example, minimally invasive surgery in this application refers to surgery performed through a small incision to enter the patient's body, and may also include puncture biopsy, tumor ablation, particle implantation, intratumoral drug injection, brain electrode implantation, radiofrequency or laser ablation, brachytherapy such as afterloading therapy, cosmetic surgery such as injection of botulinum toxin, hyaluronic acid, liposuction, breast augmentation, and body sculpting. For example, when the minimally invasive surgery is a biopsy or any step of a biopsy, the needle may include a puncture needle; when the minimally invasive surgery includes tumor ablation or any step of tumor ablation, the needle may include an ablation needle; when the minimally invasive surgery includes particle implantation or any step of particle implantation, the needle may include a particle implantation gun for performing particle implantation surgery; when the minimally invasive surgery includes intratumoral drug injection or any step of intratumoral drug injection, the needle may include an injection needle; when the minimally invasive surgery includes brain electrode implantation or any step of brain electrode implantation, the needle may include an electrode guidewire and / or a cannula; when the minimally invasive surgery includes radiofrequency or laser ablation or any step of radiofrequency or laser ablation, the needle may include a radiofrequency or laser fiber and / or a cannula; when the minimally invasive surgery includes any step of brachytherapy, the needle may include an applicator, a catheter, and an interpolation needle; when the minimally invasive surgery includes any step of cosmetic surgery, the needle may include an injection needle and a liposuction needle.

[0052] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application and in its specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "comprising" or "including," as used in this application, mean that an element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. The term "multiple" as used in this application can include two or more. The terms "and / or" or "and / or" as used in this application include any and all combinations of one or more of the associated listed items.

[0053] The following description, with reference to the accompanying drawings, illustrates some preferred embodiments of this application. It should be noted that the following description is for illustrative purposes only and is not intended to limit the scope of protection of this application. The steps involved in this application may be performed precisely in sequence, or various steps may be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more steps may be removed from these processes.

[0054] This application provides a pose adjustment system. This pose adjustment system can achieve miniaturized, wide-range, and convenient changes in position and posture. (Reference) Figure 1 , Figure 1 This is an exemplary structural diagram of a pose adjustment system according to some embodiments of this application. This pose adjustment system can change its own posture and position, thereby driving other components mounted on it to change their posture and position. Figure 1 As shown, the posture adjustment system 100 may include a base 110, multiple movable links 120, and a movable platform 130.

[0055] The base 110 can serve as a substrate for supporting other components of the posture adjustment system 100. Other components (e.g., multiple movable links 120, movable platform 130, etc.) can be directly or indirectly connected to the base 110. For example, one end of the movable link 120 can be directly fixed to the base 110, or fixedly connected to the base 110 via an intermediate connector (e.g., a universal joint, a ball bearing, or a coupling with one or more degrees of freedom, such as a two-degree-of-freedom coupling). The other end can be connected to the movable platform 130, for example, in the same or similar manner as the base 110. The base 110 can be mounted on other components / devices / facilities. For example, the base 110 can be fixed to surfaces such as walls, fixed facades, or moving platforms by welding, bonding, riveting, screw fixing, magnetic attraction, snap-fitting, etc. Thus, the medical device 700 can also have a stable mounting surface (support surface) where the movement of its components will not cause the entire medical device 700 to move.

[0056] The movable link 120 can be used to connect the base 110 and the movable platform 130, for example, through movable components 140 respectively disposed on the base 110 and the movable platform 130. Both ends of the movable link 120 can be connected to the movable components 140 disposed on the base 110 and the movable platform 130. The movable component 140 can have one degree of freedom, two degrees of freedom, three degrees of freedom, or even be capable of omnidirectional motion. Correspondingly, the movable component can be a kinematic pair or a joint bearing, etc. In some examples, the movable component 140 can have controllable degrees of freedom; for example, by modifying the structure to restrict one or more degrees of freedom of the movable component 140, the motion control of the entire medical device 700 can be precisely controlled. The movable link 120 can achieve autonomous movement under external force. For example, the movable link 120 can include a combination of a screw and a sleeve. The screw can rotate under external force, thereby extending into or out of the sleeve, achieving overall linear motion. Each movable link 120 can be independently controlled to undergo linear motion with different strokes, and the movable parts undergo passive motion (e.g., rotation) based on the motion of the movable links 120. Therefore, the movable platform 130 can achieve multiple degrees of freedom through these motions. By controlling the stroke of each movable link 120, precise adjustment of the position and orientation of the movable platform 130 can be achieved.

[0057] In some examples, the number of movable links 120 can be equal to or greater than six, such as six, seven, eight, nine, or ten. This allows the movable platform 130 to achieve movement with six or more degrees of freedom. This improves the accuracy and versatility of position and / or attitude adjustments.

[0058] In some examples, methods such as welding, bonding, snap-fitting, and threaded connections can be used to achieve a fixed connection between the movable part 140 and the base 110 / movable platform 130. An exemplary method is to create mounting holes in the base 110 / movable platform 130, and fix the movable part 140 within these holes. In this application, the surface on the base 110 used for mounting the movable part 140 can be referred to as the first mounting surface. The first mounting surface can be a plane, a curved surface, or other regular or irregular surfaces. For example... Figure 1 The first mounting surface shown can be a stepped surface, including two stepped surfaces. Similarly, the movable platform 130 can also have a mounting surface for setting mounting holes (which can be referred to as the second mounting surface in this application). For example, the movable platform 130 can be a single platform, and the shape of the single platform can be a plane, a curved surface, or other regular or irregular surface. Then the second mounting surface can also be a plane, a curved surface, or a surface of other shapes. In this application, the shapes of the first mounting surface and the second mounting surface can be the same or different, each selected from a stepped surface or a plane.

[0059] refer to Figure 2 and Figure 3 Two examples are given. For instance... Figure 2 As shown, the first mounting surface on the base 110 is a stepped surface, including stepped surface A and stepped surface B. The second mounting surface on the movable platform 130 is also a stepped surface, including stepped surface C and stepped surface D. Figure 3 As shown, the two mounting surfaces contacted by the movable link 120 are a stepped surface E and a flat surface F, which can belong to the base 110 and the movable platform 130 respectively. Of course, this is just an example; both mounting surfaces can also be flat. Furthermore, the travel distances of the multiple movable links 120 positioned between the first and second mounting surfaces can be the same or different. For example, when both mounting surfaces are flat, the travel distances of the multiple movable links 120 can be the same. Or, for example, when at least one of the two mounting surfaces is a stepped surface, the multiple movable links 120 can include individuals with longer travel distances. Figure 2 The movable link T1 connecting step surface A and step surface D shown in the diagram has a travel range exceeding that of other movable links 120. For example... Figure 3 The movable link T2 connects the rear portion of the connecting step surface E to the plane F. Using movable links 120 with different motion profiles allows the movable platform 130 to have a greater range of motion and more precise attitude adjustment through the movement of the movable links 120. For example, it allows the movable platform 130 to have a greater range of rotation within the same plane.

[0060] The movable part 140 can refer to a part that has one or more movable components. One example is a spherical bearing with a controllable number of degrees of freedom. The bearing sleeve of the spherical bearing, or an external component attached to the bearing sleeve, can be fixedly installed in the mounting hole. In this way, the spherical joint moves within the bearing sleeve, thereby achieving actions such as swinging and rotation. In this application, the degrees of freedom of the movable part 140 can be restricted, thus possessing the aforementioned controllable number of degrees of freedom. (Reference) Figure 5 The movable part 140 is shown according to some embodiments of this application. For example... Figure 4As shown, the movable component 140 can be a spherical bearing, including a ball joint 410 and a bearing sleeve 420. In some embodiments, the movable component 140 can also be a universal joint or multiple one-way joints. The bearing sleeve 420 can be split, for example, including a first part 421 and a second part 422. The first part 421 and the second part 422 can be combined to clamp the ball joint 410. For example, the combination is achieved by inserting a positioning shaft into a positioning hole through a snap-fit ​​mechanism. The ball joint 410 achieves restricted rotation within the bearing sleeve 420. Specifically, the ball joint 410 cannot rotate about its own axis (which can also be understood as self-rotation). Exemplarily, the outer surface of the ball joint 410 and the inner surface of the bearing sleeve 420 can be provided with corresponding limit structures. Figure 4 The ball joint 410 shown has a groove 411 on its outer surface, and a protrusion 423 can be formed on the bearing sleeve 420 (e.g., the first part 421). (A similar protrusion can be formed on the second part 422, but it is not shown due to obstruction of the view in the drawing). When assembling the bearing sleeve 420, the protrusion is aligned with the groove before closing. In this way, the protrusion, after being engaged in the groove, restricts the rotation of the ball joint 410 without affecting its rotation in other directions. The setting of the limiting structure can also be modified and / or adjusted in other ways. For example, the protrusion can be retrofitted to its attached component (e.g., by welding, bonding, etc.) or integrally formed with its attached component. For another example, the ball joint 410 is provided with a protrusion, while the bearing sleeve 420 is provided with a groove. For yet another example, the number of protrusion / groove pairs can be increased, for example, to two pairs, three pairs, etc. These examples are all within the scope of protection of this application. In another example, the outer surface of the ball joint 410 can be provided with a groove, and the inner surface of the bearing sleeve 420 can be provided with a recess. The protrusion in the aforementioned example can be replaced by a single sphere. Part of this sphere can be accommodated in the recess of the bearing sleeve 420, and another part can be engaged in the groove on the ball joint 410. After the bearing sleeve 420 is assembled, the sphere can perform the same function as the protrusion described above: restricting the rotation of the ball joint 410 without affecting its rotation in other directions.

[0061] To ensure the structural stability of the assembled spherical plain bearing and enhance its application versatility, the external connector 430 can be used to constrain the spherical plain bearing. For example, the shape of the external connector 430 can match the shape of the bearing sleeve 420, such as an annular cylindrical wall. The bearing sleeve 420 can be fitted into the inner ring of the external connector 430 and secured within the external connector 430 by a sleeve or snap-fit ​​mechanism. Figure 7A schematic diagram of the assembled spherical bearing according to some embodiments of this application is shown for reference. Additionally, the external connector 430 can be used to connect the movable part 140 to other components. For example, as described above, the movable part 140 is fixedly mounted via mounting holes provided on the 110 / movable platform 130. Alternatively, the external connector 430 may have an integral fixing part 431 serving as a mounting component. For instance, the fixing part 431 may have a through threaded hole; when the movable part 140 is inserted into the through hole, the fixing part 431 can be aligned with the corresponding threaded hole on the base 110 / movable platform 130. The two aligned threaded holes are tightened with bolts, thereby fixing the movable part 140 to the base 110 / movable platform 130.

[0062] Continuing with the example of the movable component 140 as a spherical bearing, the movable link 120 can be connected to the spherical bearing, thereby connecting to the base 110 / movable platform 130. One implementation is that the movable link 120 can be connected to the mounting part 440 of the spherical bearing. The mounting part 440 can be a tapered sleeve, fixedly connected to the ball joint 410. Similarly, it can be manufactured using welding or integral molding techniques. The tapered design of the mounting part 440 allows for a larger deflection angle range of the spherical bearing compared to a direct connection method, thus ensuring a greater range of motion.

[0063] The movable link 120 itself is movable. For example, the movable link 120 can be a slide rod sleeve assembly, a slider guide rail assembly, a lead screw sleeve assembly, a worm gear sleeve assembly, etc. Driven by an external force, the movable link 120 can move back and forth in a linear direction. Since multiple movable links 120 are connected to the movable platform 130, the movable platform 130 can be adjusted in position and attitude under the synergistic effect of the automatic driven movement (e.g., linear movement) of multiple movable links 120 and the passive movement of the movable component 140 (e.g., the joint rotation of the movable link 120 connected to it due to the movement of other movable links 120). By controlling the degree and range of movement of the movable link 120, the movable platform 130 can be controlled in a specific position and a specific attitude.

[0064] The driving force for driving the movable link 120 can be transmitted through a transmission mechanism. For example, this transmission mechanism can include various components capable of transmitting power over medium to long distances, including but not limited to flexible shafts, rigid shafts, gears, transmission rods, lead screws, guide wires, pneumatic components, hydraulic components, etc., or any combination thereof. One example is that the driving force provides rotational force to the motor, and the transmission mechanism is a flexible shaft or a combination of a flexible shaft and a rigid rotating shaft. For instance, the rotating gear of the motor can first be connected to a flexible shaft (e.g., referred to as flexible shaft one), which can then be connected to a rigid transmission shaft such as a rigid shaft, gear, transmission rod, lead screw, etc., and subsequently to another flexible shaft (e.g., referred to as flexible shaft two). This flexible shaft can be connected to the movable link 120. Thus, the driving force of the motor can be transmitted to the movable link 120 via flexible shaft one, the rigid transmission shaft, and flexible shaft two, thereby causing movement under the transmitted driving force. Flexible shaft two can be connected to the movable link 120 after passing through a movable component 140. The ball joint 410 may have a through hole through which the flexible shaft 2 can be connected to the movable link 120 within the mounting member 440. For example, the movable link 120 may be a lead screw and sleeve assembly, with the lead screw fixedly connected to the mounting member 440 via a bearing. The flexible shaft 2 cooperates with the lead screw, and the transmitted rotational force will cause the lead screw to rotate. This causes the lead screw to screw in or out of its matching sleeve, changing the length of the entire assembly. The sleeve is connected via a movable component 140 mounted on the movable platform 130. When the lead screw rotates, the sleeve will push out or pull in towards the movable platform 130. The transmission structure, connected to the movable link 120 through the through hole in the ball joint 410, achieves high integration of the posture adjustment system 100 and reduces complexity.

[0065] Other examples of the movable link 120 are given below. For example, the movable link 120 is a slide rod sleeve assembly, and the transmission mechanism is a hydraulic hose. The hydraulic hose passes through the through hole of the ball joint 410 and is fixedly connected to the slide rod within the mounting member 440. When hydraulic pressure is transmitted, it will drive the slide rod to slide in or out of the sliding sleeve, achieving a change in length. The sliding sleeve is connected to the movable platform 120 through a movable component 140 disposed thereon. Similarly, when the slide rod slides within the sliding sleeve, the posture of the movable platform 130 will change.

[0066] For example, the movable link 120 is a worm gear combination, with the driving force provided by a motor. The transmission mechanism can be a combination of a flexible shaft and a rigid transmission shaft, similar to those described above, or a single flexible shaft. In this example, the movable link 120 is connected to the mounting component 460 via a bearing equipped with a bevel gear. The worm gear meshes with the bevel gear, which is connected to the flexible shaft. When the bevel gear rotates under the drive of the flexible shaft, it drives the worm gear to rotate. The rotation of the worm gear drives the rotation of the worm, causing the worm to screw into or out of the matching sleeve, thus changing its length. In this way, the posture of the movable platform 130 changes when the worm moves in and out of the sleeve.

[0067] In the above examples, the components providing driving force (e.g., motors and hydraulic presses) can be located remotely from the posture adjustment system 100, with force transmission occurring via a transmission mechanism. Furthermore, the transmission mechanism is not limited to being connected to the movable link 120 via a through-hole in the ball joint 410. For example, through-holes can be provided on the first mounting surface and / or the second mounting surface. A transmission mechanism, such as a flexible shaft, can extend through these through-holes and connect to the movable link 120. Even more concerning, the transmission mechanism can be directly connected to the movable link 120 from the outside.

[0068] Meanwhile, the component providing the driving force can also be attached to the posture adjustment system 100. One example is a motor located at one end of the movable link 120 to directly drive its movement. In this case, the movable link 120 can be a combination of a worm gear and a sleeve. The worm is connected to the mounting member 440 via bearings. A micro-motor providing the driving force can be attached to the mounting member 440, and its rotating teeth mesh with the helical teeth of the worm within the mounting member 440. Thus, the rotational motion of the micro-motor is converted into the linear rotation of the worm. Consequently, the worm can be screwed into or out of the sleeve.

[0069] It should be noted that the above examples are for illustrative purposes only and are not intended to limit the scope of protection of this application. Any modifications / updates / adjustments made under the guidance of this application are within the scope of protection of this application.

[0070] Regarding the aforementioned movable component 140 and the transmission mechanism for transmitting driving force, the spherical bearing of the movable component 140 improves the accuracy of position and posture control of the movable platform 130 by limiting its rotation. Furthermore, the through-hole of the ball joint 410 enables power transmission from within the component, avoiding the problem that external wiring might affect the range of motion of the movable link 120. Simultaneously, the external driving force, combined with the aforementioned features, allows for overall system miniaturization, reduces complexity and integration, and better adapts to different application scenarios.

[0071] Multiple movable links 120 are connected to the base 110 and the movable platform 130 in a regular or cross-mounted configuration. In some embodiments, the number of movable links 120 is preferably 6, 7, 8, 9, or 10. Figure 2 and Figure 3 The two installation methods described above are illustrated by example. (See reference) Figure 2 The installation configuration described above is explained. The mounting points of the multiple movable links 120 on the first mounting surface (i.e., stepped surfaces A and B) are sequentially related to their mounting points on the second mounting surface (i.e., stepped surfaces C and D). For example, using the vertical direction defined by the plane of the drawing as the indicating direction, the distribution of the mounting points of the multiple movable links 120 on the first mounting surface is the same as the distribution of their mounting points on the second mounting surface. That is, assuming that one of the two movable links 120 has a mounting point on the first mounting surface above the mounting point of the other movable link 120, the relationship between the mounting points of the two movable links 120 on the second mounting surface is also the same. This arrangement can facilitate the control of the multiple movable links 120, reducing its control complexity.

[0072] refer to Figure 3 The cross-mounting configuration is described below. The cross-mounting configuration is the opposite of the regular mounting configuration. That is, there is no sequential order between the mounting points of the movable link 120. A movable link 120 whose mounting point on the first mounting surface is located above can have its mounting point on the second mounting surface located below. This arrangement allows for a greater range of motion of the movable platform 130. The specific mounting configuration can be selected according to actual conditions and is not limited here.

[0073] The movable platform 130 may include a mounting surface (i.e., the second mounting surface mentioned in this application) for connection with the movable link 120, and a bearing surface. The bearing surface can be used to place / install various workpieces or instruments. In conjunction with the foregoing description, the movable platform 130 can adjust its position and orientation by means of the movement of the movable link 120 and the movement of the movable component 140, thereby controlling the position and orientation of the workpiece or instrument.

[0074] The placement of workpieces or instruments on the movable platform 130 can be done directly, for example, by welding, snap-fitting, bonding, or threaded connection. Figure 1The movable platform 130 has two grooves. Corresponding protrusions are provided on the workpiece or instrument, and the workpiece or instrument is placed on the movable platform 130 by engaging the protrusions into the grooves. If the bearing surface of the movable platform 130 is a plane, a connector or support can be provided on the plane for connection with the workpiece or instrument, or a direct connection can be made. Alternatively, the workpiece or instrument can be placed using an intermediate component. For example, the intermediate component is a plate, one side of which holds the workpiece or instrument, and the other side is used to connect to the movable platform 130.

[0075] The pose adjustment system disclosed in this application can be applied to scenarios requiring fine motion control, such as in the fields of intelligent manufacturing and / or medical applications. For example, Figure 6 This application illustrates one application scenario of the pose adjustment system provided in this application, including the manufacturing field using multi-axis robots. The base 110 of the pose adjustment system 100 can be fixedly connected to the front end F of the multi-axis robot via any feasible connection method, and the required workpiece can be placed on the movable platform 130. Through the wide range of motion of the multi-axis robot and the fine motion adjustment of the pose adjustment system 100, fine motion control of the workpiece is achieved. For example, the workpiece can be a laser gun, spray gun, welding gun, etc. The following sections of this application also illustrate the application of the pose adjustment system 100 in the medical field, which can be referred to in detail. Furthermore, the pose adjustment system 100 can also be applied to machine vision, security, entertainment, and other scenarios. The workpiece placed on the movable platform 130 can be a camera, monitor, or display screen. The base 110 can be mounted on a fixed surface such as a wall or beam. Thus, the position / attitude of the camera, monitor, or display screen can be adjusted through the motion control of the movable link 120, thereby achieving wide-range, high-precision image acquisition / display. Of course, the above is for illustrative purposes only. The pose adjustment system provided in this application can also be applied to other fields that require fine motion control, and is not limited to the examples mentioned above.

[0076] The pose adjustment system disclosed in this application can achieve fine movements with a wide range of degrees of freedom. Furthermore, the miniaturized system structure and detachable connections allow the entire system to adapt to different application scenarios.

[0077] This application provides a medical device. This medical device can perform minimally invasive surgeries (such as biopsy, tumor ablation, particle implantation, intratumoral drug injection, brain electrode implantation, radiofrequency or laser ablation brachytherapy, cosmetic surgery, etc.) or drug delivery. Guided by a medical scanning device, the medical device can be positioned to a target location or its periphery and begin performing the procedure. The medical scanning device can be an X-ray digital imaging device or an ultrasound scanner, including but not limited to CT, MRI, PET, PET-CT, DR, C-arm (including mobile C-arm, peripheral interventional C-arm, DSA digital subtraction angiography system, etc.), G-arm, U-arm, DSC, CCD, holographic projection equipment, etc. This medical device can achieve a wide range of convenient positional and orientation changes within a very small space (within the aperture of medical imaging equipment such as CT and MRI). Reference Figure 7 , Figure 7 This is an exemplary structural diagram of a pose adjustment system according to some embodiments of this application. For example... Figure 7 As shown, the medical device 700 may include a support 710, a sliding platform 1100, and the aforementioned pose adjustment system 100. The support 710 can be used to provide support for other components of the medical device 700 (e.g., the pose adjustment system 100 sliding platform 1100). In some embodiments, the support 710 may have a curved structure, such as a fully curved arched support or a gate-shaped structure with a partially curved surface. In this case, the support 710 may also be referred to as a curved support 710. The pose adjustment system 100 sliding platform may be disposed on the curved support 710 and can be controlled to slide relative to the curved support 710, or fixed to the curved support 710. The base 110 of the pose adjustment system 100 in this embodiment may be a sliding platform (referred to as 1110 in this application), which can achieve a sliding connection between the pose adjustment system 100 and the curved support 710 through means such as guide rail sliders, gear racks, sliding sleeves, friction locking, etc. The movable platform 130 of the posture adjustment system 100 can be equipped with instruments for minimally invasive surgery, such as needle assemblies. The position and posture of the instrument sliding platform 1100 can be precisely adjusted by motion control of the movable link 120.

[0078] refer to Figure 8The curved support 710 shown according to some embodiments of this application has a support body 810 that can be arched. Of course, the shape of the support body 810 can also be a smooth surface shape, such as a wave shape. Inverted U-shapes with rounded corners or regular / irregular polygons are also applicable, and this application does not specifically limit them. Multiple first positioning structures 820 can be provided on the support body 810. The positions for setting the first positioning structures 820 can be predetermined. Taking the curved support 120 as an arched support as an example, the first positioning structures 820 can be set according to angles. For example, a first positioning structure 820 can be set every 30°. Of course, this angle can be adjusted according to actual conditions, such as 15°, 20°, 40°, etc. Correspondingly, a second positioning structure can be provided on the sliding platform 1100, which can be detachably fixedly connected to the first positioning structure 820. For example, as... Figure 8The first positioning structure 820 given is an example of a groove, and the second positioning structure can be a protrusion. The protrusion can be inserted into or detached from the groove under the action of external force. When inserted, the sliding platform 1100 will be fixed on the curved support 710, and when detached, the sliding platform 1100 can slide freely on the curved support 710. Depending on the implementation of the sliding connection between the sliding platform 1100 and the curved support 710, the first positioning structure 820 and the second positioning structure can have various deformations and / or adjustments. For example, the aforementioned combination of groove / protrusion can be an implementation based on the sliding platform 1100 being connected to the curved support 710 by a sliding sleeve. When the curved support 710 and the sliding platform 1100 are slidably connected by a gear and rack, for example, a rack is provided on the outer surface of the support body 810, and a controlled rotating gear, or a gear driven by a controlled motor, is provided on the sliding platform 1100. The meshing of the gear and rack enables the gear to rotate, driving the sliding platform 1100 to move on the curved support 710. In this case, the first positioning structure can be the first tooth on a rack at a predetermined position, and the second positioning structure can be the second tooth on a gear. The engagement and disengagement of the first and second teeth achieve a separable fixed connection between the sliding platform 1100 and the curved support 710. In another example, when the curved support 710 and the sliding platform 1100 are slidably connected via a guide rail and slider, for example, a guide rail is provided on the outer surface of the support body 810, and a slider is provided on the sliding platform 1100. The slider slides on the guide rail, thereby driving the movement of the sliding platform 1100 on the curved support 710. In this case, the first positioning structure can be a stop member, such as a magnetic unit, provided on the guide rail at a predetermined position, and the second positioning structure can be another magnetic unit with opposite magnetic properties. The mutual attraction between the two magnetic units achieves the fixation between the sliding platform 1100 and the curved support 710, while the separation of the two magnetic units under external force releases the fixation between the sliding platform 1100 and the curved support 710. In another example, when the curved support 710 and the sliding platform 1100 are slidably connected via friction locking, for example, the outer surface of the support body 810 is provided with microparticles as the aforementioned first positioning structure. The sliding platform 1100 still has a protrusion as its second positioning structure. Applying force to the protrusion increases the friction between it and the support body 810, thereby fixing the sliding platform 1100 to the curved support 710 by friction. It should be noted that the above examples are for illustrative purposes only, and any mechanism capable of achieving mutual fixation and separation is within the scope of protection of this application. Through the above examples, the sliding platform 1100 can be controlled to slide relative to the curved support 710 or be fixedly connected.

[0079] The curved support 710 can also be mounted on other devices to enable the medical device 700 to function synergistically with other equipment. In some embodiments, the curved support 710 can be partially curved, or other shapes such as trapezoidal or square, as long as it meets the space requirements of the medical device and the application scenario. For example, when the medical device 700 is applied in the medical field, it can serve as a component for fine motion control, used in conjunction with medical imaging equipment for precise positioning under guidance. Based on this, the curved support 710 can be mounted on the scanning table of a medical imaging device (e.g., ultrasound, CT, or MRI), thereby allowing the medical device 700 to operate within the aperture of the medical imaging equipment. Figure 8 The base T shown is used in conjunction with a scanning bed. Depending on the structure of the scanning bed, the base can be a straight plate or a curved plate, etc. Installation can include detachable installation, such as through snap-fits, threads, riveting, etc., or it can include clamps or tape. In some embodiments, the curved support can be connected to the scanning bed by customizing the scanning bed or its accessories. Based on... Figure 8 An exemplary installation method is described. The bracket body 810 has two end faces at both ends. Through mounting holes 830 can be formed on the end faces, and positioning elements 840 can be provided at the bottom of the end faces. For example, the positioning element 840 is a protruding structure extending from the bottom of the end face. The base T can have multiple mounting points and multiple positioning holes. Figure 8 (Not shown in the image). Alignment of the mounting hole 830 with a mounting point is achieved by inserting the positioning element 840 into the positioning hole. Both the mounting hole 830 and the mounting point can have internal threads. Screwing the mounting element 850, which has external threads, into the mounting hole 830 and the mounting point achieves a fixed installation between the curved bracket 710 and the base T. It is understood that the curved bracket 710 can be detachably fixed to the base T. When not in use, the curved bracket 710 can be removed from the base T. For example, the mounting element 850 can be screwed out to disengage it from the mounting hole 830 and the mounting point. Of course, the curved bracket 710 can also be fixedly connected to the base T in other ways. One example is where the end face of the bracket body 810 does not have the mounting hole 830, but retains the positioning element 840. When the positioning element 840 is aligned with the positioning hole on the base T, a fixed connection is achieved by clamping the end face of the bracket body 810 and the outer edge of the base T using an additional clamp. Alternatively, the positioning piece 240 can be omitted from the end face of the support body 810, allowing the curved support 710 to be placed at any position on the base T. After placement, a clamp can be used to achieve a fixed connection between the two. Alternatively, adhesive tape can be used instead of a clamp to achieve a fixed connection between the two.

[0080] Furthermore, the base T is not mandatory; the curved support 710 can be directly fixed to the scanning bed. (Reference) Figure 9 The present application illustrates a connection method between a curved support 710 and a scanning bed. Both the end face of the support body 810 and the scanning bed have corresponding notches, and a clamp 910 (whose shape matches the notch) connects the two via these notches. Subsequently, a locking member 920 is connected to the end face of the support body 810 via a method such as threaded locking (e.g., through...). Figure 9 The locking element 920 shown and the threaded hole on the bracket body 810 are used to position the clamp 910 on the outside to prevent movement. (See reference) Figure 10 The Matsumoto application shown provides another connection method between the curved support 710 and the scanning bed. The end face of the support body 810 is provided with a T-shaped protrusion 1010, and the scanning bed is provided with a corresponding T-shaped groove 1020. By inserting the T-shaped protrusion 1010 into the T-shaped groove 1020 and then moving and locking it, the curvature support 710 and the scanning bed are fixed.

[0081] It is understandable that the mounting between the curved support 210 and the base T (or scanning bed) can also be non-fixed. For example, a slider can be provided at the bottom end face of the support body 810, and a guide rail can be provided on the base T (or scanning bed). The sliding connection of the curved support 710 on the base T (or scanning bed) is achieved through the cooperation of the guide rail and slider. Of course, the curved support 710 and / or the base T (or scanning bed) can also have a stopping mechanism, which can fix the position of the curved support 710 when it slides to a target position. Alternatively, the sliding of the curved support 710 on the base T (or scanning bed) can be driven by a motor (e.g., a servo motor or a stepper motor), and the position can be fixed by the motor.

[0082] In some embodiments, the bracket 710 may also be a structure other than the curved bracket in the above examples, but rather has a mounting plane or mounting element. For example, as Figure 6 The multi-axis robot shown, or other similar multi-axis connection structures, can change the position or orientation of its front end by relying on external forces or its own driving force. Other components of the medical device 700, such as a sliding platform, are fixed to the front end of such a support 710. In this way, as the front end of the support 710 moves, the medical device 700 can also change its spatial position over a wide range.

[0083] refer to Figure 11 The sliding platform 1100 shown according to some embodiments of this application can be an example of a slidable connection achieved by a sleeve sliding with a curved support 710. For example... Figure 11As shown, the platform body 1110 of the sliding platform 1100 can be a cylindrical body, consisting of a hollow shell 1111 with one end open and an end cap 1112 for closing and opening the opening. The sliding platform 1100 has a through sliding groove, the shape of which can match the shape of the support body 810 of the curved support 710. For example, the shell 1111 and the end cap 1112 each have a portion of the sliding groove, and the sliding platform 1100 can be placed on or removed from the curved support 710 by combining and separating the shell 1111 and the end cap 1112.

[0084] A second positioning structure 1120, corresponding to the first positioning structure 820 of the curved support 710, can be disposed on the housing 1111. The second positioning structure 1120 may include a handle 1121, a rotating shaft 1122, and a locking block 1123. These three components are connected sequentially and can achieve rotational movement. Figure 11 In the example given, the handle 1121 has connecting structures at both ends for connection with other components, such as recesses or protrusions. A pair of connecting structures allows for a rotatable connection with the housing 1111. For example, a corresponding connecting structure, such as a protrusion or recess, is provided on a through hole in the side wall of the housing 1111. The handle 1121 can be connected to the housing 1111 by the protrusion engaging with the recess. Furthermore, by designing the structure, characteristics, and other properties of the recess or protrusion, this connection can be rotatable rather than fixed. Thus, when the handle 1121 is rotated under force, it can drive other components connected to it, such as the rotating shaft 1122 and the locking block 1123. Similarly, the rotating shaft 1122 can be fixedly connected to the handle 1121 inside the housing 1111 based on the same or similar connecting methods described above. Additionally, the rotating shaft 1122 has protrusions on its shaft body, with similar protrusions or recesses at both ends along the axial direction of the rotating shaft 1122. The locking block 1123 has a groove on its body, and both ends of the groove along the axial direction of the locking block 1123 also have similar recesses or protrusions as described above. The same connection method allows the protrusion to engage with the groove, thus fixing the rotating shaft to the locking block 1123. Therefore, as the handle 1121 is lifted or lowered, the locking block 1123 also changes position. For example, it may disengage from or engage with the groove, which serves as the first positioning structure 820. The fixation between the sliding platform 1100 and the curved support 710 is thus released or secured.

[0085] In the above example, the rotating shaft 1122 and the locking block 1123 are separate. Alternatively, they can be integrally formed for ease of manufacturing. Of course, the examples of the second positioning structure 1120 are not unique or limiting. For instance, the second positioning structure 1120 can also be in the form of a spring-loaded button, which, when pressed, engages with the groove of the first positioning structure 820, and can be disengaged from the groove when pressed again. Any method that enables a detachable fixed connection between the first positioning structure 820 and the second positioning structure 1120 is within the scope of protection of this application.

[0086] Similarly, Figure 11 This is merely one example illustrating the sliding connection between the sliding platform 1100 and the curved support 710. The sliding platform 1100 may also be integrally located on the curved support 710. For example, as described above, by creating grooves or laying racks on the curved support 710, sliders may be provided on the top or bottom surface of the sliding platform 1100, or motor gears that mesh with it may be exposed. Figure 11 It is not restrictive.

[0087] The movable component 140 for connecting the movable link 120 can be disposed on the housing 1111. For example, a mounting hole can be formed on the closed end face of the housing 1111, and the movable component 140 can be disposed in the mounting hole. This end face is the first mounting surface mentioned in the foregoing description, or referred to as the first mounting surface 1140. In this embodiment, it can be a stepped surface, including a first stepped surface 1141 and a second stepped surface 1142. Of course, as mentioned above, the end face can also be a plane.

[0088] In some embodiments, the above-described medical device (including the posture adjustment system 100) may be implemented in other ways. (See reference...) Figure 12 The exemplary structural diagram of the medical device 1200 provided in this application shows that the sliding connection between the posture adjustment system (e.g., posture adjustment system 100) and the curved support (e.g., curved surface 710) can be achieved through the cooperation of a groove and a slider. The first positioning structure and the second positioning structure can be achieved through the cooperation of a groove and an elastic sheet. The movable part (e.g., movable part 140) can be implemented using a universal joint.

[0089] Figure 13 It shows Figure 12In this embodiment, the movable component 1300, as detailed by the dashed box, may include a universal joint 1310 and a transmission component 1320 connected to the universal joint 1310. One end of the universal joint 1310 is fixedly connected to the base of the posture adjustment system. For example, one end of the universal joint 1310 may be fixedly disposed in the mounting hole, similarly in the form of a mounting hole. The other end of the universal joint 1310 may be connected to the transmission component 1320, and subsequently connected to the movable link 120 via the transmission component 1320.

[0090] refer to Figures 14 to 16 An exemplary structure of the transmission member 1320 provided in this application is shown. For example... Figure 14 As shown, the transmission component includes a hollow cylindrical tube and multiple meshing spur gears disposed within the cylindrical tube. The movable connecting rod is a screw-sleeve combination, such as spur gears 1410 and 1420. A flexible shaft 1430 enters the transmission component from the end away from the movable connecting rod and connects thereto with spur gear 1410. Spur gear 1420 is connected to the screw. The rotation transmitted by the flexible shaft 1430 drives spur gear 1410 to rotate, which in turn drives spur gear 1420 to rotate. The screw then rotates synchronously with the rotation of spur gear 1420, thereby entering or exiting the sleeve, realizing the change in length of the movable connecting rod in a straight line.

[0091] like Figure 15 As shown, the transmission component also includes multiple meshing spur gears, and the movable connecting rod remains a screw-sleeve combination. Unlike the previous example, the flexible shaft 1530 enters the transmission component from the end near the movable connecting rod and connects to the spur gear 1510. When the flexible shaft 1530 drives the spur gear 1510 to rotate, the spur gear 1520 meshing with the spur gear 1510 will rotate synchronously, thereby driving the screw to rotate and enter or exit the sleeve, realizing the change in length of the movable connecting rod along a straight line.

[0092] like Figure 16 As shown, the transmission component may include meshing bevel gears, and the movable connecting rod remains a screw-sleeve combination. In this embodiment, the flexible shaft 1630 may enter the transmission component from its side wall and connect to the bevel gear 1610. The bevel gear 1620 meshes orthogonally with the bevel gear 1610 and is connected to the screw. When the flexible shaft 1630 drives the bevel gear 1610 to rotate, the bevel gear 1620 will rotate synchronously. Consequently, the screw will also rotate synchronously to enter or exit the sleeve, realizing the length change of the movable connecting rod in a straight line.

[0093] The example above shows the movable part 1300 applied to one end of the movable link 120, for example... Figure 12The end shown is connected to the sliding platform. The other end, which is connected to the movable platform, uses the aforementioned spherical bearing. Alternatively, the aforementioned movable component 1300 can be used at the end of the movable link 120 connected to the movable platform, and the aforementioned spherical bearing can be used at the end connected to the sliding platform. The movable component 1300 can also be applied to both ends of the movable link 120, such as... Figure 17 The above description is merely exemplary and is not intended to limit the scope of protection of this application. Any improvements / adjustments / variations made under the teachings of this application are within the scope of protection of this application. For example, the universal joint 1310 included in the movable part 1300 can also be replaced with a Hooke's joint, which is also within the scope of protection of this application.

[0094] It should be noted that the above movable part 1300 can be connected with... Figure 1 The movable component 140 shown in the pose adjustment system 100 is replaced to realize another force transmission method of the pose adjustment system 100.

[0095] In some examples, a workpiece or instrument mounted on a pose adjustment system (e.g., a movable platform) may include a puncture component (or a surgical component such as a stabilizing component, clamping component, or light-emitting component) for surgery. (See reference) Figure 18 The needle component 1810 according to some embodiments of this application is shown. The needle component 1810 includes a needle whose direction of movement can be parallel to the mounting surface of the movable platform. This is beneficial for the medical device 700 to perform surgery on a patient. Reference Figure 19 The illustrated exemplary structural diagram of the needle component 1810 includes a clamping member 1910 for holding the needle, and a force transmission structure 1920 for transmitting driving force to the clamping member 1910. The needle can be, as previously described, such as a puncture needle, ablation needle, particle implantation gun, injection needle, electrode guidewire and / or cannula, radio frequency or laser fiber and / or cannula, applicator / catheter / interpolation needle assembly, liposuction needle, etc. The clamping member 1910 can be a combination with a clamping / releasing function, for example, consisting of two parts that clamp the needle when combined and release it when separated. Figure 19 The clamping member 1910 shown includes two parts for achieving the above-described functions, which are mounted on the frame 1950 by elastic elements such as springs and / or other fixing / connecting components. Clamping is achieved by the elastic force of the elastic element, and release is achieved by external force squeezing the two parts apart. The force transmission structure 1920 may include multiple components that together form a force transmission path, ultimately connecting to the clamping member 1910. The transmitted force can drive the clamping member 1910 to perform linear motion, thereby advancing or retracting the needle.

[0096] The force transmission component 1920 may include a transmission distal end 1921 and a gear set 1922. The transmission distal end 1921 may be the end of the aforementioned transmission mechanism connected to the needle assembly 1910. For example... Figure 19 The diagram shown is for use in flexible shaft drives. For specific structure details, please refer to [reference needed]. Figure 20 The transmission distal end 1921 shown according to some embodiments of this application includes a hollow bushing 2010, a rotating shaft 2020 disposed inside the hollow bushing, and a rotating shaft head 2030 connected to the hollow bushing. The hollow bushing 2010 can be a hollow cylinder with one end closed and the other open, and the shape of the rotating shaft 2020 can match the shape of the hollow cylinder. For example, if the rotating shaft 2020 is a regular polygonal prism, then the interior of the hollow cylinder also has a regular polygonal prism-shaped space. The rotating shaft 2020 is connected to a flexible shaft, and when the force transmitted from the flexible shaft drives it to rotate, the hollow bushing 2010 will rotate accordingly. At the same time, the rotation is transmitted to the rotating shaft head 2030 connected to it. The hollow bushing 2010 and the rotating shaft head 2030 can be similar to a coupling, and the two are connected to each other by connecting screws. In this way, the driving force (i.e., rotational force) of the transmission distal end 1921 is transmitted. It is understood that the flexible shaft does not actually possess extensibility, or has only very slight extensibility. When the movable platform 130 moves, the flexible shaft will be stretched. This affects the service life of the flexible shaft, and the stretching of the flexible shaft will also affect the movement of the movable platform 130. Therefore, in this application, an elastic element, such as a spring, can be provided inside the hollow bushing 2010 near the closed end. After the rotating shaft 2020 enters the hollow bushing 2010, it will be fixedly connected to this elastic element. In this way, when the flexible shaft is stretched, it will be buffered by the elastic element, thereby avoiding the aforementioned problems.

[0097] return Figure 19 The rotating shaft head 2030 of the transmission distal end 1921 is connected to an intermediate gear, which can form an intersecting gear with one of the gears in the gear assembly 1922 (e.g., in the form of meshing bevel gears, helical gears, or bevel gears) to transmit rotational force. In some embodiments, the rotating shaft head 2030 and the intermediate gear can also form a gear assembly. In some embodiments, other components, such as a reducer, can be added between the rotating shaft head 2030 and the intermediate gear, or a reduction effect can be achieved by setting the reduction ratio of the intersecting gear. In one specific embodiment, combined with Figure 21The needle assembly shown in another view indicates that the gear assembly 1922 may include three meshing gears. The first gear meshes with the intermediate gear (connected to the rotating shaft 2030) to form an intersecting gear, including a gear shaft with a bevel gear or bevel gear at one end and a spur gear at the other. Alternatively, the first gear may be a gear assembly comprising two gears positioned at both ends of a shaft. One end is a bevel gear, which meshes with the intermediate gear connected to the rotating shaft 2030 to form an intersecting gear. The spur gear meshes with the second spur gear (which may be referred to as the second gear) of the gear assembly 1922. The second gear meshes with a spur gear (which may be referred to as the third gear) connected to a lead screw 1930. The lead screw 1930 may be threadedly connected to the clamping member 1910. Thus, the rotational force transmitted from the rotating shaft 2030 drives the lead screw to rotate, thereby causing the clamping member 1910 to move linearly, achieving the advance or retraction of the needle. In some embodiments, the gear assembly 1922 may omit the second gear and use only the first and third gears; or, depending on actual needs, two or more second gears may be used. In some embodiments, a reducer (such as a reduction gear or worm gear) may be added between the rotating shaft head 2030 and the bevel gear. Alternatively, the rotating shaft head 2030 may directly mesh with the third gear, omitting the first and second gears. All of the above variations are within the scope of protection of this application.

[0098] like Figure 19 The gear assembly 1922 shown includes two sets of three-gear transmission structures. One set, as described above, is used to drive the movement of the clamping member 1920, while the other set can be used to externally interfere with the state of the clamping member 1910. (Reference) Figure 22 Another exemplary schematic diagram of the needle component shows that the "first gear" in the second three-gear transmission structure can be connected to a wrench 1970. The wrench 1970 can be turned by an external force, causing the camshaft 1980 connected to the "third gear" to rotate. The camshaft 1980 can be an elliptical rod; when it rotates, it disrupts the internal force balance of the clamp 1910, thereby releasing it. The needle clamped thereon can then be released. Alternatively, the rotation of the camshaft 1980 can also be achieved using the transmission distal end 1921 as described above. This provides greater automation. In another embodiment, the wrench 1970 can also be located on the "third gear," for example, on the outside of the camshaft 1980, as long as the wrench 1970 can cause the camshaft 1980 to rotate, thereby releasing the clamp 1910. The camshaft can be an elliptical shaft or a circular shaft whose center of rotation is not at the center of a circle.

[0099] It can be seen that the configuration of the above needle components is similar to... Figure 1 The configuration of the movable platform 130 shown is compatible. Simultaneously, it is combined with... Figure 19The needle assembly can first be mounted on plate 1960, and then plate 1960 is fixed to movable platform 130 to complete the installation of the needle assembly. The first gear of gear assembly 1922 is housed in movable platform 130, forming two grooves, without any inter-component conflict. At this time, the flexible shaft for transmitting rotational force can also pass through the interior of sliding platform 1110 and then through a through hole in movable platform 130. This, in another aspect, improves the system's compactness.

[0100] It should be noted that the connection between the movable platform 130 and the workpiece or instrument can also be in other forms. For example, the movable platform 130 can be a plane, on which the workpiece or instrument, such as a needle, is directly mounted. The position, posture, or motion control of the needle is achieved by controlling the movement of the movable platform 130 (i.e., controlling the movement of multiple movable links 120). As another example, the needle in the aforementioned example can also be driven to advance or retract, rather than relying on the movement of the movable platform 130. In this example, the needle can have a hollow cylindrical body with a lead screw inside. The needle is fixedly connected to an intermediate component threaded to the lead screw. When the flexible shaft drives the lead screw to rotate, the intermediate component will drive the needle to move linearly, thereby achieving advance or retraction. Any modifications, adjustments, or substitutions made by those skilled in the art based on the teachings of this application are within the scope of protection claimed in this application.

[0101] The medical device disclosed in this application can achieve precise motion control of a wide range of multiple degrees of freedom in surgical procedures. The entire device can be miniaturized and compacted, making it adaptable to different application scenarios.

[0102] The medical device disclosed in this application can be used alone or in conjunction with a medical scanning device to perform surgical procedures, such as microsurgery, minimally invasive surgery (e.g., puncture biopsy, tumor ablation, particle implantation, intratumoral drug injection, brain electrode implantation, radiofrequency or laser ablation brachytherapy, cosmetic surgery, etc.), or drug delivery. The posture adjustment system can even be miniaturized to the point where microsurgery or minimally invasive surgery can be performed within the aperture of the medical scanning device. For example, when used in conjunction with a medical scanning device, the posture adjustment system can, guided by medical scan images, position a needle to a target location or the periphery of that location and begin performing surgical procedures such as needle advancement. The medical scanning device can be an X-ray digital imaging device or an ultrasound scanner, including but not limited to CT, DR, MRI, PET, PET-CT, C-arms (including mobile C-arms, peripheral interventional C-arms, DSA digital subtraction angiography systems, etc.), G-arms, U-arms, DSC, CCDs, holographic projection devices, etc. When the medical device 700 is used, the curved support 710 can be movably mounted directly (or via a compatible base T) on the scanning bed of the medical scanning equipment. The medical device 700 will enter the scanning aperture of the medical scanning equipment along with the scanning bed to perform medical scanning imaging, used to confirm the position of the acupuncture component to the target area and to plan the movement trajectory of the acupuncture component. This includes confirming the initial position and initial posture of the acupuncture component. Simultaneously, during minimally invasive surgery, the position and posture of the acupuncture component can be monitored in real time using medical scan images for confirmation and / or fine-tuning, improving the accuracy and safety of the operation. In other embodiments, an additional positioning system (e.g., an optical positioning system) can be used to track or monitor the position of the pose adjustment system and / or its acupuncture component. In some embodiments, the acupuncture component can also be other surgical manipulation mechanisms.

[0103] Since the medical device 700 is simultaneously imaged, to avoid affecting the quality of medical scan images, such as in MRI system applications, the various components of the medical device 700 can be made of medical scan-compatible materials. For example, the medical device 700 can be made of non-magnetic materials such as plastics, non-magnetic metals such as titanium alloys, etc. For instance, when the medical device 700 is used in CT, it can be made of plastics, Kevlar, and metals that do not affect human body scanning. When the medical device 700 is used in MRI, it can be made of plastics and non-magnetic metals that meet MRI safety requirements. Simultaneously, to enable the medical device 700 to be visualized in medical scan images to determine the location of each part, its fabrication materials can include MRI-enhancing substances (such as cod liver oil particles or water droplets), or these substances can be added during use. For example, each component can be provided with a fluid flow channel, and MRI-enhancing substances can be added to the fluid flow channel during use to make the component visible in the medical scan image.

[0104] The following is a brief description of how to use the aforementioned medical device 700. In this case, the instrument attached to the medical device 700 is a needle used for minimally invasive surgery. It should be noted that this description is merely exemplary and is not intended to limit this application. As described below, the method of use may include the following steps.

[0105] Step one: Place the posture adjustment system and perform a scan to obtain medical scan images. As mentioned earlier, the posture adjustment system can be directly mounted (or mounted via a suitable base) on the scanning table. The mounting position can be selected according to the target site where the needle needs to be inserted. For example, if a patient needs to undergo a lung puncture, the needle can be positioned near the patient's chest after the posture adjustment system is placed. Of course, the posture adjustment system can also be placed based on the doctor's clinical experience. After the posture adjustment system is placed, a medical scan image can be used to scan the patient and the posture adjustment system to obtain medical scan images. Medical scanning equipment such as CT, DR, MRI, PET, PET-CT, C-arm (including mobile C-arm, peripheral interventional C-arm, DSA digital subtraction angiography system, etc.), G-arm, U-arm, DSC, CCD, etc., can be used for medical scanning. The images obtained after data processing and image reconstruction, such as CT images, MRI images, PET images, and DSA images, can be the aforementioned medical scan images. The medical scan images can be 2D images or 3D images. Taking CT images as an example, the medical scan image can be multiple cross-sectional images, or a three-dimensional image reconstructed based on these cross-sectional images. This medical scan image can be directly displayed on a display device related to the medical scanning equipment, such as a computer screen for CT or MRI. The medical scan image can directly display image information of the patient and the pose adjustment system (especially the needle). This image information can include relevant spatial data of the patient and the pose adjustment system. For example, the set of coordinates corresponding to the patient's location and the pose adjustment system's (e.g., the needle's) location in the established image coordinate system. This set of coordinates can be used to determine the current position, final position, and movement trajectory of the needle (and / or the through-hole area of ​​the pose adjustment system).

[0106] Step two: Adjust the pose adjustment system based on the medical scan image. This adjustment can be to modify the position of the pose adjustment system (particularly the needle) relative to the patient. For example, a large range of needle position changes can be achieved by dragging the sliding platform 1100 across the curved support 710, while small-range minor position changes and posture adjustments (e.g., needle insertion direction) can be achieved by driving the movable link 120.

[0107] To achieve the aforementioned adjustments, medical scan images can be used to first determine the final location of the needle after percutaneous entry into the patient's body, as well as the needle's movement path. The final location of the needle can be the position where it performs its specific function. For example, if the needle is used for a biopsy to determine if a patient has lung cancer, the final location could be a suspected tumor area in the patient's lung, where the needle retrieves tissue / cells. The needle's movement path can be the trajectory from the patient's body surface to the final location. For example, the trajectory of the needle after percutaneous entry into the patient's chest and reaching the suspected tumor area in the lung, as described in the above example. An exemplary method for determining the final location of the needle can be to first process the medical scan image using a recognition / segmentation algorithm to display the target location in the image. Any suitable machine learning algorithm or neural network, such as R-CNN, SPP-Net, Fast R-CNN, Faster R-CNN, R-FCN, U-Net, V-Net, OverFeat, YOLO, SSD, DSSD, etc., can be applied. Alternatively, the physician can manually segment and confirm the location based on clinical experience. Subsequently, by establishing an image coordinate system based on the medical scan image, the set of coordinate points of the target location in the image coordinate system can be obtained. Through coordinate transformation, the set of coordinate points in the image coordinate system can be converted into a set of coordinate points in the world coordinate system to represent the target location in the real environment.

[0108] The needle's movement path can be determined using several strategies. It is known that a needle possesses rigidity, and its entry into the patient's body will inevitably cause damage; simultaneously, the needle also possesses a degree of flexibility, and its entry into the patient's body will inevitably involve some deformation (thus deviating from the planned trajectory). Therefore, determining the real-time position of the needle using a medical scanning device is essential. To minimize the impact on normal organs and / or tissues, and to avoid the influence of bones during entry (e.g., a needle entering from the chest surface needs to avoid the obstruction of ribs), the needle's movement path can be the safest path after damage assessment. Along this path, the needle can smoothly reach the target position from the patient's body surface with minimal damage. Since the needle generally moves in a straight line after entering the patient's body, the needle's pose along the movement path, including position and angle, can be obtained based on the medical scan image. The position can be the intersection point of the needle with the body surface when entering the patient's body, and the angle is the basis for ensuring that the needle coincides with the movement path during its journey. The position and angle of the needle can be adjusted by controlling the movement of the movable link 120 to adjust the posture of the movable platform 130.

[0109] In one example, the location of other organs / tissues within the patient's body can also be determined based on the segmentation and identification of the medical scan image. Subsequently, a similar exhaustive approach can be applied to obtain multiple lines (or candidate paths) leading to the final position of the needle across the patient's body surface. For example, these candidate paths may not intersect with any organs / tissues within the patient's body. The optimal candidate path, after evaluation—for example, the candidate path corresponding to the minimum damage to healthy tissue obtained from a weighted evaluation of the damage caused by the needle traveling along the candidate path—can be determined as the motion path. Of course, other evaluation methods, such as path length evaluation, can also be used to determine the direction of the motion path. For example, the shortest candidate path can be determined as the motion path. Simultaneously, after determining the motion path, the intersection point of this motion path with the patient's body surface can also be determined, or it can be referred to as the starting point of the needle's movement. Regarding the needle's angle, the motion path can be extended, and the set of coordinate points of the extension line in the world coordinate system can be obtained (e.g., first obtaining the set of coordinate points in the image coordinate system established based on the medical scan image and then performing coordinate transformation to determine it). The needle's pose can then coincide with the region indicated by this set of coordinate points. At a minimum, the central axis of the needle coincides with the area indicated by this set of coordinate points. Thus, the needle's pose can be adjusted to meet the requirements by controlling the operation of the movable link 120 of the pose adjustment system.

[0110] Of course, real-time imaging medical scanning equipment, such as dynamic flat panel (DRF) devices, can be used to achieve instantaneous adjustment of the pose adjustment system. For example, by combining algorithms, the movement path of the needle and the pose of the needle can be displayed in real time on the monitor of the medical scanning equipment's workstation, and the pose adjustment system can automatically adjust based on the above real-time indication. In some cases, steps one and two can be repeated or alternated as needed until the pose adjustment system (especially the needle) reaches the target position.

[0111] Step three involves guiding the needle's movement based on the adjusted pose adjustment system. Clearly, the adjusted pose adjustment system ensures the needle moves along a defined path with a suitable pose until its final position. Throughout the needle insertion process, the medical scanning device can be controlled to image the patient and the needle (optionally, including the pose adjustment system) in real-time or at short intervals. The acquired real-time medical images can be used to fine-tune the needle's movement to ensure it correctly enters the body and reaches the aforementioned final position. For example, after entering the patient's body, the needle may be compressed and deformed due to tissue pressure, elasticity, and differences in tissue density, thus deviating from the trajectory defined by the movement path. In this case, the needle's pose can be readjusted based on the acquired real-time medical images to restore it to the trajectory defined by the movement path. Furthermore, the real-time medical images can be displayed on a display device related to the medical scanning device, such as a workstation screen, to allow the doctor to better understand the needle insertion process.

[0112] The above instructions are for using the position adjustment system when working with a single needle. The position adjustment system can also position and guide multiple needles.

[0113] It should be noted that the use of the posture adjustment system is not limited to the exemplary description above. For example, when placing the posture adjustment system, the doctor can make a rough adjustment of the needle's posture based on their own experience to reduce adjustment time in subsequent steps. As another example, adjusting the posture adjustment system can also include determining the needle insertion depth. Simultaneously, during needle insertion, deviations in the needle's trajectory can be ignored until the insertion depth is reached, at which point insertion can be stopped directly, and then a medical scanning device can be used to perform scanning imaging to determine whether the needle has reached its final position. Furthermore, the use of the posture adjustment system also includes additional operations such as turning the wrench 1870 to disengage the needle from the posture adjustment system, removing most of the components except the needle, to facilitate other operations on the patient.

[0114] Alternatively, the above process can also be automated. For example, the pose adjustment system can be communicatively connected to a motion control system, which can also be communicatively connected to a medical imaging device. Alternatively, the motion control system can be part of the processing unit (e.g., a workstation) of the medical imaging device. The included acquisition module can be used to acquire medical scan images, the adjustment module can be used to adjust the pose adjustment system based on the acquired medical scan images, and the guiding module can be used to guide the adjusted needle guiding module. For example, the acquisition module can be used to implement step one, the adjustment module can be used to implement step two, and the guiding module can be used to implement step three. See the description of the relevant steps for details. These systems and their modules can be implemented in various ways. For example, they can be implemented by hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the methods and systems described above can be implemented using computer-executable instructions and / or included in processor control code, for example, such code provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The systems and modules of this specification can be implemented not only with hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field-programmable gate arrays, programmable logic devices, etc., but also with software, for example, executed by various types of processors, or with a combination of the aforementioned hardware circuits and software (e.g., firmware).

[0115] It should be noted that the above description of the modules is for convenience only and should not be construed as limiting this specification to the embodiments described. It is understood that those skilled in the art, after understanding the principles of the system, may arbitrarily combine the modules or construct subsystems connected to other modules without departing from these principles. For example, modules may share a single storage module, or each module may have its own separate storage module. Such modifications are all within the scope of protection of this application.

[0116] This application also discloses other implementations of the stent (e.g., stent 710) and sliding platform (e.g., sliding platform 1100) in the aforementioned medical device. Reference Figures 23 to 33 An illustrative example is provided.

[0117] This application provides a sliding platform. This sliding platform can slide freely on a support and achieve multiple positions for stopping and fixing, facilitating the position adjustment of attached workpieces or medical devices. (Reference) Figures 23-25 The sliding platform 2200 may include a housing. The housing may be disposed on the support mechanism in such a way that it at least partially covers the support mechanism. For example, as... Figure 23 The housing described herein may have a through channel K, which can be used for the passage of a support mechanism, thereby allowing the housing to be "clamped" onto the support mechanism. In one implementation, the channel K may be retained during the fabrication of the housing or obtained through separate processing after fabrication. For example, it may be retained during the integral molding of the housing, or the channel K may be fabricated using milling, drilling, or other processing equipment. In another implementation, the housing may be obtained by assembling multiple components. By designing the component structure and connection method, the channel K can be obtained after assembling the housing. (Reference) Figure 24 The housing 2210 of the sliding platform 2200 may include an upper housing 2211 and a lower housing 2212. When the upper housing 2211 and the lower housing 2212 are combined, a gap space may exist between them to form the aforementioned channel K. The housing 2210 may also include end caps 2213 and 2214, which can be used for the combination between the upper housing 2211 and the lower housing 2212. Exemplarily, end caps 2213 and 2214 may have side end faces that correspond to the upper housing 2211 and the lower housing 2212 (see reference). Figure 24 The receiving space is a shape / size matching the end face (in the direction indicated by the middle arrow A). For example, it is formed by the outer peripheral surface of the end cap 2213 / 2214 and the inner peripheral surface extending vertically from a curve on the bottom surface. The side end faces of the upper housing 2211 and the lower housing 2212 can be received into this receiving space and fastened by friction. For example, the upper housing 2211 and the lower housing 2212 are fixedly connected to the end cap in a similar way to a sleeve. The inner peripheral surface can be different; for example, two separate inner peripheral surfaces are formed by extending two curves, thereby creating an open space between the two inner peripheral surfaces. After the upper housing 2211 and the lower housing 2212 are assembled, they will not contact each other, thus forming the aforementioned gap space between the upper housing 2211 and the lower housing 2212.

[0118] Combination Figure 25 and Figure 26The support mechanism may include a curved support 2400. In some implementations, the curved support 2400 may be an arched support, which may have a specific curvature. In some implementations, the curved support 2400 may also be a shape with a smooth surface, such as a wave shape or rounded chamfers. For example, inverted U-shapes with rounded corners or regular / irregular polygons such as trapezoids, squares, and polygons are also applicable, and this application does not specifically limit the application. Figure 25 and Figure 26 Taking the curved support 2400 shown as an example of an arched support, after the housing 2210 is assembled, the upper housing 2211 can be located on the outer arch surface OF side of the curved support 2400, and the lower housing 2212 can be located on the inner arch surface IF side of the curved support 2400. To achieve smooth sliding of the housing 2210 on the curved support 2400 (e.g., to minimize frictional resistance), the lower end face of the upper housing 2211 (refer to...) Figure 24 The end face (pointed to by the middle arrow B in the vertical direction) and the upper end face of the lower housing 2212 can be arc-shaped surfaces. This arc-shaped surface can have the same curvature as the curved support 2400, which serves as an arched support. In this way, after the housing 2210 is assembled, it can slide smoothly on the curved support 2400 without the frictional force increasing dramatically due to the different curvatures, preventing it from sliding.

[0119] For assembling the housing 2210, one possible procedure is to first use an end cap (either end cap 2213 or end cap 2214) to accommodate and secure one side end face of the upper housing 2211 and the lower housing 2212. At this point, an unsealed gap space is formed between the upper housing 2211 and the lower housing 2212. Subsequently, the incompletely assembled housing can be inserted into the curved support 2400, for example, by inserting the curved support 2400 into the gap space of the housing. After completion, another end cap can be used to accommodate and secure the other side end face of the upper housing 2211 and the lower housing 2212. This completes the installation of the housing 2210 on the curved support 2400.

[0120] The lengths of the upper housing 2211 and the lower housing 2212 can be slightly greater than the width of the curved support 2400, with the excess serving as a margin for accommodating the end caps. Simultaneously, the open spaces defined by the outer and inner surfaces of the end caps 2213 and 2214 (which may also be referred to as receiving grooves or first recesses in this application) can be used to accommodate a portion of the curved support 2400, for example, the outer periphery of the curved support 2400 in the width direction. This reduces the aforementioned margins in the upper housing 2211 and the lower housing 2212, saving production costs. Furthermore, it avoids friction between the curved support 2400 and the end caps, preventing the housing 2210 from sliding on the curved support 2400.

[0121] To prevent the housing 2210 from sliding on the curved support 2400, a second groove 2410 formed on the curved support 2400 can be used. (See reference) Figure 25 and Figure 26 As shown, the second groove 2410 can be formed on the outer arch surface OF of the curved support 2400 or on the inner arch surface IF. Alternatively, the second groove 2410 can be formed on both the outer arch surface OF and the inner arch surface IF. For example, the second groove 2410 can be formed on the arch surface of the curved support 2400 using a grooving machine or similar machinery. Matching the second groove 2410, a sliding member can be provided on the lower end face of the upper housing 2211 and / or the upper end face of the lower housing 2212. This sliding member can be accommodated in the second groove 2410 after the housing 2210 is mounted on the curved support 2400. In this case, the assembly of the housing 2210 can be achieved by first aligning the sliding members of the upper housing 2211 and the lower housing 2212 with the second groove 2410, then attaching both to the curved support 2400, and then using end caps to accommodate / fasten the side end faces of the upper housing 2211 / lower housing 2212.

[0122] In one implementation, the sliding element can be a sliding block. This sliding block can be integrally formed with the upper housing 2211 / lower housing 2212 (e.g., using injection molding, hot pressing, extrusion, 3D printing, etc.) or it can be additionally attached (e.g., by welding, bonding, etc.). The sliding block can slide within the second groove 2410. For example, when an external force is applied to the housing 2210, the housing 2210 can change its position on the curved support 2400 by the sliding of the sliding block within the second groove 2410. To achieve smooth sliding of the housing 2210, lubricant or lubricating oil can also be added to the second groove 2410.

[0123] In another implementation, the slider can be a scroll wheel. (Return to Reference) Figure 24 The upper housing 2211 and lower housing 2212 can be hollow, and the interior can be used to install / set other components. For example... Figure 24As shown, the lower end face of the upper housing 2211 and the upper end face of the lower housing 2212 can be provided with multiple through slots G. A mounting bracket M can be fixedly installed inside the housing on the outer periphery of the through slot G. The mounting bracket M can be provided with mounting holes for mounting a rolling wheel. For example, if the rolling wheel rotates around its own axis, the axis can be fixedly installed in the mounting hole by a sleeve or snap-fit. Alternatively, the rolling wheel has a fixed central axis, which is rotatably connected to the mounting hole, for example, by a bearing. Thus, the rolling wheel can rotate freely after being installed on the mounting bracket M. Through the through slots G, the rolling wheel can partially extend outside the housing and enter the second groove 2410. Therefore, the rolling wheel can roll within the second groove 2410, driving the housing 2210 to move on the curved support 2400.

[0124] Under the above structural design, the sliding of the housing 2210 on the curved support 2400 can be achieved by external force. For example, an operator can apply a pushing or pulling force to the housing 2210 to move it.

[0125] It should be noted that the second groove described above can also be provided on the housing 2210. For example, it can be provided on the lower end face of the upper housing 2211 and / or the upper end face of the lower housing 2212. Correspondingly, strip-shaped protrusions can be provided on the outer arched surface and / or inner arched surface of the curved support 2400. The sliding of the housing 2210 on the curved support 2400 is achieved by the cooperation of the strip-shaped protrusions with the second groove. This application does not specifically limit this aspect.

[0126] In some implementations, the sliding platform 2200 can remain at different positions on the support mechanism (e.g., the curved support 2400). Exemplarily, the sliding platform 2200 also includes a connector disposed inside the housing 2210. As mentioned above, both the upper housing 2211 and the lower housing 2212 can be hollow, and the connector can be disposed inside the upper housing 2211 and / or the lower housing 2212. The connector can connect with a mating member disposed on the support mechanism. For example, the through groove G formed on the lower end face of the upper housing 2211 and / or the upper end face of the lower housing 2212 can serve as a channel for the connector to extend outside the housing. During the sliding of the housing (e.g., housing 2210) on the support mechanism (e.g., the curved support 2400), the connector can always be connected to the mating member, for example, in contact. That is, the connector can be connected to the mating member at any position. Through this contact connection, and in conjunction with the specific design of the housing and the support mechanism, the housing can remain at any position of the support mechanism.

[0127] Return to reference Figure 25 and Figure 26In some implementations, the connecting member may include a rotary gear 2220, and the mating member may include a continuous toothed groove 2420 disposed on the curved support 2400. The continuous toothed groove 2420 and the curved support 2400 can be separately machined and then assembled together, for example, by bonding, screw locking, or snap-fitting. In some implementations, the continuous toothed groove 2420 can be implemented by a rack, mounted on the curved support 2400 to form the continuous toothed groove 2420. In other implementations, the continuous toothed groove 2420 can be integrally formed with the curved support 2400, forming a "rack" similar to being embedded in the curved support 2400. Alternatively, a "rack" can be formed on the curved support 2400 as the continuous toothed groove 2420 by machining or laser etching. The rotary gear 2220 can mesh with the continuous toothed groove 2420 at any position. When a rotational force is applied to the rotating gear 2220, the housing 2210 can slide on the curved support 2400 through meshing transmission.

[0128] refer to Figure 27 Another exemplary structural diagram of the sliding platform is shown. Comparison with... Figure 25 and Figure 26 , Figure 27 The curved support 2400' shown in the figure and Figure 26 The curved support 2400 shown is similar, but does not have the aforementioned second groove. The continuous toothed groove 2420' on the curved support 2400' can be machined separately from the curved support 2400' and then assembled as a single unit, as described above. For example, the continuous toothed groove 320' can be bonded to the lower arched surface of the curved support 2400' by adhesive. In this case, for the assembly of the housing 2210', since the curved support 2400' does not have the second groove, no sliding element (e.g., sliding block or roller) will be provided on the housing 2210'. Therefore, one end cap of the upper and lower housings included in the housing 2210' can be integral, and then inserted into the curved support 2400', inserting the curved support 2400' into the gap space of the housing 2210'. Subsequently, the other end cap is used to accommodate / fasten the other side end face of the upper and lower housings, completing the installation of the housing 2210' on the curved support 2400'. The arrangement of the rotating gear 2220 inside the housing 2210 can be the same as or similar to that of the aforementioned rolling wheel. For example, the through groove G can also serve as a channel for the rotating gear 2220 to extend out of the housing 2210, and the corresponding through groove G can also be provided with a mounting bracket or other similar components on the outer periphery of the interior of the upper housing 2211 and / or the lower housing 2212. In this way, the rotating gear 2220 can be mounted on the mounting bracket, and after receiving rotational force, it drives the housing 2210 to move on the curved support 2400 through meshing connection with the continuous toothed groove 2420.

[0129] In some implementations, the rotational force can be provided by a drive motor (not shown in the figure). The drive motor can be located inside the housing 2210. For example... Figure 24 , Figure 25 and Figure 26 As shown, the rotating gear 2220 is disposed inside the lower housing 2212, so the drive motor can also be disposed inside the lower housing 2212. Corresponding structural components for fixing the drive motor can also be disposed inside the lower housing 2212. For example, a mounting slot, into which the drive motor can be directly inserted. In another implementation, the rotating gear 2220 can be placed on the upper housing 2211, and continuous toothed grooves can be disposed on the upper arched surface of the curved support 2400. The rotating gear 2220 can be connected to the rotating shaft of the drive motor, thereby being driven to rotate by the rotation of the rotating shaft. In other examples, the drive motor can be disposed outside the housing 2210. For example, the drive motor can be connected to the rotating gear 2220 via force transmission components such as flexible shafts, rigid shafts, gear rods, transmission rods, lead screws, guide wires, pneumatic components, hydraulic components, etc., or any combination thereof. In this way, the rotational force of the drive motor can be transmitted through the aforementioned force transmission components, ultimately driving the rotating gear 2220 to rotate. The force transmission component (e.g., a flexible shaft) can enter the interior of the housing 2210 through an opening O on an end cap (e.g., end cap 2214). After entering the interior of the housing 2210 through the opening O, the force transmission component (e.g., a flexible shaft) connects to the rotating gear 2220.

[0130] The drive motor (or force transmission component) and the rotating gear 2220 can be directly or indirectly connected. For example, a reduction gear set RG can be connected between the drive motor (or force transmission component) and the rotating gear 2220. The reduction gear set RG has advantages such as large transmitted torque and high precision, enabling precise control of the rotation of the rotating gear 2220, thereby allowing the housing 2210 to accurately stop at the desired position on the curved support 2400.

[0131] Under the above structural design, the sliding of the housing 2210 on the curved support 2400 can be achieved by a drive motor. For example, after the drive motor is powered on, the moving speed of the housing 2210 on the curved support 2400 can be controlled by controlling the speed of the drive motor. At the same time, by setting up the structure of the drive motor and the rotating gear 2220, the rotational shaft can be fixed on the continuous tooth groove 2420 by utilizing the meshing between the gears and the characteristics of the rotating shaft being fixed when the drive motor is powered on and off, thereby fixing the housing 2210 on the curved support 2400.

[0132] It should be noted that the rotary gear 2220 and the drive motor can also be housed inside the upper housing 2211. Correspondingly, the continuous toothed groove 2420 can also be formed on the outer arch surface of the curved support 2400. This application does not impose specific limitations. In addition, this application uses the cooperation of the rotary gear 2220 and the continuous toothed groove 2420 to realize the sliding of the sliding platform 2200 on the curved support 2400, but this does not limit the relative movement between the two components to be realized by gear meshing. In some other implementations, the rotary gear 2220 can also be replaced by a sprocket, and the continuous toothed groove 2420 can be replaced by a chain, such as a toothed chain. For example, a groove can be formed on the inner arch surface IF side of the curved support 2400 to accommodate the chain. In this way, the relative movement between the sliding platform 2200 and the curved support 2400 can be realized through the tooth meshing between the sprocket and the chain. Of course, other suitable components capable of transmission can be applied to this application. For example, gear drives, belt drives, chain drives, worm gear drives, and any transmission method with rotary input and rotary output can be used here.

[0133] It should be noted that the above content involves two sliding methods of the housing 2210 on the curved support 2400: external force drive and motor drive. The combination of the sliding platform 2200 and / or the curved support 2400 can be different. For example, under external force drive, the rotary gear 2220 and / or the continuous toothed groove 2420 are not necessary. It is sufficient to provide a second groove 2410 on the curved support 2400 and a sliding block or rolling wheel inside the housing 2210. Under motor drive, the rotary gear 2220 and the continuous toothed groove 2420 are necessary, while the corresponding second groove 2410 and / or the sliding block or rolling wheel inside the housing 2210 are not necessary. Relying on the meshing connection between the rotary gear 2220 and the continuous toothed groove 2420, the movement and stopping of the sliding platform 2200 on the curved support 2400 can be achieved by controlling the rotation and stopping of the drive motor.

[0134] Alternatively, the aforementioned motor drive can also be implemented in other forms. For example, the rotary gear 2220 and continuous toothed groove 2420 can be replaced with a linear motor with an arc-shaped lead screw. The arc-shaped lead screw is mounted on the curved support 2400, and the linear motor is built into the sliding platform 2200, directly driving the sliding platform 2200 to move on the curved support 2400.

[0135] In some implementations, the sliding platform 2200 may also include a handle 2230. For example... Figures 23-26As shown, the handle 2230 can be mounted on the housing 2210 and may include a grip portion 2231 and a limiting portion 2232 fixedly connected to the grip portion 2231. As shown, the limiting portion 2232 may be a columnar body, disposed on two sidewall columns of the grip portion 2231. The two columnar bodies are connected to each other by a connecting rod 2233. One feasible implementation is that the limiting portion 2232 is integrally formed, meaning the two columnar bodies and the connecting rod can be integrated, with the connecting rod 2233 being part of the limiting portion 2232. Alternatively, the limiting portion 2232, as a columnar body, is fixedly connected to the connecting rod 2233. Furthermore, to mount the limiting portion 2232 onto the grip portion 2231, one end of the columnar body may have a hole. The two sidewall columns of the grip portion 2231 can be inserted into the hole via a sleeve, completing the fixed connection between them. The handle 2230 may partially extend into the housing 2210. As shown in the figure, a through hole may be formed on the outer peripheral surface of the housing 2210 (for example, a through hole is formed on the outer peripheral surface of the upper housing 2211). The gripping part 2231 can extend into the interior of the upper housing 2211 and be rotatably connected to a rotating fitting inside the housing 111. For example, through holes may be formed at the top ends of the two side wall posts of the gripping part 2231. The interior of the upper housing 2211 may have two rotating fittings, corresponding to the two side wall posts of the gripping part 2231, which are identical to or similar to the aforementioned roller mounting brackets. By passing a rod (or shaft) through the through hole at the top end of the side wall post and the two mounting holes on the mounting bracket, the gripping part 2231 can be rotatably mounted on the rotating fitting. Thus, pulling the gripping part 2231 with external force will cause it to rotate.

[0136] During the rotation of the grip 2231, the limiting part 2232 can extend or retract into the upper housing 2211 as the grip 2231 rotates. Similarly, an operating hole can be provided on the lower end face of the upper housing 2211. The position of this operating hole can correspond to the position of the limiting part 2232 (such as the two columnar bodies mentioned above) after the grip 2231 is rotated and installed. When the handle 2230 (or grip 2231) is pressed down, the limiting part 2232 can extend out from the operating hole. When the handle 2230 (or grip 2231) is lifted, the limiting part 2232 will retract from the operating hole into the upper housing 2211.

[0137] Correspondingly, the curved support 2400 can be provided with multiple limiting holes 2430. For example, multiple limiting holes 2430 are provided on the outer arch surface of the curved support 2400. The limiting holes 2430 can be set according to a predetermined rule or randomly. For example, the limiting holes 2430 are set at intervals of 15°, 20°, 25°, 30°, etc. After the limiting part 2232 extends out of the upper housing 2211, it can be inserted into the limiting hole 2430 to achieve secondary position fixation of the sliding platform 2200 (or housing 2210).

[0138] To prevent the handle 2230 from drooping due to gravity without external force, causing the limiting part 2232 to rub against the outer arch surface of the curved support 2400 and thus affecting the sliding platform 2200's sliding and structural stability, a protruding structure Z can be provided on the connecting rod 2233. Correspondingly, an elastic snap-fit ​​structure can be provided inside the upper housing 2211. After the grip 2231 is installed with the rotating mating part, the protruding structure Z will be aligned with the elastic snap-fit ​​structure. When the grip 2231 is lifted, the handle 2230 (or the grip 2231) will be lifted, and the protruding structure Z will disengage from the elastic snap-fit ​​structure. After the handle 2230 is released, the protruding structure Z will be supported by the elastic snap-fit ​​structure. This supports the entire handle 2230, preventing the limiting part 2232 from protruding from the operating hole. The protruding structure Z is aligned with the elastic snap-fit ​​structure. When the handle 2230 (or grip 2231) is lifted, the protruding structure Z disengages from the elastic snap-fit ​​structure. After the handle 2230 is released, the protruding structure Z is supported by the elastic snap-fit ​​structure. When the handle 2230 (or grip 2231) is pressed down, the protruding structure Z engages with the elastic snap-fit ​​structure, and the limiting part 2232 extends out of the housing 2210 and engages with the limiting hole 2430. This design also prevents the handle 2230 from being accidentally lifted, causing the limiting part 2232 to disengage from the limiting hole 2430 and resulting in failure of the secondary position fixation.

[0139] In some implementations, the sliding platform 2200 may provide a mounting surface for other components or devices. For example, the end cap 2213 may provide this mounting surface. For instance, the surface of the end cap 2213 facing away from the interior of the housing 2210 may serve as the mounting surface. Figure 22 As shown, this is the face of the end cap 2213 facing upwards. This face has multiple mounting holes for mounting components or devices.

[0140] This application also discloses some other implementations of the aforementioned sliding platform. (See references) Figures 28 to 33 An exemplary structural diagram of a sliding platform according to some embodiments of this application is shown. Figures 28 to 33 The sliding platform 2500 shown differs from the aforementioned sliding platform 2200 in the handle and internal structure.

[0141] The sliding platform 2500 may also include an upper housing 2511, a lower housing 2512, an end cap 2513, and an end cap 2514. Similarly, it can be mounted on the support mechanism in a "clamping" manner. This support mechanism is the same as or similar to the aforementioned support mechanism, namely the curved support 2400, and is referred to herein as... Figures 30 to 32 The curved support 2600 is shown in the diagram. The curved support 2600 differs from the aforementioned curved support 2400 in that, unlike the second groove 2410 formed on the outer arch surface OF or inner arch surface IF of the curved support 2400, the curved support 2600 has a guide rail 2610 that is detachably mounted to the support body. The guide rail 2610 can be rigid, and its curvature can be the same as the curvature of the curved support 2600, thus allowing it to fit snugly against the curved support 2600 during installation. In another implementation, the guide rail 2610 can be flexible, thus adapting to curved supports 2600 with different curvatures, without requiring the design / manufacturing of guide rails 2610 with the same curvature for each curved support 2600. In some implementations, the rigid guide rail 2610 can also act as a reinforcing rib, providing structural support for the curved support 500.

[0142] The guide rail 2610 can form a groove similar to the second groove 2410. Similarly, a sliding element can be provided on the lower end face of the upper housing 2511 and / or the upper end face of the lower housing 2512. When the sliding platform 2500 is mounted on the curved support 2600, the sliding element will be accommodated within the groove. The sliding element can also be a slider or a roller.

[0143] In other implementations, the guide rail 2610 can form a sliding monorail. For example, the cross-section of the guide rail 2610 is "T"-shaped or "Γ"-shaped. The vertical edge will fit against the curved support 2600, and the horizontal edge will extend after the guide rail 2610 fits against the curved support 2600 to form a sliding monorail. The sliding platform 2500 will slide on the curved support 2600 by means of an external component. Exemplarily, this external component can be a "U"-shaped slider. Figure 32 The slider S shown is slidably engaged with the sliding monorail. The upper housing 2511, lower housing 2512, end cap 2513, and end cap 2514 of the sliding platform 2500 are designed to accommodate the slider S and secure it after assembly. Thus, when the sliding platform 2500 is mounted on the curved support 2600 in a similar manner as described above, the slider S becomes part of the sliding platform 2500. The sliding platform 2500 can slide freely on the curved support 2600 via the slider S.

[0144] In some implementations, the curved support 2600 may also be provided with reinforcing ribs (not shown in the figure). The number of reinforcing ribs can be adjusted according to the actual situation. For example, assuming that the width of the curved support 2600 is large, a larger number of reinforcing ribs can be used to maintain the structural strength of the curved support 2600. For a narrower curved support 2600, one or two reinforcing ribs can be used. Of course, this is not a limitation.

[0145] Return to reference Figure 31 and Figure 32 The connecting element used by the sliding platform 2500 to stop at any position on the curved support 2600 can still be a rotary gear, such as a rotary gear 2520. The rotary gear 2520 will also mesh with a mating element (which can also be provided by bonding, screw locking, snap-fit, integral molding, etc.) provided on the curved support 2600, such as a continuous toothed groove 2620. Thus, when a rotational force is applied to the rotary gear 2520, it will drive the housing to move on the curved support 2600 through meshing transmission. The sliding platform 2500, which has stopped sliding, is fixed in a stopped position by locking the rotation of the rotary gear 2520. The through slot G for the rotary gear 2520 to extend from the lower housing 2512 of the sliding platform 2500 is larger than the through slot G provided on the lower housing 2212 of the sliding platform 2200. This facilitates the installation of the rotary gear 2520.

[0146] The handle 2530 on the sliding platform 2500 has a different structure than the handle 2230 of the aforementioned sliding platform 2200. For example... Figure 32 As shown, the handle 2530 may include a grip portion 2531 and a handle body 2532 connected to the grip portion 2531. The grip portion 2531 may be a T-shaped grip, and the handle body 2532 may be connected to one end of the vertical part of the T-shaped grip. A limiting portion 2533 for inserting into a limiting hole 2630 formed on the curved support 2600 may be provided on the handle body 2532. For example, as Figure 32 The handle body 2532 shown is located in the middle. Similarly, the handle 2530 can extend into the sliding platform 2500 through a through hole on the outer peripheral surface of the upper housing 2511, for example, at least the limiting part 2533 can extend into it. The other end of the handle body 2532 can be provided in the connecting part 2534, for example, the connecting part 2534 is a columnar body. This columnar body can be rotatably connected to a rotating fitting P provided inside the sliding platform 2500. For example, the rotating fitting P has a round hole, and by inserting the two ends of the columnar body into two rotating fittings P (… Figure 32After the round hole (only one is shown due to occlusion) is formed, the handle 2530 rotates due to the rotation between the connecting portion 2534 and the rotating fitting P when pulled by an external force. Similarly, a through area for the limiting portion 2533 to extend or retract can be formed on the lower end surface of the upper housing 2411, so that the limiting portion 2533 can be inserted into or withdrawn from the limiting hole 2630 by pulling the handle 2530. In another embodiment, the handle 2530 can also be disposed at other positions, such as the top surface of the upper housing 2511. By adjusting the length of the handle body 2532 of the handle 2530, the position and shape (such as being set longer) of the limiting portion 2533, and the position of the rotating fitting P disposed inside the sliding platform 2500, the limiting portion 2533 can also be snapped into or withdrawn from the limiting hole 2630 in a pulling manner to complete the fixing or unlocking of the position of the sliding platform 2500 on the curved surface bracket 2600. [[ID=!2]]

[0147] To prevent the handle 2530 from accidentally touching when inserted into the limiting hole 2630 or accidentally inserting into the limiting hole 2630 due to always hanging down under the influence of gravity when withdrawn from the limiting hole 2630, elastic members, such as elastic sheets, springs or elastic coils, can be installed on both sides of the vertical body of the holding portion 2531. The through hole formed on the outer peripheral surface of the upper housing 2511 of the sliding platform 2500 can be in the shape of "卄". The shape of the through hole is set such that the vertical bar "丨" of the main body is a passage for the handle 2530 to move up and down when pulled. Since this passage is narrow, the elastic sheet will be squeezed and stick to the vertical body of the holding portion 2531. The horizontally arranged "=" is for position limitation. When the holding portion 2531 moves here, the elastic sheet will expand and extend into the horizontal space because the passage becomes wider. For example, the upper horizontal space allows the limiting portion 2533 to be completely withdrawn from the limiting hole 2630. Or rather, when the holding portion 2531 moves to this position, the elastic sheet extends into the upper horizontal space, and the entire handle 2530 will be lifted up. A relatively small force or gravity cannot deform and disengage the elastic sheet, causing the handle 2530 to hang down and accidentally insert into the limiting hole. The lower horizontal space allows the limiting portion 2533 to be in the state of being inserted into the limiting hole 2630. Accidentally touching the handle 2530 cannot deform and disengage the elastic sheet, causing the limiting portion 2533 to be withdrawn from the limiting hole 2630, resulting in the failure of secondary fixing. In another embodiment, the elastic member can also be installed inside the through hole (i.e., inside 2511), and the handle 2530 is locked by squeezing the elastic member during the locking process.

[0148] For the application of the above-mentioned sliding platform and the curved surface bracket, the curved surface bracket can be installed on the scanning bed by using the mounting hole 2440 or the mounting hole 2640.

[0149] Of course, the above description is merely exemplary and not intended to limit this application. Any improvements, adjustments, modifications, etc., within the scope of protection claimed in this application are applicable.

[0150] This application has described the basic concepts. Obviously, for those skilled in the art, the above detailed disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this application.

[0151] Meanwhile, this application uses specific terms to describe its embodiments. For example, "an embodiment," "an example," "some embodiments," "an example," "an example," and / or "some examples" refer to a particular feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "an embodiment," "an example," or "an alternative embodiment" mentioned twice or more in different locations in this application do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of this application can be appropriately combined.

[0152] Similarly, it should be noted that, in order to simplify the description of this application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of this application sometimes combines multiple features into one embodiment or its description. However, this disclosure method does not imply that the subject matter of this application requires more features than those mentioned in the claims. In fact, the embodiments have fewer features than all the features of the single embodiments disclosed above.

[0153] Finally, it should be understood that the embodiments described in this application are merely illustrative of the principles of the embodiments of this application. Other modifications may also fall within the scope of this application. Therefore, alternative configurations of the embodiments of this application are considered as examples and not limitations, and are regarded as consistent with the teachings of this application. Accordingly, the embodiments of this application are not limited to the embodiments explicitly described and illustrated in this application.

Claims

1. A medical device, characterized by The medical device includes: support; A sliding platform is disposed on the support and is controlled to slide relative to or be fixedly connected to the support; A movable platform; surgical instruments are mounted on the movable platform; and Multiple movable links are provided, each connected to the sliding platform and the movable platform via movable components; wherein... The movable component includes a moving part and a transmission part. The transmission part connects the moving part and the movable link and is configured to transmit external driving force to the movable link to drive the movable link to move, thereby causing the moving part to move passively to realize multiple degrees of freedom of the movable platform.

2. The medical device of claim 1, wherein, The bracket is provided with a first positioning structure at multiple predetermined positions, and the sliding platform is provided with a second positioning structure; the second positioning structure is controlled to be detachably fixedly connected to the first positioning structure, so that the sliding platform is fixed at the corresponding predetermined position on the bracket.

3. The medical device of claim 2, wherein, The first positioning structure includes a groove, and the second positioning structure includes a rotatable locking block; the locking block is inserted into or disengaged from the groove under the action of external force, thereby realizing a separable fixed connection between the sliding platform and the bracket.

4. The medical device of claim 1, wherein, The shape of the first mounting surface of the sliding platform for setting the movable component is the same as or different from the shape of the second mounting surface of the tooling platform for setting the movable component; the travel strokes of the plurality of movable links are the same and / or different.

5. The medical device according to claim 4, characterized in that, The first mounting surface or the second mounting surface is a plane or a stepped surface.

6. The medical device according to claim 1, characterized in that, The number of the plurality of movable links is greater than 6.

7. The medical device according to claim 1, characterized in that, The external driving force includes rotational force, the moving part includes a universal joint, and the transmission part includes a plurality of meshing gears, including a first gear for receiving rotational force and a second gear for connecting the movable link.

8. The medical device according to claim 7, characterized in that, The plurality of gears includes two or more spur gears that mesh with each other.

9. The medical device according to claim 7, characterized in that, The plurality of gears includes two or more bevel gears that mesh orthogonally.

10. A medical device comprising the posture adjustment system as claimed in any one of claims 1-9.

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