An automatically adjustable zero-gravity cantilever mechanism

Abstract

This invention discloses an automatically adjustable zero-gravity cantilever mechanism, including a vertical shaft. A vertical limiting horizontal link is movable on the front of the vertical shaft. A hinged main rocker arm is movable on the front of the vertical shaft and is located below the vertical limiting horizontal link. A control component is connected to the hinged main rocker arm. A hinged longitudinal link and a surgical microscope are hinged at the end of the hinged longitudinal link. An auxiliary hinge link is hinged in the middle of the hinged longitudinal link. A secondary arm shaft connector is hinged at the upper and lower ends of the auxiliary hinge link and the hinged longitudinal link. Through the parallelogram linkage mechanism, the hinge linkage mechanism, and the vertical limiting mechanism, the microscope can achieve a zero-gravity state at any angle, reducing the workload of doctors.

Description

Technical Field

[0001] This invention relates to the technical field of medical devices, and more particularly to an automatically adjustable zero-gravity cantilever mechanism. Background Technology

[0002] There are various cantilever mechanisms in the existing technology, such as balance arm suspension force adjustment mechanism, electromagnetic locking device, microscope adjustment swing mechanism, constant force motion mechanism and suspension arm, etc. However, none of these technologies can achieve zero gravity state of surgical microscope at any angle, making it difficult for doctors to operate and unable to maintain a stable posture when disengaging from operation. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, the purpose of this invention is to propose an automatically adjustable zero-gravity cantilever mechanism that achieves a zero-gravity state for the microscope at any angle through a parallelogram linkage mechanism, a hinge linkage mechanism, and a vertical limiting mechanism, thereby reducing the workload of doctors.

[0005] To achieve the above objectives, this invention proposes an automatically adjustable zero-gravity cantilever mechanism, comprising a vertical shaft, a vertical limiting horizontal connecting rod movable on the front side of the vertical shaft, a hinged main rocker arm movable on the front side of the vertical shaft, the hinged main rocker arm being disposed below the vertical limiting horizontal connecting rod, a control component connected to the hinged main rocker arm, a hinged longitudinal connecting rod and a surgical microscope hinged at the end of the hinged longitudinal connecting rod, a hinged auxiliary connecting rod hinged in the middle of the hinged longitudinal connecting rod, and auxiliary arm shaft connectors hinged at the upper and lower ends of both the hinged auxiliary connecting rod and the hinged longitudinal connecting rod.

[0006] The vertical axis, the vertical limiting horizontal connecting rod, and the vertical limiting horizontal axis guide slider constitute a vertical limiting mechanism. The hinge main rocker, the secondary arm shaft connector, the hinge longitudinal connecting rod, the hinge auxiliary connecting rod, and the microscope connecting rod respectively constitute a parallelogram linkage mechanism and a hinge linkage mechanism. Through the vertical limiting mechanism, the parallelogram linkage mechanism, and the hinge linkage mechanism, the microscope can achieve a zero-gravity state at any angle, reducing the doctor's workload.

[0007] In addition, the automatically adjustable zero-gravity cantilever mechanism proposed according to the present invention may also have the following additional technical features:

[0008] Specifically, the control component includes a control motor, a drive gear, and a driven gear. The driven gear is connected to the hinged main rocker arm, the drive gear is hinged to the driven gear, and the control motor is connected to the drive gear and is located below the hinged main rocker arm.

[0009] Specifically, a main rocker guide slider is rotatably mounted on the vertical shaft, and the hinged main rocker moves through the hinged main rocker guide slider.

[0010] Specifically, the control component is an adjustment knob, which is fixedly mounted on the adjustment knob.

[0011] Specifically, a microscope connecting rod is provided between the surgical microscope and the hinge longitudinal connecting rod.

[0012] Specifically, the vertical shaft is provided with a vertical limiting horizontal axis guide slider, and the vertical limiting horizontal connecting rod moves through the vertical limiting horizontal axis guide slider.

[0013] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0014] Achieving true zero-gravity operation: By setting the vertical axis rotation center structure at the intersection of the microscope's center extension line, and cooperating with the main joystick guide slider structure to form a sliding and rotating connection with the main joystick, the microscope's center of gravity can be reset to the vertical axis rotation center line, achieving a zero-gravity state.

[0015] Easy and flexible to operate: Doctors only need to use very little force to drag or rotate the microscope, which greatly reduces the burden of operation and reduces fatigue caused by long-term surgery.

[0016] Stable posture maintenance: When the doctor's hands are removed from the operation, the microscope can automatically maintain a stable posture, avoiding the problem of unstable observation caused by hand tremors.

[0017] Improved surgical precision: In zero gravity, the microscope can precisely maintain any angle, providing doctors with a stable field of vision, thus improving the precision and safety of the surgery.

[0018] Simple and reliable structure: Through the cooperation of gear transmission mechanism and linkage combination mechanism, precise motion control is achieved while maintaining the simplicity and reliability of the structure.

[0019] Wide range of applications: This invention is not only applicable to surgical microscopes, but also to other medical devices that require precise adjustment and stable posture maintenance, and has broad application prospects.

[0020] Additional aspects and advantages of the invention 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 the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0022] Figure 1This is a schematic diagram of Embodiment 2 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the state of Embodiment 1 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 1 ;

[0024] Figure 3 This is a schematic diagram of the state of Embodiment 1 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 2 ;

[0025] Figure 4 This is a schematic diagram of the state of Embodiment 1 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 3 ;

[0026] Figure 5 This is a schematic diagram of the state of Embodiment 1 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 4 ;

[0027] Figure 6 This is a schematic diagram of the state of Embodiment 1 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 5 ;

[0028] Figure 7 This is a schematic diagram of the state of Embodiment 1 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 6 ;

[0029] Figure 8 This is a schematic diagram of the state of Embodiment 1 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 7 ;

[0030] Figure 9 This is a schematic diagram of the state of Embodiment 1 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 8 ;

[0031] Figure 10 This is a schematic diagram of Embodiment 2 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 2 ;

[0032] Figure 11 This is a schematic diagram of Embodiment 2 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 3 ;

[0033] Figure 12 This is a schematic diagram of Embodiment 2 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 4 ;

[0034] Figure 13 This is a schematic diagram of Embodiment 2 of the automatically adjustable zero-gravity cantilever mechanism of the present invention. Figure 5 ;

[0035] As shown in the figure: 101, vertical shaft; 102, vertical limiting horizontal connecting rod; 103, vertical limiting horizontal shaft guide slider; 105, main rocker arm guide slider; 109, control motor; 110, driving gear; 111, driven gear; 112, surgical microscope; 201, hinge main rocker arm; 202, auxiliary arm shaft connector; 203, hinge longitudinal connecting rod; 204, hinge auxiliary connecting rod; 205, microscope connecting rod; 206, adjustment knob. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention. Rather, embodiments of the invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0037] The automatically adjustable zero-gravity cantilever mechanism of the present invention will now be described with reference to the accompanying drawings.

[0038] Example 1:

[0039] like Figure 2-9 As shown, the automatically adjustable zero-gravity cantilever mechanism of this invention includes a vertical shaft 101, a vertical limiting horizontal connecting rod 102 movable on the front of the vertical shaft 101, a hinged main rocker arm 201 movable on the front of the vertical shaft 101, the hinged main rocker arm 201 being disposed below the vertical limiting horizontal connecting rod 102, a control component connected to the hinged main rocker arm 201, and a hinged longitudinal connecting rod 203 hinged at its end to a surgical microscope 112. 3. A hinge auxiliary link 204 is provided in the middle. The upper and lower ends of the hinge auxiliary link 204 and the hinge longitudinal link 203 are both hinged with a secondary arm shaft connector 202. The control component is an adjustment knob 206. The adjustment knob 206 is fixedly set on the adjustment knob 206. By manually adjusting the adjustment knob 206, the position of the hinge main rocker arm 201 relative to the main rocker arm guide slider 105 is adjusted, thereby causing the center of gravity of the surgical microscope 112 to return to the rotation center line of the vertical axis 101.

[0040] The vertical axis 101, the vertical limiting horizontal connecting rod 102, and the vertical limiting horizontal axis guide slider 103 constitute a vertical limiting mechanism. The hinge main rocker 201, the secondary arm shaft connector 202, the hinge longitudinal connecting rod 203, the hinge auxiliary connecting rod 204, and the microscope connecting rod 205 respectively constitute a parallelogram linkage mechanism and a hinge linkage mechanism. Through the vertical limiting mechanism, the parallelogram linkage mechanism, and the hinge linkage mechanism, the microscope can achieve a zero-gravity state at any angle, reducing the doctor's workload.

[0041] Specifically, depending on the weight of the surgical microscope 112 and the required angle, the adjustment knob 206 and the position of the hinge main rocker 201 relative to the main rocker guide slider 105 can be manually adjusted, thereby restoring the center of gravity of the surgical microscope 112 to the rotation center line of the vertical axis 101.

[0042] In one embodiment of the present invention, such as Figure 7 As shown, a main rocker guide slider 105 is rotatably mounted on the vertical shaft 101, and the hinge main rocker 201 moves through the hinge main rocker 201 and the main rocker guide slider 105.

[0043] It should be noted that the vertical limiting mechanism ensures that the hinge main rocker arm 201 can move along a specific path, thereby causing the hinge longitudinal connecting rod 203 and the hinge auxiliary connecting rod 204 to move synchronously and adjust to an appropriate position. Then, the microscope connecting rod 205 keeps the microscope in a zero-gravity state. In the attached drawings of Embodiment 2, the hinge longitudinal connecting rod 203, the hinge auxiliary connecting rod 204, and the microscope connecting rod 205 are labeled as hinge longitudinal connecting rod 105, hinge auxiliary connecting rod 106, and microscope connecting rod 107, respectively. The vertical limiting mechanism ensures that the microscope remains stable during movement, reduces the error of manual adjustment, and improves the reliability and accuracy of operation.

[0044] In one embodiment of the present invention, such as Figure 7 As shown, a microscope connecting rod 205 is provided between the surgical microscope 112 and the hinge longitudinal connecting rod 203.

[0045] It should be noted that the microscope connecting rod 205 ensures the stability of the connection between the microscope and the entire cantilever mechanism, enabling the microscope to maintain a rigid connection with the hinge longitudinal connecting rod 203 when moving, thereby maintaining a zero-gravity state consistent with the entire cantilever mechanism. The microscope connecting rod 205 improves the posture stability and operational continuity of the microscope, and reduces errors caused by unstable connections.

[0046] In one embodiment of the present invention, such as Figure 7 As shown, a vertical limiting horizontal axis guide slider 103 is provided on the vertical shaft 101, and the vertical limiting horizontal connecting rod 102 moves through the vertical limiting horizontal axis guide slider 103.

[0047] It should be noted that the vertical limiting transverse axis guide slider 103 restricts the vertical displacement of the vertical limiting transverse link 102, ensuring that the vertical limiting transverse link 102 can move on a limited path. In turn, the hinge structure adjusts the position and orientation of the hinge longitudinal link 203 and the hinge auxiliary link 204, keeping the microscope in a zero-gravity state. The limiting effect of the guide slider ensures the stability and controllability of the entire cantilever mechanism, maintains the zero-gravity state of the microscope, and thus improves the accuracy and comfort of surgical operations.

[0048] Example 2:

[0049] like Figure 1 and Figures 10-13 As shown, the automatically adjustable zero-gravity cantilever mechanism of this embodiment differs from that of the previous embodiment in that the control component includes a control motor 109, a drive gear 110, and a driven gear 111. The driven gear 111 is connected to the hinge main rocker arm 201, the drive gear 110 is hinged to the driven gear 111, and the control motor 109 is connected to the drive gear 110 and is located below the hinge main rocker arm 201.

[0050] Based on the weight of the surgical microscope 112 and the required angle, the control motor 109 can automatically adjust the position of the hinge main rocker arm 201 relative to the guide slider, thereby restoring the center of gravity of the surgical microscope 112 to the rotation center line of the vertical axis 101. The surgical microscope 112 is always parallel to the hinge main rocker arm 201, and the doctor can drag or rotate the microscope with very little force. Furthermore, the microscope can maintain a stable posture even when the hand is out of the operation in any position.

[0051] It should be noted that the vertical limiting horizontal connecting rod 102 can move horizontally within the vertical limiting horizontal axis guide slider 103. After the vertical limiting horizontal connecting rod 102 is connected to the hinge longitudinal connecting rod 203, it retains only the vertical degree of freedom. The hinge main rocker arm 201 can slide relative to the hinge main rocker arm 201 guide slider 105 and rotate together.

[0052] In summary, the automatically adjustable zero-gravity cantilever mechanism of this invention achieves true zero-gravity operation: by setting the vertical axis rotation center structure at the intersection of the extended line of the microscope center, and cooperating with the main rocker guide slider structure to form a sliding and rotating connection with the main rocker, the center of gravity of the microscope can be reset to the vertical axis rotation center line, thus achieving a zero-gravity state.

[0053] Easy and flexible to operate: Doctors only need to use very little force to drag or rotate the microscope, which greatly reduces the burden of operation and reduces fatigue caused by long-term surgery.

[0054] Stable posture maintenance: When the doctor's hands are removed from the operation, the microscope can automatically maintain a stable posture, avoiding the problem of unstable observation caused by hand tremors.

[0055] Improved surgical precision: In zero gravity, the microscope can precisely maintain any angle, providing doctors with a stable field of vision, thus improving the precision and safety of the surgery.

[0056] Simple and reliable structure: Through the cooperation of gear transmission mechanism and linkage combination mechanism, precise motion control is achieved while maintaining the simplicity and reliability of the structure.

[0057] Wide range of applications: This invention is not only applicable to surgical microscopes, but also to other medical devices that require precise adjustment and stable posture maintenance, and has broad application prospects.

[0058] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0060] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An automatically adjustable zero-gravity cantilever mechanism, characterized in that, The device includes a vertical shaft (101), a vertical limiting horizontal connecting rod (102) that moves on the front of the vertical shaft (101), a hinge main rocker arm (201) that moves on the front of the vertical shaft (101), the hinge main rocker arm (201) being located below the vertical limiting horizontal connecting rod (102), a control component being connected to the hinge main rocker arm (201), a hinge longitudinal connecting rod (203) and a surgical microscope (112) being hinged at the end of the hinge longitudinal connecting rod (203), a hinge auxiliary connecting rod (204) being hinged in the middle of the hinge longitudinal connecting rod (203), and a secondary arm shaft connector (202) being hinged at the upper and lower ends of both the hinge auxiliary connecting rod (204) and the hinge longitudinal connecting rod (203). The vertical shaft (101), the vertical limiting horizontal connecting rod (102), and the vertical limiting horizontal axis guide slider (103) constitute a vertical limiting mechanism. The hinge main rocker (201), the secondary arm shaft connector (202), the hinge longitudinal connecting rod (203), the hinge auxiliary connecting rod (204), and the microscope connecting rod (205) respectively constitute a parallelogram linkage mechanism and a hinge linkage mechanism. Through the vertical limiting mechanism, the parallelogram linkage mechanism, and the hinge linkage mechanism, the microscope can achieve a zero-gravity state at any angle. Doctors can easily drag or rotate the microscope without applying additional force. Moreover, when the hand is removed from operation, the microscope can still maintain a stable posture, which improves the comfort and accuracy of operation and reduces the doctor's workload.

2. The automatically adjustable zero-gravity cantilever mechanism according to claim 1, characterized in that, The control components include a control motor (109), a drive gear (110), and a driven gear (111). The driven gear (111) is connected to the hinge master rocker arm (201), and the drive gear (110) is hinged to the driven gear (111). The control motor (109) is connected to the drive gear (110) and is located below the hinge master rocker arm (201). The control motor (109) can automatically adjust the position of the hinge master rocker arm (201) relative to the guide slider, thereby restoring the center of gravity of the surgical microscope (112) to the rotation center line of the vertical axis (101). The surgical microscope (112) is always parallel to the hinge master rocker arm (201). The doctor can drag or rotate the microscope with very little force, and the microscope can maintain a stable posture when the hand is out of operation in any position.

3. The automatically adjustable zero-gravity cantilever mechanism according to claim 1, characterized in that, The vertical shaft (101) is rotatably provided with a main rocker guide slider (105), and the hinge main rocker (201) moves through the hinge main rocker (201) and the main rocker guide slider (105).

4. The automatically adjustable zero-gravity cantilever mechanism according to claim 1, characterized in that, The control component is an adjustment knob (206). The adjustment knob (206) is fixedly installed on the adjustment knob (206). By manually controlling the adjustment knob (206), the position of the hinge main rocker (201) relative to the main rocker guide slider (105) is adjusted, thereby causing the center of gravity of the surgical microscope (112) to be reset to the rotation center line of the vertical axis (101).

5. The automatically adjustable zero-gravity cantilever mechanism according to claim 3, characterized in that, A microscope link (205) is provided between the surgical microscope (112) and the hinge link (203).

6. The automatically adjustable zero-gravity cantilever mechanism according to claim 5, characterized in that, The vertical shaft (101) is provided with a vertical limiting horizontal axis guide slider (103), and the vertical limiting horizontal connecting rod (102) moves through the vertical limiting horizontal axis guide slider (103).

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